wip on xeno3

make lib static

remove require 3.1 xenomai version

fix simple_ng compilation

CMakeLists.txt

@@ -33,8 +33,8 @@ if(WIN32)
   set(OS_LIBS wpcap.lib Packet.lib Ws2_32.lib Winmm.lib)
 elseif(UNIX AND NOT APPLE)
   set(OS "linux")
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
-  set(OS_LIBS pthread rt)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
+  #set(OS_LIBS pthread rt)
 elseif(APPLE)
   # This must come *before* linux or MacOSX will identify as Unix.
   set(OS "macosx")
@@ -61,6 +61,22 @@ endif()
 
 message(STATUS "OS is ${OS}")
 
+option(CMAKE_USE_XENOMAI "Use Xenomai libraries" OFF)
+if ( CMAKE_USE_XENOMAI )
+    find_package(Xenomai REQUIRED)
+    if(TARGET Xenomai::cobalt)
+        set(USE_COBALT True)
+    endif()
+endif()
+if ( Xenomai_FOUND )
+    set(OS_LIBS Xenomai::posix pthread rt)
+    set(LIB_TYPE _rt)
+else()
+    set(OS_LIBS pthread rt)
+    set(LIB_TYPE _nrt)
+endif()
+set(SOEM_LIB_NAME soem${LIB_TYPE})
+
 file(GLOB SOEM_SOURCES soem/*.c)
 file(GLOB OSAL_SOURCES osal/${OS}/*.c)
 file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
@@ -69,33 +85,33 @@ file(GLOB SOEM_HEADERS soem/*.h)
 file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
 file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
 
-add_library(soem STATIC
+add_library(${SOEM_LIB_NAME} STATIC
   ${SOEM_SOURCES}
   ${OSAL_SOURCES}
   ${OSHW_SOURCES}
   ${OSHW_EXTRA_SOURCES})
-target_link_libraries(soem ${OS_LIBS})
+target_link_libraries(${SOEM_LIB_NAME} ${OS_LIBS})
+
 
-target_include_directories(soem PUBLIC
+target_include_directories(${SOEM_LIB_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
   $<INSTALL_INTERFACE:include/soem>)
 
-target_include_directories(soem PUBLIC
+target_include_directories(${SOEM_LIB_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
   $<INSTALL_INTERFACE:include/soem>)
 
-target_include_directories(soem PUBLIC
+target_include_directories(${SOEM_LIB_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
   $<INSTALL_INTERFACE:include/soem>)
 
-target_include_directories(soem
-  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
-  $<INSTALL_INTERFACE:include/soem>
-  )
+target_include_directories(${SOEM_LIB_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
+  $<INSTALL_INTERFACE:include/soem>)
 
 message(STATUS "LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
 
-install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
+install(TARGETS ${SOEM_LIB_NAME} EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
 
 install(EXPORT soemConfig DESTINATION share/soem/cmake)
 

oshw/linux/nicdrv.c

@@ -30,6 +30,14 @@
  * This layer if fully transparent for the higher layers.
  */
 
+#ifdef __COBALT__
+    #include <asm/ioctl.h>
+    #include <rtdm/rtdm.h>
+    //#include <rtnet.h>
+    #define RTIOC_TYPE_NETWORK      RTDM_CLASS_NETWORK
+    #define RTNET_RTIOC_TIMEOUT     _IOW(RTIOC_TYPE_NETWORK,  0x11, int64_t)
+#endif
+
 #include <sys/types.h>
 #include <sys/ioctl.h>
 #include <net/if.h>
@@ -91,7 +99,11 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
 {
    int i;
    int r, rval, ifindex;
+#ifdef __COBALT__
+   int64_t timeout_ns;
+#else
    struct timeval timeout;
+#endif
    struct ifreq ifr;
    struct sockaddr_ll sll;
    int *psock;
@@ -144,14 +156,18 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
    }
    /* we use RAW packet socket, with packet type ETH_P_ECAT */
    *psock = socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ECAT));
-
+#ifdef __COBALT__
+    timeout_ns = 10000LL;
+    if ( ioctl(*psock, RTNET_RTIOC_TIMEOUT, &timeout_ns) < 0 )
+         printf("ioctl RTNET_RTIOC_TIMEOUT failed\n");
+#else
    timeout.tv_sec =  0;
    timeout.tv_usec = 1;
    r = setsockopt(*psock, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout));
    r = setsockopt(*psock, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout));
    i = 1;
    r = setsockopt(*psock, SOL_SOCKET, SO_DONTROUTE, &i, sizeof(i));
-   /* connect socket to NIC by name */
+#endif   /* connect socket to NIC by name */
    strcpy(ifr.ifr_name, ifname);
    r = ioctl(*psock, SIOCGIFINDEX, &ifr);
    ifindex = ifr.ifr_ifindex;

soem/ethercatconfig.c

@@ -148,6 +148,49 @@ int ecx_detect_slaves(ecx_contextt *context)
    return wkc;
 }
 
+static int reset_slaves(ecx_contextt *context) {
+
+    int wkc = 0;
+    uint16_t power_on_gpio = 1;
+    uint16_t power_in_gpio = 0;
+    uint8_t try_cnt = 3;
+
+    ///
+    /// Motor Controller C2000 dsp is powered on by et1100
+    /// 
+    ///  
+    if ( context->ec_reset_micro ) {
+
+       power_on_gpio = 1;
+       wkc = ec_BWR(0x0000, 0x0f10, sizeof(power_on_gpio), &power_on_gpio, EC_TIMEOUTSAFE);
+       osal_usleep(250000);
+       power_on_gpio = 3;
+       wkc = ec_BWR(0x0000, 0x0f10, sizeof(power_on_gpio), &power_on_gpio, EC_TIMEOUTSAFE);
+       osal_usleep(250000);
+       power_on_gpio = 1;
+       wkc = ec_BWR(0x0000, 0x0f10, sizeof(power_on_gpio), &power_on_gpio, EC_TIMEOUTSAFE);
+       osal_usleep(500000);
+       //printf("wkc = %d\n",wkc);
+       while ( try_cnt-- ) {
+            ec_BRD(0x0000, 0x0f18, sizeof(power_in_gpio), &power_in_gpio, EC_TIMEOUTSAFE);
+            if ( power_in_gpio ) {
+                break;
+            }
+        }
+        if ( power_in_gpio == 0 ) {
+            printf("[ECat_master] Failed to reset slaves!\n");
+            //return 0;
+        }
+            // 
+            osal_usleep(1000000); 
+            printf("[ECat_master] POWER ON slaves.\n");
+    } else {
+        printf("[ECat_master] reset_micro set to FALSE \n");
+    }
+
+    return wkc;
+}
+
 static void ecx_set_slaves_to_default(ecx_contextt *context)
 {
    uint8 b;
@@ -321,6 +364,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
    wkc = ecx_detect_slaves(context);
    if (wkc > 0)
    {
+      reset_slaves(context);
       ecx_set_slaves_to_default(context);
       for (slave = 1; slave <= *(context->slavecount); slave++)
       {

soem/ethercatmain.c

@@ -91,7 +91,8 @@ static ec_eepromSMt     ec_SM;
 static ec_eepromFMMUt   ec_FMMU;
 /** Global variable TRUE if error available in error stack */
 boolean                 EcatError = FALSE;
-
+/** */
+static boolean          ec_reset_micro = TRUE;
 int64                   ec_DCtime;
 
 ecx_portt               ecx_port;
@@ -120,9 +121,13 @@ ecx_contextt  ecx_context = {
     NULL,               // .EOEhook()
     0,                  // .manualstatechange
     NULL,               // .userdata
+    &ec_reset_micro,    // .reset_micro   =
 };
 #endif
 
+void ec_reset_micro_slaves(boolean reset_micro) {
+    ec_reset_micro = reset_micro;
+}
 /** Create list over available network adapters.
  *
  * @return First element in list over available network adapters.

soem/ethercatmain.h

@@ -429,6 +429,8 @@ struct ecx_context
    /** userdata, promotes application configuration esp. in EC_VER2 with multiple 
     * ec_context instances. Note: userdata memory is managed by application, not SOEM */
    void           *userdata;
+   /** */
+   boolean        *ec_reset_micro;
 };
 
 #ifdef EC_VER1
@@ -443,6 +445,7 @@ extern ec_groupt   ec_group[EC_MAXGROUP];
 extern boolean     EcatError;
 extern int64       ec_DCtime;
 
+void ec_reset_micro_slaves(boolean reset_micro);
 void ec_pusherror(const ec_errort *Ec);
 boolean ec_poperror(ec_errort *Ec);
 boolean ec_iserror(void);

test/linux/eepromtool/CMakeLists.txt

@@ -1,5 +1,5 @@
 
 set(SOURCES eepromtool.c)
 add_executable(eepromtool ${SOURCES})
-target_link_libraries(eepromtool soem)
+target_link_libraries(eepromtool ${SOEM_LIB_NAME})
 install(TARGETS eepromtool DESTINATION bin)

test/linux/simple_test/CMakeLists.txt

@@ -1,5 +1,10 @@
 
 set(SOURCES simple_test.c)
 add_executable(simple_test ${SOURCES})
-target_link_libraries(simple_test soem)
+if ( Xenomai_FOUND )
+    xenomai_target_bootstrap(simple_test
+        SKINS posix
+    )
+endif()
+target_link_libraries(simple_test PRIVATE ${SOEM_LIB_NAME})
 install(TARGETS simple_test DESTINATION bin)

test/linux/simple_test/simple_test.c

@@ -13,6 +13,19 @@
 #include <string.h>
 #include <inttypes.h>
 
+#ifdef __COBALT__
+    #include <cobalt/uapi/signal.h>
+    #include <xenomai/init.h>
+
+    #ifdef __cplusplus
+    extern "C" {
+    #endif
+    int xenomai_bootstrap_getargv(int *argc, char *const** argv);
+    #ifdef __cplusplus
+    }
+    #endif
+#endif
+
 #include "ethercat.h"
 
 #define EC_TIMEOUTMON 500
@@ -34,6 +47,8 @@ void simpletest(char *ifname)
 
    printf("Starting simple test\n");
 
+   ec_reset_micro_slaves(TRUE);
+
    /* initialise SOEM, bind socket to ifname */
    if (ec_init(ifname))
    {
@@ -228,10 +243,14 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
     }
 }
 
-int main(int argc, char *argv[])
+int main(int argc, char * const argv[])
 {
    printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
 
+#ifdef __COBALT__
+    xenomai_bootstrap_getargv(&argc, &argv);
+#endif   
+
    if (argc > 1)
    {
       /* create thread to handle slave error handling in OP */

test/linux/slaveinfo/CMakeLists.txt

@@ -1,5 +1,10 @@
 
 set(SOURCES slaveinfo.c)
 add_executable(slaveinfo ${SOURCES})
-target_link_libraries(slaveinfo soem)
+if ( Xenomai_FOUND )
+    xenomai_target_bootstrap(slaveinfo
+        SKINS posix
+    )
+endif()
+target_link_libraries(slaveinfo PRIVATE ${SOEM_LIB_NAME})
 install(TARGETS slaveinfo DESTINATION bin)

test/linux/slaveinfo/slaveinfo.c

@@ -15,6 +15,19 @@
 #include <string.h>
 #include <inttypes.h>
 
+#ifdef __COBALT__
+    #include <cobalt/uapi/signal.h>
+    #include <xenomai/init.h>
+
+    #ifdef __cplusplus
+    extern "C" {
+    #endif
+    int xenomai_bootstrap_getargv(int *argc, char *const** argv);
+    #ifdef __cplusplus
+    }
+    #endif
+#endif
+
 #include "ethercat.h"
 
 char IOmap[4096];
@@ -590,6 +603,8 @@ void slaveinfo(char *ifname)
 
    printf("Starting slaveinfo\n");
 
+   ec_reset_micro_slaves(TRUE);
+
    /* initialise SOEM, bind socket to ifname */
    if (ec_init(ifname))
    {
@@ -696,11 +711,15 @@ void slaveinfo(char *ifname)
 
 char ifbuf[1024];
 
-int main(int argc, char *argv[])
+int main(int argc, char *const argv[])
 {
    ec_adaptert * adapter = NULL;
    printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
 
+#ifdef __COBALT__
+   xenomai_bootstrap_getargv(&argc, &argv);
+#endif 
+
    if (argc > 1)
    {
       if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0)) printSDO = TRUE;

test/simple_ng/CMakeLists.txt

@@ -1,4 +1,9 @@
 set(SOURCES simple_ng.c)
 add_executable(simple_ng ${SOURCES})
-target_link_libraries(simple_ng soem)
+if ( Xenomai_FOUND )
+    xenomai_target_bootstrap(simple_test
+        SKINS posix
+    )
+endif()
+target_link_libraries(simple_ng PRIVATE ${SOEM_LIB_NAME})
 install(TARGETS simple_ng DESTINATION bin)