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.
SOEM/ethercatfoe.c
- Committer:
- EasyCAT
- Date:
- 2019-06-11
- Revision:
- 0:543d6784d4cc
File content as of revision 0:543d6784d4cc:
/* * Licensed under the GNU General Public License version 2 with exceptions. See * LICENSE file in the project root for full license information */ /** \file * \brief * File over EtherCAT (FoE) module. * * SDO read / write and SDO service functions */ #include <stdio.h> #include <string.h> #include "osal.h" #include "oshw.h" #include "ethercattype.h" #include "ethercatbase.h" #include "ethercatmain.h" #include "ethercatfoe.h" #define EC_MAXFOEDATA 512 /** FOE structure. * Used for Read, Write, Data, Ack and Error mailbox packets. */ PACKED_BEGIN typedef struct PACKED { ec_mbxheadert MbxHeader; uint8 OpCode; uint8 Reserved; union { uint32 Password; uint32 PacketNumber; uint32 ErrorCode; }; union { char FileName[EC_MAXFOEDATA]; uint8 Data[EC_MAXFOEDATA]; char ErrorText[EC_MAXFOEDATA]; }; } ec_FOEt; PACKED_END /** FoE progress hook. * * @param[in] context = context struct * @param[in] hook = Pointer to hook function. * @return 1 */ int ecx_FOEdefinehook(ecx_contextt *context, void *hook) { context->FOEhook = hook; return 1; } /** FoE read, blocking. * * @param[in] context = context struct * @param[in] slave = Slave number. * @param[in] filename = Filename of file to read. * @param[in] password = password. * @param[in,out] psize = Size in bytes of file buffer, returns bytes read from file. * @param[out] p = Pointer to file buffer * @param[in] timeout = Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM * @return Workcounter from last slave response */ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout) { ec_FOEt *FOEp, *aFOEp; int wkc; int32 dataread = 0; int32 buffersize, packetnumber, prevpacket = 0; uint16 fnsize, maxdata, segmentdata; ec_mbxbuft MbxIn, MbxOut; uint8 cnt; boolean worktodo; buffersize = *psize; ec_clearmbx(&MbxIn); /* Empty slave out mailbox if something is in. Timeout set to 0 */ wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0); ec_clearmbx(&MbxOut); aFOEp = (ec_FOEt *)&MbxIn; FOEp = (ec_FOEt *)&MbxOut; fnsize = (uint16)strlen(filename); maxdata = context->slavelist[slave].mbx_l - 12; if (fnsize > maxdata) { fnsize = maxdata; } FOEp->MbxHeader.length = htoes(0x0006 + fnsize); FOEp->MbxHeader.address = htoes(0x0000); FOEp->MbxHeader.priority = 0x00; /* get new mailbox count value, used as session handle */ cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt); context->slavelist[slave].mbx_cnt = cnt; FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */ FOEp->OpCode = ECT_FOE_READ; FOEp->Password = htoel(password); /* copy filename in mailbox */ memcpy(&FOEp->FileName[0], filename, fnsize); /* send FoE request to slave */ wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM); if (wkc > 0) /* succeeded to place mailbox in slave ? */ { do { worktodo = FALSE; /* clean mailboxbuffer */ ec_clearmbx(&MbxIn); /* read slave response */ wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout); if (wkc > 0) /* succeeded to read slave response ? */ { /* slave response should be FoE */ if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE) { if(aFOEp->OpCode == ECT_FOE_DATA) { segmentdata = etohs(aFOEp->MbxHeader.length) - 0x0006; packetnumber = etohl(aFOEp->PacketNumber); if ((packetnumber == ++prevpacket) && (dataread + segmentdata <= buffersize)) { memcpy(p, &aFOEp->Data[0], segmentdata); dataread += segmentdata; p = (uint8 *)p + segmentdata; if (segmentdata == maxdata) { worktodo = TRUE; } FOEp->MbxHeader.length = htoes(0x0006); FOEp->MbxHeader.address = htoes(0x0000); FOEp->MbxHeader.priority = 0x00; /* get new mailbox count value */ cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt); context->slavelist[slave].mbx_cnt = cnt; FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */ FOEp->OpCode = ECT_FOE_ACK; FOEp->PacketNumber = htoel(packetnumber); /* send FoE ack to slave */ wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM); if (wkc <= 0) { worktodo = FALSE; } if (context->FOEhook) { context->FOEhook(slave, packetnumber, dataread); } } else { /* FoE error */ wkc = -EC_ERR_TYPE_FOE_BUF2SMALL; } } else { if(aFOEp->OpCode == ECT_FOE_ERROR) { /* FoE error */ wkc = -EC_ERR_TYPE_FOE_ERROR; } else { /* unexpected mailbox received */ wkc = -EC_ERR_TYPE_PACKET_ERROR; } } } else { /* unexpected mailbox received */ wkc = -EC_ERR_TYPE_PACKET_ERROR; } *psize = dataread; } } while (worktodo); } return wkc; } /** FoE write, blocking. * * @param[in] context = context struct * @param[in] slave = Slave number. * @param[in] filename = Filename of file to write. * @param[in] password = password. * @param[in] psize = Size in bytes of file buffer. * @param[out] p = Pointer to file buffer * @param[in] timeout = Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM * @return Workcounter from last slave response */ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout) { ec_FOEt *FOEp, *aFOEp; int wkc; int32 packetnumber, sendpacket = 0; uint16 fnsize, maxdata; int segmentdata; ec_mbxbuft MbxIn, MbxOut; uint8 cnt; boolean worktodo, dofinalzero; int tsize; ec_clearmbx(&MbxIn); /* Empty slave out mailbox if something is in. Timeout set to 0 */ wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0); ec_clearmbx(&MbxOut); aFOEp = (ec_FOEt *)&MbxIn; FOEp = (ec_FOEt *)&MbxOut; dofinalzero = FALSE; fnsize = (uint16)strlen(filename); maxdata = context->slavelist[slave].mbx_l - 12; if (fnsize > maxdata) { fnsize = maxdata; } FOEp->MbxHeader.length = htoes(0x0006 + fnsize); FOEp->MbxHeader.address = htoes(0x0000); FOEp->MbxHeader.priority = 0x00; /* get new mailbox count value, used as session handle */ cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt); context->slavelist[slave].mbx_cnt = cnt; FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */ FOEp->OpCode = ECT_FOE_WRITE; FOEp->Password = htoel(password); /* copy filename in mailbox */ memcpy(&FOEp->FileName[0], filename, fnsize); /* send FoE request to slave */ wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM); if (wkc > 0) /* succeeded to place mailbox in slave ? */ { do { worktodo = FALSE; /* clean mailboxbuffer */ ec_clearmbx(&MbxIn); /* read slave response */ wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout); if (wkc > 0) /* succeeded to read slave response ? */ { /* slave response should be FoE */ if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE) { switch (aFOEp->OpCode) { case ECT_FOE_ACK: { packetnumber = etohl(aFOEp->PacketNumber); if (packetnumber == sendpacket) { if (context->FOEhook) { context->FOEhook(slave, packetnumber, psize); } tsize = psize; if (tsize > maxdata) { tsize = maxdata; } if(tsize || dofinalzero) { worktodo = TRUE; dofinalzero = FALSE; segmentdata = tsize; psize -= segmentdata; /* if last packet was full size, add a zero size packet as final */ /* EOF is defined as packetsize < full packetsize */ if (!psize && (segmentdata == maxdata)) { dofinalzero = TRUE; } FOEp->MbxHeader.length = htoes(0x0006 + segmentdata); FOEp->MbxHeader.address = htoes(0x0000); FOEp->MbxHeader.priority = 0x00; /* get new mailbox count value */ cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt); context->slavelist[slave].mbx_cnt = cnt; FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */ FOEp->OpCode = ECT_FOE_DATA; sendpacket++; FOEp->PacketNumber = htoel(sendpacket); memcpy(&FOEp->Data[0], p, segmentdata); p = (uint8 *)p + segmentdata; /* send FoE data to slave */ wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM); if (wkc <= 0) { worktodo = FALSE; } } } else { /* FoE error */ wkc = -EC_ERR_TYPE_FOE_PACKETNUMBER; } break; } case ECT_FOE_BUSY: { /* resend if data has been send before */ /* otherwise ignore */ if (sendpacket) { if (!psize) { dofinalzero = TRUE; } psize += segmentdata; p = (uint8 *)p - segmentdata; --sendpacket; } break; } case ECT_FOE_ERROR: { /* FoE error */ if (aFOEp->ErrorCode == 0x8001) { wkc = -EC_ERR_TYPE_FOE_FILE_NOTFOUND; } else { wkc = -EC_ERR_TYPE_FOE_ERROR; } break; } default: { /* unexpected mailbox received */ wkc = -EC_ERR_TYPE_PACKET_ERROR; break; } } } else { /* unexpected mailbox received */ wkc = -EC_ERR_TYPE_PACKET_ERROR; } } } while (worktodo); } return wkc; } #ifdef EC_VER1 int ec_FOEdefinehook(void *hook) { return ecx_FOEdefinehook(&ecx_context, hook); } int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout) { return ecx_FOEread(&ecx_context, slave, filename, password, psize, p, timeout); } int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout) { return ecx_FOEwrite(&ecx_context, slave, filename, password, psize, p, timeout); } #endif