change: adding pool_type to hw send routines

include/libethercat/hw.h

@@ -70,6 +70,12 @@
 struct ec;
 struct hw_common;
 
+//! Flag to distinguish the pool types during processing
+typedef enum pooltype {
+    POOL_HIGH,
+    POOL_LOW,
+} pooltype_t; //!< \brief pool type struct type. 
+              //
 //! Receive a frame from an EtherCAT hw device.
 /*!
  * \param[in]   phw         Pointer to hw handle. 
@@ -82,10 +88,11 @@ typedef int (*hw_device_recv_t)(struct hw_common *phw);
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   pframe      Pointer to frame buffer.
+ * \param[in]   pool_type   Pool type to distinguish between high and low prio frames.
  *
  * \return 0 or negative error code
  */
-typedef int (*hw_device_send_t)(struct hw_common *phw, ec_frame_t *pframe);
+typedef int (*hw_device_send_t)(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type);
 
 //! Doing internal stuff when finished sending frames
 /*!

src/hw.c

@@ -144,11 +144,12 @@ void hw_process_rx_frame(struct hw_common *phw, ec_frame_t *pframe) {
 }
 
 //! internal tx func
-static void hw_tx_pool(struct hw_common *phw, pool_t *pool) {
+static void hw_tx_pool(struct hw_common *phw, pooltype_t pool_type) {
     assert(phw != NULL);
 
     osal_bool_t sent = OSAL_FALSE;
     ec_frame_t *pframe = NULL;
+    pool_t *pool = pool_type == POOL_HIGH ? &phw->tx_high : &phw->tx_low;
 
     (void)phw->get_tx_buffer(phw, &pframe);
 
@@ -170,7 +171,7 @@ static void hw_tx_pool(struct hw_common *phw, pool_t *pool) {
 
         if ((len == 0u) || ((pframe->len + len) > phw->mtu_size)) {
             if (pframe->len != sizeof(ec_frame_t)) {
-                (void)phw->send(phw, pframe);
+                (void)phw->send(phw, pframe, pool_type);
                 sent = OSAL_TRUE;
                 (void)phw->get_tx_buffer(phw, &pframe);
                 pdg = ec_datagram_first(pframe);
@@ -210,7 +211,7 @@ int hw_tx_low(struct hw_common *phw) {
     int ret = EC_OK;
 
     osal_mutex_lock(&phw->hw_lock);
-    hw_tx_pool(phw, &phw->tx_low);
+    hw_tx_pool(phw, POOL_LOW);
     osal_mutex_unlock(&phw->hw_lock);
 
     return ret;
@@ -229,8 +230,8 @@ int hw_tx(struct hw_common *phw) {
     osal_mutex_lock(&phw->hw_lock);
 
     osal_timer_init(&phw->next_cylce_start, phw->pec->main_cycle_interval);
-    hw_tx_pool(phw, &phw->tx_high);
-    hw_tx_pool(phw, &phw->tx_low);
+    hw_tx_pool(phw, POOL_HIGH);
+    hw_tx_pool(phw, POOL_LOW);
 
     osal_mutex_unlock(&phw->hw_lock);
 

src/hw_bpf.c

@@ -62,7 +62,7 @@ static struct bpf_insn insns[] = {
 };
 
 // forward declarations
-int hw_device_bpf_send(hw_t *phw, ec_frame_t *pframe);
+int hw_device_bpf_send(hw_t *phw, ec_frame_t *pframe, pooltype_t pool_type);
 int hw_device_bpf_recv(hw_t *phw);
 void hw_device_bpf_send_finished(hw_t *phw);
 int hw_device_bpf_get_tx_buffer(hw_t *phw, ec_frame_t **ppframe);

src/hw_file.c

@@ -73,7 +73,7 @@
 #define ETHERCAT_DEVICE_GET_POLLING       _IOR (ETHERCAT_DEVICE_MAGIC, 2, unsigned int)
 
 // forward declarations
-int hw_device_file_send(struct hw_common *phw, ec_frame_t *pframe);
+int hw_device_file_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type);
 int hw_device_file_recv(struct hw_common *phw);
 void hw_device_file_send_finished(struct hw_common *phw);
 int hw_device_file_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe);
@@ -256,13 +256,16 @@ int hw_device_file_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe) {
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   pframe      Pointer to frame buffer.
+ * \param[in]   pool_type   Pool type to distinguish between high and low prio frames.
  *
  * \return 0 or negative error code
  */
-int hw_device_file_send(struct hw_common *phw, ec_frame_t *pframe) {
+int hw_device_file_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type) {
     assert(phw != NULL);
     assert(pframe != NULL);
 
+    (void)pool_type;
+
     int ret = EC_OK;
     struct hw_file *phw_file = container_of(phw, struct hw_file, common);
 

src/hw_pikeos.c

@@ -61,7 +61,7 @@
 #include <drv/sbuf_common_svc.h>
 
 // forward declarations
-int hw_device_pikeos_send(struct hw_common *phw, ec_frame_t *pframe);
+int hw_device_pikeos_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type);
 int hw_device_pikeos_recv(struct hw_common *phw);
 void hw_device_pikeos_send_finished(struct hw_common *phw);
 int hw_device_pikeos_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe);
@@ -324,13 +324,16 @@ int hw_device_pikeos_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe)
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   pframe      Pointer to frame buffer.
+ * \param[in]   pool_type   Pool type to distinguish between high and low prio frames.
  *
  * \return 0 or negative error code
  */
-int hw_device_pikeos_send(struct hw_common *phw, ec_frame_t *pframe) {
+int hw_device_pikeos_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type) {
     assert(phw != NULL);
     assert(pframe != NULL);
 
+    (void)pool_type;
+
     struct hw_pikeos *phw_pikeos = container_of(phw, struct hw_pikeos, common);
 
     int ret = EC_OK;

src/hw_sock_raw.c

@@ -66,7 +66,7 @@
 #include <inttypes.h>
 
 // forward declarations
-int hw_device_sock_raw_send(struct hw_common *phw, ec_frame_t *pframe);
+int hw_device_sock_raw_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type);
 int hw_device_sock_raw_recv(struct hw_common *phw);
 void hw_device_sock_raw_send_finished(struct hw_common *phw);
 int hw_device_sock_raw_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe);
@@ -290,13 +290,16 @@ int hw_device_sock_raw_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   pframe      Pointer to frame buffer.
+ * \param[in]   pool_type   Pool type to distinguish between high and low prio frames.
  *
  * \return 0 or negative error code
  */
-int hw_device_sock_raw_send(struct hw_common *phw, ec_frame_t *pframe) {
+int hw_device_sock_raw_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type) {
     assert(phw != NULL);
     assert(pframe != NULL);
 
+    (void)pool_type;
+
     int ret = EC_OK;
     struct hw_sock_raw *phw_sock_raw = container_of(phw, struct hw_sock_raw, common);
 

src/hw_sock_raw_mmaped.c

@@ -65,7 +65,7 @@
 #include <errno.h>
 
 // forward declarations
-int hw_device_sock_raw_mmaped_send(struct hw_common *phw, ec_frame_t *pframe);
+int hw_device_sock_raw_mmaped_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type);
 int hw_device_sock_raw_mmaped_recv(struct hw_common *phw);
 void hw_device_sock_raw_mmaped_send_finished(struct hw_common *phw);
 int hw_device_sock_raw_mmaped_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe);
@@ -365,13 +365,16 @@ int hw_device_sock_raw_mmaped_get_tx_buffer(struct hw_common *phw, ec_frame_t **
 /*!
  * \param[in]   phw         Pointer to hw handle. 
  * \param[in]   pframe      Pointer to frame buffer.
+ * \param[in]   pool_type   Pool type to distinguish between high and low prio frames.
  *
  * \return 0 or negative error code
  */
-int hw_device_sock_raw_mmaped_send(struct hw_common *phw, ec_frame_t *pframe) {
+int hw_device_sock_raw_mmaped_send(struct hw_common *phw, ec_frame_t *pframe, pooltype_t pool_type) {
     assert(phw != NULL);
     assert(pframe != NULL);
 
+    (void)pool_type;
+
     int ret = EC_OK;
     struct hw_sock_raw_mmaped *phw_sock_raw_mmaped = container_of(phw, struct hw_sock_raw_mmaped, common);