Merge branch 'master' of github.com:robert-burger/libethercat

robert-burger · Aug 21, 2024 · 1a9cca4 · 1a9cca4
2 parents 6917b01 + 388ac34
commit 1a9cca4
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Showing 3 changed files with 35 additions and 11 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,8 @@ string(REGEX MATCH "VERSION = ([0-9]*.[0-9]*.[0-9]*)" _ ${PROJECT_PROPERTIES})
 set(PROJECT_VERSION ${CMAKE_MATCH_1})
 project(libethercat VERSION ${PROJECT_VERSION})
 
-set(ECAT_DEVICE "sock_raw" CACHE STRING "EtherCAT device layer as `;` separated list")
+set(ECAT_DEVICE "sock_raw" CACHE STRING "EtherCAT device layer as `+` separated list")
+string(REPLACE "+" ";" ECAT_DEVICE ${ECAT_DEVICE})
 
 include(CheckIncludeFiles)
 include(CheckSymbolExists)
@@ -65,9 +66,6 @@ find_package (Threads REQUIRED)
 include_directories(${libosal_INCLUDE_DIRS} include)
 link_directories(${libosal_LIB_DIR})
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/libethercat/config.h)
-
-
 set(SRC_ETHERCAT 
     src/async_loop.c
     src/coe.c
@@ -95,29 +93,31 @@ list(FIND ECAT_DEVICE "bpf" HAS_SOCK_BPF)
 if (${HAS_SOCK_RAW} GREATER -1)
     message("Include device sock_raw")
     list(APPEND SRC_HW_LAYER src/hw_sock_raw.c)
-    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY)
+    set(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY 1)
 endif()
 if (${HAS_SOCK_RAW_MMAPED} GREATER -1)
     message("Include device sock_raw_mmaped")
     list(APPEND SRC_HW_LAYER src/hw_sock_raw_mmaped.c)
-    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED)
+    set(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED 1)
 endif()
 if (${HAS_SOCK_FILE} GREATER -1)
     message("Include device file")
     list(APPEND SRC_HW_LAYER src/hw_file.c)
-    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_FILE)
+    set(LIBETHERCAT_BUILD_DEVICE_FILE 1)
 endif()
 if (${HAS_SOCK_PIKEOS} GREATER -1)
     message("Include device pikeos")
     list(APPEND SRC_HW_LAYER src/hw_pikeos.c)
-    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_PIKEOS)
+    set(LIBETHERCAT_BUILD_DEVICE_PIKEOS 1)
 endif()
 if (${HAS_SOCK_BPF} GREATER -1)
     message("Include device bpf")
     list(APPEND SRC_HW_LAYER src/hw_bpf.c)
-    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_BPD)
+    set(LIBETHERCAT_BUILD_DEVICE_BPF 1)
 endif()
 
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/libethercat/config.h)
+
 # LIBS
 add_library(ethercat ${SRC_ETHERCAT} ${SRC_HW_LAYER})
 target_link_libraries (ethercat ${CMAKE_THREAD_LIBS_INIT} ${libosal_LIBS})

diff --git a/README.md b/README.md
@@ -64,15 +64,24 @@ This will build and install a static as well as a dynamic library. For use in ot
 
 ### CMake
 
+Steps to build:
 ```bash
 mkdir build
 cd build
 # Please change the path to the install dir. If you chose a global install you can omit the CMAKE_PREFIX_PATH option
-# You can specify which EtherCAT devices should be included into the build with -DECAT_DEVICE="sock_raw;sock_raw_mmaped;..."
-cmake .. -DCMAKE_PREFIX_PATH=<installdir of libosal> -DECAT_DEVICE="sock_raw;sock_raw_mmaped"
+# You can specify which EtherCAT devices should be included into the build with -DECAT_DEVICE="sock_raw+sock_raw_mmaped+..."
+cmake -DCMAKE_PREFIX_PATH=<installdir of libosal> -DECAT_DEVICE="sock_raw+sock_raw_mmaped" ..
 cmake --build . 
 ```
 
+#### Configuration parameters
+
+| Parameter         | Default  | Description                                                                                               |
+|-------------------|----------|-----------------------------------------------------------------------------------------------------------|
+| CMAKE_PREFIX_PATH |          | Install directory of the libosal                                                                          |
+| ECAT_DEVICE       | sock_raw | List of EtherCAT devices as `+` separated list. Possible values: sock_raw+sock_raw_mmaped+file+pikeos+bpf |
+| BUILD_SHARED_LIBS | OFF      | Flag to build shared libraries instead of static ones.                                                    |
+
 ## Tools
 
 libethercat also provides some small helper programs for the EtherCAT bus.

diff --git a/cmake/cmake_config.h.in b/cmake/cmake_config.h.in
@@ -124,6 +124,21 @@
 /* Define to the version of this package. */
 #cmakedefine LIBETHERCAT_VERSION "@LIBETHERCAT_VERSION@"
 
+/* Define to build DEVICE_SOCK_RAW_LEGACY. */
+#cmakedefine LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY ${LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY}
+
+/* Define to build DEVICE_SOCK_RAW_MMAPED. */
+#cmakedefine LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED ${LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED}
+
+/* Define to build DEVICE_FILE. */
+#cmakedefine LIBETHERCAT_BUILD_DEVICE_FILE ${LIBETHERCAT_BUILD_DEVICE_FILE}
+
+/* Define to build BUILD_DEVICE_PIKEOS. */
+#cmakedefine LIBETHERCAT_BUILD_DEVICE_PIKEOS ${LIBETHERCAT_BUILD_DEVICE_PIKEOS}
+
+/* Define to build BUILD_DEVICE_BPD. */
+#cmakedefine LIBETHERCAT_BUILD_DEVICE_BPF ${LIBETHERCAT_BUILD_DEVICE_BPF}
+
 /* Define to necessary symbol if this constant uses a non-standard name on
    your system. */
 #undef PTHREAD_CREATE_JOINABLE