SOEM EtherCAT Master library for STM Nucleo F767ZI
Dependents: EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB
- This repository contains the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the ecosystem by AB&T Tecnologie Informatiche.
- It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- The EasyCAT LAB is provided as a kit by AB&T Tecnologie Informatiche, to allow everybody to have an educational EtherCAT® system up and running in a matter of minutes.
Warning
- Currently only the Nucleo STM32F767ZI board is supported.
Diff: osal/osal.cpp
- Revision:
- 0:543d6784d4cc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/osal/osal.cpp Tue Jun 11 10:29:09 2019 +0000 @@ -0,0 +1,117 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +#include "mbed.h" + +#include <osal.h> +#include <config.h> + + +uint64_t tick = 0; +uint64_t last_tick = 0; + + +#define timercmp(a, b, CMP) \ + (((a)->tv_sec == (b)->tv_sec) ? \ + ((a)->tv_usec CMP (b)->tv_usec) : \ + ((a)->tv_sec CMP (b)->tv_sec)) + + +#define timeradd(a, b, result) \ + do{ \ + (result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \ + (result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \ + if ((result)->tv_usec >= 1000000) \ + { \ + ++(result)->tv_sec; \ + (result)->tv_usec -= 1000000; \ + } \ + } while (0) +#define timersub(a, b, result) \ + do { \ + (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ + (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \ + if ((result)->tv_usec < 0) { \ + --(result)->tv_sec; \ + (result)->tv_usec += 1000000; \ + } \ + } while (0) + + +#define CFG_TICKS_PER_SECOND 1000000 +#define USECS_PER_SEC 1000000 +#define USECS_PER_TICK (USECS_PER_SEC / CFG_TICKS_PER_SECOND) + + + +int gettimeofday_(struct timeval *tp, void *tzp) +{ + //tick_t tick = tick_get(); + uint32_t actual_tick = us_ticker_read(); + tick += (actual_tick - last_tick); + last_tick = actual_tick; + + //tick_t ticks_left; + uint64_t ticks_left; + + tp->tv_sec = tick / CFG_TICKS_PER_SECOND; + ticks_left = tick % CFG_TICKS_PER_SECOND; + tp->tv_usec = ticks_left * USECS_PER_TICK; + + return 0; +} + +int osal_usleep (uint32 usec) +{ + wait_us(usec); + return 0; +} + + +int osal_gettimeofday(struct timeval *tv, struct timezone *tz) +{ + return gettimeofday_(tv, tz); +} + + +ec_timet osal_current_time (void) +{ + struct timeval current_time; + ec_timet return_value; + + gettimeofday_ (¤t_time, 0); + return_value.sec = current_time.tv_sec; + return_value.usec = current_time.tv_usec; + return return_value; +} + +void osal_timer_start (osal_timert * self, uint32 timeout_usec) +{ + struct timeval start_time; + struct timeval timeout; + struct timeval stop_time; + + gettimeofday_ (&start_time, 0); + timeout.tv_sec = timeout_usec / USECS_PER_SEC; + timeout.tv_usec = timeout_usec % USECS_PER_SEC; + timeradd (&start_time, &timeout, &stop_time); + + self->stop_time.sec = stop_time.tv_sec; + self->stop_time.usec = stop_time.tv_usec; +} + +boolean osal_timer_is_expired (osal_timert * self) +{ + struct timeval current_time; + struct timeval stop_time; + int is_not_yet_expired; + + gettimeofday_ (¤t_time, 0); + stop_time.tv_sec = self->stop_time.sec; + stop_time.tv_usec = self->stop_time.usec; + is_not_yet_expired = timercmp (¤t_time, &stop_time, <); + + return is_not_yet_expired == false; +}