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raw | patch | inline | side by side (parent: d2ea72a)
raw | patch | inline | side by side (parent: d2ea72a)
| author | Paula Carrillo <p-carrillo@ti.com> | |
| Tue, 2 May 2017 23:05:31 +0000 (18:05 -0500) | ||
| committer | Paula Carrillo <p-carrillo@ti.com> | |
| Tue, 2 May 2017 23:05:31 +0000 (18:05 -0500) |
447 files changed:
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemo.cpp b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemo.cpp
+++ /dev/null
@@ -1,1163 +0,0 @@
-/*-----------------------------------------------------------------------------
- * ATEMDemo.cpp
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master demo application
- *---------------------------------------------------------------------------*/
-
-/*-INCLUDES------------------------------------------------------------------*/
-#include <AtEthercat.h>
-
-#include <..\..\Workspace\SYSBIOS_AM57xx\emllICSS\icssEmacEcDevice.h>
-
-#ifdef TTS
-uint8_t tts_demo_over = EC_FALSE;
-uint8_t ttsInitCompleted = EC_FALSE;
-EC_T_BYTE init_ok = -1;
-uint32_t maxJitter =0;
-#endif
-
-#include "ATEMDemo.h"
-#include "Logging.h"
-
-#ifdef ATEMRAS_SERVER
-#include <AtEmRasSrv.h>
-#endif
-
-/*-DEFINES-------------------------------------------------------------------*/
-#define LogMsg S_poLog->LogMsg
-#define LogError S_poLog->LogError
-
-/*-LOCAL VARIABLES-----------------------------------------------------------*/
-static EC_T_DWORD S_dwClntId = 0;
-static CAtEmLogging* S_poLog = EC_NULL;
-static T_DEMO_THREAD_PARAM S_DemoThreadParam = {0};
-static EC_T_PVOID S_pvtJobThread = EC_NULL;
-#ifdef ATEMRAS_SERVER
-static EC_T_BOOL S_bRasSrvStarted = EC_FALSE;
-static EC_T_PVOID S_pvRemoteApiSrvH = EC_NULL;
-#endif
-static EC_T_BOOL S_bEnaPerfJobs = EC_FALSE;
-static EC_T_TSC_MEAS_DESC S_TscMeasDesc;
-static EC_T_CHAR* S_aszMeasInfo[MAX_JOB_NUM] =
-{
- (EC_T_CHAR*)"JOB_ProcessAllRxFrames",
- (EC_T_CHAR*)"JOB_SendAllCycFrames ",
- (EC_T_CHAR*)"JOB_MasterTimer ",
- (EC_T_CHAR*)"JOB_SendAcycFrames ",
- (EC_T_CHAR*)"Cycle Time ",
- (EC_T_CHAR*)"myAppWorkPd "
-};
-
-/*-FORWARD DECLARATIONS------------------------------------------------------*/
-static EC_T_DWORD ecatNotifyCallback(EC_T_DWORD dwCode, EC_T_NOTIFYPARMS* pParms);
-#if (defined ATEMRAS_SERVER)
-static EC_T_DWORD RasNotifyWrapper(EC_T_DWORD dwCode, EC_T_NOTIFYPARMS* pParms);
-#endif
-static EC_T_VOID tEcJobTask(EC_T_VOID* pvThreadParamDesc);
-
-/*-MYAPP---------------------------------------------------------------------*/
-/* Demo code: Remove/change this in your application */
-static EC_T_DWORD myAppInit (CAtEmLogging* poLog, EC_T_INT nVerbose);
-static EC_T_DWORD myAppPrepare (CAtEmLogging* poLog, EC_T_INT nVerbose);
-static EC_T_DWORD myAppSetup (CAtEmLogging* poLog, EC_T_INT nVerbose, EC_T_DWORD dwClntId);
-static EC_T_DWORD myAppWorkpd (CAtEmLogging* poLog, EC_T_INT nVerbose, EC_T_BYTE* pbyPDIn, EC_T_BYTE* pbyPDOut);
-static EC_T_DWORD myAppDiagnosis(CAtEmLogging* poLog, EC_T_INT nVerbose);
-static EC_T_DWORD myAppNotify (EC_T_DWORD dwCode, EC_T_NOTIFYPARMS* pParms);
-/* Demo code: End */
-
-/*-FUNCTION DEFINITIONS------------------------------------------------------*/
-
-/********************************************************************************/
-/** \brief EtherCAT Master demo Application.
-*
-* This is a EtherCAT Master demo application.
-*
-* \return Status value.
-*/
-EC_T_DWORD ATEMDemo(
- CAtEmLogging* poLog
- ,EC_T_CNF_TYPE eCnfType /* [in] Enum type of configuration data provided */
- ,EC_T_PBYTE pbyCnfData /* [in] Configuration data */
- ,EC_T_DWORD dwCnfDataLen /* [in] Length of configuration data in byte */
- ,EC_T_DWORD dwBusCycleTimeUsec /* [in] bus cycle time in usec */
- ,EC_T_INT nVerbose /* [in] verbosity level */
- ,EC_T_DWORD dwDuration /* [in] test duration in msec (0 = forever) */
- ,EC_T_LINK_PARMS* poLinkParms /* [in] pointer to link parameter */
- ,EC_T_VOID* pvTimingEvent /* [in] Timing event handle */
- ,EC_T_DWORD dwCpuIndex /* [in] SMP only: CPU index */
- ,EC_T_BOOL bEnaPerfJobs /* [in] Performance measurement */
-#ifdef ATEMRAS_SERVER
- ,EC_T_WORD wServerPort /* [in] Remote API Server Port */
-#endif
- ,EC_T_LINK_PARMS* poLinkParmsRed /* [in] Redundancy Link Layer Parameter */
-)
-{
- EC_T_DWORD dwRetVal = EC_E_NOERROR;
- EC_T_DWORD dwRes = EC_E_NOERROR;
- EC_T_BOOL bRes = EC_FALSE;
- CEcTimer oTimeout;
- CEmNotification* pNotification = EC_NULL;
-
- /* store parameters */
- S_poLog = poLog;
- S_bEnaPerfJobs = bEnaPerfJobs;
- S_DemoThreadParam.pvTimingEvent = pvTimingEvent;
-
- /* check if interrupt mode is selected */
- if (poLinkParms->eLinkMode != EcLinkMode_POLLING)
- {
- dwRetVal = EC_E_INVALIDPARM;
- LogError("Error: Link layer in 'interrupt' mode is not supported by EcMasterDemo. Please select 'polling' mode.");
- goto Exit;
- }
- /* set thread affinity */
- {
- EC_T_CPUSET CpuSet;
-
- EC_CPUSET_ZERO(CpuSet);
- EC_CPUSET_SET(CpuSet, dwCpuIndex);
- bRes = OsSetThreadAffinity(EC_NULL, CpuSet);
- if (!bRes)
- {
- dwRetVal = EC_E_INVALIDPARM;
- LogError("Error: Set thread affinitiy, invalid CPU index %d\n", dwCpuIndex);
- goto Exit;
- }
- }
- /* create notification context */
- pNotification = EC_NEW(CEmNotification(INSTANCE_MASTER_DEFAULT, poLog));
- if (EC_NULL == pNotification)
- {
- dwRetVal = EC_E_NOMEMORY;
- goto Exit;
- }
- pNotification->Verbose(nVerbose);
-
- if (S_bEnaPerfJobs)
- {
- PERF_MEASURE_JOBS_INIT(EC_NULL);
- }
-
- /* Demo code: Remove/change this in your application: Initialize application */
- /*****************************************************************************/
- dwRes = myAppInit(poLog, nVerbose);
- if (EC_E_NOERROR != dwRes)
- {
- LogError( (EC_T_CHAR*)"myAppInit failed, error code: 0x%x", dwRes );
- dwRetVal = dwRes;
- goto Exit;
- }
-#ifdef ATEMRAS_SERVER
- /*******************************/
- /* Start RAS server if enabled */
- /*******************************/
- if (0xFFFF != wServerPort)
- {
- ATEMRAS_T_SRVPARMS oRemoteApiConfig;
-
- OsMemset(&oRemoteApiConfig, 0, sizeof(ATEMRAS_T_SRVPARMS));
- oRemoteApiConfig.oAddr.dwAddr = 0; /* INADDR_ANY */
- oRemoteApiConfig.wPort = wServerPort;
- oRemoteApiConfig.dwCycleTime = REMOTE_CYCLE_TIME; /* 2 msec */
- oRemoteApiConfig.dwWDTOLimit = (REMOTE_WD_TO_LIMIT/REMOTE_CYCLE_TIME); /* WD Timeout after 10secs */
- oRemoteApiConfig.dwReConTOLimit = 6000; /* Reconnect Timeout after 6000*2msec + 10secs */
- oRemoteApiConfig.dwMasterPrio = MAIN_THREAD_PRIO;
- oRemoteApiConfig.dwClientPrio = MAIN_THREAD_PRIO;
- oRemoteApiConfig.pvNotifCtxt = pNotification; /* Notification context */
- oRemoteApiConfig.pfNotification = RasNotifyWrapper; /* Notification function for emras Layer */
- oRemoteApiConfig.dwConcNotifyAmount = 100; /* for the first pre-allocate 100 Notification spaces */
- oRemoteApiConfig.dwMbxNotifyAmount = 50; /* for the first pre-allocate 50 Notification spaces */
- oRemoteApiConfig.dwMbxUsrNotifySize = 3000; /* 3K user space for Mailbox Notifications */
- oRemoteApiConfig.dwCycErrInterval = 500; /* span between to consecutive cyclic notifications of same type */
- if (0 != nVerbose) LogMsg("Start Remote API Server now\n");
- dwRes = emRasSrvStart(oRemoteApiConfig, &S_pvRemoteApiSrvH);
- if (EC_E_NOERROR != dwRes)
- {
- LogError("ERROR: Cannot spawn Remote API Server\n");
- }
- S_bRasSrvStarted = EC_TRUE;
- }
-#endif
- /******************************/
- /* Initialize EtherCAT master */
- /******************************/
- if (0 != nVerbose) LogMsg( "==========================" );
- if (0 != nVerbose) LogMsg( "Initialize EtherCAT Master" );
- if (0 != nVerbose) LogMsg( "==========================" );
- {
- EC_T_INIT_MASTER_PARMS oInitParms;
-
- OsMemset(&oInitParms, 0, sizeof(EC_T_INIT_MASTER_PARMS));
- oInitParms.dwSignature = ATECAT_SIGNATURE;
- oInitParms.dwSize = sizeof(EC_T_INIT_MASTER_PARMS);
- oInitParms.pLinkParms = poLinkParms;
- oInitParms.pLinkParmsRed = poLinkParmsRed;
- oInitParms.dwBusCycleTimeUsec = dwBusCycleTimeUsec;
- oInitParms.dwMaxBusSlaves = MASTER_CFG_ECAT_MAX_BUS_SLAVES;
- oInitParms.dwMaxQueuedEthFrames = MASTER_CFG_MAX_QUEUED_ETH_FRAMES;
- oInitParms.dwMaxSlaveCmdPerFrame = MASTER_CFG_MAX_SLAVECMD_PER_FRAME;
- if (dwBusCycleTimeUsec < 1000)
- {
- oInitParms.dwMaxSentQueuedFramesPerCycle = 1;
- }
- else
- {
- oInitParms.dwMaxSentQueuedFramesPerCycle = MASTER_CFG_MAX_SENT_QUFRM_PER_CYC;
- }
- oInitParms.dwEcatCmdMaxRetries = MASTER_CFG_ECAT_CMD_MAX_RETRIES;
- oInitParms.dwEoETimeout = MASTER_CFG_EOE_TIMEOUT;
- oInitParms.dwFoEBusyTimeout = MASTER_CFG_FOE_BUSY_TIMEOUT;
- oInitParms.dwLogLevel = nVerbose;
- oInitParms.pfLogMsgCallBack = CAtEmLogging::OsDbgMsgHookWrapper;
- dwRes = ecatInitMaster(&oInitParms);
- if (dwRes != EC_E_NOERROR)
- {
- dwRetVal = dwRes;
- LogError("Cannot initialize EtherCAT-Master! (Result = %s 0x%x)", ecatGetText(dwRes), dwRes);
- goto Exit;
- }
- }
-
- /* Create cyclic task to trigger master jobs */
- /*********************************************/
- S_DemoThreadParam.bJobThreadRunning = EC_FALSE;
- S_DemoThreadParam.bJobThreadShutdown = EC_FALSE;
- S_DemoThreadParam.pLogInst = S_poLog;
- S_DemoThreadParam.pNotInst = pNotification;
- S_DemoThreadParam.dwCpuIndex = dwCpuIndex;
- S_DemoThreadParam.dwBusCycleTimeUsec = dwBusCycleTimeUsec;
- S_pvtJobThread = OsCreateThread((EC_T_CHAR*)"tEcJobTask", tEcJobTask,
-#if !(defined EC_VERSION_GO32)
- JOBS_THREAD_PRIO,
-#else
- dwBusCycleTimeUsec,
-#endif
- JOBS_THREAD_STACKSIZE, (EC_T_VOID*)&S_DemoThreadParam);
-#ifdef RTAI
- OsMakeThreadPeriodic(S_pvtJobThread, dwBusCycleTimeUsec);
-#endif
- /* wait until thread is running */
- oTimeout.Start(2000);
- while (!oTimeout.IsElapsed() && !S_DemoThreadParam.bJobThreadRunning)
- {
- OsSleep(10);
- }
- if (!S_DemoThreadParam.bJobThreadRunning)
- {
- dwRetVal = EC_E_TIMEOUT;
- LogError("Timeout starting JobTask");
- goto Exit;
- }
- oTimeout.Stop();
-
- /* Configure master */
- dwRes = ecatConfigureMaster(eCnfType, pbyCnfData, dwCnfDataLen);
- if (dwRes != EC_E_NOERROR)
- {
- dwRetVal = dwRes;
- LogError("Cannot configure EtherCAT-Master! %s (Result = 0x%x)", ecatGetText(dwRes), dwRes);
- goto Exit;
- }
-
- /* Register client */
- {
- EC_T_REGISTERRESULTS oRegisterResults;
-
- OsMemset(&oRegisterResults, 0, sizeof(EC_T_REGISTERRESULTS));
- dwRes = ecatRegisterClient(ecatNotifyCallback, pNotification, &oRegisterResults);
- if (dwRes != EC_E_NOERROR)
- {
- dwRetVal = dwRes;
- LogError("Cannot register client! (Result = 0x%x)", dwRes);
- goto Exit;
- }
- S_dwClntId = oRegisterResults.dwClntId;
- pNotification->SetClientID(S_dwClntId);
- }
-
- /* Print found slaves */
- if (nVerbose >= 2)
- {
- dwRes = ecatScanBus(ETHERCAT_SCANBUS_TIMEOUT);
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot scan bus: %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- PrintSlaveInfos(INSTANCE_MASTER_DEFAULT, poLog);
- }
-
- /* Print MAC address */
- if (nVerbose > 0)
- {
- ETHERNET_ADDRESS oSrcMacAddress;
-
- dwRes = ecatGetSrcMacAddress(&oSrcMacAddress);
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot get MAC address! (Result = 0x%x)", dwRes);
- }
- LogMsg("EtherCAT network adapter MAC: %02X-%02X-%02X-%02X-%02X-%02X\n",
- oSrcMacAddress.b[0], oSrcMacAddress.b[1], oSrcMacAddress.b[2], oSrcMacAddress.b[3], oSrcMacAddress.b[4], oSrcMacAddress.b[5]);
- }
-
- /* Start EtherCAT bus --> set Master state to OPERATIONAL if ENI file provided */
- /*******************************************************************************/
- if (0 != nVerbose) LogMsg( "=====================" );
- if (0 != nVerbose) LogMsg( "Start EtherCAT Master" );
- if (0 != nVerbose) LogMsg( "=====================" );
-
- /* set master and bus state to INIT */
- dwRes = ecatSetMasterState(ETHERCAT_STATE_CHANGE_TIMEOUT, eEcatState_INIT);
- pNotification->ProcessNotificationJobs();
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot start set master state to INIT (Result = %s (0x%lx))", ecatGetText(dwRes), dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
-
- /******************************************************/
- /* Demo code: Remove/change this in your application */
- /******************************************************/
- dwRes = myAppPrepare(poLog, nVerbose);
- if (EC_E_NOERROR != dwRes)
- {
- LogError((EC_T_CHAR*)"myAppPrepare failed, error code: 0x%x", dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
- /* set master and bus state to PREOP */
- dwRes = ecatSetMasterState(ETHERCAT_STATE_CHANGE_TIMEOUT, eEcatState_PREOP);
- pNotification->ProcessNotificationJobs();
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot start set master state to PREOP (Result = %s (0x%lx))", ecatGetText(dwRes), dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
- /* skip this step if demo started without ENI */
- if (pbyCnfData != EC_NULL)
- {
- /******************************************************/
- /* Demo code: Remove/change this in your application */
- /******************************************************/
- dwRes = myAppSetup(poLog, nVerbose, S_dwClntId);
- if (EC_E_NOERROR != dwRes)
- {
- LogError((EC_T_CHAR*)"myAppSetup failed, error code: 0x%x", dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
- /* set master and bus state to SAFEOP */
- dwRes = ecatSetMasterState(ETHERCAT_STATE_CHANGE_TIMEOUT, eEcatState_SAFEOP);
- pNotification->ProcessNotificationJobs();
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot start set master state to SAFEOP (Result = %s (0x%lx))", ecatGetText(dwRes), dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
- /* set master and bus state to OP */
- dwRes = ecatSetMasterState(ETHERCAT_STATE_CHANGE_TIMEOUT, eEcatState_OP);
- pNotification->ProcessNotificationJobs();
- if (dwRes != EC_E_NOERROR)
- {
- LogError("Cannot start set master state to OP (Result = %s (0x%lx))", ecatGetText(dwRes), dwRes);
- dwRetVal = dwRes;
- goto Exit;
- }
- }
- else
- {
- if (0 != nVerbose) LogMsg("No ENI file provided. EC-Master started with generated ENI file.");
- }
-
- if (S_bEnaPerfJobs)
- {
- LogMsg("");
- LogMsg("Job times during startup <INIT> to <%s>:", ecatStateToStr(ecatGetMasterState()));
- PERF_MEASURE_JOBS_SHOW(); /* show job times */
- LogMsg("");
- ecatPerfMeasReset(&S_TscMeasDesc, 0xFFFFFFFF); /* clear job times of startup phase */
- }
-
-#if (defined DEBUG) && (defined XENOMAI)
- /* Enabling mode switch warnings for shadowed task */
- dwRes = rt_task_set_mode(0, T_WARNSW, NULL);
- if (0 != dwRes)
- {
- OsDbgMsg("EnableRealtimeEnvironment: rt_task_set_mode returned an error\n");
- OsDbgAssert(EC_FALSE);
- }
-#endif
-
- /* run the demo */
- if (dwDuration != 0)
- {
- oTimeout.Start(dwDuration);
- }
- while (bRun && (!oTimeout.IsStarted() || !oTimeout.IsElapsed()))
- {
- if (nVerbose >= 2)
- {
- PERF_MEASURE_JOBS_SHOW(); /* show job times */
- }
- bRun = !OsTerminateAppRequest();/* check if demo shall terminate */
-
- /*****************************************************************************************/
- /* Demo code: Remove/change this in your application: Do some diagnosis outside job task */
- /*****************************************************************************************/
- myAppDiagnosis(poLog, nVerbose);
-
- /* process notification jobs */
- pNotification->ProcessNotificationJobs();
-
- OsSleep(5);
- }
-
- if (S_bEnaPerfJobs)
- {
- LogMsg("");
- LogMsg("Job times before shutdown");
- PERF_MEASURE_JOBS_SHOW(); /* show job times */
- }
-
-Exit:
-
- if (0 != nVerbose) LogMsg( "========================" );
- if (0 != nVerbose) LogMsg( "Shutdown EtherCAT Master" );
- if (0 != nVerbose) LogMsg( "========================" );
-
- /* Stop EtherCAT bus --> Set Master state to INIT */
- dwRes = ecatSetMasterState(ETHERCAT_STATE_CHANGE_TIMEOUT, eEcatState_INIT);
- if (EC_E_NOERROR != dwRes)
- {
- LogError("Cannot stop EtherCAT-Master! %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- /* Unregister client */
- if (S_dwClntId != 0)
- {
- dwRes = ecatUnregisterClient(S_dwClntId);
- if (EC_E_NOERROR != dwRes)
- {
- LogError("Cannot unregister client! %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- S_dwClntId = 0;
- }
-
-#if (defined DEBUG) && (defined XENOMAI)
- /* Disable PRIMARY to SECONDARY MODE switch warning */
- dwRes = rt_task_set_mode(T_WARNSW, 0, NULL);
- if (dwRes != 0)
- {
- OsDbgMsg("OsCreateThread: rt_task_set_mode returned error %d\n", dwRes);
- OsDbgAssert(EC_FALSE);
- }
-#endif /* XENOMAI */
-
- /* Shutdown tEcJobTask */
- S_DemoThreadParam.bJobThreadShutdown = EC_TRUE;
- oTimeout.Start(2000);
- while (S_DemoThreadParam.bJobThreadRunning && !oTimeout.IsElapsed())
- {
- OsSleep(10);
- }
- if (S_pvtJobThread != EC_NULL)
- {
- OsDeleteThreadHandle(S_pvtJobThread);
- S_pvtJobThread = EC_NULL;
- }
-#ifdef TTS
- maxJitter= deInitTTS(emachandle2);
-#endif
- /* Deinitialize master */
- dwRes = ecatDeinitMaster();
- if (EC_E_NOERROR != dwRes)
- {
- LogError("Cannot de-initialize EtherCAT-Master! %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
-#ifdef ATEMRAS_SERVER
- /* Stop RAS server */
- if (S_bRasSrvStarted)
- {
- LogMsg("Stop Remote Api Server\n");
-
- if (EC_E_NOERROR != emRasSrvStop(S_pvRemoteApiSrvH, 2000))
- {
- LogError("Remote API Server shutdown failed\n");
- }
- }
-#endif
- if (S_bEnaPerfJobs)
- {
- PERF_MEASURE_JOBS_DEINIT();
- }
- /* delete notification context */
- SafeDelete(pNotification);
-
- return dwRetVal;
-}
-
-
-/********************************************************************************/
-/** \brief Trigger jobs to drive master, and update process data.
-*
-* \return N/A
-*/
-static EC_T_VOID tEcJobTask(EC_T_VOID* pvThreadParamDesc)
-{
- EC_T_DWORD dwRes = EC_E_ERROR;
- T_DEMO_THREAD_PARAM* pDemoThreadParam = (T_DEMO_THREAD_PARAM*)pvThreadParamDesc;
- EC_T_CPUSET CpuSet;
- EC_T_BOOL bPrevCycProcessed = EC_FALSE;
- EC_T_INT nOverloadCounter = 0; /* counter to check if cycle time is to short */
- EC_T_BOOL bOk;
-
- EC_CPUSET_ZERO(CpuSet);
- EC_CPUSET_SET(CpuSet, pDemoThreadParam->dwCpuIndex);
- bOk = OsSetThreadAffinity(EC_NULL, CpuSet);
- if (!bOk)
- {
- LogError("Error: Set job task affinitiy, invalid CPU index %d\n", pDemoThreadParam->dwCpuIndex);
- goto Exit;
- }
-
- /* Start periodic task right before where it is used,
- * otherwise, OsSleepTillTick() might fail if this thread is suspended before being able to call OsMakeThreadPeriodic() */
-#if (defined XENOMAI)
- OsMakeThreadPeriodic(rt_task_self(), pDemoThreadParam->dwBusCycleTimeUsec);
-#endif
-
- /* demo loop */
- pDemoThreadParam->bJobThreadRunning = EC_TRUE;
- do
- {
- /* wait for next cycle (event from scheduler task) */
-#ifdef TTS
- if(!ttsInitCompleted)
- {
- init_ok=initTTS(emachandle2, (uint32_t)(pDemoThreadParam->dwBusCycleTimeUsec));
- if(init_ok == 0)
- {
- ttsInitCompleted = EC_TRUE;
- }
- }
- ICSS_EMAC_osalPendLock(ttsP1TxSem, SemaphoreP_WAIT_FOREVER);
-
-#else
-#if (defined RTAI) || (defined XENOMAI)
- OsSleepTillTick(); /* period is set after creating jobtask */
-#else
- OsWaitForEvent(pDemoThreadParam->pvTimingEvent, EC_WAITINFINITE);
-#endif /* !RTAI && !XENOMAI*/
-#endif //TTS
-
- PERF_JOB_END(PERF_CycleTime);
- PERF_JOB_START(PERF_CycleTime);
-
- /* process all received frames (read new input values) */
- PERF_JOB_START(JOB_ProcessAllRxFrames);
- dwRes = ecatExecJob( eUsrJob_ProcessAllRxFrames, &bPrevCycProcessed );
- if (EC_E_NOERROR != dwRes && EC_E_INVALIDSTATE != dwRes && EC_E_LINK_DISCONNECTED != dwRes)
- {
- LogError("ERROR: ecatExecJob( eUsrJob_ProcessAllRxFrames): %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- PERF_JOB_END(JOB_ProcessAllRxFrames);
-
- if (EC_E_NOERROR == dwRes)
- {
- if (!bPrevCycProcessed)
- {
- /* it is not reasonable, that more than 5 continuous frames are lost */
- nOverloadCounter += 10;
- if (nOverloadCounter >= 50)
- {
- LogError( "Error: System overload: Cycle time too short or huge jitter!" );
- }
- else
- {
- LogError( "eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!" );
- }
- }
- else
- {
- /* everything o.k.? If yes, decrement overload counter */
- if (nOverloadCounter > 0) nOverloadCounter--;
- }
- }
-
- /*****************************************************/
- /* Demo code: Remove/change this in your application: Working process data cyclic call */
- /*****************************************************/
- PERF_JOB_START(PERF_myAppWorkpd);
- myAppWorkpd(pDemoThreadParam->pLogInst, pDemoThreadParam->pNotInst->Verbose(), ecatGetProcessImageInputPtr(), ecatGetProcessImageOutputPtr());
- PERF_JOB_END(PERF_myAppWorkpd);
-
- /* write output values of current cycle, by sending all cyclic frames */
- PERF_JOB_START(JOB_SendAllCycFrames);
- dwRes = ecatExecJob( eUsrJob_SendAllCycFrames, EC_NULL );
- if (EC_E_NOERROR != dwRes && EC_E_INVALIDSTATE != dwRes && EC_E_LINK_DISCONNECTED != dwRes)
- {
- LogError("ecatExecJob( eUsrJob_SendAllCycFrames, EC_NULL ): %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- PERF_JOB_END(JOB_SendAllCycFrames);
-
- /* remove this code when using licensed version */
- if (EC_E_EVAL_EXPIRED == dwRes )
- {
- bRun = EC_FALSE; /* set shutdown flag */
- }
-
- /* Execute some administrative jobs. No bus traffic is performed by this function */
- PERF_JOB_START(JOB_MasterTimer);
- dwRes = ecatExecJob(eUsrJob_MasterTimer, EC_NULL);
- if (EC_E_NOERROR != dwRes && EC_E_INVALIDSTATE != dwRes)
- {
- LogError("ecatExecJob(eUsrJob_MasterTimer, EC_NULL): %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- PERF_JOB_END(JOB_MasterTimer);
-
- /* send queued acyclic EtherCAT frames */
- PERF_JOB_START(JOB_SendAcycFrames);
- dwRes = ecatExecJob(eUsrJob_SendAcycFrames, EC_NULL);
- if (EC_E_NOERROR != dwRes && EC_E_INVALIDSTATE != dwRes && EC_E_LINK_DISCONNECTED != dwRes)
- {
- LogError("ecatExecJob(eUsrJob_SendAcycFrames, EC_NULL): %s (0x%lx)", ecatGetText(dwRes), dwRes);
- }
- PERF_JOB_END(JOB_SendAcycFrames);
-
-#if !(defined NO_OS)
- } while (!pDemoThreadParam->bJobThreadShutdown);
-
- PERF_MEASURE_JOBS_SHOW();
-
- pDemoThreadParam->bJobThreadRunning = EC_FALSE;
-#else
- /* in case of NO_OS the job task function is called cyclically within the timer ISR */
- } while (EC_FALSE);
- pDemoThreadParam->bJobThreadRunning = !pDemoThreadParam->bJobThreadShutdown;
-#endif
-
-Exit:
-#if (defined EC_VERSION_RTEMS)
- rtems_task_delete(RTEMS_SELF);
-#endif
- return;
-}
-
-/********************************************************************************/
-/** \brief Handler for master notifications
-*
-* \return Status value.
-*/
-static EC_T_DWORD ecatNotifyCallback(
- EC_T_DWORD dwCode, /**< [in] Notification code */
- EC_T_NOTIFYPARMS* pParms /**< [in] Notification parameters */
- )
-{
- EC_T_DWORD dwRetVal = EC_E_NOERROR;
- CEmNotification* pNotifyInstance;
-
- if ((EC_NULL == pParms)||(EC_NULL==pParms->pCallerData))
- {
- dwRetVal = EC_E_INVALIDPARM;
- goto Exit;
- }
-
- /* notification for application ? */
- if ((dwCode >= EC_NOTIFY_APP) && (dwCode <= EC_NOTIFY_APP+EC_NOTIFY_APP_MAX_CODE))
- {
- /*****************************************************/
- /* Demo code: Remove/change this in your application */
- /* to get here the API ecatNotifyApp(dwCode, pParms) has to be called */
- /*****************************************************/
- dwRetVal = myAppNotify(dwCode-EC_NOTIFY_APP, pParms);
- }
- else
- {
- pNotifyInstance = (CEmNotification*)pParms->pCallerData;
-
- /* call the default handler */
- dwRetVal = pNotifyInstance->ecatNotify(dwCode, pParms);
- }
-
-Exit:
- return dwRetVal;
-}
-
-
-/********************************************************************************/
-/** \brief Handler for master RAS notifications
-*
-*
-* \return Status value.
-*/
-#ifdef ATEMRAS_SERVER
-static EC_T_DWORD RasNotifyWrapper(
- EC_T_DWORD dwCode,
- EC_T_NOTIFYPARMS* pParms
- )
-{
- EC_T_DWORD dwRetVal = EC_E_NOERROR;
- CEmNotification* pNotInst = EC_NULL;
-
- if ((EC_NULL == pParms)||(EC_NULL==pParms->pCallerData))
- {
- dwRetVal = EC_E_INVALIDPARM;
- goto Exit;
- }
-
- pNotInst = (CEmNotification*)(pParms->pCallerData);
- dwRetVal = pNotInst->emRasNotify(dwCode, pParms);
-Exit:
-
- return dwRetVal;
-}
-#endif
-
-/*-MYAPP---------------------------------------------------------------------*/
-#define MBX_TIMEOUT 5000
-
-#define EL4132_INDEX_USER_SCALE 0x40A2
-#define EL4132_SUBINDEX_USRSCL_NUMELEM 0
-#define EL4132_SUBINDEX_USRSCL_OFFSET 1
-#define EL4132_SUBINDEX_USRSCL_GAIN 2
-
-#define DEMO_MAX_NUM_OF_SLAVES 5
-#define SLAVE_NOT_FOUND 0xFFFF
-static EC_T_DWORD S_dwAppFoundSlaves = 0;
-static EC_T_CFG_SLAVE_INFO S_aSlaveList[DEMO_MAX_NUM_OF_SLAVES];
-static EC_T_DWORD S_dwSlaveIdx14 = SLAVE_NOT_FOUND;
-static EC_T_DWORD S_dwSlaveIdx24 = SLAVE_NOT_FOUND;
-static EC_T_DWORD S_dwSlaveIdx4132 = SLAVE_NOT_FOUND;
-static EC_T_DWORD S_dwSlaveIdxETCio100 = SLAVE_NOT_FOUND;
-
-/***************************************************************************************************/
-/**
-\brief Initialize Application
-
-\return EC_E_NOERROR on success, error code otherwise.
-*/
-static EC_T_DWORD myAppInit(
- CAtEmLogging* poLog, /* [in] Logging instance */
- EC_T_INT nVerbose /* [in] Verbosity level */
- )
-{
- EC_UNREFPARM(poLog);
- EC_UNREFPARM(nVerbose);
-
- S_dwAppFoundSlaves = 0;
- OsMemset(S_aSlaveList, 0, DEMO_MAX_NUM_OF_SLAVES*sizeof(EC_T_CFG_SLAVE_INFO));
- S_dwSlaveIdx14 = SLAVE_NOT_FOUND;
- S_dwSlaveIdx24 = SLAVE_NOT_FOUND;
- S_dwSlaveIdx4132 = SLAVE_NOT_FOUND;
- S_dwSlaveIdxETCio100 = SLAVE_NOT_FOUND;
-
- return EC_E_NOERROR;
-}
-
-/***************************************************************************************************/
-/**
-\brief Initialize Slave Instance.
-
-Find slave parameters.
-\return EC_E_NOERROR on success, error code otherwise.
-*/
-static EC_T_DWORD myAppPrepare(
- CAtEmLogging* poLog, /* [in] Logging instance */
- EC_T_INT nVerbose /* [in] Verbosity level */
- )
-{
-EC_T_WORD wFixedAddress = 0;
-
- EC_UNREFPARM(nVerbose);
-
- /* Searching for: EL1004, EL1012, EL1014 */
- /* search for the first device at the bus and return its fixed (EtherCAT) address */
- if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL1004, &wFixedAddress))
- {
- S_dwSlaveIdx14 = S_dwAppFoundSlaves;
- }
- else if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL1012, &wFixedAddress))
- {
- S_dwSlaveIdx14 = S_dwAppFoundSlaves;
- }
- else if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL1014, &wFixedAddress))
- {
- S_dwSlaveIdx14 = S_dwAppFoundSlaves;
- }
- if (S_dwSlaveIdx14 != SLAVE_NOT_FOUND)
- {
- S_dwAppFoundSlaves++;
-
- /* now get the offset of this device in the process data buffer and some other infos */
- if (ecatGetCfgSlaveInfo(EC_TRUE, wFixedAddress, &S_aSlaveList[S_dwSlaveIdx14]) != EC_E_NOERROR)
- {
- LogError("ERROR: ecatGetCfgSlaveInfo() returns with error.");
- }
- }
- /* Searching for: EL2002, EL2004, EL2008 */
- /* search for the first device at the bus and return its fixed (EtherCAT) address */
- if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL2008, &wFixedAddress))
- {
- S_dwSlaveIdx24 = S_dwAppFoundSlaves;
- }
- else if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL2004, &wFixedAddress))
- {
- S_dwSlaveIdx24 = S_dwAppFoundSlaves;
- }
- else if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL2002, &wFixedAddress))
- {
- S_dwSlaveIdx24 = S_dwAppFoundSlaves;
- }
- if (S_dwSlaveIdx24 != SLAVE_NOT_FOUND)
- {
- S_dwAppFoundSlaves++;
-
- /* now get the offset of this device in the process data buffer and some other infos */
- if (ecatGetCfgSlaveInfo(EC_TRUE, wFixedAddress, &S_aSlaveList[S_dwSlaveIdx24]) != EC_E_NOERROR)
- {
- LogError("ERROR: ecatGetCfgSlaveInfo() returns with error.");
- }
- }
-
- /* Searching for: EL4132 */
- /* search for the first device at the bus and return its fixed (EtherCAT) address */
- if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_beckhoff, ecprodcode_beck_EL4132, &wFixedAddress))
- {
- S_dwSlaveIdx4132 = S_dwAppFoundSlaves;
- S_dwAppFoundSlaves++;
- /* now get the offset of this device in the process data buffer and some other infos */
- if (ecatGetCfgSlaveInfo(EC_TRUE, wFixedAddress, &S_aSlaveList[S_dwSlaveIdx4132]) != EC_E_NOERROR)
- {
- LogError("ERROR: ecatGetCfgSlaveInfo() returns with error.");
- }
- }
- /* Searching for: IXXAT ETCio100 */
- /* search for the first device at the bus and return its fixed (EtherCAT) address */
- if (FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_ixxat, ecprodcode_ixx_ETCio100, &wFixedAddress))
- {
- S_dwSlaveIdxETCio100 = S_dwAppFoundSlaves;
- S_dwAppFoundSlaves++;
- /* now get the offset of this device in the process data buffer and some other infos */
- if (ecatGetCfgSlaveInfo(EC_TRUE, wFixedAddress, &S_aSlaveList[S_dwSlaveIdxETCio100]) != EC_E_NOERROR)
- {
- LogError("ERROR: ecatGetCfgSlaveInfo() returns with error.");
- }
- }
- return EC_E_NOERROR;
-}
-
-/***************************************************************************************************/
-/**
-\brief Setup slave parameters (normally done in PREOP state
-
- - SDO up- and Downloads
- - Read Object Dictionary
-
-\return EC_E_NOERROR on success, error code otherwise.
-*/
-static EC_T_DWORD myAppSetup(
- CAtEmLogging* poLog, /* [in] Logging instance */
- EC_T_INT nVerbose, /* [in] verbosity level */
- EC_T_DWORD dwClntId /* [in] EtherCAT master client id */
- )
-{
- EC_T_DWORD dwRes = EC_E_ERROR;
- EC_T_CFG_SLAVE_INFO* pMySlave = EC_NULL;
-
- if (S_dwSlaveIdx4132 != SLAVE_NOT_FOUND)
- {
- EC_T_BOOL bStopReading = EC_FALSE; /* Flag to stop object dictionary reading */
- EC_T_BYTE byNumElements;
- EC_T_DWORD dwSize;
- EC_T_WORD wOffsetTmp = 0;
- EC_T_DWORD dwGainTmp = 0;
- EC_T_WORD wOffset;
- EC_T_DWORD dwGain;
-
- pMySlave = &S_aSlaveList[S_dwSlaveIdx4132];
-
- /* demo: simple CoE SDO upload */
- /* - synchronous: block until upload has finished */
- dwRes = ecatCoeSdoUpload(pMySlave->dwSlaveId, EL4132_INDEX_USER_SCALE, EL4132_SUBINDEX_USRSCL_NUMELEM,
- &byNumElements, sizeof(EC_T_BYTE), &dwSize, MBX_TIMEOUT, 0);
-
- if (dwRes == EC_E_NOERROR)
- {
- if (nVerbose >= 2) LogMsg("tEl4132Mbx: EL4132 user scale: num elements = %d", (int)byNumElements);
- }
- else
- {
- LogError("tEl4132Mbx: error in COE SDO Upload! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
-
- dwRes = ecatCoeSdoUpload(pMySlave->dwSlaveId, EL4132_INDEX_USER_SCALE, EL4132_SUBINDEX_USRSCL_OFFSET,
- (EC_T_BYTE*)&wOffsetTmp, sizeof(EC_T_WORD), &dwSize, MBX_TIMEOUT, 0);
- wOffset = EC_NTOHS(wOffsetTmp);
-
- if (dwRes == EC_E_NOERROR)
- {
- if (nVerbose >= 2) LogMsg("tEl4132Mbx: EL4132 offset = 0x%x", (EC_T_DWORD)wOffset);
- }
- else
- {
- LogError("tEl4132Mbx: error in COE SDO Upload! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
-
- dwRes = ecatCoeSdoUpload(pMySlave->dwSlaveId, EL4132_INDEX_USER_SCALE, EL4132_SUBINDEX_USRSCL_GAIN,
- (EC_T_BYTE*)&dwGainTmp, sizeof(EC_T_DWORD), &dwSize, MBX_TIMEOUT, 0);
- dwGain = EC_NTOHL(dwGainTmp);
-
- if (dwRes == EC_E_NOERROR)
- {
- if (nVerbose >= 2) LogMsg("tEl4132Mbx: EL4132 gain = 0x%x", dwGain);
- }
- else
- {
- LogError("tEl4132Mbx: error in COE SDO Upload! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
-
- /* demo: simple CoE SDO download */
- /* - synchronous: block until download has finished */
- wOffset++; /* change user scale offset value */
- if (wOffset > 0x1000)
- {
- wOffset = 0;
- }
- wOffsetTmp = EC_HTONS(wOffset);
- dwRes = ecatCoeSdoDownload(pMySlave->dwSlaveId, EL4132_INDEX_USER_SCALE, EL4132_SUBINDEX_USRSCL_OFFSET,
- (EC_T_BYTE*)&wOffsetTmp, sizeof(EC_T_WORD), MBX_TIMEOUT, 0);
-
- if (dwRes != EC_E_NOERROR)
- {
- LogError("tEl4132Mbx: error in COE SDO Download! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
- dwGain += 0x1000;
- if (dwGain > 0x10000000)
- {
- dwGain = 0;
- }
-
- dwGainTmp = EC_HTONL(dwGain);
- dwRes = ecatCoeSdoDownload(pMySlave->dwSlaveId, EL4132_INDEX_USER_SCALE, EL4132_SUBINDEX_USRSCL_GAIN,
- (EC_T_BYTE*)&dwGainTmp, sizeof(EC_T_DWORD), MBX_TIMEOUT, 0);
-
- if (dwRes != EC_E_NOERROR)
- {
- LogError("tEl4132Mbx: error in COE SDO Download! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
-
- /* now read object dict */
- /* In a real application this is typically not necessary */
- dwRes = CoeReadObjectDictionary(INSTANCE_MASTER_DEFAULT, poLog, nVerbose, &bStopReading, dwClntId, pMySlave->dwSlaveId, EC_TRUE, MBX_TIMEOUT);
- }
- return EC_E_NOERROR;
-}
-
-/***************************************************************************************************/
-/**
-\brief demo application working process data function.
-
- This function is called in every cycle after the the master stack is started.
-
-*/
-static EC_T_DWORD myAppWorkpd(
- CAtEmLogging* poLog, /* [in] Logging instance */
- EC_T_INT nVerbose, /* [in] Verbosity level */
- EC_T_BYTE* pbyPDIn, /* [in] pointer to process data input buffer */
- EC_T_BYTE* pbyPDOut /* [in] pointer to process data output buffer */
- )
-{
- EC_T_CFG_SLAVE_INFO* pMySlave = EC_NULL;
-
- static EC_T_DWORD s_dwWorkpdCnt = 0;
- EC_T_BYTE byVal = 0;
- EC_T_BYTE* pbyVal = EC_NULL;
- EC_T_WORD* pwVal = EC_NULL;
- EC_T_WORD wValue = 0;
-
- EC_UNREFPARM(poLog);
- EC_UNREFPARM(nVerbose);
-
- /* process data are not modified not every cycle */
- s_dwWorkpdCnt++;
- if ((s_dwWorkpdCnt % 100) != 0)
- {
- goto Exit;
- }
- /* Digital input slave available ? */
- if ((S_dwSlaveIdx14 != SLAVE_NOT_FOUND) && (pbyPDIn != EC_NULL))
- {
- static EC_T_BYTE s_byDigInputLastVal = 0;
-
- /* get slave information */
- pMySlave = &S_aSlaveList[S_dwSlaveIdx14];
-
- /* monitor input change if ENI was NOT generated with GenPreopENI */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsIn)
- {
- EC_GETBITS(pbyPDIn, &byVal, pMySlave->dwPdOffsIn, pMySlave->dwPdSizeIn);
- if (byVal != s_byDigInputLastVal)
- {
- if (nVerbose >= 2)
- {
- LogMsg("Input Value updated : Old : 0x%x -> New : 0x%x", s_byDigInputLastVal, byVal);
- s_byDigInputLastVal = byVal;
- }
- }
- }
- }
- /* Digital output device */
- if ((S_dwSlaveIdx24 != SLAVE_NOT_FOUND) && (pbyPDOut != EC_NULL))
- {
- /* get slave information */
- pMySlave = &S_aSlaveList[S_dwSlaveIdx24];
-
- /* flash output if ENI was NOT generated with GenPreopENI */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsOut)
- {
- EC_GETBITS(pbyPDOut, &byVal, pMySlave->dwPdOffsOut, pMySlave->dwPdSizeOut);
- byVal++;
- EC_SETBITS(pbyPDOut, &byVal, pMySlave->dwPdOffsOut, pMySlave->dwPdSizeOut);
- }
- }
-
- /* EL4132 */
- if ((S_dwSlaveIdx4132 != SLAVE_NOT_FOUND) && (pbyPDOut != EC_NULL))
- {
- /* get slave information */
- pMySlave = &S_aSlaveList[S_dwSlaveIdx4132];
-
- /* do some upcounting on channel 1 */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsOut)
- {
- pwVal = (EC_T_WORD*)&pbyPDOut[pMySlave->dwPdOffsOut/8];
- wValue = EC_GET_FRM_WORD(pwVal); /* for big endian systems we have to swap */
- wValue++;
- EC_SET_FRM_WORD(pwVal, wValue);
-
- /* do some downcounting on channel 2 */
- pwVal = (EC_T_WORD*)&pbyPDOut[(pMySlave->dwPdOffsOut+16)/8];
- wValue = EC_GET_FRM_WORD(pwVal); /* for big endian systems we have to swap */
- wValue--;
- EC_SET_FRM_WORD(pwVal, wValue);
- }
- }
- /* IXXAT ETCio100 */
- if ((S_dwSlaveIdxETCio100 != SLAVE_NOT_FOUND) && (pbyPDOut != EC_NULL))
- {
- /* get slave information */
- pMySlave = &S_aSlaveList[S_dwSlaveIdxETCio100];
-
- /* flash digital output if ENI was NOT generated with GenPreopENI */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsOut)
- {
- pbyVal = (EC_T_BYTE*)&pbyPDOut[pMySlave->dwPdOffsOut/8];
- *pbyVal = (EC_T_BYTE)((*pbyVal) + 1);
- }
-
- /* increase analog output 1 if ENI was NOT generated with GenPreopENI */
- /* analog outputs are 12 Bit values at the ETCio 100 */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsOut)
- {
- pwVal = (EC_T_WORD*)&pbyPDOut[(pMySlave->dwPdOffsOut+8)/8];
- wValue = EC_GET_FRM_WORD(pwVal); /* for big endian systems we have to swap */
- wValue = (EC_T_WORD)(wValue + 0x100); /* to get a well measurable value difference modify last value by 0x100 */
- if(wValue & 0xF000) /* 12 Bit value. The 4 highest bits are not relevant for the analog value */
- {
- wValue = 0;
- }
- EC_SET_FRM_WORD(pwVal, wValue);
- }
-
- /* decrease analog output 2 if ENI was NOT generated with GenPreopENI */
- /* analog outputs are 12 Bit values at the ETCio 100 */
- if (((EC_T_DWORD)-1) != pMySlave->dwPdOffsOut)
- {
- pwVal = (EC_T_WORD*)&pbyPDOut[(pMySlave->dwPdOffsOut+24)/8];
- wValue = EC_GET_FRM_WORD(pwVal); /* for big endian systems we have to swap */
- wValue = (EC_T_WORD)(wValue - 0x100); /* to get a well measurable value difference modify last value by 0x100 */
- if(wValue & 0xF000) /* 12 Bit value. The 4 highest bits are not relevant for the analog value */
- {
- wValue = 0x0F00;
- }
- EC_SET_FRM_WORD(pwVal, wValue);
- }
- }
-
-Exit:
- return EC_E_NOERROR;
-}
-
-/***************************************************************************************************/
-/**
-\brief demo application doing some diagnostic tasks
-
- This function is called in sometimes from the main demo task
-*/
-static EC_T_DWORD myAppDiagnosis(
- CAtEmLogging* poLog, /* [in] Logging instance */
- EC_T_INT nVerbose /* [in] Verbosity level */
- )
-{
- EC_T_DWORD dwRes = EC_E_ERROR;
- EC_T_CFG_SLAVE_INFO* pMySlave = EC_NULL;
-
- EC_UNREFPARM(poLog);
- EC_UNREFPARM(nVerbose);
-
- if (S_dwSlaveIdx4132 != SLAVE_NOT_FOUND)
- {
- EC_T_DWORD dwSize = 0;
- EC_T_DWORD dwValue = 0;
-
- pMySlave = &S_aSlaveList[S_dwSlaveIdx4132];
-
- dwRes = ecatCoeSdoUpload(pMySlave->dwSlaveId, 0x1018, 1,
- (EC_T_BYTE*)&dwValue, sizeof(EC_T_DWORD), &dwSize, MBX_TIMEOUT, 0);
-
- if (dwRes != EC_E_NOERROR)
- {
- LogError("myAppDiagnosis: error in COE SDO Upload of object 0x1018! %s (0x%x)", ecatGetText(dwRes), dwRes);
- }
- }
-
- return EC_E_NOERROR;
-}
-
-/********************************************************************************/
-/** \brief Handler for application notifications
-*
-* !!! No blocking API shall be called within this function!!!
-* !!! Function is called by cylic task !!!
-*
-* \return Status value.
-*/
-static EC_T_DWORD myAppNotify(
- EC_T_DWORD dwCode, /* [in] Application notification code */
- EC_T_NOTIFYPARMS* pParms /* [in] Notification parameters */
- )
-{
- EC_T_DWORD dwRetVal = EC_E_ERROR;
-
- EC_UNREFPARM(pParms);
-
- /* dispatch notification code */
- switch(dwCode)
- {
- case 1:
- LogMsg("Application notification code=%d received\n", dwCode);
- /* dwRetVal = EC_E_NOERROR; */
- break;
- case 2:
- break;
- default:
- break;
- }
-
- return dwRetVal;
-}
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemo.h b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemo.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*-----------------------------------------------------------------------------
- * ATEMDemo.h
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master demo header
- *---------------------------------------------------------------------------*/
-
-/*-INCLUDES------------------------------------------------------------------*/
-#include "ATEMDemoConfig.h"
-#include "ecatNotification.h"
-#include "ecatDemoCommon.h"
-#ifdef VXWORKS
-#include "wvLib.h"
-#endif
-
-/*-MACROS--------------------------------------------------------------------*/
-
-/*-DEFINES-------------------------------------------------------------------*/
-#define MAX_LINKLAYER 5
-
-#if (defined EC_SOCKET_SUPPORTED)
-/* the RAS server is necessary to support the EC-Engineer or other remote applications */
- #define ATEMRAS_SERVER
-#endif
-#define REMOTE_WD_TO_LIMIT 10000
-#define REMOTE_CYCLE_TIME 2
-
-/*-FORWARD DECLARATIONS------------------------------------------------------*/
-EC_T_DWORD ATEMDemo(
- CAtEmLogging* poLog
- ,EC_T_CNF_TYPE eCnfType
- ,EC_T_PBYTE pbyCnfData
- ,EC_T_DWORD dwCnfDataLen
- ,EC_T_DWORD dwBusCycleTimeUsec
- ,EC_T_INT nVerbose
- ,EC_T_DWORD dwDuration
- ,EC_T_LINK_PARMS* poLinkParms
- ,EC_T_VOID* pvTimingEvent
- ,EC_T_DWORD dwCpuIndex
- ,EC_T_BOOL bEnaPerfJobs
-#ifdef ATEMRAS_SERVER
- ,EC_T_WORD wServerPort
-#endif
- ,EC_T_LINK_PARMS* poLinkParmsRed
- );
-
-/*--------------------------------------------------------------------------*/
-/* Performance measurements of jobs */
-/* This is only available on CPUs with TSC support */
-/*--------------------------------------------------------------------------*/
-
-#define JOB_ProcessAllRxFrames 0
-#define JOB_SendAllCycFrames 1
-#define JOB_MasterTimer 2
-#define JOB_SendAcycFrames 3
-#define PERF_CycleTime 4
-#define PERF_myAppWorkpd 5
-#define MAX_JOB_NUM 6
-
-#define PERF_MEASURE_JOBS_INIT(msgcb) ecatPerfMeasInit(&S_TscMeasDesc,0,MAX_JOB_NUM,msgcb);ecatPerfMeasEnable(&S_TscMeasDesc)
-#define PERF_MEASURE_JOBS_DEINIT() ecatPerfMeasDeinit(&S_TscMeasDesc)
-#define PERF_MEASURE_JOBS_SHOW() ecatPerfMeasShow(&S_TscMeasDesc,0xFFFFFFFF,S_aszMeasInfo)
-#define PERF_JOB_START(nJobIndex) ecatPerfMeasStart(&S_TscMeasDesc,(EC_T_DWORD)(nJobIndex))
-#define PERF_JOB_END(nJobIndex) ecatPerfMeasEnd(&S_TscMeasDesc,(EC_T_DWORD)(nJobIndex))
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemoConfig.h b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemoConfig.h
+++ /dev/null
@@ -1,214 +0,0 @@
-/*-----------------------------------------------------------------------------
- * ATEMDemoConfig.h
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master demo configuration header
- *---------------------------------------------------------------------------*/
-
-/*-INCLUDES------------------------------------------------------------------*/
-
-
-/*-DEFINES-------------------------------------------------------------------*/
-
-/*********************/
-/* thread priorities */
-/*********************/
-#if defined WIN32 && !defined UNDER_CE && !defined RTOS_32 && !defined UNDER_RTSS
- /* we need to set all threads to the highest possible priority to avoid errors! */
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)THREAD_PRIORITY_TIME_CRITICAL) /* EtherCAT master trigger thread priority */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)THREAD_PRIORITY_TIME_CRITICAL) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)THREAD_PRIORITY_TIME_CRITICAL) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)THREAD_PRIORITY_LOWEST) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)THREAD_PRIORITY_NORMAL)
-#elif (defined UNDER_RTSS)
- #define TIMER_THREAD_PRIO (RT_PRIORITY_MAX-0) /* EtherCAT master trigger thread priority */
- #define JOBS_THREAD_PRIO (RT_PRIORITY_MAX-1) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO (RT_PRIORITY_MAX-2) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO (RT_PRIORITY_MIN) /* EtherCAT message logging thread priority */
- #define LOG_ROLLOVER ((EC_T_WORD)0) /* EtherCAT message logging rollover counter limit */
- #define MAIN_THREAD_PRIO (RT_PRIORITY_MIN)
- #define JOBS_THREAD_STACKSIZE 0x8000
- #define LOG_THREAD_STACKSIZE 0x8000
-#elif (defined RTOS_32)
- #define MAIN_THREAD_PRIO_OFFSET 10
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)64) /* EtherCAT master trigger thread priority */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)63) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)62) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)1 ) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)3+MAIN_THREAD_PRIO_OFFSET)
-#elif (defined QNX6)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)100) /* EtherCAT master trigger thread priority */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)99) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)98) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)40) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)30)
- #define REMOTE_RECV_THREAD_PRIO ((EC_T_DWORD)50) /* slightly higher than logger */
-#elif (defined __RCX__)
- #define REALTIME_PRIORITY_OFFSET TSK_PRIO_2
- #define MAIN_THREAD_PRIO_OFFSET TSK_PRIO_50
- #define TIMER_THREAD_PRIO (0+REALTIME_PRIORITY_OFFSET) /* EtherCAT master trigger thread priority */
- #define JOBS_THREAD_PRIO (1+REALTIME_PRIORITY_OFFSET) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO (2+REALTIME_PRIORITY_OFFSET) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO (5+MAIN_THREAD_PRIO_OFFSET) /* EtherCAT message logging thread priority */
- #define LOG_ROLLOVER ((EC_T_WORD)0) /* EtherCAT message logging rollover counter limit */
- #define MAIN_THREAD_PRIO (MAIN_THREAD_PRIO_OFFSET)
-#elif (defined RTAI)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)99) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)5) /* EtherCAT master job thread priority (tEcJobTask) */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)99) /* EtherCAT master packet receive thread priority (tLOsaL_IST) */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)99) /* EtherCAT message logging thread priority (tAtEmLog) */
-#elif (defined LINUX)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)99) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)98) /* EtherCAT master job thread priority (tEcJobTask) */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)97) /* EtherCAT master packet receive thread priority (tLOsaL_IST) */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)29) /* EtherCAT message logging thread priority (tAtEmLog) */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)39) /* Main thread */
-#elif (defined __INTEGRITY)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)200) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)199) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)198) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)40) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)40)
-#elif (defined __INTIME__)
- /*Priority 0 to 127 Used by the OS for servicing external interrupts. */
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)128) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)129) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)0) /* Is not used for INtime. The receive thread priority is defined by the Interrupt Level */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)200) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)130)
-#elif (defined __TKERNEL)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)2) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)4) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)10)
-#elif (defined EC_VERSION_SYSBIOS)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)12) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)12) /* EtherCAT master job thread priority (tEcJobTask) */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)12) /* EtherCAT master packet receive thread priority (tLOsaL_IST) */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT message logging thread priority (tAtEmLog) */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)2) /* Main thread */
- #if defined SOC_AM572x
- #if defined LINKLAYER_ICSS
- #define DEMO_PARAMETERS "-auxclk 2000 -v 2 -t 10000 -perf " \
- "-icss " \
- "2 " /* Instance 1 or 2*/ \
- "1 " /* mode */ \
- "0" /* Eth port 0 or 1 */ //PC-- for AM572x IDK "0" = PRU2ETH0 (J6) and "1" = PRU2ETH1 (J8)
- #else
- #define DEMO_PARAMETERS "-auxclk 2000 -v 2 -t 10000 -perf " \
- "-cpsw " \
- "1 " /* port PC-- Only tested on port=2. for AM572x IDK "1" = ETH0 (J10) and "2" = ETH1 (J12) */ \
- "1 " /* mode */ \
- "1 " /* priority */ \
- "m " /* master flag */ \
- "am572x-idk " /* reference board */
- #endif
- #else
- #define DEMO_PARAMETERS "-auxclk 2000 -v 2 -t 10000 -perf " \
- "-cpsw " \
- "1 " /* port PC-- for AM572x IDK "0" = ETH0 (J10) and "1" = ETH1 (J12) */ \
- "1 " /* mode */ \
- "1 " /* priority */ \
- "m " /* master flag */ \
- "custom am33XX " /* custom board for AM33xx*/ \
- "1 " /* PHY address */ \
- "1 " /* PHY connection mode: RGMII */ \
- "0 " /* Not use DMA buffers */
- #endif /* SOC_AM57x */
-
-#elif (defined EC_VERSION_RIN32M3)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master job thread priority (tEcJobTask) */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master packet receive thread priority (tLOsaL_IST) */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)14) /* EtherCAT message logging thread priority (tAtEmLog) */
- #define DEMO_PARAMETERS "-auxclk 1000 -t 0 -v 2 -perf -rin32m3"
-#elif (defined EC_VERSION_XILINX_STANDALONE)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master job thread priority (tEcJobTask) */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master packet receive thread priority (tLOsaL_IST) */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)14) /* EtherCAT message logging thread priority (tAtEmLog) */
- #define DEMO_PARAMETERS "-auxclk 1000 -v 2 -t 10000 -perf -rin32m3"
-#elif (defined EC_VERSION_ETKERNEL)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)2) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)4) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)10)
- #define DEMO_PARAMETERS "-b 2000 -fslfec 1 1 sabresd -v 2 -t 10000 -perf"
-#elif (defined EC_VERSION_RZT1)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)2) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)4) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)10)
- #define DEMO_PARAMETERS "-rzt1 1 -v 2 -t 20000 -perf -auxclk 1000"
- #define LOG_THREAD_STACKSIZE 0x2000
-#elif (defined EC_VERSION_RZGNOOS)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)2) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)4) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO ((EC_T_DWORD)10)
- #define DEMO_PARAMETERS "-sheth 1 1 rzg1e -v 3 -t 20000 -perf -auxclk 1000"
- #define LOG_THREAD_STACKSIZE 0x2000
-#elif (defined EC_VERSION_ECOS)
- #define TIMER_THREAD_PRIO ((EC_T_DWORD)1) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO ((EC_T_DWORD)2) /* EtherCAT master job thread priority */
- #define RECV_THREAD_PRIO ((EC_T_DWORD)3) /* EtherCAT master interrupt service thread priority */
- #define LOG_THREAD_PRIO ((EC_T_DWORD)4) /* EtherCAT message logging thread priority */
-#else
-
- #ifdef VXWORKS_NORMAL_PRIO
- #define REALTIME_PRIORITY_OFFSET 60
- #else
- #define REALTIME_PRIORITY_OFFSET 2
- #endif
-
- #define TIMER_THREAD_PRIO (0+REALTIME_PRIORITY_OFFSET) /* EtherCAT master timer task (tEcTimingTask) */
- #define JOBS_THREAD_PRIO (1+REALTIME_PRIORITY_OFFSET) /* EtherCAT master cyclic packet send thread priority */
- #define RECV_THREAD_PRIO (2+REALTIME_PRIORITY_OFFSET) /* EtherCAT master packet receive thread priority */
- #define MBX_THREAD_PRIO (3+REALTIME_PRIORITY_OFFSET) /* mailbox demo thread priority */
-
- #define LOG_THREAD_PRIO (200) /* EtherCAT message logging thread priority */
- #define MAIN_THREAD_PRIO (4+REALTIME_PRIORITY_OFFSET)
- #define REMOTE_RECV_THREAD_PRIO 0
-
-#endif
-#ifndef TIMER_THREAD_STACKSIZE
-#define TIMER_THREAD_STACKSIZE 0x1000
-#endif
-#ifndef JOBS_THREAD_STACKSIZE
-#define JOBS_THREAD_STACKSIZE 0x4000
-#endif
-#ifndef LOG_THREAD_STACKSIZE
-#define LOG_THREAD_STACKSIZE 0x4000
-#endif
-
-/******************/
-/* timer settings */
-/******************/
-#define CYCLE_TIME 1 /* 1 msec */
-#define BASE_PERIOD 1000 /* 1000 usec */
-
-/***********************************************/
-/* static EtherCAT master configuration values */
-/***********************************************/
-#define MASTER_CFG_ECAT_CMD_MAX_RETRIES 5 /* maximum retries to send pending ethercat command frames */
-
-#define MASTER_CFG_EOE_TIMEOUT 1000 /* timeout sending EoE frames */
-#define MASTER_CFG_FOE_BUSY_TIMEOUT 250 /* timeout FoE busy */
-
-#if !(defined EC_DEMO_TINY)
-#define MASTER_CFG_MAX_QUEUED_ETH_FRAMES 32 /* max number of queued frames, 127 = the absolute maximum number */
-#define MASTER_CFG_MAX_SENT_QUFRM_PER_CYC 3 /* max number of queued frames sent with eUsrJob_SendAcycFrames within one cycle */
-#define MASTER_CFG_MAX_SLAVECMD_PER_FRAME 32 /* max number of ecat telegrams per frame (0=maximum possible) */
-#define MASTER_CFG_ECAT_MAX_BUS_SLAVES 256 /* max number of pre-allocated bus slave objects */
-#else /* EC_DEMO_TINY */
-#define MASTER_CFG_MAX_QUEUED_ETH_FRAMES 12 /* max number of queued frames, 127 = the absolute maximum number */
-#define MASTER_CFG_MAX_SENT_QUFRM_PER_CYC 1 /* max number of queued frames sent with eUsrJob_SendAcycFrames within one cycle */
-#define MASTER_CFG_MAX_SLAVECMD_PER_FRAME 3 /* max number of ecat telegrams per frame (0=maximum possible) */
-#define MASTER_CFG_ECAT_MAX_BUS_SLAVES 8 /* max number of pre-allocated bus slave objects */
-#endif /* EC_DEMO_TINY */
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemoMain.cpp b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/ATEMDemoMain.cpp
+++ /dev/null
@@ -1,1908 +0,0 @@
-/*-----------------------------------------------------------------------------
- * ATEMDemoMain.cpp
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master demo main entrypoint
- *---------------------------------------------------------------------------*/
-
-/*-INCLUDES------------------------------------------------------------------*/
-#include <AtEthercat.h>
-#include <EcCommon.h>
-
-#include "ATEMDemo.h"
-#include "selectLinkLayer.h"
-#include "Logging.h"
-
-#if (defined ATEMRAS_SERVER)
-#include <AtEmRasSrv.h>
-#endif
-
-#if (defined WIN32)
- #if (defined UNDER_CE)
- #include "pkfuncs.h"
- #include "nkintr.h"
- #if (_WIN32_WCE >= 0x600)
- #if (defined ECWIN_CE)
- #include <CeWin.h>
- #include <RtosLib.h>
- #else
- #include <AuxClk.h>
- #endif
- #include <VirtIO.h>
- #endif
-
- #elif (defined RTOS_32)
- #ifdef ECWIN_RTOS32
- #include <Rtvmf.h>
- #include <rtk32.h>
- /* STRICT and _CRT_SECURE_NO_WARNINGS will be set again by Rteos.h included by vmfInterface.h */
- #if !(defined _RTEOS_H)
- #undef STRICT
- #undef _CRT_SECURE_NO_WARNINGS
- #endif /* !_RTEOS_H */
- #include <vmfInterface.h>
- #include <RtosLib.h>
- #include <RtosLibFs.h>
-
- /* IP Sockets are always reference by EC-Master for RTOS-32. Link IP stack if available or stubs. */
- #ifdef EC_SOCKET_IP_SUPPORTED
- #pragma comment(lib, "Rtip.lib")
- #pragma comment(lib, "Netvmf.lib")
- #else
- #include <RtipDummy.cpp>
- #endif /* EC_SOCKET_IP_SUPPORTED */
- #else
- #include <rttarget.h>
- #include <rtk32.h>
- #include <clock.h>
- #include <timer.h>
- #endif
- #if (defined ATEMRAS_SERVER) && (defined EC_SOCKET_IP_SUPPORTED) && (defined INCLUDE_RTIP)
- #include <NetRTOS32Init.cpp>
- #endif
- #else /* WINDOWS, RTX, ... */
- #include <warn_dis.h>
- #include <windows.h>
- #include <tchar.h>
- #include <warn_ena.h>
- #endif
-#endif /* WIN32 */
-
-#if (defined VXWORKS)
- #include <vxWorks.h>
- #include <sysLib.h>
- #include <tickLib.h>
-#if ((defined _WRS_VXWORKS_MAJOR) && (defined _WRS_VXWORKS_MINOR) && ( (_WRS_VXWORKS_MAJOR >= 7) || ((_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR >= 5)) ))
-#else
- #include <ifLib.h>
-#endif
-#endif /* VXWORKS */
-
-#if (defined LINUX)
- #include <sys/mman.h>
- #include <sys/utsname.h>
- #include <signal.h>
-#endif /* LINUX */
-
-#if defined __INTEGRITY
- #include <unistd.h>
-#endif
-
-#if (defined __RCX__)
- #include "tlr_includes.h" /* TLR includes */
- #include "AtemDemo_Functionlist.h"
-#endif
-
-#if (defined EC_VERSION_GO32)
-#include <dmpcfg.h>
-#include <io.h>
-#include <irq.h>
-#endif
-
-#if (defined EC_VERSION_RTEMS)
-#include <rtems.h>
-#include <rtems/bdpart.h>
-#include <rtems/fsmount.h>
-#include <rtems/monitor.h>
-#include <rtems/blkdev.h>
-#include <rtems/tod.h>
-#include "RtemsConf.h"
-#endif
-
-#include <stdio.h>
-#include <stdlib.h>
-
-#if (defined XENOMAI)
-#include <execinfo.h> /* for backtracing functions */
-#endif
-
-/*-DEFINES-------------------------------------------------------------------*/
-
-#define LogMsg oLogging.LogMsg
-#define LogError oLogging.LogError
-
-#define COMMAND_LINE_BUFFER_LENGTH 512
-
-#if !defined(ATECAT_DLL)
-/* For operating systems don't supporting dynamic libraries, the link layers */
-/* are linked statically to the application. Select the link layer(s) here */
-#if (defined RTAI)
- #define LINKLAYER_I8254X
-#endif
-#if (defined RTOS_32) || (defined __INTEGRITY) || (defined __TKERNEL)
- #define LINKLAYER_I8254X
-//#define LINKLAYER_I8255X
-//#define LINKLAYER_RTL8139
-//#define LINKLAYER_RTL8169
-#endif
-#if (defined ECWIN_RTOS32)
-/* all link layers are available */
- #define LINKLAYER_I8255X
- #define LINKLAYER_RTL8139
- #define LINKLAYER_RTL8169
-#endif
-#if (defined __RCX__)
- #define LINKLAYER_HNX
-#endif
-#if (defined EC_VERSION_ETKERNEL)
- #define LINKLAYER_FSLFEC
-#endif
-#if (defined EC_VERSION_SYSBIOS)
- #define LINKLAYER_CPSW
-#endif /* EC_VERSION_SYSBIOS */
-#if (defined EC_VERSION_RTEMS)
-//#define RTEMS_USE_TIMER_SERVER
- #define LINKLAYER_I8254X
- #define LINKLAYER_RTL8169
- #define LINKLAYER_CCAT
-#endif /* EC_VERSION_RTEMS */
-
-#if (defined EC_VERSION_ECOS)
- #define LINKLAYER_I8254X
-#endif /* EC_VERSION_ECOS */
-
-#endif /* !ATECAT_DLL */
-
-#if (defined RTAI)
-extern "C" long int G_dwBusCycleTimeUsec;
-/** created from MasterENI.xml with "objcopy -B i386 -I binary -O elf32-i386 MasterENI.xml MasterENI.o" */
-extern EC_T_BYTE MasterENI_xml_data[] asm("_binary_MasterENI_xml_start");
-extern EC_T_BYTE MasterENI_xml_data_size[] asm("_binary_MasterENI_xml_size");
-extern EC_T_BYTE MasterENI_xml_data_end[] asm("_binary_MasterENI_xml_end");
-#define STATIC_MASTERENI_XML_DATA MasterENI_xml_data
-#define STATIC_MASTERENI_XML_DATA_SIZE (size_t)((EC_T_VOID*)MasterENI_xml_data_size)
-#endif /* RTAI */
-
-#if (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RIN32M3) ||\
- (defined EC_VERSION_XILINX_STANDALONE) || (defined EC_VERSION_RZT1) || (defined EC_VERSION_ETKERNEL) ||\
- (defined EC_VERSION_RZGNOOS)
-extern EC_T_BYTE MasterENI_xml_data[];
-extern EC_T_DWORD MasterENI_xml_data_size;
-
-#define STATIC_MASTERENI_XML_DATA MasterENI_xml_data
-#define STATIC_MASTERENI_XML_DATA_SIZE MasterENI_xml_data_size
-#endif
-
-#if (defined EC_VERSION_WINDOWS) || (defined VXWORKS) || ((defined UNDER_CE) && (_WIN32_WCE >= 0x600)) ||\
- (defined UNDER_RTSS) || (defined STARTERWARE_NOOS) ||\
- (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RIN32M3) || (defined EC_VERSION_XILINX_STANDALONE) ||\
- (defined EC_VERSION_RZT1) || (defined EC_VERSION_RZGNOOS) || ((defined LINUX) && (!defined RTAI) && (!defined XENOMAI))
-#define AUXCLOCK_SUPPORTED
-#endif
-
-/*-TYPEDEFS------------------------------------------------------------------*/
-typedef struct _EC_T_TIMING_DESC
-{
- EC_T_VOID* pvTimingEvent; /* event handle */
- EC_T_DWORD dwBusCycleTimeUsec; /* cycle time in usec */
- EC_T_BOOL bShutdown; /* EC_TRUE if aux thread shall shut down */
- EC_T_BOOL bIsRunning; /* EC_TRUE if the aux thread is running */
-#if (defined AUXCLOCK_SUPPORTED)
- EC_T_BOOL bUseAuxClock; /* Either connect to IRQ or use sleep */
- EC_T_VOID* pvAuxClkEvent; /* event handle */
-#endif
- EC_T_DWORD dwCpuIndex; /* SMP systems: CPU index */
-#if ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
- HANDLE hVirtualDrv; /* virtual IO driver handle */
- VI_T_INTERRUPTDESC oIrqDesc; /* Irq descriptor for virtual IO driver */
-#endif
-} EC_T_TIMING_DESC;
-
-/*-GLOBAL VARIABLES-----------------------------------------------------------*/
-volatile EC_T_BOOL bRun = EC_TRUE;
-
-/*-LOCAL FUNCTIONS-----------------------------------------------------------*/
-#if (defined WIN32) && !(defined UNDER_CE)
-/********************************************************************************/
-/** \brief CTRL-C handler.
-*
-* \return N/A
-*/
-static BOOL WINAPI win32CtrlCHandler(DWORD dwCtrlType)
-{
- UNREFERENCED_PARAMETER( dwCtrlType );
-
- bRun = EC_FALSE;
- return TRUE; // don't handle events
-}
-#endif /* WIN32 && !UNDER_CE */
-
-#if (defined VXWORKS)
-/********************************************************************************/
-/** \brief Change VxWorks task priority.
-*
-* \return N/A.
-*/
-EC_T_VOID vxTaskPrioChange( EC_T_CHAR* szTaskName )
-{
-#if (_WRS_VXWORKS_MAJOR < 7) || ! defined(_WRS_VXWORKS_MAJOR)
-int nTid = taskNameToId(szTaskName);
- if (-1 != nTid)
-#else
-TASK_ID nTid = taskNameToId( szTaskName );
- if (ERROR != taskIdVerify(nTid))
-#endif
- {
- int nPrio;
-
- taskPriorityGet( nTid, &nPrio );
- if( nPrio < 10 )
- {
- taskPrioritySet( nTid, nPrio + 10 );
- }
- }
-}
-/********************************************************************************/
-/** \brief VxWorks auxiliary clock ISR.
-*
-* \return N/A.
-*/
-EC_T_VOID vxAuxClkIsr( EC_T_INT nEvent )
-{
- EC_T_VOID* pvEvent = (EC_T_VOID*)nEvent;
- if( EC_NULL != pvEvent )
- {
- OsSetEvent(pvEvent);
- }
-}
-#endif /* VXWORKS */
-
-#if (defined(RTOS_32) && !defined(_WINDLL))
-#if (defined ECWIN_RTOS32)
-static RTFileSystem Console = { RT_FS_CONSOLE, 0, 0, &RTConsoleFileSystem };
-static RTFileSystem LPTFiles = { RT_FS_LPT_DEVICE, 0, 0, &RTLPTFileSystem };
-static RTFileSystem RAMFiles = { RT_FS_FILE, 1 << ('D' - 'A'), 0, &RTRAMFileSystem };
-static RTFileSystem RtosLibFiles = { RT_FS_FILE | RT_FS_IS_DEFAULT, 1 << ('C' - 'A'), 0, &RTRtosLibFileSystem, 0, 0 };
-RTFileSystem * RTFileSystemList[] =
-{
- &Console,
- &LPTFiles,
- &RAMFiles,
- &RtosLibFiles,
- NULL
-};
-#endif /* ECWIN_RTOS32 */
-extern "C" int __rttMaxPCIBusses;
-extern "C" {
- RTK32Config RTKConfig = {
- sizeof(RTK32Config), // StructureSize
-#if MP
- DF_IDLE_HALT | // DriverFlags (MP kernel)
-#endif
- 0, // DriverFlags
- 0, // UserDriverFlags
- RF_PREEMPTIVE | // preemptive
- RF_AUTOINIT | RF_NAMED_WIN32CS,// Flags
- 16*1024, // DefaultTaskStackSize
-#if MP
- 1024, // DefaultIntStackSize
-#else
- 512, // DefaultIntStackSize
-#endif
- 5, // MainPriority
- 0, // DefaultPriority
- 0, // HookedInterrupts (none)
- 256, // TaskStackOverhead
- 0 // TimeSlice (0 == off)
- } ;
-#ifdef _MSC_VER
-extern "C" __declspec(dllexport) void Init(void)
-#else
-extern "C" void __export Init(void)
-#endif
-{
- __rttMaxPCIBusses = 255;
- RTSetFlags(RT_MM_VIRTUAL | RT_CLOSE_FIND_HANDLES, 1);
-#ifdef ECWIN_RTOS32
- RTVmfInit();
- RTVmfExtendHeap();
-#else
- RTCMOSExtendHeap();
-#endif
-}
-}
-#endif /* (RTOS_32 && !_WINDLL) */
-
-#if (defined LINUX) && !(defined RTAI)
-/********************************************************************************/
-/** \brief signal handler.
-*
-* \return N/A
-*/
-static void SignalHandler( int nSignal )
-{
- bRun = EC_FALSE;
-}
-#endif
-
-#if (defined LINUX) && !(defined RTAI) && !(defined XENOMAI)
-/********************************************************************************/
-/** Enable real-time environment
-*
-* Return: EC_E_NOERROR in case of success, EC_E_ERROR in case of failure.
-*/
-EC_T_DWORD EnableRealtimeEnvironment( EC_T_VOID )
-{
- struct utsname SystemName;
- int nMaj, nMin, nSub;
- struct timespec ts;
- int nRetval;
- EC_T_DWORD dwResult = EC_E_ERROR;
- EC_T_BOOL bHighResTimerAvail;
- struct sched_param schedParam;
-
- /* master only tested on >= 2.6 kernel */
- nRetval = uname( &SystemName );
- if (nRetval != 0)
- {
- OsPrintf( "ERROR calling uname(), required Linux kernel >= 2.6\n" );
- dwResult = EC_E_ERROR;
- goto Exit;
- }
- sscanf( SystemName.release, "%d.%d.%d", &nMaj, &nMin, &nSub );
- if (!(((nMaj == 2) && (nMin == 6)) || (nMaj >= 3)))
- {
- OsPrintf( "ERROR - detected kernel = %d.%d.%d, required Linux kernel >= 2.6\n", nMaj, nMin, nSub );
- dwResult = EC_E_ERROR;
- goto Exit;
- }
-
- /* request realtime scheduling for the current process
- * This value is overwritten for each individual task
- */
- schedParam.sched_priority = MAIN_THREAD_PRIO; /* 1 lowest priority, 99 highest priority */
- nRetval = sched_setscheduler( 0, SCHED_FIFO, &schedParam );
- if (nRetval == -1)
- {
- OsPrintf( "ERROR - cannot change scheduling policy!\n"
- "root privilege is required or realtime group has to be joined!\n" );
- goto Exit;
- }
-
- /* disable paging */
- nRetval = mlockall( MCL_CURRENT | MCL_FUTURE );
- if (nRetval == -1)
- {
- OsPrintf( "ERROR - cannot disable paging!\n" );
- dwResult = EC_E_ERROR;
- goto Exit;
- }
-
- /* check if high resolution timers are available */
- if (clock_getres(CLOCK_MONOTONIC, &ts))
- {
- bHighResTimerAvail = EC_FALSE;
- }
- else
- {
- bHighResTimerAvail = !(ts.tv_sec != 0 || ts.tv_nsec != 1);
- }
- if( !bHighResTimerAvail )
- {
- OsPrintf( "WARNING: High resolution timers not available\n" );
- }
-
- /* set type of OsSleep implementation (eSLEEP_USLEEP, eSLEEP_NANOSLEEP or eSLEEP_CLOCK_NANOSLEEP) */
- OsSleepSetType( eSLEEP_CLOCK_NANOSLEEP );
-
- dwResult = EC_E_NOERROR;
-Exit:
- return dwResult;
-}
-#endif /* LINUX && !RTAI && !XENOMAI */
-
-#if (defined XENOMAI)
-static const char *reason_str[] = {
- [SIGDEBUG_UNDEFINED] = "undefined",
- [SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
- [SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
- [SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
- [SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
- [SIGDEBUG_NOMLOCK] = "missing mlockall",
- [SIGDEBUG_WATCHDOG] = "runaway thread",
-};
-
-void warn_upon_switch(int sig, siginfo_t *si, void *context)
-{
- unsigned int reason = si->si_value.sival_int;
- void *bt[32];
- int nentries;
-
- printf("\nSIGDEBUG received, reason %d: %s\n", reason,
- reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
- /* Dump a backtrace of the frame which caused the switch to
- secondary mode: */
- nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
- backtrace_symbols_fd(bt,nentries,fileno(stdout));
-}
-
-
-/********************************************************************************/
-/** Enable real-time environment
-*
-* Return: EC_E_NOERROR in case of success, EC_E_ERROR in case of failure.
-*/
-EC_T_DWORD EnableRealtimeEnvironment( EC_T_VOID )
-{
- int nRetval = 0;
- EC_T_DWORD dwRetVal = EC_E_ERROR;
- struct sigaction sa;
-
- /* Register callback for catching switches to Xenomai secondary mode */
- sigemptyset(&sa.sa_mask);
- sa.sa_sigaction = warn_upon_switch;
- sa.sa_flags = SA_SIGINFO;
- sigaction(SIGDEBUG, &sa, NULL);
-
- /* disable paging */
- nRetval = mlockall( MCL_CURRENT | MCL_FUTURE );
- if (-1 == nRetval)
- {
- OsDbgMsg( "ERROR - cannot disable paging!\n" );
- dwRetVal = EC_E_ERROR;
- goto Exit;
- }
-
- /* this initialization is needed for using rt_printf functions */
- /* rt_print_auto_init(1); */
-
- /* Turns the current Linux task into a native Xenomai task.
- *
- * Using shadow with NULL pointer as RT_TASK is only available in
- * recent Xenomai implementations!
- */
- nRetval = rt_task_shadow(NULL, "tEcMasterDemo", MAIN_THREAD_PRIO, 0);
- if (0 != nRetval)
- {
- printf("ERROR - cannot make the current thread a realtime task (%d)\n", nRetval);
- goto Exit;
- }
-
- /* Disable PRIMARY to SECONDARY MODE switch warning */
- nRetval = rt_task_set_mode(T_WARNSW, 0, NULL);
- if (nRetval != 0)
- {
- OsDbgMsg("OsCreateThread: rt_task_set_mode returned error %d\n", nRetval);
- OsDbgAssert(EC_FALSE);
- }
-
- dwRetVal = EC_E_NOERROR;
-Exit:
- return dwRetVal;
-}
-#endif /* XENOMAI */
-
-#if (defined UNDER_RTSS)
-VOID RTFCNDCL RtxAuxClkIsr(PVOID pvEvent)
-{
- if( EC_NULL != pvEvent )
- {
- OsSetEvent(pvEvent);
- }
-}
-#endif
-
-#if (defined ECWIN_RTOS32)
-/*******************************************************************************
-*
-* RdDbgPortChar - Read character from Debug PORT
-*
-* Return: TRUE if character was available, FALSE if not.
-*/
-BOOL RdDbgPortChar( UINT8* pbyData )
-{
-UINT32 dwNumRead;
-
- vmfVioRead( 0, FALSE, pbyData, 1, &dwNumRead);
- return (dwNumRead == 1);
-}
-
-extern volatile EC_T_BOOL bRun; /* global helper variable to shutdown the application */
-/*-----------------------------------*/
-#define CTRL_C 3
-#define ESC 27
-void tTerminationReq(void)
-{
-UINT8 byData;
-
- /* flush input first */
- while( RdDbgPortChar(&byData) )
- {
- Sleep(1);
- }
- for(;;)
- {
- Sleep(100);
- if( RdDbgPortChar(&byData) )
- {
- if( (byData == CTRL_C) || (byData == ESC) )
- {
- bRun = 0;
- break;
- }
- }
- }
-}
-#endif /* ECWIN_RTOS32 */
-
-#if (defined ECWIN) && !(defined EXCLUDE_ECWIN_SHM)
-/*-----------------------------------*/
-BOOL OpenRtosLibShm(CHAR* szShmName, UINT8** ppbyShm, UINT32* pdwShmSize)
-{
-BOOL bRetVal = FALSE;
-UINT32 dwRes = RTE_SUCCESS;
-UINT32 dwShmId = 0;
-UINT32 dwTotalSize = 0;
-UINT8* pbyShm = EC_NULL;
-UINT32 dwGrantedSize = 0;
-
- dwRes = RtosGetIdByNameA(szShmName, RTOS_ID_SHM, &dwShmId);
- if (RTE_SUCCESS != dwRes)
- {
- goto Exit;
- }
- dwRes = RtosShmTotalSizeGet(dwShmId, &dwTotalSize);
- if (RTE_SUCCESS != dwRes)
- {
- goto Exit;
- }
- dwRes = RtosShmAddrGet(dwShmId, dwTotalSize, &dwGrantedSize, (VOID**)&pbyShm);
- if (RTE_SUCCESS != dwRes)
- {
- goto Exit;
- }
- if (dwTotalSize != dwGrantedSize)
- {
- goto Exit;
- }
- /* no errors */
- *pdwShmSize = dwTotalSize;
- *ppbyShm = pbyShm;
- bRetVal = TRUE;
-
-Exit:
- return bRetVal;
-}
-#endif /* ECWIN && !EXCLUDE_ECWIN_SHM */
-
-#if (defined EC_VERSION_RTEMS)
-/********************************************************************************/
-/** Timer ISR to trigger the job task
-*
-* Return: N/A
-*/
-rtems_timer_service_routine rtemsTimerIsr(rtems_id timerId, EC_T_VOID* pvEvent)
-{
- if(EC_NULL != pvEvent)
- {
- OsSetEvent(pvEvent);
- }
- rtems_timer_reset(timerId);
-}
-/********************************************************************************/
-/** Mount Filesystems
- * required to read ENI-File
- * Maybe extend/change pDevname and fs_table to your needs
- *
- * Return: N/A
-*/
-EC_T_BOOL rtemsMountFilesystems()
-{
- rtems_status_code status = RTEMS_NOT_DEFINED;
- EC_T_BOOL bRes = EC_TRUE;
- EC_T_INT rv;
-
- const char* pDevname[] =
- {
- "/dev/hda",
- "/dev/hdb"
- };
- fstab_t fsTable[] =
- {
- {"/dev/hda1", "/mnt/hda1", "dosfs", RTEMS_FILESYSTEM_READ_WRITE,
- FSMOUNT_MNT_OK | FSMOUNT_MNTPNT_CRTERR | FSMOUNT_MNT_FAILED, 0 },
- {"/dev/hdb1", "/mnt/hdb1", "dosfs", RTEMS_FILESYSTEM_READ_WRITE,
- FSMOUNT_MNT_OK | FSMOUNT_MNTPNT_CRTERR | FSMOUNT_MNT_FAILED, 0 }
- };
- const EC_T_INT nNumDevs = 2;
- /* Register partitions as logical disks */
- for(EC_T_INT i = 0; i < nNumDevs; i++)
- {
- status = rtems_bdpart_register_from_disk(pDevname[i]);
- if(status != RTEMS_SUCCESSFUL && status != RTEMS_INVALID_NUMBER)
- {
- OsDbgMsg("ATEMDemoMain: Failed to register %s\n", pDevname[i]);
- OsDbgMsg("RTEMS returned: %s\n", rtems_status_text(status));
- continue;
- }
- }
- /* Mounts the file systems listed in the file system mount table */
- rv = rtems_fsmount(fsTable, sizeof(fsTable) / sizeof(fsTable[0]), NULL);
- if (rv != 0)
- {
- OsDbgMsg("ATEMDemoMain: cannot mount file system\n");
- bRes = EC_FALSE;
- }
- return bRes;
-}
-
-/********************************************************************************/
-/** Sync Block Device Buffers to write data to the disk media
-*
-* Return: N/A
-*/
-void rtemsSyncBDBuffers(){
- rtems_status_code sc = RTEMS_SUCCESSFUL;
- dev_t dev = (dev_t) -1;
- rtems_disk_device *dd = NULL;
-
- while(sc == RTEMS_SUCCESSFUL && (dd = rtems_disk_next(dev)) != NULL)
- {
- /* Synchronize all modified buffers for device dd */
- sc = rtems_bdbuf_syncdev(dd);
- if( sc != RTEMS_SUCCESSFUL)
- {
- OsDbgMsg("Device: %s sync buffers failed\n", dd->name);
- }
- /* get next dev for rtems_disk_next iterator */
- dev = rtems_disk_get_device_identifier(dd);
- sc = rtems_disk_release(dd);
- }
- /* Sleep a while to be ensure that the buffers are synced */
- OsSleep(5000);
-}
-#endif /* EC_VERSION_RTEMS */
-
-/********************************************************************************/
-/** Show syntax
-*
-* Return: N/A
-*/
-static EC_T_VOID ShowSyntax(EC_T_VOID)
-{
- OsDbgMsg("Syntax:\n");
- OsDbgMsg("EcMasterDemo [-f ENI-FileName] [-t time] [-b time] [-a affinity] [-v lvl] [-perf] [-log Prefix]");
-#if (defined AUXCLOCK_SUPPORTED)
- OsDbgMsg(" [-auxclk period]");
-#endif
-#if (defined ATEMRAS_SERVER)
- OsDbgMsg(" [-sp [port]]");
-#endif
- ShowLinkLayerSyntax1();
- OsDbgMsg(" -f Use given ENI file\n");
- OsDbgMsg(" FileName file name .xml\n");
- OsDbgMsg(" -t Demo duration\n");
- OsDbgMsg(" time Time in msec, 0 = forever (default = 120000)\n");
- OsDbgMsg(" -b Bus cycle time\n");
- OsDbgMsg(" cycle time Cycle time in usec\n");
- OsDbgMsg(" -a CPU affinity\n");
- OsDbgMsg(" affinity 0 = first CPU, 1 = second, ...\n");
- OsDbgMsg(" -v Set verbosity level\n");
- OsDbgMsg(" lvl Level: 0=off, 1(default) ...n=more messages\n");
- OsDbgMsg(" -perf Enable job measurement\n");
- OsDbgMsg(" -log Use given file name prefix for log files\n");
- OsDbgMsg(" Prefix prefix\n");
-#if (defined AUXCLOCK_SUPPORTED)
- OsDbgMsg(" -auxclk use auxiliary clock\n");
- OsDbgMsg(" period clock period in usec\n" );
-#endif
-#if (defined ATEMRAS_SERVER)
- OsDbgMsg(" -sp Server port binding\n");
- OsDbgMsg(" port port (default = %d)\n", ATEMRAS_DEFAULT_PORT);
-#endif
- ShowLinkLayerSyntax2();
-
- return;
-}
-
-#if !(defined RTAI) && !(defined XENOMAI)
-/********************************************************************************/
-/* \brief Set event according to periodical sleep or aux clock
- * Cyclically sets an event for thread synchronization purposes.
- * Either use OsSleep() or use the aux clock by means of:
- * - Enable AUX clock if selected.
- * - Wait for IRQ, aknowledge IRQ, SetEvent in loop until shutdown
- * - Disable AUX clock
- * Return: N/A
- */
-static EC_T_VOID tEcTimingTask( EC_T_VOID* pvThreadParamDesc )
-{
-EC_T_TIMING_DESC* pTimingDesc = (EC_T_TIMING_DESC*)pvThreadParamDesc;
-EC_T_CPUSET CpuSet;
-#if (defined QNX6)
- struct _clockperiod oClockPeriod = {0};
-#elif (defined __INTIME__)
- RTHANDLE hTimingAlarm;
-#endif
-
- EC_CPUSET_ZERO( CpuSet );
- EC_CPUSET_SET( CpuSet, pTimingDesc->dwCpuIndex );
- OsSetThreadAffinity( EC_NULL, CpuSet );
-
-#if ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
- /* enable auxilary clock */
- if (pTimingDesc->bUseAuxClock)
- {
- DWORD dwAuxClkFreq = 1000000 / pTimingDesc->dwBusCycleTimeUsec;
-
- if (!KernelIoControl((DWORD)IOCTL_AUXCLK_ENABLE, &dwAuxClkFreq, sizeof(DWORD), NULL, 0, NULL))
- {
- OsDbgMsg("Error calling KernelIoControl(IOCTL_AUXCLK_ENABLE) (0x%08X)!\n", GetLastError());
- goto Exit;
- }
- }
-#elif (defined QNX6)
- /* Set the clock period to bus cycle time */
- oClockPeriod.nsec = pTimingDesc->dwBusCycleTimeUsec * 1000;
- if(ClockPeriod(CLOCK_REALTIME, &oClockPeriod, EC_NULL, 0) == -1)
- {
- OsPrintf("tEcTimingTask:: Cannot set the clock period! Error %i", errno);
- }
-#elif (defined __INTIME__)
- hTimingAlarm = CreateRtAlarm(KN_REPEATER, pTimingDesc->dwBusCycleTimeUsec);
-#endif
-
- /* timing task started */
- pTimingDesc->bIsRunning = EC_TRUE;
-
- /* periodically generate events as long as the application runs */
- while (!pTimingDesc->bShutdown)
- {
- /* wait for the next cycle */
-#if ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
-
- if (pTimingDesc->bUseAuxClock)
- {
- /* wait for auxclk event */
- OsWaitForEvent(pTimingDesc->pvAuxClkEvent, EC_WAITINFINITE);
-
- if (pTimingDesc->bShutdown)
- {
- /* disable auxilary clock */
- if (!KernelIoControl((DWORD)IOCTL_AUXCLK_DISABLE, NULL, 0, NULL, 0, NULL))
- {
- OsDbgMsg("Error calling KernelIoControl(IOCTL_AUXCLK_DISABLE) (0x%08X)!\n", GetLastError());
- }
- }
- /* Acknowledge the IRQ */
- if (pTimingDesc->hVirtualDrv != NULL)
- {
- DeviceIoControl(pTimingDesc->hVirtualDrv, (DWORD)IOCTL_VIRTDRV_INTERRUPT_DONE, &(pTimingDesc->oIrqDesc), sizeof(VI_T_INTERRUPTDESC), NULL, 0, NULL, NULL );
- }
- }
- else
- {
- /* wait for next cycle (no cycle below 1ms) */
- OsSleep(EC_MAX(pTimingDesc->dwBusCycleTimeUsec / 1000, 1));
- }
- /* UNDER_CE, _WIN32_WCE < 0x600 */
-#elif (defined RTOS_32)
- {
- /* wait for next cycle (sleep of zero allow cycle below 1ms) */
- OsSleep(pTimingDesc->dwBusCycleTimeUsec / 1000);
- }
- /* RTOS_32 */
-#elif (defined QNX6)
- {
- /* wait for next cycle */
- OsSleep(1);
- }
- /* QNX6 */
-#elif (defined __INTIME__)
- {
- WaitForRtAlarm(hTimingAlarm, 2*pTimingDesc->dwBusCycleTimeUsec);
- }
-#else
- {
- /* wait for next cycle (no cycle below 1ms) */
- OsSleep(EC_MAX(pTimingDesc->dwBusCycleTimeUsec / 1000, 1));
- }
-#endif
- /* trigger jobtask */
- OsSetEvent( pTimingDesc->pvTimingEvent );
- }
-
-#if ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
-Exit:
-#endif
-#if (defined __INTIME__)
- if (NULL != hTimingAlarm)
- {
- DeleteRtAlarm(hTimingAlarm);
- }
-#endif
- pTimingDesc->bIsRunning = EC_FALSE;
-#if (defined EC_VERSION_RTEMS)
- rtems_task_delete(RTEMS_SELF);
-#endif
- return;
-}
-#endif /* !RTAI && !XENOMAI */
-
-/********************************************************************************/
-/** \brief Demo Application entry point.
-*
-* \return Value 0 is returned.
-*/
-#if (defined VXWORKS)
-extern "C" int atemDemo(char* lpCmdLine)
-#elif (defined __TKERNEL)
-EXPORT ER main( INT nArgc, char** ppArgv )
-#elif (defined RTOS_32)
-# if (defined _WINDLL)
-# ifdef _MSC_VER
-extern "C" __declspec(dllexport) int main(void)
-# else /* _MSC_VER */
-extern "C" int __export main(void)
-# endif /* else _MSC_VER */
-# else /* _WINDLL */
- int main(void)
-# endif /* else _WINDLL */
-#elif (defined __RCX__)
-TLR_RESULT atemDemo(TLR_VOID FAR* pvInit)
-#elif (defined STARTERWARE_NOOS)
-extern "C" int EcMasterDemo(int nArgc, char* ppArgv[])
-#elif (defined RTAI)
-extern "C" void EcMasterDemoMain(long int t)
-#elif (defined UNDER_CE)
-int _tmain(int nArgc, _TCHAR* ppArgv[])
-#elif (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RIN32M3) || (defined EC_VERSION_XILINX_STANDALONE) ||\
- (defined EC_VERSION_ETKERNEL) || (defined EC_VERSION_RZT1) || (defined EC_VERSION_RZGNOOS)
-extern "C" int EcMasterDemo(void)
-#elif (defined EC_VERSION_UCOS)
-int ucosiiiMain(int nArgc, char** ppArgv)
-#elif (defined EC_VERSION_RTEMS)
-rtems_task Main(rtems_task_argument rtemsArg)
-#else
-/* QNX6, LINUX, __INTEGRITY, ... */
-int main(int nArgc, char* ppArgv[])
-#endif
-{
- int nRetVal = APP_ERROR;
- EC_T_DWORD dwRes = EC_E_ERROR;
- EC_T_BOOL bLogInitialized = EC_FALSE;
- EC_T_CHAR szCommandLine[COMMAND_LINE_BUFFER_LENGTH];
- EC_T_CHAR szFullCommandLine[COMMAND_LINE_BUFFER_LENGTH];
- EC_T_BOOL bGetNextWord = EC_TRUE;
- EC_T_CHAR* ptcWord = EC_NULL;
- EC_T_CHAR tcStorage = '\0';
-
- EC_T_CHAR szLogFileprefix[256] = {'\0'};
- EC_T_CNF_TYPE eCnfType = eCnfType_Unknown;
- EC_T_PBYTE pbyCnfData = 0;
- EC_T_DWORD dwCnfDataLen = 0;
- EC_T_CHAR szENIFilename[256] = {'\0'};
- EC_T_DWORD dwDuration = 120000;
- EC_T_DWORD dwNumLinkLayer = 0;
- EC_T_LINK_PARMS* apLinkParms[MAX_LINKLAYER];
-#ifdef ATEMRAS_SERVER
- EC_T_WORD wServerPort = 0xFFFF;
-#endif
- CAtEmLogging oLogging;
- EC_T_DWORD dwCpuIndex = 0;
- EC_T_CPUSET CpuSet;
- EC_T_BOOL bEnaPerfJobs = EC_FALSE; /* enable job measurements */
- EC_T_TIMING_DESC TimingDesc;
-#if !(defined XENOMAI)
- EC_T_BOOL bStartTimingTask = EC_FALSE;
-#endif
- EC_T_INT nVerbose = 1;
-#if (defined UNDER_CE) && (_WIN32_WCE >= 0x600)
- BOOL bRes = FALSE;
- DWORD dwAuxClkSysIntr = 0;
- DWORD dwWinRes = EC_E_ERROR;
-#endif
-#if (defined UNDER_RTSS)
- HANDLE hTimer = NULL;
- LARGE_INTEGER liTimer;
-#endif
-#if (defined EC_VERSION_RTEMS)
- rtems_id timerId;
- rtems_status_code status;
-#endif /* EC_VERSION_RTEMS */
- OsMemset(apLinkParms, 0, sizeof(apLinkParms));
- OsMemset(&TimingDesc, 0, sizeof(TimingDesc));
-
- szCommandLine[0] = '\0';
-
- /* OS specific initialization */
-#if (defined WIN32) && !(defined UNDER_CE)
- SetConsoleCtrlHandler( (PHANDLER_ROUTINE)win32CtrlCHandler, TRUE );
-#endif
-
-#if (defined RTOS_32)
-#ifdef ECWIN_RTOS32
- RTKernelInit(0);
-#else
- RTKernelInit(4);
- RTCMOSSetSystemTime();
-#endif
- RTKPreemptionsON();
-#if (defined ATEMRAS_SERVER) && (defined EC_SOCKET_IP_SUPPORTED) && (defined INCLUDE_RTIP)
- NetInitialize();
-#endif
-#endif /* RTOS_32 */
-#if (defined ECWIN_RTOS32)
- {
- void* pvReg = NULL;
-
- /* protect memory area at address 0 (detect NULL pointer access) */
- pvReg = NULL;
- RTReserveVirtualAddress(&pvReg, 0x1000, RT_MAP_NO_RELOCATE);
-
- /* start thread waiting for termination request */
- RTKRTLCreateThread( (RTKThreadFunction)tTerminationReq, 64, 0x1000, TF_NO_MATH_CONTEXT, NULL, "tTerminationReq" );
-
- printf( "you can stop the demo by typing CTRL-C or ESCAPE in the debug console\n");
- }
-#endif /* ECWIN_RTOS32 */
-#if (defined ECWIN)
- /* must be call before any RtosLib API call */
- RtosLibInit();
-#endif /* ECWIN */
-
-#if (defined VXWORKS)
- /* change VxWorks standard task priorities to optimize EtherCAT performance */
-#ifndef VXWORKS_NORMAL_PRIO
- vxTaskPrioChange( "tJobTask" );
- vxTaskPrioChange( "tLogTask" );
- vxTaskPrioChange( "tNbioLog" );
- vxTaskPrioChange( "tShell" );
- vxTaskPrioChange( "tShell0" );
- vxTaskPrioChange( "tShellRem1" );
- vxTaskPrioChange( "tShellRem2" );
- vxTaskPrioChange( "tWdbTask" );
- vxTaskPrioChange( "tTelnetd" );
-#endif
-#if ((defined _WRS_VXWORKS_MAJOR) && (defined _WRS_VXWORKS_MINOR) && ( (_WRS_VXWORKS_MAJOR >= 7) || ((_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR >= 5)) ))
- taskPrioritySet( taskNameToId("tNet0"), RECV_THREAD_PRIO );
-#else
- taskPrioritySet( taskNameToId("tNetTask"), RECV_THREAD_PRIO );
-#endif
- /* redirect outputs to target shell console device */
-#if (_WRS_VXWORKS_MAJOR < 7) || ! defined(_WRS_VXWORKS_MAJOR)
- int nTidTargetShell = taskNameToId("tShellRem1");
- if (-1 != nTidTargetShell)
-#else
- TASK_ID nTidTargetShell = taskNameToId("tShellRem1");
- if (ERROR != taskIdVerify(nTidTargetShell))
-#endif
- {
- /* redirect all outputs at the target shell */
- ioGlobalStdSet (STD_OUT, ioTaskStdGet(nTidTargetShell,STD_OUT));
- ioGlobalStdSet (STD_ERR, ioTaskStdGet(nTidTargetShell,STD_ERR));
- }
- /* sysclk always set to 1msec */
- sysClkRateSet(1000);
-#endif /* VXWORKS */
-
-#if (defined LINUX) && !(defined RTAI)
- dwRes = EnableRealtimeEnvironment();
- if (EC_E_NOERROR != dwRes)
- {
- goto Exit;
- }
- {
- sigset_t SigSet;
- int nSigNum = SIGALRM;
- sigemptyset(&SigSet);
- sigaddset(&SigSet, nSigNum);
- sigprocmask(SIG_BLOCK, &SigSet, NULL);
- signal(SIGINT, SignalHandler);
- signal(SIGTERM, SignalHandler);
- }
-#endif /* LINUX && !RTAI */
-
-#if (defined __INTEGRITY)
- WaitForFileSystemInitialization();
-#endif
-
-#if (defined __RCX__)
- ATEMDEMO_STARTUPPARAMETER_T* pStartup = ((ATEMDEMO_STARTUPPARAMETER_T*)pvInit);
-
- TCHAR* lpCmdLine = (TCHAR*)(pStartup->szParamList);
- lpCmdLine = (lpCmdLine==EC_NULL)?(TCHAR*)" ":lpCmdLine;
- tcStorage = *lpCmdLine;
-#endif
-
-#if (defined EC_VERSION_GO32)
- if (!io_Init())
- {
- OsDbgMsg("Fail to initialize Vortex86 I/O library\n");
- nRetVal = APP_ERROR;
- goto Exit;
- }
- if (!irq_Init())
- {
- OsDbgMsg("Fail to initialize Vortex86 IRQ library\n");
- io_Close(); /* Deinit IOs */
- nRetVal = APP_ERROR;
- goto Exit;
- }
-#endif
-
-#if !(defined UNDER_RTSS) && !(defined RTAI)
- /* Seed the random-number generator with current time so that
- * the numbers will be different every time we run.
- */
- srand((unsigned)OsQueryMsecCount());
-#endif
- /* set running flag */
- bRun = EC_TRUE;
-
- /* add hook to log all EtherCAT messages. Without hook no messages will be generated! */
- OsAddDbgMsgHook(CAtEmLogging::OsDbgMsgHookWrapper);
-
- /* Initialize Timing Event descriptor */
- TimingDesc.bShutdown = EC_FALSE;
- TimingDesc.bIsRunning = EC_FALSE;
-#if (defined RTAI)
- TimingDesc.dwBusCycleTimeUsec = G_dwBusCycleTimeUsec;
-#else
- TimingDesc.dwBusCycleTimeUsec = CYCLE_TIME * 1000;
-#endif
-
- /* prepare command line */
-#if (defined VXWORKS)
- OsStrncpy(szCommandLine, lpCmdLine, sizeof(szCommandLine) - 1);
-#elif (defined RTOS_32)
-#if (defined ECWIN_RTOS32)
- {
- VMF_HANDLE hEcatKey;
- VMF_CONFIG_ADDDATA AddData;
- UINT32 dwLength = 0;
-
- dwRes = vmfConfigRegKeyOpenA(VMF_CONFIGREG_HKEY_OS_CURRENT, "Ecat", &hEcatKey);
- if( dwRes == RTE_SUCCESS )
- {
-
- dwLength = sizeof(szCommandLine);
- vmfConfigRegValueQueryA(hEcatKey, "CommandLine", NULL, NULL, (UINT8*)&szCommandLine[0], &dwLength );
- vmfConfigRegKeyClose(hEcatKey);
- }
- if ('\0' == szCommandLine[0])
- {
- /* for compatibility */
- dwLength = sizeof(szCommandLine);
- dwRes = vmfConfigQueryValue( "Ecat", "CommandLine", VMF_CONFIG_SZ_TYPE, (UINT8*)&szCommandLine[0], &dwLength, &AddData);
- if( dwRes != RTE_SUCCESS )
- {
- printf( "Cannot read EtherCAT demo command line, (EcatShm.config)\n" );
- printf( "Please, enter command line (e.g. atemDemo -v 2 -i8255x 1 1):\n" );
- }
- }
- }
-#else
- OsStrncpy(szCommandLine, GetCommandLine(), sizeof(szCommandLine) - 1);
-#endif /* !ECWIN_RTOS32 */
-#elif (defined RTAI)
- OsStrncpy(szCommandLine, "-i8254x 1 1 -v 1 -t 15000 ", sizeof(szCommandLine) - 1);
-#elif (defined __TKERNEL) && (defined __arm__)
- /*-fixed command line for T-Kernel on ARM */
- OsStrncpy(szCommandLine, "-l9218i 1 -v 1 -t 0 -f eni.xml", sizeof(szCommandLine) - 1);
-#elif (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RIN32M3) || (defined EC_VERSION_XILINX_STANDALONE) ||\
- (defined EC_VERSION_ETKERNEL) || (defined EC_VERSION_RZT1) || (defined EC_VERSION_RZGNOOS)
- OsStrncpy(szCommandLine, DEMO_PARAMETERS, sizeof(szCommandLine) - 1);
-#elif (defined EC_VERSION_RTEMS)
- /* copy cmdline without the applications name(first token) */
- OsStrncpy(szCommandLine, strchr(bsp_boot_cmdline,' '),sizeof(szCommandLine) - 1);
-#else
- /* build szCommandLine from argument list */
- {
- EC_T_CHAR* pcStrCur = szCommandLine;
- EC_T_INT nStrRemain = COMMAND_LINE_BUFFER_LENGTH;
-#if (defined UNDER_CE)
- EC_T_CHAR szStrFormat[] = "%S"; /* convert UNICODE to multibyte */
-#else
- EC_T_CHAR szStrFormat[] = "%s";
-#endif
- /* build szCommandLine from argument list, skipping executable name */
- for (nArgc--, ppArgv++; nArgc > 0; nArgc--, ppArgv++)
- {
- EC_T_BOOL bIsFileName = EC_FALSE;
-
- /* insert next argument */
- OsSnprintf(pcStrCur, nStrRemain - 1, szStrFormat, *ppArgv);
-
- /* check for file name */
- if (0 == OsStrcmp(pcStrCur, "-f"))
- {
- bIsFileName = EC_TRUE;
- }
- /* adjust string cursor */
- nStrRemain -= (EC_T_INT)OsStrlen(pcStrCur);
- pcStrCur = pcStrCur + OsStrlen(pcStrCur);
-
- /* insert space */
- OsStrncpy(pcStrCur, " ", nStrRemain - 1); nStrRemain--; pcStrCur++;
-
- if (bIsFileName && (1 < nArgc))
- {
- /* move to next arg (ENI file name) */
- nArgc--; ppArgv++;
-
- /* insert quotation mark */
- OsStrncpy(pcStrCur, "\"", nStrRemain - 1); nStrRemain--; pcStrCur++;
-
- /* insert ENI file name */
- OsSnprintf(pcStrCur, nStrRemain - 1, szStrFormat, *ppArgv); nStrRemain -= (EC_T_INT)OsStrlen(pcStrCur);
- pcStrCur = pcStrCur + OsStrlen(pcStrCur);
-
- /* insert quotation mark */
- OsStrncpy(pcStrCur, "\" ", nStrRemain - 1); nStrRemain--; pcStrCur++;
- }
- }
- }
-#endif
- /* backup full command line */
- OsStrncpy(szFullCommandLine, szCommandLine, sizeof(szFullCommandLine) - 1);
-
- /* parse command line */
- for (ptcWord = OsStrtok(szCommandLine, " "); ptcWord != EC_NULL;)
- {
- if( 0 == OsStricmp( ptcWord, "-f") )
- {
- EC_T_INT nPtcWordIndex = 3;
-
- /* Search for the start of the config file name. The config file
- name may start with quotation marks because of blanks in the filename */
- while(ptcWord[nPtcWordIndex] != '\0')
- {
- if(ptcWord[nPtcWordIndex] == '\"' || ptcWord[nPtcWordIndex] != ' ')
- {
- break;
- }
- nPtcWordIndex++;
- }
-
- /* Depending of a config file name within quotation marks (or without
- quotation marks) extract the filename */
- if(ptcWord[nPtcWordIndex] == '\"')
- {
- /* Check if the strtok position is already correct */
- if(nPtcWordIndex > 3)
- {
- /* More than 1 blank before -f. Correct strtok position. */
- OsStrtok(EC_NULL,"\"");
- }
-
- /* Now extract the config file name */
- ptcWord = OsStrtok(EC_NULL,"\"");
- }
- else
- {
- /* Extract the config file name if it was not set within quotation marks */
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage );
- }
-
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- OsSnprintf(szENIFilename, sizeof(szENIFilename) - 1, "%s", ptcWord);
- }
- else if( 0 == OsStricmp( ptcWord, "-log") )
- {
- EC_T_INT nPtcWordIndex = 4;
-
- /* Search for the start of the config file name. The config file
- name may start with quotation marks because of blanks in the filename */
- while(ptcWord[nPtcWordIndex] != '\0')
- {
- if(ptcWord[nPtcWordIndex] == '\"' || ptcWord[nPtcWordIndex] != ' ')
- {
- break;
- }
- nPtcWordIndex++;
- }
-
- /* Depending of a config file name within quotation marks (or without
- quotation marks) extract the filename */
- if(ptcWord[nPtcWordIndex] == '\"')
- {
- /* Check if the strtok position is already correct */
- if(nPtcWordIndex > 3)
- {
- /* More than 1 blank before -f. Correct strtok position. */
- OsStrtok(EC_NULL,"\"");
- }
-
- /* Now extract the config file name */
- ptcWord = OsStrtok(EC_NULL,"\"");
- }
- else
- {
- /* Extract the config file name if it was not set within quotation marks */
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage );
- }
-
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- OsSnprintf(szLogFileprefix, sizeof(szLogFileprefix) - 1, "%s", ptcWord);
- }
- else if (OsStricmp( ptcWord, "-t") == 0)
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage );
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- dwDuration = OsStrtol(ptcWord, EC_NULL, 0);
- }
- else if( OsStricmp( ptcWord, "-auxclk") == 0)
- {
-#if (defined AUXCLOCK_SUPPORTED)
- TimingDesc.bUseAuxClock = EC_TRUE;
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage);
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- TimingDesc.dwBusCycleTimeUsec = OsStrtol(ptcWord, EC_NULL, 0);
- if( TimingDesc.dwBusCycleTimeUsec < 10 )
- {
- TimingDesc.dwBusCycleTimeUsec = 10;
- }
-#else
- OsDbgMsg( "Auxiliary clock not supported by this operating system!)\n" );
- goto Exit;
-#endif
- }
- else if (OsStricmp( ptcWord, "-b") == 0)
- {
-#if (defined AUXCLOCK_SUPPORTED)
- if( EC_TRUE == TimingDesc.bUseAuxClock )
- {
- OsDbgMsg( "Using bus cycle time %d usec from auxclock parameter\n", TimingDesc.dwBusCycleTimeUsec );
- }
- else
-#endif
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage );
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- TimingDesc.dwBusCycleTimeUsec = OsStrtol(ptcWord, EC_NULL, 0);
- }
- }
- else if (OsStricmp( ptcWord, "-a") == 0)
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage);
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- dwCpuIndex = OsStrtol(ptcWord, EC_NULL, 0);
- }
- else if (OsStricmp( ptcWord, "-v") == 0)
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage);
- if (
- (ptcWord == EC_NULL)
- || (OsStrncmp( ptcWord, "-", 1) == 0)
- )
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- nVerbose = OsStrtol(ptcWord, EC_NULL, 10);
- }
- else if (OsStricmp( ptcWord, "-perf") == 0)
- {
- bEnaPerfJobs = EC_TRUE;
- }
-#if (defined ATEMRAS_SERVER)
- else if( OsStricmp(ptcWord, "-sp") == 0 )
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage);
- if ((ptcWord == NULL) || (OsStrncmp(ptcWord, "-", 1) == 0))
- {
- wServerPort = ATEMRAS_DEFAULT_PORT;
-
- /* optional sub parameter not found, use the current word for the next parameter */
- bGetNextWord = EC_FALSE;
- }
- else
- {
- wServerPort = (EC_T_WORD)OsStrtol(ptcWord, EC_NULL, 10);
- }
- }
-#endif
- else
- {
- dwRes = CreateLinkParmsFromCmdLine(&ptcWord, (EC_T_CHAR**)&szCommandLine, &tcStorage, &bGetNextWord, &apLinkParms[dwNumLinkLayer]);
- if (EC_E_NOERROR != dwRes)
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- if (dwNumLinkLayer > 1)
- {
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
- else
- {
-#ifdef LINUX
- EC_CPUSET_ZERO(CpuSet);
- EC_CPUSET_SET(CpuSet, dwCpuIndex);
- apLinkParms[dwNumLinkLayer]->dwIstPriority = (CpuSet << 16) | RECV_THREAD_PRIO;
-#else
- apLinkParms[dwNumLinkLayer]->dwIstPriority = RECV_THREAD_PRIO;
-#endif
- dwNumLinkLayer++;
- }
- }
- /* get next word */
- if (bGetNextWord)
- {
- ptcWord = GetNextWord((EC_T_CHAR**)&szCommandLine, &tcStorage );
- }
- bGetNextWord = EC_TRUE;
- }
- /* initialize master logging */
-#if (defined ECWIN) && !(defined EXCLUDE_ECWIN_SHM)
- /* if EXCLUDE_ECWIN_SHM is defined, log messages are redirected to file */
- /* if not log messages are directed to shared memory for compatibility */
-#if (defined ECWIN_CE)
- if ('\0' != szLogFileprefix[0])
- {
- bLogFileEnb = EC_FALSE;
- }
- else
- {
- /* legacy log handling */
- }
-#else
- bLogFileEnb = EC_FALSE;
-#endif
-#endif
- oLogging.InitLogging(0, LOG_ROLLOVER, LOG_THREAD_PRIO, dwCpuIndex, szLogFileprefix, LOG_THREAD_STACKSIZE);
- bLogInitialized = EC_TRUE;
-#if !(defined XENOMAI)
- oLogging.SetLogThreadAffinity(dwCpuIndex);
-#endif /* !XENOMAI */
- OsAddDbgMsgHook(CAtEmLogging::OsDbgMsgHookWrapper);
- LogMsg("Full command line: %s\n", szFullCommandLine);
-
-#if (defined ECWIN) && !(defined EXCLUDE_ECWIN_SHM)
- if ('\0' != szLogFileprefix[0])
- {
- BYTE* pbyShm = NULL;
- UINT32 dwShmSize = 0;
- CHAR szShmName[256];
-
- /* get a pointer to the master log */
- OsSnprintf(szShmName, sizeof(szShmName) - 1, "%s.log", szLogFileprefix);
- if (OpenRtosLibShm(szShmName, &pbyShm, &dwShmSize))
- {
- oLogging.SetLogMsgBuf(pbyShm, dwShmSize);
- }
- else
- {
-#if (defined ECWIN_CE)
- LogMsg("Cannot open shared memory '%s', try to use file system\n", szShmName);
-#else
- LogError("Error cannot open shared memory '%s'\n", szShmName);
- return 0;
-#endif
- }
- /* get a pointer to the DCM log */
- OsSnprintf(szShmName, sizeof(szShmName) - 1, "%s_dcm.log", szLogFileprefix);
- if (OpenRtosLibShm(szShmName, &pbyShm, &dwShmSize))
- {
- oLogging.SetLogDcmBuf(pbyShm, dwShmSize);
- }
- else
- {
-#if (defined ECWIN_CE)
- LogMsg("Cannot open shared memory '%s', try to use file system\n", szShmName);
-#else
- LogError("Error cannot open shared memory '%s'\n", szShmName);
- return 0;
-#endif
- }
- }
-#endif /* ECWIN && !EXCLUDE_ECWIN_SHM */
-
- /* determine master configuration type */
-#if (defined ECWIN) && !(defined EXCLUDE_ECWIN_SHM)
-#if (defined ECWIN_RTOS32)
- if ('\0' == szENIFilename[0])
- {
- /* for compatibility */
- OsSnprintf(szENIFilename, sizeof(szENIFilename) - 1, "MasterENI");
- }
-#endif
- if (('\0' == szENIFilename[0]) || ('0' == szENIFilename[0]))
- {
- /* filename is empty or "0" */
- eCnfType = eCnfType_GenPreopENI;
- }
- else
- {
- /* get a pointer to the master log */
- if (OpenRtosLibShm(szENIFilename, &pbyCnfData, &dwCnfDataLen))
- {
- eCnfType = eCnfType_Data;
- }
- else
- {
-#if (defined ECWIN_CE)
- eCnfType = eCnfType_Filename;
- pbyCnfData = (EC_T_BYTE*)&szENIFilename[0];
- dwCnfDataLen = 256;
-
- LogMsg("Cannot open shared memory '%s', try to use file system\n", szENIFilename);
-#else
- if (OsStrncmp(szENIFilename, "MasterENI", 9) == 0)
- {
- /* for compatibility */
- eCnfType = eCnfType_GenPreopENI;
-
- LogMsg("Cannot open shared memory '%s', use auto generated ENI until PreOP\n", szENIFilename);
- }
- else
- {
- LogMsg("Cannot open shared memory '%s'\n", szENIFilename);
-
- return 0;
- }
-#endif
- }
- }
-#elif (defined __RCX__)
- eCnfType = eCnfType_Data;
- pbyCnfData = pStartup->pBecFile;
- dwCnfDataLen = pStartup->dwBecFileLen;
-#else /* default */
- if ('\0' != szENIFilename[0])
- {
- eCnfType = eCnfType_Filename;
- pbyCnfData = (EC_T_BYTE*)&szENIFilename[0];
- dwCnfDataLen = 256;
- }
- else
- {
-#if (defined STATIC_MASTERENI_XML_DATA)
- eCnfType = eCnfType_Data;
- pbyCnfData = STATIC_MASTERENI_XML_DATA;
- dwCnfDataLen = STATIC_MASTERENI_XML_DATA_SIZE;
-#else
- eCnfType = eCnfType_GenPreopENI;
-#endif
- }
-#endif
- if (0 == dwNumLinkLayer)
- {
- OsDbgMsg("Syntax error: missing link layer command line parameter\n");
- nRetVal = SYNTAX_ERROR;
- goto Exit;
- }
-#if !(defined RTAI)
- /* for multi core cpus: select cpu number for this thread */
- EC_CPUSET_ZERO( CpuSet );
- EC_CPUSET_SET( CpuSet, dwCpuIndex );
- if( ! OsSetThreadAffinity(EC_NULL, CpuSet) )
- {
- OsDbgMsg("ERROR: Set Affinity Failed!\n");
- }
-#endif
-#if !(defined RTAI) && !(defined XENOMAI)
- TimingDesc.dwCpuIndex = dwCpuIndex;
-
- /* create timing event to trigger the job task */
- TimingDesc.pvTimingEvent = OsCreateEvent();
- if( EC_NULL == TimingDesc.pvTimingEvent )
- {
- OsDbgMsg("ERROR: insufficient memory to create timing event!\n");
- goto Exit;
- }
-
-#if ((defined LINUX) && (defined AUXCLOCK_SUPPORTED))
- TimingDesc.bUseAuxClock = EC_TRUE;
-#endif /* LINUX && AUXCLOCK_SUPPORTED */
-
-#if (defined AUXCLOCK_SUPPORTED)
- /* initialize auxiliary clock */
- if( EC_TRUE == TimingDesc.bUseAuxClock )
- {
-#if (defined VXWORKS)
- sysAuxClkDisable();
- if (OK != sysAuxClkRateSet(1000000 / TimingDesc.dwBusCycleTimeUsec))
- {
- OsDbgMsg("Error calling sysAuxClkRateSet!\n");
- goto Exit;
- }
- sysAuxClkConnect((FUNCPTR)vxAuxClkIsr, ((EC_T_INT)TimingDesc.pvTimingEvent));
- sysAuxClkEnable( );
- OsSleep(2000);
-
-#elif ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
- /* get auxilary clock sysintr */
- bRes = KernelIoControl((DWORD)IOCTL_AUXCLK_GET_SYSINTR, (DWORD)NULL, (DWORD)0, &dwAuxClkSysIntr, (DWORD)sizeof(DWORD), &dwWinRes);
- if (!bRes)
- {
- OsDbgMsg("Error calling KernelIoControl(IOCTL_AUXCLK_GET_SYSINTR) (0x%08X)!\n", GetLastError());
- goto Exit;
- }
- /* open VirtualDrv for interrupt management */
- TimingDesc.hVirtualDrv = CreateFile(TEXT("VIR1:"),
- GENERIC_READ | GENERIC_WRITE,
- FILE_SHARE_READ | FILE_SHARE_WRITE,
- NULL,
- OPEN_EXISTING,
- FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED,
- INVALID_HANDLE_VALUE);
- if ((TimingDesc.hVirtualDrv == NULL) || (TimingDesc.hVirtualDrv == INVALID_HANDLE_VALUE))
- {
- OsDbgMsg("Error calling CreateFile(""VIR1:"") (0x%08X)!\n", GetLastError());
- TimingDesc.hVirtualDrv = NULL;
- goto Exit;
- }
- /* connect auxilary clock interrupt */
- TimingDesc.oIrqDesc.dwSysIrq = dwAuxClkSysIntr;
- swprintf(TimingDesc.oIrqDesc.szEventName, TEXT("%s"), TEXT("AUXCLK"));
- bRes = DeviceIoControl(TimingDesc.hVirtualDrv, (DWORD)IOCTL_VIRTDRV_INTERRUPT_INIT, &(TimingDesc.oIrqDesc), sizeof(VI_T_INTERRUPTDESC), NULL, 0, NULL, NULL );
- if (!bRes)
- {
- OsDbgMsg("Error calling DeviceIoControl(IOCTL_VIRTDRV_INTERRUPT_INIT) (0x%08X)!\n", GetLastError());
- goto Exit;
- }
- /* create auxilary clock interrupt event */
- TimingDesc.pvAuxClkEvent = (VOID*)CreateEvent(NULL, FALSE, FALSE, TEXT("AUXCLK"));
- if ((TimingDesc.pvAuxClkEvent == NULL) || (TimingDesc.pvTimingEvent == INVALID_HANDLE_VALUE))
- {
- OsDbgMsg("Error creating AuxClk event (0x%08X)!\n", GetLastError());
- TimingDesc.pvAuxClkEvent = NULL;
- goto Exit;
- }
- /* auxiliary clock event handled within timing task */
- bStartTimingTask = EC_TRUE;
-
-#elif (defined UNDER_RTSS)
- hTimer = RtCreateTimer(NULL, 0, RtxAuxClkIsr, (PVOID)TimingDesc.pvTimingEvent, RT_PRIORITY_MAX, CLOCK_2);
- liTimer.QuadPart = (LONGLONG)10*TimingDesc.dwBusCycleTimeUsec;
- RtSetTimerRelative(hTimer, &liTimer, &liTimer);
-#else /* !UNDER_RTSS */
- dwRes = OsAuxClkInit( dwCpuIndex, 1000000 / TimingDesc.dwBusCycleTimeUsec, TimingDesc.pvTimingEvent );
- if( EC_E_NOERROR != dwRes )
- {
- OsDbgMsg( "ERROR at auxiliary clock initialization!\n" );
- goto Exit;
- }
-#endif /* !UNDER_RTSS */
- } // if( EC_TRUE == TimingDesc.bUseAuxClock )
- else
-#endif
- {
-#if (defined RTOS_32)
- CLKSetTimerIntVal( TimingDesc.dwBusCycleTimeUsec );
- RTKDelay( 1 );
-#endif /* RTOS_32 */
-#if !(defined NO_OS)
- bStartTimingTask = EC_TRUE;
-#endif /* !NO_OS */
-
-#if (defined EC_VERSION_RTEMS)
- status = rtems_timer_create(rtems_build_name('E', 'C', 'T', 'T'), &timerId);
- if(RTEMS_SUCCESSFUL != status)
- {
- OsDbgMsg("ATEMDemoMain: cannot create timer\nRTEMS returned: %s\n",
- rtems_status_text(status));
- goto Exit;
- }
-#if (defined RTEMS_USE_TIMER_SERVER)
- status = rtems_timer_initiate_server(TIMER_THREAD_PRIO,TIMER_THREAD_STACKSIZE,0);
- if(RTEMS_SUCCESSFUL != status)
- {
- OsDbgMsg("ATEMDemoMain: cannot initialise timer\nRTEMS returned: %s\n",
- rtems_status_text(status));
- goto Exit;
- }
- status = rtems_timer_server_fire_after(timerId,
- RTEMS_MICROSECONDS_TO_TICKS(TimingDesc.dwBusCycleTimeUsec),
- rtemsTimerIsr, TimingDesc.pvTimingEvent);
-#else
- status = rtems_timer_fire_after(timerId,
- RTEMS_MICROSECONDS_TO_TICKS(TimingDesc.dwBusCycleTimeUsec),
- rtemsTimerIsr, TimingDesc.pvTimingEvent);
-#endif /* RTEMS_USE_TIMER_SERVER */
- if(RTEMS_SUCCESSFUL != status)
- {
- OsDbgMsg("ATEMDemoMain: cannot initialise timer\nRTEMS returned: %s\n",
- rtems_status_text(status));
- goto Exit;
- }
- bStartTimingTask = EC_FALSE; //No timing task needed
-#endif /* EC_VERSION_RTEMS */
- }
- /* create timing task if needed */
- if (bStartTimingTask)
- {
- OsCreateThread( (EC_T_CHAR*)"tEcTimingTask", (EC_PF_THREADENTRY)tEcTimingTask, TIMER_THREAD_PRIO, LOG_THREAD_STACKSIZE, (EC_T_VOID*)&TimingDesc );
- while( !TimingDesc.bIsRunning )
- {
- OsSleep( 1 );
- }
- }
-#endif /* !RTAI && !XENOMAI*/
- OsDbgMsg( "Run demo now with cycle time %d usec\n", TimingDesc.dwBusCycleTimeUsec);
-#if (defined AUXCLOCK_SUPPORTED)
- OsDbgMsg("Using %s\n",
- (TimingDesc.bUseAuxClock ? "AuxClock" : "Sleep"));
-#endif
- dwRes = ATEMDemo( &oLogging,
- eCnfType, pbyCnfData, dwCnfDataLen,
- TimingDesc.dwBusCycleTimeUsec, nVerbose, dwDuration,
- apLinkParms[0],
- TimingDesc.pvTimingEvent, dwCpuIndex,
- bEnaPerfJobs
-#if (defined ATEMRAS_SERVER)
- ,wServerPort
-#endif
- ,((2 == dwNumLinkLayer)?apLinkParms[1]:EC_NULL)
- );
- if (dwRes != EC_E_NOERROR)
- {
- goto Exit;
- }
- /* no errors */
- nRetVal = APP_NOERROR;
-
-Exit:
- if (nRetVal == SYNTAX_ERROR)
- {
- ShowSyntax();
- }
- OsDbgMsg("EcMasterDemo stop.\n");
-#if !(defined VXWORKS)
- if (nRetVal != APP_NOERROR)
- {
- OsSleep(5000);
- }
-#endif
- /* stop timing task if running */
-#if (defined EC_VERSION_RTEMS)
- rtems_timer_delete(timerId);
-#else
- if (EC_TRUE == TimingDesc.bIsRunning)
- {
- TimingDesc.bShutdown = EC_TRUE;
- while( TimingDesc.bIsRunning )
- {
- OsSleep( 1 );
- }
- }
-#endif
-#if (defined AUXCLOCK_SUPPORTED)
- /* clean up auxclk */
- if( TimingDesc.bUseAuxClock )
- {
-#if (defined EC_VERSION_WINDOWS) || (defined LINUX)
- OsAuxClkDeinit(0);
-
-#elif (defined VXWORKS)
- sysAuxClkDisable();
-
-#elif ((defined UNDER_CE) && (_WIN32_WCE >= 0x600))
- if( NULL != TimingDesc.hVirtualDrv )
- {
- /* deinit the auxilary clock interrupt and close the handle to it */
- TimingDesc.oIrqDesc.dwSysIrq = dwAuxClkSysIntr;
- bRes = DeviceIoControl(TimingDesc.hVirtualDrv, (DWORD)IOCTL_VIRTDRV_INTERRUPT_DEINIT, &(TimingDesc.oIrqDesc), sizeof(VI_T_INTERRUPTDESC), NULL, 0, NULL, NULL );
- if (!bRes)
- {
- printf("Error calling DeviceIoControl(IOCTL_VIRTDRV_INTERRUPT_DEINIT) (0x%08X)!\n", GetLastError());
- }
- CloseHandle(TimingDesc.hVirtualDrv);
- TimingDesc.hVirtualDrv = NULL;
- }
- /* Close the AUXCLK-TimingTask synchronization handle */
- if( EC_NULL != TimingDesc.pvAuxClkEvent )
- {
- CloseHandle(TimingDesc.pvAuxClkEvent);
- TimingDesc.pvAuxClkEvent = EC_NULL;
- }
-#elif (defined UNDER_RTSS)
- if (NULL != hTimer)
- {
- RtCancelTimer(hTimer, &liTimer);
- RtDeleteTimer(hTimer);
- }
-#endif
- }
-#endif
- /* delete the timing event */
- if( EC_NULL != TimingDesc.pvTimingEvent )
- {
- OsDeleteEvent( TimingDesc.pvTimingEvent );
- TimingDesc.pvTimingEvent = EC_NULL;
- }
-
- if (bLogInitialized)
- {
- /* de-initialize message logging */
- oLogging.DeinitLogging();
- }
-
- /* final OS layer cleanup */
- OsDeinit();
-
- /* free link parms created by CreateLinkParmsFromCmdLine() */
- for (;dwNumLinkLayer != 0; dwNumLinkLayer--)
- {
- if (EC_NULL != apLinkParms[dwNumLinkLayer-1])
- {
- OsFree(apLinkParms[dwNumLinkLayer-1]);
- apLinkParms[dwNumLinkLayer-1] = EC_NULL;
- }
- }
-
-#if (defined EC_VERSION_GO32)
- irq_Close(); /* close the Vortex86 IRQ library */
- io_Close(); /* close the Vortex86 I/O library */
-#endif
-
-#if (defined EC_VERSION_RTEMS)
- rtemsSyncBDBuffers();
- exit(nRetVal);
-#elif !(defined RTAI)
- return nRetVal;
-#endif
-}
-
-#if (defined EC_VERSION_RTEMS)
-rtems_task Init(rtems_task_argument arg)
-{
- rtems_id Task_id;
- rtems_name Task_name = rtems_build_name('M','A','I','N');
-
- /* read time of day from rtc device and set it to rtems */
- setRealTimeToRTEMS();
- /* Mount file systems */
- rtemsMountFilesystems();
- /* create and start main task */
- rtems_task_create(Task_name, MAIN_THREAD_PRIO,
- RTEMS_MINIMUM_STACK_SIZE * 4, RTEMS_DEFAULT_MODES,
- RTEMS_FLOATING_POINT | RTEMS_DEFAULT_ATTRIBUTES, &Task_id);
- rtems_task_start(Task_id, Main, 1);
-// rtems_monitor_init(0);
- rtems_task_delete( RTEMS_SELF );
-}
-#endif /* EC_VERSION_RTEMS */
-
-/*-Handle static linked link layers -----------------------------------------*/
-#if !defined(ATECAT_DLL)
-#if (defined RTOS_32) || (defined __INTEGRITY) || ((defined __TKERNEL)&& (!defined __arm__)) || (defined __RCX__) || (defined RTAI) || (defined EC_VERSION_ETKERNEL) || (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RTEMS)
-#ifdef __cplusplus
-extern "C"
-{
-#endif /* __cplusplus */
-#include "EcLink.h"
-extern EC_T_DWORD emllRegisterI8255x (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterI8254x (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterRTL8139(EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterRTL8169(EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterHnx (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterCPSW (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterCCAT (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-extern EC_T_DWORD emllRegisterICSS (EC_T_LINK_DRV_DESC* pLinkDrvDesc, EC_T_DWORD dwLinkDrvDescSize);
-
-EC_PF_LLREGISTER OsGetLinkLayerRegFunc(EC_T_CHAR* szDriverIdent)
-{
-EC_PF_LLREGISTER pfLlRegister = EC_NULL;
-
-#if (defined LINKLAYER_I8254X)
- if (0 == OsStrcmp("I8254x", szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterI8254x;
- } else
-#endif
-#if (defined LINKLAYER_I8255X)
- if (0 == OsStrcmp("I8255x", szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterI8255x;
- } else
-#endif
-#if (defined LINKLAYER_RTL8139)
- if (0 == OsStrcmp("RTL8139", szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterRTL8139;
- } else
-#endif
-#if (defined LINKLAYER_RTL8169)
- if (0 == OsStrcmp("RTL8169", szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterRTL8169;
- } else
-#endif
-#if (defined LINKLAYER_HNX)
- if (0 == OsStrcmp("Hnx", szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterHnx;
- } else
-#endif
-#if (defined LINKLAYER_FSLFEC)
- if (0 == OsStrcmp(EC_LINK_PARMS_IDENT_FSLFEC, szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterFslFec;
- } else
-#endif
-#if (defined LINKLAYER_CPSW)
- if (0 == OsStrcmp(EC_LINK_PARMS_IDENT_CPSW, szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterCPSW;
- } else
-#endif
-#if (defined LINKLAYER_ICSS)
- if (0 == OsStrcmp(EC_LINK_PARMS_IDENT_ICSS, szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterICSS;
- } else
-#endif
-#if (defined LINKLAYER_CCAT)
- if (0 == OsStrcmp(EC_LINK_PARMS_IDENT_CCAT, szDriverIdent))
- {
- pfLlRegister = (EC_PF_LLREGISTER)emllRegisterCCAT;
- } else
-#endif
- {
- pfLlRegister = EC_NULL;
- }
- return pfLlRegister;
-}
-#ifdef __cplusplus
-} /* extern "C" */
-#endif /* __cplusplus */
-#endif /* RTOS_32 || __INTEGRITY || __TKERNEL || __RCX__ || RTAI */
-#endif /* !ATECAT_DLL */
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/Logging.cpp b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/Logging.cpp
+++ /dev/null
@@ -1,1263 +0,0 @@
-/*-----------------------------------------------------------------------------
- * Logging.cpp
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master application logging
- *---------------------------------------------------------------------------*/
-
-/*-INCLUDES------------------------------------------------------------------*/
-#include "Logging.h"
-#include "EcError.h"
-#include <string.h>
-#include <stdlib.h>
-
-#ifdef VXWORKS
-#include "vxWorks.h"
-#include "sysLib.h"
-#include "tickLib.h"
-#if ((defined _WRS_VXWORKS_MAJOR) && (defined _WRS_VXWORKS_MINOR) && ( (_WRS_VXWORKS_MAJOR >= 7) || ((_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR >= 5)) ))
-#else
-#include <ifLib.h>
-#endif
-#endif /* VXWORKS */
-
-#if (defined __MET__)
-#include <ConfigerTasks.h>
-#endif
-
-/*-MACROS--------------------------------------------------------------------*/
-/*#define NOPRINTF 1*/
-
-/*-DEFINES-------------------------------------------------------------------*/
-#if !(defined EC_DEMO_TINY)
-
-#define MAX_MESSAGE_SIZE 256 /* maximum size of a single message */
-#define DEFAULT_ERR_MSG_BUFFER_SIZE 500 /* number of buffered messages */
-#define DEFAULT_LOG_MSG_BUFFER_SIZE 1000 /* number of buffered messages */
-#define DEFAULT_DCM_MSG_BUFFER_SIZE 1000 /* number of buffered messages */
-
-#else
-
-#define MAX_MESSAGE_SIZE 100 /* maximum size of a single message */
-#define DEFAULT_ERR_MSG_BUFFER_SIZE 20 /* number of buffered messages */
-#define DEFAULT_LOG_MSG_BUFFER_SIZE 30 /* number of buffered messages */
-#define DEFAULT_DCM_MSG_BUFFER_SIZE 4 /* number of buffered messages */
-
-#endif /* !(defined EC_DEMO_TINY) */
-
-#if (defined UNDER_RTSS) || (defined __INTIME__)
- #define ABSOLUTE_LOG_FILE_PATH "C:\\"
-#else
- #define ABSOLUTE_LOG_FILE_PATH ""
-#endif
-#if (defined EC_VERSION_ECOS)
- #define FILESYS_8_3
-#endif
-
-#ifdef FILESYS_8_3
-#define REM_ERRLOG_FILNAM "rer"
-#define LOC_ERRLOG_FILNAM "er"
-#define REM_MASTER_LOG_FILNAM "rma"
-#define LOC_MASTER_LOG_FILNAM "ma"
-#define REM_DCM_LOG_FILNAM "rdc"
-#define LOC_DCM_LOG_FILNAM "dc"
-#else
-#define REM_ERRLOG_FILNAM "rerror"
-#define LOC_ERRLOG_FILNAM (EC_T_CHAR*)"error"
-#define REM_MASTER_LOG_FILNAM "recmaster"
-#define LOC_MASTER_LOG_FILNAM (EC_T_CHAR*)"ecmaster"
-#define REM_DCM_LOG_FILNAM "rdcmlog"
-#define LOC_DCM_LOG_FILNAM (EC_T_CHAR*)"dcmlog"
-#endif
-
-#if (defined INCLUDE_ATEMRAS)
-#define ERRLOG_FILNAM REM_ERRLOG_FILNAM
-#define MASTER_LOG_FILNAM REM_MASTER_LOG_FILNAM
-#define DCM_LOG_FILNAM REM_DCM_LOG_FILNAM
-#else
-#define ERRLOG_FILNAM LOC_ERRLOG_FILNAM
-#define MASTER_LOG_FILNAM LOC_MASTER_LOG_FILNAM
-#define DCM_LOG_FILNAM LOC_DCM_LOG_FILNAM
-#endif
-
-
-/*-GLOBAL VARIABLES-----------------------------------------------------------*/
-#if (defined VXWORKS) || (defined __TKERNEL) || (defined RTAI)\
- || (defined EC_VERSION_SYSBIOS) || (defined EC_VERSION_RIN32M3) || (defined EC_VERSION_XILINX_STANDALONE)\
- || (defined EC_VERSION_ETKERNEL) || (defined EC_VERSION_RZT1) || (defined EC_VERSION_RZGNOOS) || (defined EC_VERSION_ECOS)
-EC_T_BOOL bLogFileEnb = EC_FALSE;
-#else
-EC_T_BOOL bLogFileEnb = EC_TRUE;
-#endif
-
-/*-LOCAL VARIABLES-----------------------------------------------------------*/
-
-CAtEmLogging* G_pOsDbgMsgLoggingInst = EC_NULL;
-
-
-/*-FORWARD DECLARATIONS------------------------------------------------------*/
-
-
-/***************************************************************************************************/
-/**
-\brief Create CAtEmLogging instance
-
-\return -
-*/
-CAtEmLogging::CAtEmLogging(EC_T_VOID)
-{
- m_pvLogThreadObj = EC_NULL;
- m_bLogTaskRunning = EC_FALSE;
- m_bShutdownLogTask = EC_FALSE;
- m_bDbgMsgHookEnable = EC_TRUE;
- m_bSettling = EC_FALSE;
- m_dwNumMsgsSinceMsrmt = 0;
- m_poInsertMsgLock = EC_NULL;
- m_poProcessMsgLock = EC_NULL;
- m_pchTempbuffer = EC_NULL;
- m_pFirstMsgBufferDesc = EC_NULL;
- m_pLastMsgBufferDesc = EC_NULL;
- m_pAllMsgBufferDesc = EC_NULL;
- m_pErrorMsgBufferDesc = EC_NULL;
- m_pDcmMsgBufferDesc = EC_NULL;
- m_pchLogDir[0] = '\0';
- m_pchLogDir[MAX_PATH_LEN - 1] = '\0';
-}
-
-
-/********************************************************************************/
-/** \brief Initialize logging
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::InitLogging(
- EC_T_DWORD dwMasterID,
- EC_T_WORD wRollOver,
- EC_T_DWORD dwPrio,
- EC_T_DWORD dwCpuIndex,
- EC_T_CHAR* szFilenamePrefix,
- EC_T_DWORD dwStackSize
- )
-{
- EC_T_CPUSET CpuSet;
-#if !(defined XENOMAI)
- EC_T_BOOL bOk;
-#endif
- EC_T_CHAR szLogFilename[256];
-
- if (EC_NULL == G_pOsDbgMsgLoggingInst )
- {
- G_pOsDbgMsgLoggingInst = this;
- }
- m_poInsertMsgLock = OsCreateLockTyped(eLockType_SPIN);
- m_poProcessMsgLock = OsCreateLock();
- m_pchTempbuffer = (EC_T_CHAR*)OsMalloc(2*MAX_MESSAGE_SIZE);
- if (EC_NULL == m_pchTempbuffer)
- {
- LogError("InitLogging: not enough memory for m_pchTempbuffer\n");
- }
-
- /* zero-terminate log msg (snprintf doesn't include this) */
- m_pchTempbuffer[0] = '\0';
- m_pchTempbuffer[2*MAX_MESSAGE_SIZE - 1] = '\0';
-
- if ((EC_NULL != szFilenamePrefix) && ('\0' != szFilenamePrefix[0]))
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s_err", szFilenamePrefix);
- }
- else
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s", ERRLOG_FILNAM);
- }
- m_pErrorMsgBufferDesc = (MSG_BUFFER_DESC*)AddLogBuffer(
- dwMasterID,
- wRollOver,
- DEFAULT_ERR_MSG_BUFFER_SIZE,
- EC_TRUE, /* skip duplicates */
- (EC_T_CHAR*)"Err", /* name of the logging (identification) */
- szLogFilename,
- (EC_T_CHAR*)"log", /* log file extension */
- EC_FALSE, /* print message on console? */
- EC_TRUE ); /* logging with time stamp? */
- if (EC_NULL == m_pErrorMsgBufferDesc)
- {
- LogError("InitLogging: not enough memory for m_pErrorMsgBufferDesc\n");
- }
-
- if ((EC_NULL != szFilenamePrefix) && ('\0' != szFilenamePrefix[0]))
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s", szFilenamePrefix);
- }
- else
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s", MASTER_LOG_FILNAM);
- }
- m_pAllMsgBufferDesc = (MSG_BUFFER_DESC*)AddLogBuffer(
- dwMasterID,
- wRollOver,
- DEFAULT_LOG_MSG_BUFFER_SIZE,
- EC_TRUE, /* skip duplicates */
- (EC_T_CHAR*)"Log", /* name of the logging (identification) */
- szLogFilename,
- (EC_T_CHAR*)"log", /* log file extension */
- EC_TRUE, /* print message on console? */
- EC_TRUE ); /* logging with time stamp? */
- if (EC_NULL == m_pAllMsgBufferDesc)
- {
- LogError("InitLogging: not enough memory for m_pAllMsgBufferDesc\n");
- }
-
- if ((EC_NULL != szFilenamePrefix) && ('\0' != szFilenamePrefix[0]))
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s_dcm", szFilenamePrefix);
- }
- else
- {
- OsSnprintf(szLogFilename, sizeof(szLogFilename) - 1, "%s", DCM_LOG_FILNAM);
- }
- m_pDcmMsgBufferDesc = (MSG_BUFFER_DESC*)AddLogBuffer(
- dwMasterID,
- wRollOver,
- DEFAULT_DCM_MSG_BUFFER_SIZE,
- EC_FALSE, /* do not skip duplicates */
- (EC_T_CHAR*)"DCM", /* name of the logging (identification) */
- szLogFilename,
- (EC_T_CHAR*)"csv", /* log file extension */
- EC_FALSE, /* print message on console? */
- EC_FALSE ); /* logging with time stamp? */
- if (EC_NULL == m_pDcmMsgBufferDesc)
- {
- LogError("InitLogging: not enough memory for m_pDcmMsgBufferDesc\n");
- }
-
- OsDbgAssert(!m_bLogTaskRunning);
- m_bShutdownLogTask = EC_FALSE;
- EC_CPUSET_ZERO(CpuSet);
- EC_CPUSET_SET(CpuSet, dwCpuIndex);
-#ifndef NO_OS
-#if (defined __MET__)
- m_pvLogThreadObj = (EC_T_VOID*)_task_create((EC_T_WORD)0, (EC_T_DWORD)TECAT_LOGGING_INDEX, (EC_T_DWORD)this);
-#elif (defined XENOMAI)
- /* for Xenomai, pass the CPU affinity as upper 16bit of thread priority */
- m_pvLogThreadObj = OsCreateThread( (EC_T_CHAR*)"tAtEmLog", tAtEmLogWrapper, (CpuSet << 16) | dwPrio, dwStackSize, this );
-#else
- m_pvLogThreadObj = OsCreateThread( (EC_T_CHAR*)"tAtEmLog", tAtEmLogWrapper, dwPrio, dwStackSize, this );
-#endif
- while (!m_bLogTaskRunning) OsSleep(1);
-#endif
-
-#if !(defined XENOMAI)
- /* for Xenomai, the CPU affinity is set during task creating, see above */
- bOk = OsSetThreadAffinity( m_pvLogThreadObj, CpuSet );
- if (!bOk)
- {
- LogError("Error: Set log task affinitiy, invalid CPU index %d\n", 0);
- }
-#endif /* !XENOMAI */
-}
-
-/********************************************************************************/
-/** \brief Initialize logging
-*
-* \return message buffer descriptor
-*/
-struct _MSG_BUFFER_DESC* CAtEmLogging::AddLogBuffer(
- EC_T_DWORD dwMasterID,
- EC_T_WORD wRollOver,
- EC_T_DWORD dwBufferSize, /* [in] buffer size (number of buffered messages) */
- EC_T_BOOL bSkipDuplicates, /* [in] EC_TRUE if duplicate messages shall be skipped */
- EC_T_CHAR* szLogName, /* [in] name of the logging (identification) */
- EC_T_CHAR* szLogFilename, /* [in] log filename */
- EC_T_CHAR* szLogFileExt, /* [in] log file extension */
- EC_T_BOOL bPrintConsole, /* [in] print message on console? */
- EC_T_BOOL bPrintTimestamp /* [in] logging with time stamp? */
- )
-{
- EC_T_CHAR szLogFileNameTmp[MAX_PATH_LEN];
- MSG_BUFFER_DESC* pNewMsgBufferDesc = EC_NULL;
- EC_T_BOOL bLocked = EC_FALSE;
- EC_T_BOOL bOk = EC_FALSE;
-
- OsLock( m_poProcessMsgLock );
- bLocked = EC_TRUE;
-
- /* create buffers */
- pNewMsgBufferDesc = (MSG_BUFFER_DESC*)OsMalloc(sizeof(MSG_BUFFER_DESC));
- if (pNewMsgBufferDesc == EC_NULL )
- {
- LogError( "AddLogBuffer: cannot allocate message buffer descriptor\n" );
- goto Exit;
- }
- OsMemset(pNewMsgBufferDesc, 0, sizeof(MSG_BUFFER_DESC));
-
- if (m_pchLogDir[0] != '\0')
- {
- OsSnprintf(szLogFileNameTmp, sizeof(szLogFileNameTmp)-1, "%s%s%d", m_pchLogDir, szLogFilename, dwMasterID);
- }
- else
- {
- OsSnprintf(szLogFileNameTmp, sizeof(szLogFileNameTmp)-1, "%s%s%d", ABSOLUTE_LOG_FILE_PATH, szLogFilename, dwMasterID);
- }
- bOk = InitMsgBuffer( pNewMsgBufferDesc,
- MAX_MESSAGE_SIZE,
- dwBufferSize,
- bSkipDuplicates,
- bPrintConsole,
- bPrintTimestamp,
- szLogFileNameTmp,
- szLogFileExt,
- wRollOver,
- szLogName
- );
- if (!bOk)
- {
- goto Exit;
- }
-
- /* link buffer together */
- if (m_pLastMsgBufferDesc == EC_NULL )
- {
- /* create first buffer */
- OsDbgAssert( m_pFirstMsgBufferDesc == EC_NULL );
- m_pFirstMsgBufferDesc = m_pLastMsgBufferDesc = pNewMsgBufferDesc;
- pNewMsgBufferDesc->pNextMsgBuf = EC_NULL;
- }
- else
- {
- /* append to last buffer */
- OsDbgAssert( m_pLastMsgBufferDesc->pNextMsgBuf == EC_NULL );
- m_pLastMsgBufferDesc->pNextMsgBuf = pNewMsgBufferDesc;
- m_pLastMsgBufferDesc = pNewMsgBufferDesc;
- }
- bOk = EC_TRUE;
-
-Exit:
- if (!bOk)
- {
- if (pNewMsgBufferDesc!=EC_NULL) OsFree(pNewMsgBufferDesc);
- pNewMsgBufferDesc = EC_NULL;
- }
-
- if (bLocked)
- OsUnlock( m_poProcessMsgLock );
- return pNewMsgBufferDesc;
-}
-
-
-/********************************************************************************/
-/** \brief set log message buffer
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::SetMsgBuf(
- MSG_BUFFER_DESC* pMsgBufferDesc,
- EC_T_BYTE* pbyLogMem,
- EC_T_DWORD dwSize )
-{
- pMsgBufferDesc->pbyNextLogMsg = pbyLogMem;
- pMsgBufferDesc->dwLogMemorySize = dwSize;
- pMsgBufferDesc->bLogBufferFull = EC_FALSE;
- pMsgBufferDesc->bNewLine = EC_TRUE;
- OsMemset(pbyLogMem, 0, dwSize);
- pMsgBufferDesc->pbyLogMemory = pbyLogMem; /* initialize last as it will be active immediately after! */
-}
-EC_T_VOID CAtEmLogging::SetLogMsgBuf( EC_T_BYTE* pbyLogMem, EC_T_DWORD dwSize )
-{
- SetMsgBuf( m_pAllMsgBufferDesc, pbyLogMem, dwSize );
-}
-EC_T_VOID CAtEmLogging::SetLogErrBuf( EC_T_BYTE* pbyLogMem, EC_T_DWORD dwSize )
-{
- SetMsgBuf( m_pErrorMsgBufferDesc, pbyLogMem, dwSize );
-}
-EC_T_VOID CAtEmLogging::SetLogDcmBuf( EC_T_BYTE* pbyLogMem, EC_T_DWORD dwSize )
-{
- SetMsgBuf( m_pDcmMsgBufferDesc, pbyLogMem, dwSize );
-}
-
-/********************************************************************************/
-/** \brief De-initialize logging
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::DeinitLogging( EC_T_VOID )
-{
-MSG_BUFFER_DESC* pCurrMsgBuf;
-MSG_BUFFER_DESC* pNextMsgBuf;
-
- if (G_pOsDbgMsgLoggingInst == this)
- {
- G_pOsDbgMsgLoggingInst = EC_NULL;
- }
-
- m_bShutdownLogTask = EC_TRUE;
-
- while (m_bLogTaskRunning) OsSleep(1);
-
- /* shutdown all message buffers */
- pNextMsgBuf = m_pFirstMsgBufferDesc;
- while (EC_NULL != pNextMsgBuf)
- {
- DeinitMsgBuffer(pNextMsgBuf);
- pNextMsgBuf = pNextMsgBuf->pNextMsgBuf;
- }
-
-#if (defined __MET__)
- _task_destroy( (_task_id) m_pvLogThreadObj);
-#else
- OsDeleteThreadHandle(m_pvLogThreadObj);
-#endif
-
- m_pvLogThreadObj = EC_NULL;
-
- /* free all message buffers */
- pNextMsgBuf = m_pFirstMsgBufferDesc;
- while (EC_NULL != pNextMsgBuf)
- {
- pCurrMsgBuf = pNextMsgBuf;
- pNextMsgBuf = pCurrMsgBuf->pNextMsgBuf;
- OsFree(pCurrMsgBuf);
- }
- /* unlink buffers */
- m_pFirstMsgBufferDesc = EC_NULL;
- m_pLastMsgBufferDesc = EC_NULL;
- m_pAllMsgBufferDesc = EC_NULL;
- m_pErrorMsgBufferDesc = EC_NULL;
- m_pDcmMsgBufferDesc = EC_NULL;
-
- OsDeleteLock(m_poInsertMsgLock);
- OsDeleteLock(m_poProcessMsgLock);
- SafeOsFree(m_pchTempbuffer);
- m_pchTempbuffer = EC_NULL;
-}
-
-
-/********************************************************************************/
-/** \brief logging thread
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::tAtEmLogWrapper(EC_T_VOID* pvParm)
-{
- CAtEmLogging *pInst = (CAtEmLogging*)pvParm;
-
- OsDbgAssert(EC_NULL != pInst);
- if (pInst)
- {
- pInst->tAtEmLog(EC_NULL);
- }
-}
-
-
-/********************************************************************************/
-/** \brief cyclically process all messages
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::tAtEmLog(EC_T_VOID* pvParm)
-{
- EC_UNREFPARM(pvParm);
-
- m_bLogTaskRunning = EC_TRUE;
- while (!m_bShutdownLogTask)
- {
- ProcessAllMsgs();
- OsSleep(1);
- }
- ProcessAllMsgs();
- m_bLogTaskRunning = EC_FALSE;
-#if (defined EC_VERSION_RTEMS)
- rtems_task_delete(RTEMS_SELF);
-#endif
-}
-
-EC_T_VOID CAtEmLogging::ProcessAllMsgs(EC_T_VOID)
-{
-MSG_BUFFER_DESC* pNextMsgBuf;
-
- pNextMsgBuf = m_pFirstMsgBufferDesc;
- while (EC_NULL != pNextMsgBuf)
- {
- ProcessMsgs(pNextMsgBuf);
- pNextMsgBuf = pNextMsgBuf->pNextMsgBuf;
- }
-}
-
-/********************************************************************************/
-/** \brief Initialize message buffer
-*
-* \return N/A
-*/
-EC_T_BOOL CAtEmLogging::InitMsgBuffer
-(MSG_BUFFER_DESC* pMsgBufferDesc /* [in] pointer to message buffer descriptor */
-,EC_T_DWORD dwMsgSize /* [in] size of a single message */
-,EC_T_DWORD dwNumMsgs /* [in] number of messages */
-,EC_T_BOOL bSkipDuplicates /* [in] EC_TRUE if duplicate messages shall be skipped */
-,EC_T_BOOL bPrintConsole /* [in] print message on console? */
-,EC_T_BOOL bPrintTimestamp /* [in] logging with time stamp? */
-,EC_T_CHAR* szMsgLogFileName /* [in] message log file name */
-,EC_T_CHAR* szMsgLogFileExt /* [in] message log file name */
-,EC_T_WORD wRollOver /* [in] roll over counter */
-,EC_T_CHAR* szBufferName /* [in] name of the logging buffer */
-)
-{
- EC_T_BOOL bOk = EC_FALSE;
- EC_T_CHAR* pchMsgBuffer = EC_NULL;
- EC_T_DWORD dwBufSiz;
- EC_T_DWORD dwCnt;
-#if (!(defined __RCX__) || (defined __MET__)) && !(defined RTAI)
- EC_T_CHAR szfileNameTemp[MAX_PATH_LEN] = {0};
-#endif
-
- pMsgBufferDesc->dwMsgSize = dwMsgSize;
- pMsgBufferDesc->dwNumMsgs = dwNumMsgs;
- pMsgBufferDesc->bPrintTimestamp = bPrintTimestamp;
- pMsgBufferDesc->bPrintConsole = bPrintConsole;
- pMsgBufferDesc->dwNextEmptyMsgIndex = 0;
- pMsgBufferDesc->dwNextPrintMsgIndex = 0;
- pMsgBufferDesc->wEntryCounter = 0;
- pMsgBufferDesc->pbyLogMemory = EC_NULL;
- pMsgBufferDesc->dwLogMemorySize = 0;
- pMsgBufferDesc->pbyNextLogMsg = EC_NULL;
- pMsgBufferDesc->bLogBufferFull = EC_FALSE;
- pMsgBufferDesc->bSkipDuplicateMessages = bSkipDuplicates;
- pMsgBufferDesc->dwNumDuplicates = 0;
- pMsgBufferDesc->pszLastMsg = EC_NULL;
-
- pMsgBufferDesc->paMsg = (LOG_MSG_DESC*)OsMalloc(dwNumMsgs*sizeof(LOG_MSG_DESC));
- if (pMsgBufferDesc->paMsg == EC_NULL)
- {
- OsPrintf("CAtEmLogging::InitMsgBuffer: cannot get memory for logging buffer '%s'\n", szBufferName);
- goto Exit;
- }
- OsMemset(pMsgBufferDesc->paMsg, 0, dwNumMsgs*sizeof(LOG_MSG_DESC));
-
- dwBufSiz = dwNumMsgs * (dwMsgSize + 1);
- pchMsgBuffer = (EC_T_CHAR*)OsMalloc(dwBufSiz);
- if (pchMsgBuffer == EC_NULL)
- {
- OsPrintf("CAtEmLogging::InitMsgBuffer: cannot get memory for logging buffer '%s'\n", szBufferName);
- goto Exit;
- }
-
- /* Same as below. Needed to prevent false positive from static code analysis. */
- pMsgBufferDesc->paMsg[0].szMsgBuffer = pchMsgBuffer;
-
- OsMemset(pchMsgBuffer,0,dwBufSiz);
- for( dwCnt=0; dwCnt < dwNumMsgs; dwCnt++ )
- {
- pMsgBufferDesc->paMsg[dwCnt].szMsgBuffer = &pchMsgBuffer[dwCnt*(dwMsgSize+1)];
- pMsgBufferDesc->paMsg[dwCnt].bMsgCrLf = EC_TRUE;
- }
-
-#if (defined __RCX__) || (defined __MET__) || (defined RTAI)
- pMsgBufferDesc->pfMsgFile = EC_NULL;
-#else
- pMsgBufferDesc->wLogFileIndex = 0;
- pMsgBufferDesc->wEntryCounterLimit = wRollOver;
- OsStrncpy(pMsgBufferDesc->szMsgLogFileName, szMsgLogFileName, sizeof(pMsgBufferDesc->szMsgLogFileName) - 1);
- OsStrncpy(pMsgBufferDesc->szMsgLogFileExt, szMsgLogFileExt, sizeof(pMsgBufferDesc->szMsgLogFileExt) - 1);
-
- if (0 != pMsgBufferDesc->wEntryCounterLimit )
- {
-#ifdef FILESYS_8_3
- OsSnprintf(szfileNameTemp, sizeof(szfileNameTemp) - 1, "%s_%x.%s", pMsgBufferDesc->szMsgLogFileName, pMsgBufferDesc->wLogFileIndex, pMsgBufferDesc->szMsgLogFileExt);
-#else
- OsSnprintf(szfileNameTemp, sizeof(szfileNameTemp) - 1, "%s.%x.%s", pMsgBufferDesc->szMsgLogFileName, pMsgBufferDesc->wLogFileIndex, pMsgBufferDesc->szMsgLogFileExt);
-#endif
- }
- else
- {
- OsSnprintf(szfileNameTemp, sizeof(szfileNameTemp) - 1, "%s.%s", pMsgBufferDesc->szMsgLogFileName, pMsgBufferDesc->szMsgLogFileExt);
- }
-
- if (bLogFileEnb)
- {
- pMsgBufferDesc->pfMsgFile = OsFopen( szfileNameTemp, "w+" );
- if (pMsgBufferDesc->pfMsgFile == EC_NULL )
- {
-#if !(defined NOPRINTF)
- OsPrintf( "ERROR: cannot create EtherCAT log file %s\n", szfileNameTemp );
-#endif
- OsSleep(3000);
- }
- }
- else
- {
- pMsgBufferDesc->pfMsgFile = EC_NULL;
- pMsgBufferDesc->szMsgLogFileName[0] = 0;
- }
- OsStrncpy(pMsgBufferDesc->szLogName, szBufferName, MAX_PATH_LEN - 1);
-
-#endif
- pMsgBufferDesc->bIsInitialized = EC_TRUE;
- bOk = EC_TRUE;
-
-Exit:
- if (!bOk)
- {
- if (pMsgBufferDesc->paMsg!=EC_NULL)
- {
- OsFree(pMsgBufferDesc->paMsg);
- }
- if (pchMsgBuffer == EC_NULL)
- {
- OsFree(pchMsgBuffer);
- }
- }
- return bOk;
-}
-
-
-/********************************************************************************/
-/** \brief De-Init message buffer
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::DeinitMsgBuffer
-(MSG_BUFFER_DESC* pMsgBufferDesc
-)
-{
-CEcTimer oTimeout;
-
- if (pMsgBufferDesc->bIsInitialized)
- {
- /* let the log task print out all messages */
- if (pMsgBufferDesc->dwNextPrintMsgIndex != pMsgBufferDesc->dwNextEmptyMsgIndex)
- {
- OsPrintf("Store unsaved messages in '%s' message/logging buffer...", pMsgBufferDesc->szLogName);
- oTimeout.Start(3000);
- while (pMsgBufferDesc->dwNextPrintMsgIndex != pMsgBufferDesc->dwNextEmptyMsgIndex)
- {
- ProcessAllMsgs();
- OsSleep(100);
- if (oTimeout.IsElapsed())
- {
- OsPrintf(".");
- oTimeout.Start(3000);
- }
- }
- OsPrintf(" done!\n");
- }
-
- OsFree(pMsgBufferDesc->paMsg[0].szMsgBuffer);
- OsFree(pMsgBufferDesc->paMsg);
-
- if (EC_NULL != pMsgBufferDesc->pfMsgFile)
- {
- OsFclose(pMsgBufferDesc->pfMsgFile);
- }
-
- pMsgBufferDesc->pfMsgFile = EC_NULL;
- pMsgBufferDesc->dwNextEmptyMsgIndex = 0;
- pMsgBufferDesc->dwNextPrintMsgIndex = 0;
- pMsgBufferDesc->bIsInitialized = EC_FALSE;
- pMsgBufferDesc->pbyLogMemory = EC_NULL;
- pMsgBufferDesc->dwLogMemorySize = 0;
- pMsgBufferDesc->pbyNextLogMsg = EC_NULL;
- pMsgBufferDesc->bLogBufferFull = EC_FALSE;
- pMsgBufferDesc->pszLastMsg = EC_NULL;
- }
-}
-
-/********************************************************************************/
-/** \brief Insert a new message into message buffer
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::InsertNewMsg
-(MSG_BUFFER_DESC* pMsgBufferDesc
-,const
- EC_T_CHAR* szFormat
-,EC_T_VALIST vaArgs
-,EC_T_BOOL bDoCrLf
-,EC_T_BOOL bOsDbgMsg
-)
-{
- EC_T_DWORD dwRes = EC_E_NOERROR;
- EC_T_BOOL bBufferFull = EC_FALSE;
- EC_T_DWORD dwTimeStamp = 0;
- LOG_MSG_DESC* pNewMsg = EC_NULL;
-
- if (pMsgBufferDesc == EC_NULL )
- goto Exit;
- if (!pMsgBufferDesc->bIsInitialized)
- {
- dwRes = EC_E_INVALIDSTATE;
- goto Exit;
- }
-
- if (m_bShutdownLogTask )
- goto Exit;
-
- OsLock(m_poInsertMsgLock);
- {
- EC_T_DWORD dwNewNextEmpty = 0;
-
- pNewMsg = &pMsgBufferDesc->paMsg[pMsgBufferDesc->dwNextEmptyMsgIndex];
-
- dwNewNextEmpty = pMsgBufferDesc->dwNextEmptyMsgIndex + 1;
- if (dwNewNextEmpty >= pMsgBufferDesc->dwNumMsgs )
- {
- dwNewNextEmpty = 0;
- }
-
- /* check if message buffer is full ? */
- if (dwNewNextEmpty == pMsgBufferDesc->dwNextPrintMsgIndex )
- {
- bBufferFull = EC_TRUE;
- }
- else
- {
- pMsgBufferDesc->dwNextEmptyMsgIndex = dwNewNextEmpty;
- }
- }
- OsUnlock(m_poInsertMsgLock);
-
-
- if (bBufferFull)
- {
- dwRes = EC_E_NOMEMORY;
- goto Exit;
- }
-
-
- if (pMsgBufferDesc->bPrintTimestamp )
- {
- dwTimeStamp = OsQueryMsecCount();
- }
- pNewMsg->dwMsgTimestamp = dwTimeStamp;
- pNewMsg->bOsDbgMsg = bOsDbgMsg;
- pNewMsg->bMsgCrLf = bDoCrLf;
-
- pNewMsg->dwLen = EcVsnprintf(pNewMsg->szMsgBuffer, pMsgBufferDesc->dwMsgSize, szFormat,vaArgs);
-
- /* mark entry as complete */
- OsMemoryBarrier();
- pNewMsg->bValid = EC_TRUE;
-
-Exit:
- return dwRes;
-}
-
-
-/********************************************************************************/
-/** \brief Forward to next logging buffer (memory logging)
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::SelectNextLogMemBuffer
-(MSG_BUFFER_DESC* pMsgBufferDesc )
-{
- pMsgBufferDesc->pbyNextLogMsg = pMsgBufferDesc->pbyNextLogMsg + OsStrlen(pMsgBufferDesc->pbyNextLogMsg);
- if (pMsgBufferDesc->pbyNextLogMsg >= (pMsgBufferDesc->pbyLogMemory + pMsgBufferDesc->dwLogMemorySize - 3*MAX_MESSAGE_SIZE) )
- {
- /* stop logging if memory is full */
- OsDbgMsg( "logging buffer %s is full, logging stopped!\n", pMsgBufferDesc->szLogName );
- pMsgBufferDesc->bLogBufferFull = EC_TRUE;
- }
-
- /* zero-terminate log msg (snprintf doesn't include this) */
- pMsgBufferDesc->pbyNextLogMsg[0] = '\0';
- pMsgBufferDesc->pbyNextLogMsg[MAX_MESSAGE_SIZE - 1] = '\0';
-}
-
-/********************************************************************************/
-/** \brief Process all messages of a message buffer
-*
-* \return N/A
-*/
-EC_T_VOID CAtEmLogging::ProcessMsgs
-(MSG_BUFFER_DESC* pMsgBufferDesc )
-{
- EC_T_DWORD dwNewNextPrint=0;
- LOG_MSG_DESC* pCurrMsg = EC_NULL;
- EC_T_BOOL bLocked = EC_FALSE;
-#if (!(defined __RCX__) || (defined __MET__)) && !(defined RTAI)
- FILE* pFileHandle = EC_NULL;
- EC_T_BOOL bRollOver = EC_FALSE;
- EC_T_CHAR szfileNameTemp[MAX_PATH_LEN];
-#endif
- EC_T_DWORD dwNumMsgLeft = 20;
- EC_T_BOOL bSkipDuplicate;
- EC_T_DWORD dwNumDuplicatesBeforeNewMsg;
-
- szfileNameTemp[0] = '\0';
-
- if (pMsgBufferDesc->bIsInitialized )
- {
- OsLock(m_poProcessMsgLock);
- bLocked = EC_TRUE;
- while( pMsgBufferDesc->dwNextPrintMsgIndex != pMsgBufferDesc->dwNextEmptyMsgIndex )
- {
- OsDbgAssert(pMsgBufferDesc->bIsInitialized);
-
- // return after maximum number of processed messages
- if (dwNumMsgLeft == 0 )
- break;
-
- pCurrMsg = &pMsgBufferDesc->paMsg[pMsgBufferDesc->dwNextPrintMsgIndex];
- /* wait til message is complete */
- if (!pCurrMsg->bValid)
- {
- break;
- }
-
-#if (!(defined __RCX__) || (defined __MET__)) && !(defined RTAI)
- if (bLogFileEnb && (pMsgBufferDesc->pfMsgFile != EC_NULL) )
- {
- pFileHandle = pMsgBufferDesc->pfMsgFile;
-
- pMsgBufferDesc->wEntryCounter++;
- if (0 != pMsgBufferDesc->wEntryCounterLimit && pMsgBufferDesc->pfMsgFile != EC_NULL )
- {
- if (pMsgBufferDesc->wEntryCounter >= pMsgBufferDesc->wEntryCounterLimit )
- {
- bRollOver = EC_TRUE;
- pMsgBufferDesc->wEntryCounter = 0;
- pMsgBufferDesc->wLogFileIndex++;
-
-#ifdef FILESYS_8_3
- OsSnprintf(szfileNameTemp, sizeof(szfileNameTemp) - 1, "%s_%x.%s", pMsgBufferDesc->szMsgLogFileName, pMsgBufferDesc->wLogFileIndex, pMsgBufferDesc->szMsgLogFileExt);
-#else
- OsSnprintf(szfileNameTemp, sizeof(szfileNameTemp) - 1, "%s.%x.%s", pMsgBufferDesc->szMsgLogFileName, pMsgBufferDesc->wLogFileIndex, pMsgBufferDesc->szMsgLogFileExt);
-#endif
- }
- else
- {
- bRollOver = EC_FALSE;
- }
-
- }
- }
-#endif
-
- /* handle skipping duplicates */
- bSkipDuplicate = EC_FALSE;
- dwNumDuplicatesBeforeNewMsg = 0;
- if (pMsgBufferDesc->bSkipDuplicateMessages )
- {
- if (pMsgBufferDesc->pszLastMsg == EC_NULL )
- {
- /* first message */
- pMsgBufferDesc->pszLastMsg = pCurrMsg->szMsgBuffer;
- }
- else if (OsStrncmp(pMsgBufferDesc->pszLastMsg, pCurrMsg->szMsgBuffer, pMsgBufferDesc->dwMsgSize) == 0 )
- {
- /* same message as before, just increment duplicate pointer */
- pMsgBufferDesc->dwNumDuplicates++;
- bSkipDuplicate = EC_TRUE;;
- }
- else
- {
- /* new message */
- dwNumDuplicatesBeforeNewMsg = pMsgBufferDesc->dwNumDuplicates;
- pMsgBufferDesc->dwNumDuplicates = 0;
- pMsgBufferDesc->pszLastMsg = pCurrMsg->szMsgBuffer;
- if (dwNumDuplicatesBeforeNewMsg>0 && pMsgBufferDesc->pszLastMsg[0]=='\0')
- {
- /* ignore empty duplicates... */
- dwNumDuplicatesBeforeNewMsg = 0;
- }
- }
- }
- if (!bSkipDuplicate) dwNumMsgLeft--;
-
- if (pMsgBufferDesc->bPrintConsole && !bSkipDuplicate)
- {
-#if !(defined NOPRINTF)
- /* print skip messages */
- if (dwNumDuplicatesBeforeNewMsg > 0)
- {
- if (pMsgBufferDesc->bPrintTimestamp)
- {
- OsPrintf("%06d : ", (EC_T_INT)pCurrMsg->dwMsgTimestamp);
- }
- OsPrintf( "%d identical messages skipped\n", dwNumDuplicatesBeforeNewMsg);
- }
- /* print timestamp */
- if ((pMsgBufferDesc->bPrintTimestamp) && (pMsgBufferDesc->bNewLine))
- {
- OsPrintf("%06d : ", (EC_T_INT)pCurrMsg->dwMsgTimestamp);
- }
- /* print message */
- if (pCurrMsg->bMsgCrLf)
- {
- /* e.g. RTX64 requires terminating new-line directly appended to the message */
- OsPrintf("%s\n", pCurrMsg->szMsgBuffer);
- }
- else
- {
- OsPrintf("%s", pCurrMsg->szMsgBuffer);
- }
-#endif
- }
-
-#if !(defined __RCX__) && !(defined __MET__) && !(defined RTAI)
- if (pMsgBufferDesc->pbyLogMemory != EC_NULL )
- {
- if (!pMsgBufferDesc->bLogBufferFull && !bSkipDuplicate)
- {
- EC_T_DWORD dwWritten = 0;
-
- /* print skip messages */
- if (dwNumDuplicatesBeforeNewMsg > 0 )
- {
- if (pMsgBufferDesc->bPrintTimestamp)
- {
- dwWritten = dwWritten + OsSnprintf((EC_T_CHAR*)(pMsgBufferDesc->pbyNextLogMsg + dwWritten), MAX_MESSAGE_SIZE - dwWritten - 1, "%06d : ", (EC_T_INT) pCurrMsg->dwMsgTimestamp);
- }
- dwWritten = dwWritten + OsSnprintf((EC_T_CHAR*)(pMsgBufferDesc->pbyNextLogMsg + dwWritten), MAX_MESSAGE_SIZE - dwWritten - 1, "%d identical messages skipped\n", dwNumDuplicatesBeforeNewMsg );
- SelectNextLogMemBuffer(pMsgBufferDesc);
- }
- if (!pMsgBufferDesc->bLogBufferFull)
- {
- dwWritten = 0;
-
- /* memory logging */
- if ((pMsgBufferDesc->bPrintTimestamp) && (pMsgBufferDesc->bNewLine))
- {
- dwWritten = dwWritten + OsSnprintf((EC_T_CHAR*)pMsgBufferDesc->pbyNextLogMsg + dwWritten, MAX_MESSAGE_SIZE - dwWritten - 1, "%06d : ", (EC_T_INT)pCurrMsg->dwMsgTimestamp);
- }
- /* print message */
- dwWritten = dwWritten + OsSnprintf((EC_T_CHAR*)(pMsgBufferDesc->pbyNextLogMsg + dwWritten), MAX_MESSAGE_SIZE - dwWritten - 1, "%s", pCurrMsg->szMsgBuffer);
-
- /* add new line */
- if (pCurrMsg->bMsgCrLf)
- {
- OsSnprintf((EC_T_CHAR*)(pMsgBufferDesc->pbyNextLogMsg + dwWritten), MAX_MESSAGE_SIZE - dwWritten - 1, "%s", "\n");
- }
- SelectNextLogMemBuffer(pMsgBufferDesc);
- }
- }
- }
- else if (EC_NULL != pFileHandle)
- {
- /* don't use fprintf, some platforms don't support it! */
-
- if (!bSkipDuplicate)
- {
- /* print skipped messages */
- if (dwNumDuplicatesBeforeNewMsg > 0)
- {
- if (pMsgBufferDesc->bPrintTimestamp)
- {
- OsSnprintf(m_pchTempbuffer, 2*MAX_MESSAGE_SIZE - 1, "%06d : ", (EC_T_INT) pCurrMsg->dwMsgTimestamp);
- OsFwrite(m_pchTempbuffer, OsStrlen(m_pchTempbuffer), 1, pFileHandle);
- }
- OsSnprintf(m_pchTempbuffer, 2*MAX_MESSAGE_SIZE - 1, "%d identical messages skipped\n", dwNumDuplicatesBeforeNewMsg);
- OsFwrite(m_pchTempbuffer, OsStrlen(m_pchTempbuffer), 1, pFileHandle);
- }
- /* now fprintf, OsFflush, OsFclose etc. */
- if ((pMsgBufferDesc->bPrintTimestamp) && (pMsgBufferDesc->bNewLine))
- {
- OsSnprintf(m_pchTempbuffer, 2*MAX_MESSAGE_SIZE - 1, "%06d : ", (EC_T_INT) pCurrMsg->dwMsgTimestamp);
- OsFwrite(m_pchTempbuffer, OsStrlen(m_pchTempbuffer), 1, pFileHandle);
- }
- /* print message */
- OsSnprintf(m_pchTempbuffer, 2*MAX_MESSAGE_SIZE - 1, "%s", pCurrMsg->szMsgBuffer);
- OsFwrite(m_pchTempbuffer, OsStrlen(m_pchTempbuffer), 1, pFileHandle);
-
- /* add new line */
- if (pCurrMsg->bMsgCrLf)
- {
- OsSnprintf(m_pchTempbuffer, 2*MAX_MESSAGE_SIZE - 1, "\n");
- OsFwrite(m_pchTempbuffer, OsStrlen(m_pchTempbuffer), 1, pFileHandle);
- }
- OsFflush(pFileHandle);
- }
- }
-#endif
- /* check for new line */
- pMsgBufferDesc->bNewLine = EC_FALSE;
- if (pCurrMsg->bOsDbgMsg)
- {
- /* currently all messages generated within master stack contain '\n' */
- /* check for CrLf in message */
- if (*((EC_T_CHAR*)(pCurrMsg->szMsgBuffer + pCurrMsg->dwLen - 1)) == '\n')
- {
- pMsgBufferDesc->bNewLine = EC_TRUE;
- }
- }
- else
- {
- if (pCurrMsg->bMsgCrLf)
- {
- pMsgBufferDesc->bNewLine = EC_TRUE;
- }
- }
- pCurrMsg->bValid = EC_FALSE;
- OsMemoryBarrier();
- dwNewNextPrint = pMsgBufferDesc->dwNextPrintMsgIndex + 1;
- if (dwNewNextPrint >= pMsgBufferDesc->dwNumMsgs )
- {
- dwNewNextPrint = 0;
- }
- pMsgBufferDesc->dwNextPrintMsgIndex = dwNewNextPrint;
-
-#if !(defined __RCX__) && !(defined __MET__) && !(defined RTAI)
- if (bRollOver)
- {
- /* do roll over */
- OsFclose(pFileHandle);
-
- pFileHandle = OsFopen( szfileNameTemp, "w+" );
- if (pFileHandle == EC_NULL )
- {
-#if !(defined NOPRINTF)
- OsPrintf( "ERROR: cannot create EtherCAT log file %s\n", szfileNameTemp );
-#endif
- OsSleep( 3000 );
-
- pMsgBufferDesc->pfMsgFile = pFileHandle;
- }
- else
- {
- pMsgBufferDesc->pfMsgFile = pFileHandle;
- }
-
- bRollOver = EC_FALSE;
- }
-#endif
- }
- }
- if (bLocked )
- OsUnlock(m_poProcessMsgLock);
-
- return;
-}
-
-
-/********************************************************************************/
-/** \brief Turn on/off OsDbgMsg hook printout
-*
-* \return N/A
-*/
-EC_T_BOOL CAtEmLogging::OsDbgMsgHookEnable(EC_T_BOOL bEnable)
-{
- return m_bDbgMsgHookEnable = bEnable;
-}
-
-
-/********************************************************************************/
-/** \brief Hook for OsDbgMsg function
-*
-* NOTE: in real-time operation this function should return EC_FALSE to eliminate
-* an impact to the system behavior.
-* Here we store those messages into memory first and print them at a
-* later time from a lower priority thread for debugging purposes.
-*
-* \return EC_TRUE if OsDbgMsg() shall print the message, EC_FALSE if not
-*/
-EC_T_BOOL CAtEmLogging::OsDbgMsgHookWrapper(const EC_T_CHAR* szFormat, EC_T_VALIST vaArgs)
-{
-EC_T_BOOL bPrint = EC_TRUE;
-
- if (EC_NULL != G_pOsDbgMsgLoggingInst)
- {
- bPrint = G_pOsDbgMsgLoggingInst->OsDbgMsgHook(szFormat, vaArgs);
- }
- if (bPrint)
- {
- OsVprintf(szFormat, vaArgs);
- }
- return EC_FALSE;
-}
-
-EC_T_BOOL CAtEmLogging::OsDbgMsgHook(const EC_T_CHAR* szFormat, EC_T_VALIST vaArgs)
-{
-EC_T_BOOL bPrint;
-
- bPrint = !m_bDbgMsgHookEnable; // print messages outside as long as hook is not enabled
- if (m_bDbgMsgHookEnable)
- {
- if (m_pAllMsgBufferDesc != EC_NULL )
- {
- if (m_pAllMsgBufferDesc->bIsInitialized )
- {
- InsertNewMsg( m_pAllMsgBufferDesc, szFormat, vaArgs, EC_FALSE, EC_TRUE );
- }
- else
- {
- bPrint = EC_TRUE;
- }
- }
- else
- {
- bPrint = EC_TRUE;
- }
-/*
- else
- {
- EC_T_CHAR szMsg[256];
-
- OsVsnprintf(szMsg, 256, szFormat, vaArgs);
-#ifdef VXWORKS
- logMsg( "%s", (int)szMsg, 2,3,4,5,6 );
-#else
-#if !(defined NOPRINTF)
- OsPrintf( "%s", szMsg );
-#endif
-#endif
- }
-*/
- }
- return bPrint;
-}
-
-/********************************************************************************/
-/** \brief application error message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogError(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
-
- EC_VASTART(vaArgs, szFormat);
- dwRes = InsertNewMsg(m_pAllMsgBufferDesc, szFormat, vaArgs);
-
- /* important note: on VxWorks 6.1 PowerPC: re-using vaArgs in the next function call may fail without calling EC_VAEND/EC_VASTART!! */
- EC_VAEND(vaArgs);
- EC_VASTART(vaArgs, szFormat);
-
- dwRes = InsertNewMsg( m_pErrorMsgBufferDesc, szFormat, vaArgs);
- EC_VAEND(vaArgs);
-
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief application error message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogErrorAdd(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
- EC_VASTART(vaArgs, szFormat);
- dwRes = InsertNewMsg( m_pAllMsgBufferDesc, szFormat, vaArgs, EC_FALSE);
-
- /* important note: on VxWorks 6.1 PowerPC: re-using vaArgs in the next function call may fail without calling EC_VAEND/EC_VASTART!! */
- EC_VAEND(vaArgs);
- EC_VASTART(vaArgs, szFormat);
-
- dwRes = InsertNewMsg( m_pErrorMsgBufferDesc, szFormat, vaArgs, EC_FALSE);
- EC_VAEND(vaArgs);
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief application error message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogMsg(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
- EC_VASTART(vaArgs, szFormat);
- dwRes = InsertNewMsg(m_pAllMsgBufferDesc, szFormat, vaArgs);
- EC_VAEND(vaArgs);
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief application error message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogMsgAdd(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
- EC_VASTART(vaArgs, szFormat);
- dwRes = InsertNewMsg(m_pAllMsgBufferDesc, szFormat, vaArgs, EC_FALSE);
- EC_VAEND(vaArgs);
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief application DCM message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogDcm(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
- EC_VASTART(vaArgs, szFormat);
-#ifdef RTAI
- static EC_T_DWORD dwLogDcmMsgCount = 0;
- if ((dwLogDcmMsgCount % 100) == 0)
- {
- OsDbgMsgHookWrapper(szFormat, vaArgs);
- OsDbgMsg("\n");
- dwLogDcmMsgCount = 0;
- }
- dwLogDcmMsgCount++;
-#else
- dwRes = InsertNewMsg(m_pDcmMsgBufferDesc, szFormat, vaArgs);
-#endif
- EC_VAEND(vaArgs);
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief application DCM message function
-*
-* \return N/A
-*/
-EC_T_DWORD CAtEmLogging::LogDcmAdd(const EC_T_CHAR* szFormat, ...)
-{
-EC_T_VALIST vaArgs;
-EC_T_DWORD dwRes = EC_E_NOERROR;
-
- EC_VASTART(vaArgs, szFormat);
- dwRes = InsertNewMsg(m_pDcmMsgBufferDesc, szFormat, vaArgs, EC_FALSE);
- EC_VAEND(vaArgs);
- return dwRes;
-}
-
-/********************************************************************************/
-/** \brief set log thread affinity
-*
-* \return N/A
-*/
-EC_T_BOOL CAtEmLogging::SetLogThreadAffinity(EC_T_DWORD dwCpuIndex)
-{
-EC_T_CPUSET CpuSet;
-EC_T_BOOL bOk = EC_TRUE;
-EC_UNREFPARM(dwCpuIndex);
-
- if (m_pvLogThreadObj != EC_NULL)
- {
- EC_CPUSET_ZERO(CpuSet);
- EC_CPUSET_SET(CpuSet, dwCpuIndex);
- bOk = OsSetThreadAffinity(m_pvLogThreadObj, CpuSet);
- }
- return bOk;
-}
-
-/********************************************************************************/
-/** \brief set log directory
-*
-* \return EC_E_NOERROR or EC_E_NOMEMORY if szLogDir too long
-*/
-EC_T_DWORD CAtEmLogging::SetLogDir(EC_T_CHAR* szLogDir)
-{
- if (OsStrlen(szLogDir) >= MAX_PATH_LEN)
- {
- return EC_E_NOMEMORY;
- }
- OsStrncpy(m_pchLogDir, szLogDir, OsStrlen(szLogDir) + 1);
- return EC_E_NOERROR;
-}
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/Logging.h b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/Logging.h
+++ /dev/null
@@ -1,215 +0,0 @@
-/*-----------------------------------------------------------------------------
- * Logging.h
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description EtherCAT Master application logging header
- *---------------------------------------------------------------------------*/
-
-#ifndef __LOGGING_H__
-#define __LOGGING_H__ 1
-
-/*-INCLUDES------------------------------------------------------------------*/
-#if (defined __MET__)
-#include "fio.h"
-#else
-#include "stdio.h"
-#endif
-
-#ifndef INC_ECOS
-#include "EcOs.h"
-#endif
-#ifndef INC_ECTIMER
-#include "EcTimer.h"
-#endif
-
-/*-MACROS--------------------------------------------------------------------*/
-
-
-/*-DEFINES-------------------------------------------------------------------*/
-
-/* log thread priority (very low) */
-#if defined WIN32 && !defined UNDER_CE && !defined RTOS_32
- #define LOG_ROLLOVER ((EC_T_WORD)0)
-#elif (defined __RCX__)
- #define LOG_ROLLOVER ((EC_T_WORD)0)
-#elif (defined RTOS_32)
- #define LOG_ROLLOVER ((EC_T_WORD)3000)
-#else
- #define LOG_ROLLOVER ((EC_T_WORD)10000)
-#endif
-
-#define MAX_PATH_LEN 256
-
-/*-GLOBAL VARIABLES-----------------------------------------------------------*/
-
-extern EC_T_BOOL bLogFileEnb;
-
-/*-TYPEDEFS------------------------------------------------------------------*/
-
-typedef struct _LOG_MSG_DESC
-{
- EC_T_BOOL bValid; /* entry is valid */
- EC_T_CHAR* szMsgBuffer; /* buffers */
- EC_T_DWORD dwLen; /* message size */
- EC_T_DWORD dwMsgTimestamp; /* timestamp values */
- EC_T_DWORD dwMsgThreadId; /* threadId values */
- EC_T_BOOL bMsgCrLf; /* CR/LF do/don't */
- EC_T_BOOL bOsDbgMsg; /* OsDbgMsg values */
-} LOG_MSG_DESC;
-
-
-
-typedef struct _MSG_BUFFER_DESC
-{
- struct _MSG_BUFFER_DESC* pNextMsgBuf; /* link to next message buffer */
- LOG_MSG_DESC* paMsg; /* array of messages */
- EC_T_DWORD dwMsgSize; /* message size */
- EC_T_DWORD dwNumMsgs; /* number of messages */
- EC_T_DWORD dwNextEmptyMsgIndex; /* index of next empty message buffer */
- EC_T_DWORD dwNextPrintMsgIndex; /* index of next message buffer to print */
- EC_T_CHAR szMsgLogFileName[MAX_PATH_LEN]; /* message log file name */
- EC_T_CHAR szMsgLogFileExt[4]; /* message log file extension */
- FILE* pfMsgFile; /* file pointer for message log file */
- EC_T_BOOL bPrintTimestamp; /* EC_TRUE if a timestamp shall be printed in the log file */
- EC_T_BOOL bPrintConsole; /* EC_TRUE if the message shall be printed on the console */
- EC_T_BOOL bIsInitialized; /* EC_TRUE if message buffer is initialized */
- EC_T_WORD wLogFileIndex; /* Index of current log file */
- EC_T_WORD wEntryCounter; /* Entries to detect roll over */
- EC_T_WORD wEntryCounterLimit; /* Entries before roll over */
- EC_T_WORD wRes;
- /* logging into memory buffer */
- EC_T_CHAR szLogName[MAX_PATH_LEN];/* name of the logging buffer */
- EC_T_BYTE* pbyLogMemory; /* if != EC_NULL then log into memory instead of file */
- EC_T_BYTE* pbyNextLogMsg; /* pointer to next logging message */
- EC_T_DWORD dwLogMemorySize; /* size of logging memory */
- EC_T_BOOL bLogBufferFull; /* EC_TRUE if log buffer is full */
- /* skip identical messages */
- EC_T_BOOL bSkipDuplicateMessages; /* if set to EC_TRUE, then multiple identical messages will not be printed out */
- EC_T_DWORD dwNumDuplicates; /* if 0, the new message is not duplicated */
- EC_T_CHAR* pszLastMsg; /* pointer to last message (points into message buffer) */
- EC_T_BOOL bNewLine; /* EC_TRUE if last message printed with CrLf */
-} MSG_BUFFER_DESC;
-
-
-
-/*-FORWARD DECLARATIONS------------------------------------------------------*/
-
-
-/*-CLASS---------------------------------------------------------------------*/
-
-class CAtEmLogging
-{
-
-public:
- CAtEmLogging( EC_T_VOID );
-
- EC_T_BOOL OsDbgMsgHook( const
- EC_T_CHAR* szFormat,
- EC_T_VALIST vaArgs );
- EC_T_DWORD LogMsg( const
- EC_T_CHAR* szFormat,... );
- EC_T_DWORD LogMsgAdd( const
- EC_T_CHAR* szFormat,... );
- EC_T_DWORD LogError( const
- EC_T_CHAR* szFormat,... );
- EC_T_DWORD LogErrorAdd( const
- EC_T_CHAR* szFormat,... );
- EC_T_DWORD LogDcm( const
- EC_T_CHAR* szFormat,... );
- EC_T_DWORD LogDcmAdd( const
- EC_T_CHAR* szFormat,... );
- EC_T_VOID InitLogging( EC_T_DWORD dwMasterID,
- EC_T_WORD wRollOver,
- EC_T_DWORD dwPrio,
- EC_T_DWORD dwCpuIndex,
- EC_T_CHAR* szFilenamePrefix = EC_NULL,
- EC_T_DWORD dwStackSize = 0x4000 );
- EC_T_VOID SetLogMsgBuf( EC_T_BYTE* pbyLogMem,
- EC_T_DWORD dwSize );
- EC_T_VOID SetLogErrBuf( EC_T_BYTE* pbyLogMem,
- EC_T_DWORD dwSize );
- EC_T_VOID SetLogDcmBuf( EC_T_BYTE* pbyLogMem,
- EC_T_DWORD dwSize );
- EC_T_VOID DeinitLogging( EC_T_VOID );
- EC_T_BOOL SetLogThreadAffinity( EC_T_DWORD dwCpuIndex );
- EC_T_BOOL OsDbgMsgHookEnable( EC_T_BOOL bEnable );
-
- static
- EC_T_BOOL OsDbgMsgHookWrapper( const
- EC_T_CHAR* szFormat,
- EC_T_VALIST vaArgs );
- EC_T_VOID tAtEmLog( EC_T_VOID* pvParms );
- EC_T_VOID ProcessAllMsgs( EC_T_VOID );
-
- struct _MSG_BUFFER_DESC* AddLogBuffer( EC_T_DWORD dwMasterID,
- EC_T_WORD wRollOver,
- EC_T_DWORD dwBufferSize,
- EC_T_BOOL bSkipDuplicates,
- EC_T_CHAR* szLogName,
- EC_T_CHAR* szLogFilename,
- EC_T_CHAR* szLogFileExt,
- EC_T_BOOL bPrintConsole,
- EC_T_BOOL bPrintTimestamp );
-
- static
- EC_T_VOID SetMsgBuf( MSG_BUFFER_DESC* pMsgBufferDesc,
- EC_T_BYTE* pbyLogMem,
- EC_T_DWORD dwSize );
-
- EC_T_DWORD InsertNewMsg( MSG_BUFFER_DESC* pMsgBufferDesc,
- const
- EC_T_CHAR* szFormat,
- EC_T_VALIST vaArgs,
- EC_T_BOOL bDoCrLf=EC_TRUE,
- EC_T_BOOL bOsDbgMsg=EC_FALSE );
-
- EC_T_DWORD SetLogDir( EC_T_CHAR* szLogDir );
-
-
-private:
- static
- EC_T_BOOL InitMsgBuffer( MSG_BUFFER_DESC* pMsgBufferDesc,
- EC_T_DWORD dwMsgSize,
- EC_T_DWORD dwNumMsgs,
- EC_T_BOOL bSkipDuplicates,
- EC_T_BOOL bPrintConsole,
- EC_T_BOOL bPrintTimestamp,
- EC_T_CHAR* szMsgLogFileName,
- EC_T_CHAR* szMsgLogFileExt,
- EC_T_WORD wRollOver,
- EC_T_CHAR* szLogName );
-
- EC_T_VOID DeinitMsgBuffer( MSG_BUFFER_DESC* pMsgBufferDesc );
- EC_T_VOID ProcessMsgs( MSG_BUFFER_DESC* pMsgBufferDesc );
-
- static
- EC_T_VOID SelectNextLogMemBuffer( MSG_BUFFER_DESC* pMsgBufferDesc );
-
- static
- EC_T_VOID tAtEmLogWrapper( EC_T_VOID* pvParms );
-
- EC_T_PVOID m_pvLogThreadObj;
- EC_T_BOOL m_bLogTaskRunning;
- EC_T_BOOL m_bShutdownLogTask;
-
- MSG_BUFFER_DESC* m_pFirstMsgBufferDesc; /* pointer to first message buffer */
- MSG_BUFFER_DESC* m_pLastMsgBufferDesc; /* link to last message buffer */
- MSG_BUFFER_DESC* m_pAllMsgBufferDesc; /* buffer for all messages */
- MSG_BUFFER_DESC* m_pErrorMsgBufferDesc; /* buffer for application error messages */
- MSG_BUFFER_DESC* m_pDcmMsgBufferDesc; /* DCM buffer */
- EC_T_CHAR* m_pchTempbuffer;
- EC_T_VOID* m_poInsertMsgLock; /* lock object for inserting new messages */
- EC_T_VOID* m_poProcessMsgLock; /* lock object for processing messages */
- EC_T_BOOL m_bDbgMsgHookEnable;
-
- CEcTimer m_oMsgTimeout;
- CEcTimer m_oSettlingTimeout;
- EC_T_DWORD m_dwNumMsgsSinceMsrmt;
- EC_T_BOOL m_bSettling;
-
- EC_T_CHAR m_pchLogDir[MAX_PATH_LEN]; /* directory for all EtherCAT logging files */
-};
-
-#endif /*__LOGGING_H__*/
-
-/*-END OF SOURCE FILE--------------------------------------------------------*/
diff --git a/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/SlaveInfo.h b/EC_Master_SysBios_Am572x_20170214/Examples/EcMasterDemo/SlaveInfo.h
+++ /dev/null
@@ -1,549 +0,0 @@
-/*-----------------------------------------------------------------------------
- * SlaveInfo.h
- * Copyright acontis technologies GmbH, Weingarten, Germany
- * Response Stefan Zintgraf
- * Description Slave Info header
- *---------------------------------------------------------------------------*/
-
-#ifndef INC_SLAVEINFO
-#define INC_SLAVEINFO 1
-
-/*-TYPEDEFS------------------------------------------------------------------*/
-typedef enum _T_eEtherCAT_Vendor
-{
- ecvendor_etg = 0x00000001,
- ecvendor_beckhoff = 0x00000002,
- ecvendor_scuola_superiore_s_anna = 0x00000003,
- ecvendor_ixxat = 0x00000004,
- ecvendor_vector_informatik = 0x00000005,
- ecvendor_knestel = 0x00000006,
- ecvendor_cmz_sistemi = 0x0000000a,
- ecvendor_softing = 0x0000000d,
- ecvendor_microcontrol = 0x0000000e,
- ecvendor_pollmeier = 0x0000000f,
- ecvendor_lust = 0x00000010,
- ecvendor_kuebler = 0x00000013,
- ecvendor_keb = 0x00000014,
- ecvendor_lti = 0x00000016,
- ecvendor_esd_electronic_design = 0x00000017,
- ecvendor_hms_industrial_networks = 0x0000001b,
- ecvendor_epis_automation = 0x0000001c,
- ecvendor_festo = 0x0000001D,
- ecvendor_wago = 0x00000021,
- ecvendor_boschrexroth = 0x00000024,
- ecvendor_moog = 0x00000028,
- ecvendor_port = 0x00000034,
- ecvendor_buerkert_werke = 0x00000039,
- ecvendor_lenze = 0x0000003B,
- ecvendor_tigris_electronic = 0x00000042,
- ecvendor_hilscher = 0x00000044,
- ecvendor_murrelektronik = 0x0000004F,
- ecvendor_bombardier_transportation = 0x00000051,
- ecvendor_komax = 0x00000057,
- ecvendor_sew_eurodrive &n