Merge pull request robert-burger#15 from common/feat/hw_rework

Feat/hw rework

include/libethercat/ec.h

@@ -177,7 +177,7 @@ typedef struct ec_pd_group {
 
 //! ethercat master structure
 typedef struct ec {
-    hw_t hw;                        //!< pointer to hardware interface
+    struct hw_common *phw;          //!< pointer to hardware interface
 
     pool_entry_t dg_entries[LEC_MAX_DATAGRAMS]; //!< static datagrams for datagram pool.
     pool_t pool;                    //!< datagram pool
@@ -242,7 +242,7 @@ extern "C" {
 #endif
 
 extern void *ec_log_func_user;
-extern void (*ec_log_func)(int lvl, void *user, const osal_char_t *format, ...);
+extern void (*ec_log_func)(int lvl, void *user, const osal_char_t *format, ...) __attribute__ ((format (printf, 3, 4)));
 
 //! \brief EtherCAT logging function 
 /*!
@@ -266,13 +266,11 @@ void ec_log(int lvl, const osal_char_t *pre, const osal_char_t *format, ...) __a
  * a initial scan of the bus.
  *
  * \param[out] pec          Ethercat master instance pointer.
- * \param[in]  ifname       Ethercat master interface name.
- * \param[in]  prio         Receive thread priority.
- * \param[in]  cpumask      Receive thread cpumask.
+ * \param[in]  phw          Ethercat master network device access.
  * \param[in]  eeprom_log   Log eeprom to stdout.
  * \return 0 on succes, otherwise error code
  */
-int ec_open(ec_t *pec, const osal_char_t *ifname, int prio, int cpumask, int eeprom_log);
+int ec_open(ec_t *pec, struct hw_common *phw, int eeprom_log);
 
 //! \brief Closes ethercat master.
 /*!

include/libethercat/hw.h

@@ -53,6 +53,10 @@
 #include <drv/sbuf_hdr.h>
 #endif
 
+#define container_of(ptr, type, member) ({ \
+        __typeof__( ((type *)0)->member ) *__mptr = (void *)(ptr); \
+        (type *)( (char *)__mptr - offsetof(type,member) );})
+
 /** \defgroup hardware_group HW
  *
  * This modules contains main EtherCAT hardware functions.
@@ -64,15 +68,15 @@
 
 // forward decl
 struct ec;
-struct hw;
+struct hw_common;
 
 //! Receive a frame from an EtherCAT hw device.
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  *
  * \return 0 or negative error code
  */
-typedef int (*hw_device_recv_t)(struct hw *phw);
+typedef int (*hw_device_recv_t)(struct hw_common *phw);
 
 //! Send a frame from an EtherCAT hw device.
 /*!
@@ -81,13 +85,13 @@ typedef int (*hw_device_recv_t)(struct hw *phw);
  *
  * \return 0 or negative error code
  */
-typedef int (*hw_device_send_t)(struct hw *phw, ec_frame_t *pframe);
+typedef int (*hw_device_send_t)(struct hw_common *phw, ec_frame_t *pframe);
 
 //! Doing internal stuff when finished sending frames
 /*!
  * \param[in]   phw         Pointer to hw handle.
  */
-typedef void (*hw_device_send_finished_t)(struct hw *phw);
+typedef void (*hw_device_send_finished_t)(struct hw_common *phw);
 
 //! Get a free tx buffer from underlying hw device.
 /*!
@@ -96,19 +100,15 @@ typedef void (*hw_device_send_finished_t)(struct hw *phw);
  *
  * \return 0 or negative error code
  */
-typedef int (*hw_device_get_tx_buffer_t)(struct hw *phw, ec_frame_t **ppframe);
+typedef int (*hw_device_get_tx_buffer_t)(struct hw_common *phw, ec_frame_t **ppframe);
+
+#define ETH_FRAME_LEN   0x1518
 
 //! hardware structure
-typedef struct hw {
+typedef struct hw_common {
     struct ec *pec;                 //!< Pointer to EtherCAT master structure.
 
-    int sockfd;                     //!< raw socket file descriptor
     osal_uint32_t mtu_size;         //!< mtu size
-
-    // receiver thread settings
-    osal_task_t rxthread;           //!< receiver thread handle
-    int rxthreadrunning;            //!< receiver thread running flag
-
     osal_mutex_t hw_lock;           //!< transmit lock
 
     pool_t tx_high;                 //!< high priority datagrams
@@ -124,70 +124,48 @@ typedef struct hw {
     hw_device_send_t send;                      //!< \brief Function to send frames via device.
     hw_device_send_finished_t send_finished;    //!< \brief Function to be called after frames were sent.
     hw_device_get_tx_buffer_t get_tx_buffer;    //!< \brief Function to retreave next TX buffer.
-
-#define ETH_FRAME_LEN   0x1518
-    osal_uint8_t send_frame[ETH_FRAME_LEN]; //!< \brief Static send frame.
-    osal_uint8_t recv_frame[ETH_FRAME_LEN]; //!< \brief Static receive frame.
-    osal_bool_t polling_mode;               //!< \brief Special interrupt-less polling-mode flag.
-
-#if LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED == 1
-    int mmap_packets;               //!< \brief Doing mmap packets.
-    osal_char_t *rx_ring;           //!< kernel mmap receive buffers
-    osal_char_t *tx_ring;           //!< kernel mmap send buffers
-
-    osal_off_t rx_ring_offset;      //!< \brief Offset in RX ring.
-    osal_off_t tx_ring_offset;      //!< \brief Offset in TX ring.
-#endif
-
-#if LIBETHERCAT_BUILD_DEVICE_PIKEOS == 1
-    osal_bool_t use_sbuf;
-
-    vm_file_desc_t fd;                      //!< \brief Driver file descriptor.
-    drv_sbuf_desc_t sbuf;                   //!< \brief Driver SBUF descriptor.
-#endif
-} hw_t;                 //!< \brief Hardware struct type. 
+} hw_common_t;                 //!< \brief Hardware struct type. 
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 //! open a new hw
 /*!
- * \param phw return hw 
- * \param devname ethernet device name
- * \param prio receive thread prio
- * \param cpumask receive thread cpumask
+ * \param[in]   phw         Pointer to hw structure.
+ * \param[in]   pec         Pointer to master structure.
+ *
  * \return 0 or negative error code
  */
-int hw_open(hw_t *phw, struct ec *pec, const osal_char_t *devname, int prio, int cpumask);
+int hw_open(struct hw_common *phw, struct ec *pec);
 
 //! destroys a hw
 /*!
  * \param phw hw handle
  * \return 0 or negative error code
  */
-int hw_close(hw_t *phw);
+int hw_close(struct hw_common *phw);
 
 //! start sending queued ethercat datagrams
 /*!
  * \param phw hardware handle
  * \return 0 or error code
  */
-int hw_tx_low(hw_t *phw);
+int hw_tx_low(struct hw_common *phw);
 
 //! start sending queued ethercat datagrams
 /*!
  * \param phw hardware handle
  * \return 0 or error code
  */
-int hw_tx(hw_t *phw);
+int hw_tx(struct hw_common *phw);
 
 //! Process a received EtherCAT frame
 /*!
  * \param[in]   phw     Pointer to hw handle.
  * \param[in]   pframe  Pointer to received EtherCAT frame.
  */
-void hw_process_rx_frame(hw_t *phw, ec_frame_t *pframe);
+void hw_process_rx_frame(struct hw_common *phw, ec_frame_t *pframe);
 
 #ifdef __cplusplus
 }

include/libethercat/hw_file.h

@@ -42,14 +42,30 @@
 
 #include <libethercat/hw.h>
 
+typedef struct hw_file {
+    struct hw_common common;
+
+    int fd;                                 //!< \brief file descriptor
+
+    osal_uint8_t send_frame[ETH_FRAME_LEN]; //!< \brief Static send frame.
+    osal_uint8_t recv_frame[ETH_FRAME_LEN]; //!< \brief Static receive frame.
+    osal_bool_t polling_mode;               //!< \brief Special interrupt-less polling-mode flag.
+
+    // receiver thread settings in non-polling mode
+    osal_task_t rxthread;                   //!< receiver thread handle
+    int rxthreadrunning;                    //!< receiver thread running flag
+} hw_file_t;
+
 //! Opens EtherCAT hw device.
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   devname     Null-terminated string to EtherCAT hw device name.
+ * \param[in]   prio        Priority for receiver thread.
+ * \param[in]   cpu_mask    CPU mask for receiver thread.
  *
  * \return 0 or negative error code
  */
-int hw_device_file_open(hw_t *phw, const osal_char_t *devname);
+int hw_device_file_open(struct hw_file *phw, struct ec *pec, const osal_char_t *devname, int prio, int cpu_mask);
 
 #endif // LIBETHERCAT_HW_FILE_H
 

include/libethercat/hw_pikeos.h

@@ -42,14 +42,33 @@
 
 #include <libethercat/hw.h>
 
+typedef struct hw_pikeos {
+    struct hw_common common;
+
+    osal_bool_t use_sbuf;
+
+    vm_file_desc_t fd;                      //!< \brief Driver file descriptor.
+    drv_sbuf_desc_t sbuf;                   //!< \brief Driver SBUF descriptor.
+
+    osal_uint8_t send_frame[ETH_FRAME_LEN]; //!< \brief Static send frame.
+    osal_uint8_t recv_frame[ETH_FRAME_LEN]; //!< \brief Static receive frame.
+
+    // receiver thread 
+    osal_task_t rxthread;                   //!< receiver thread handle
+    int rxthreadrunning;                    //!< receiver thread running flag
+} hw_pikeos_t;
+
 //! Opens EtherCAT hw device.
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   devname     Null-terminated string to EtherCAT hw device name.
+ * \param[in]   prio        Priority for receiver thread.
+ * \param[in]   cpu_mask    CPU mask for receiver thread.
  *
  * \return 0 or negative error code
  */
-int hw_device_pikeos_open(hw_t *phw, const osal_char_t *devname);
+int hw_device_pikeos_open(struct hw_pikeos *phw, const osal_char_t *devname,
+        int prio, int cpumask);
 
 #endif // LIBETHERCAT_HW_PIKEOS_H
 

include/libethercat/hw_sock_raw.h

@@ -41,15 +41,33 @@
 #define LIBETHERCAT_HW_SOCK_RAW_H
 
 #include <libethercat/hw.h>
+#include <libethercat/ec.h>
+#include <libosal/task.h>
+
+typedef struct hw_sock_raw {
+    struct hw_common common;
+
+    int sockfd;                     //!< raw socket file descriptor
+
+    osal_uint8_t send_frame[ETH_FRAME_LEN]; //!< \brief Static send frame.
+    osal_uint8_t recv_frame[ETH_FRAME_LEN]; //!< \brief Static receive frame.
+
+    // receiver thread settings
+    osal_task_t rxthread;           //!< receiver thread handle
+    int rxthreadrunning;            //!< receiver thread running flag
+} hw_sock_raw_t;
 
 //! Opens EtherCAT hw device.
 /*!
  * \param[in]   phw         Pointer to hw handle. 
+ * \param[in]   pec                 Pointer to master structure.
  * \param[in]   devname     Null-terminated string to EtherCAT hw device name.
+ * \param[in]   prio        Priority for receiver thread.
+ * \param[in]   cpu_mask    CPU mask for receiver thread.
  *
  * \return 0 or negative error code
  */
-int hw_device_sock_raw_open(hw_t *phw, const osal_char_t *devname);
+int hw_device_sock_raw_open(struct hw_sock_raw *phw, struct ec *pec, const osal_char_t *devname, int prio, int cpu_mask);
 
 #endif // LIBETHERCAT_HW_SOCK_RAW_H
 

include/libethercat/hw_sock_raw_mmaped.h

@@ -41,15 +41,36 @@
 #define LIBETHERCAT_HW_SOCK_RAW_MMAPED_H
 
 #include <libethercat/hw.h>
+#include <libosal/task.h>
+
+typedef struct hw_sock_raw_mmaped {
+    struct hw_common common;
+
+    int sockfd;                     //!< raw socket file descriptor
+
+    osal_uint8_t send_frame[ETH_FRAME_LEN]; //!< \brief Static send frame.
+    osal_uint8_t recv_frame[ETH_FRAME_LEN]; //!< \brief Static receive frame.
+
+    int mmap_packets;               //!< \brief Doing mmap packets.
+    osal_char_t *rx_ring;           //!< kernel mmap receive buffers
+    osal_char_t *tx_ring;           //!< kernel mmap send buffers
+
+    osal_off_t rx_ring_offset;      //!< \brief Offset in RX ring.
+    osal_off_t tx_ring_offset;      //!< \brief Offset in TX ring.
+
+    // receiver thread settings
+    osal_task_t rxthread;           //!< receiver thread handle
+    int rxthreadrunning;            //!< receiver thread running flag
+} hw_sock_raw_mmaped_t;
 
 //! Opens EtherCAT hw device.
 /*!
- * \param[in]   phw         Pointer to hw handle. 
- * \param[in]   devname     Null-terminated string to EtherCAT hw device name.
+ * \param[in]   phw_sock_raw_mmaped     Pointer to sock_raw_mmmaped hw handle. 
+ * \param[in]   devname                 Null-terminated string to EtherCAT hw device name.
  *
  * \return 0 or negative error code
  */
-int hw_device_sock_raw_mmaped_open(hw_t *phw, const osal_char_t *devname);
+int hw_device_sock_raw_mmaped_open(struct hw_sock_raw_mmaped *phw_sock_raw_mmaped, const osal_char_t *devname);
 
 #endif // LIBETHERCAT_HW_SOCK_RAW_MMAPED_H
 

src/Makefile.am

@@ -28,22 +28,27 @@ libethercat_la_SOURCES	= coe.c coe_master.c slave.c datagram.c pool.c async_loop
 						  hw.c soe.c foe.c mbx.c eeprom.c dc.c idx.c mii.c eoe.c
 
 if BUILD_DEVICE_SOCK_RAW_LEGACY
+include_HEADERS += $(top_srcdir)/include/libethercat/hw_sock_raw.h
 libethercat_la_SOURCES += hw_sock_raw.c
 endif
 
 if BUILD_DEVICE_SOCK_RAW_MMAPED
+include_HEADERS += $(top_srcdir)/include/libethercat/hw_sock_raw_mmaped.h
 libethercat_la_SOURCES += hw_sock_raw_mmaped.c
 endif
 
 if BUILD_DEVICE_FILE
+include_HEADERS += $(top_srcdir)/include/libethercat/hw_file.h
 libethercat_la_SOURCES += hw_file.c
 endif
 
 if BUILD_DEVICE_BPF
+include_HEADERS += $(top_srcdir)/include/libethercat/hw_bpf.h
 libethercat_la_SOURCES += hw_bpf.c
 endif
 
 if BUILD_PIKEOS
+include_HEADERS += $(top_srcdir)/include/libethercat/hw_pikeos.h
 libethercat_la_SOURCES += hw_pikeos.c
 endif
 

src/dc.c

@@ -95,10 +95,10 @@ static inline osal_uint64_t get_packet_duration(ec_t *pec) {
         p_entry->user_cb = anon_cb;
 
         // queue frame and trigger tx
-        pool_put(&pec->hw.tx_high, p_entry);
+        pool_put(&pec->phw->tx_high, p_entry);
 
         osal_uint64_t start = osal_timer_gettime_nsec();
-        hw_tx(&pec->hw);
+        hw_tx(pec->phw);
 
         // wait for completion
         osal_timer_t to;