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Dependents:   EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB

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nicdrv.cpp File Reference
Enumerations | Functions | Variables

nicdrv.cpp File Reference

EtherCAT RAW socket driver. More...

Go to the source code of this file.

Enumerations

enum  { ECT_RED_NONE, ECT_RED_DOUBLE }
 

Redundancy modes.

More...

Functions

int ecx_setupnic (ecx_portt *port, const char *ifname, int secondary)
 Basic setup to connect NIC to socket.
int ecx_closenic (ecx_portt *port)
 Close sockets used.
void ec_setupheader (void *p)
 Fill buffer with ethernet header structure.
int ecx_getindex (ecx_portt *port)
 Get new frame identifier index and allocate corresponding rx buffer.
void ecx_setbufstat (ecx_portt *port, int idx, int bufstat)
 Set rx buffer status.
int ecx_outframe (ecx_portt *port, int idx, int stacknumber)
 Transmit buffer over socket (non blocking).
int ecx_outframe_red (ecx_portt *port, int idx)
 Transmit buffer over socket (non blocking).
static int ecx_recvpkt (ecx_portt *port, int stacknumber)
 Non blocking read of socket.
int ecx_inframe (ecx_portt *port, int idx, int stacknumber)
 Non blocking receive frame function.
static int ecx_waitinframe_red (ecx_portt *port, int idx, osal_timert timer)
 Blocking redundant receive frame function.
int ecx_waitinframe (ecx_portt *port, int idx, int timeout)
 Blocking receive frame function.
int ecx_srconfirm (ecx_portt *port, int idx, int timeout)
 Blocking send and receive frame function.

Variables

const uint16 priMAC [3] = { 0x0101, 0x0101, 0x0101 }
 Primary source MAC address used for EtherCAT.
const uint16 secMAC [3] = { 0x0404, 0x0404, 0x0404 }
 Secondary source MAC address used for EtherCAT.

Detailed Description

EtherCAT RAW socket driver.

Low level interface functions to send and receive EtherCAT packets. EtherCAT has the property that packets are only send by the master, and the send packets always return in the receive buffer. There can be multiple packets "on the wire" before they return. To combine the received packets with the original send packets a buffer system is installed. The identifier is put in the index item of the EtherCAT header. The index is stored and compared when a frame is received. If there is a match the packet can be combined with the transmit packet and returned to the higher level function.

The socket layer can exhibit a reversal in the packet order (rare). If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer will reorder the packets automatically.

The "redundant" option will configure two sockets and two NIC interfaces. Slaves are connected to both interfaces, one on the IN port and one on the OUT port. Packets are send via both interfaces. Any one of the connections (also an interconnect) can be removed and the slaves are still serviced with packets. The software layer will detect the possible failure modes and compensate. If needed the packets from interface A are resent through interface B. This layer is fully transparent for the higher layers.

Definition in file nicdrv.cpp.

Enumeration Type Documentation

anonymous enum

Redundancy modes.

Enumerator:
ECT_RED_NONE 

No redundancy, single NIC mode.

ECT_RED_DOUBLE 

Double redundant NIC connection.

Definition at line 50 of file nicdrv.cpp.

Function Documentation

void ec_setupheader ( void *  p )

Fill buffer with ethernet header structure.

Destination MAC is always broadcast. Ethertype is always ETH_P_ECAT.

Parameters:
[out]p= buffer

Definition at line 315 of file nicdrv.cpp.

int ecx_closenic ( ecx_portt *  port )

Close sockets used.

Parameters:
[in]port= port context struct
Returns:
0

Definition at line 296 of file nicdrv.cpp.

int ecx_getindex ( ecx_portt *  port )

Get new frame identifier index and allocate corresponding rx buffer.

Parameters:
[in]port= port context struct
Returns:
new index.

Definition at line 335 of file nicdrv.cpp.

int ecx_inframe ( ecx_portt *  port,
int  idx,
int  stacknumber 
)

Non blocking receive frame function.

Uses RX buffer and index to combine read frame with transmitted frame. To compensate for received frames that are out-of-order all frames are stored in their respective indexed buffer. If a frame was placed in the buffer previously, the function retrieves it from that buffer index without calling ec_recvpkt. If the requested index is not already in the buffer it calls ec_recvpkt to fetch it. There are three options now, 1 no frame read, so exit. 2 frame read but other than requested index, store in buffer and exit. 3 frame read with matching index, store in buffer, set completed flag in buffer status and exit.

Parameters:
[in]port= port context struct
[in]idx= requested index of frame
[in]stacknumber= 0=primary 1=secondary stack
Returns:
Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME or EC_OTHERFRAME.

Definition at line 496 of file nicdrv.cpp.

int ecx_outframe ( ecx_portt *  port,
int  idx,
int  stacknumber 
)

Transmit buffer over socket (non blocking).

Parameters:
[in]port= port context struct
[in]idx= index in tx buffer array
[in]stacknumber= 0=Primary 1=Secondary stack
Returns:
socket send result

Definition at line 391 of file nicdrv.cpp.

int ecx_outframe_red ( ecx_portt *  port,
int  idx 
)

Transmit buffer over socket (non blocking).

Parameters:
[in]port= port context struct
[in]idx= index in tx buffer array
Returns:
socket send result

Definition at line 417 of file nicdrv.cpp.

static int ecx_recvpkt ( ecx_portt *  port,
int  stacknumber 
) [static]

Non blocking read of socket.

Put frame in temporary buffer.

Parameters:
[in]port= port context struct
[in]stacknumber= 0=primary 1=secondary stack
Returns:
>0 if frame is available and read

Definition at line 457 of file nicdrv.cpp.

void ecx_setbufstat ( ecx_portt *  port,
int  idx,
int  bufstat 
)

Set rx buffer status.

Parameters:
[in]port= port context struct
[in]idx= index in buffer array
[in]bufstat= status to set

Definition at line 376 of file nicdrv.cpp.

int ecx_setupnic ( ecx_portt *  port,
const char *  ifname,
int  secondary 
)

Basic setup to connect NIC to socket.

Parameters:
[in]port= port context struct
[in]ifname= Name of NIC device, f.e. "eth0"
[in]secondary= if >0 then use secondary stack instead of primary
Returns:
>0 if succeeded

Definition at line 230 of file nicdrv.cpp.

int ecx_srconfirm ( ecx_portt *  port,
int  idx,
int  timeout 
)

Blocking send and receive frame function.

Used for non processdata frames. A datagram is build into a frame and transmitted via this function. It waits for an answer and returns the workcounter. The function retries if time is left and the result is WKC=0 or no frame received.

The function calls ec_outframe_red() and ec_waitinframe_red().

Parameters:
[in]port= port context struct
[in]idx= index of frame
[in]timeout= timeout in us
Returns:
Workcounter or EC_NOFRAME

Definition at line 712 of file nicdrv.cpp.

int ecx_waitinframe ( ecx_portt *  port,
int  idx,
int  timeout 
)

Blocking receive frame function.

Calls ec_waitinframe_red().

Parameters:
[in]port= port context struct
[in]idx= requested index of frame
[in]timeout= timeout in us
Returns:
Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME.

Definition at line 689 of file nicdrv.cpp.

static int ecx_waitinframe_red ( ecx_portt *  port,
int  idx,
osal_timert  timer 
) [static]

Blocking redundant receive frame function.

If redundant mode is not active then it skips the secondary stack and redundancy functions. In redundant mode it waits for both (primary and secondary) frames to come in. The result goes in an decision tree that decides, depending on the route of the packet and its possible missing arrival, how to reroute the original packet to get the data in an other try.

Parameters:
[in]port= port context struct
[in]idx= requested index of frame
[in]timer= absolute timeout time
Returns:
Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME.

Definition at line 591 of file nicdrv.cpp.

Variable Documentation

const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 }

Primary source MAC address used for EtherCAT.

This address is not the MAC address used from the NIC. EtherCAT does not care about MAC addressing, but it is used here to differentiate the route the packet traverses through the EtherCAT segment. This is needed to find out the packet flow in redundant configurations.

Definition at line 64 of file nicdrv.cpp.

const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 }

Secondary source MAC address used for EtherCAT.

Definition at line 66 of file nicdrv.cpp.

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