EtherNet/IP™ Adapter Example Application.
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <stdarg.h>
#include <api/EI_API.h>
#include <api/EI_API_def.h>
#include "AppPerm.h"
#include <drivers/pinmux.h>
#include <drivers/pruicss.h>
#include <drivers/sciclient/include/sciclient_pm.h>
#include <appPhyReset.h>
#include <osal.h>
#include <osal_error.h>
#include <hwal.h>
#include <pru.h>
#include <pru_EthernetIP.h>
#include <Board.h>
#include <kbTrace.h>
#include <App.h>
#include <AppClass71.h>
#if defined(SOC_AM64X) || defined(SOC_AM243X)
#include "ti_drivers_config.h"
#include "ti_drivers_open_close.h"
#include "ti_board_config.h"
#include "ti_board_open_close.h"
#endif
#if defined(SOC_AM64X) || defined(SOC_AM243X)
extern PRUICSS_Handle prusshandle;
#else
Board_IDInfo boardInfo;
#endif
uint8_t EI_APP_aMacAddr_g[] = {0xc8, 0x3e, 0xa7, 0x00, 0x00, 0x59};
static void *EI_APP_pvTaskMainHandle_s;
static uint8_t EI_APP_aTaskStackMainStack_s[EI_APP_STACK_MAIN_TASK_STACK_SIZE];
static EI_API_ADP_T* pAdp_s = NULL;
static EI_API_CIP_NODE_T* pCip_s = NULL;
static uint8_t* EI_APP_getMacAddr (void);
static bool EI_APP_cipSetup(EI_API_CIP_NODE_T* pCipNode_p);
static bool EI_APP_cipCreateCallback(EI_API_CIP_NODE_T* pCipNode_p);
uint32_t EI_APP_globalError_g = 0;
uint8_t EI_APP_pruLogicalInstance_g = EI_API_ADP_PRUICCSS_INSTANCE_TWO;
static int EI_APP_cleanup()
{
int exit_code = 0;
{
exit_code = 1;
}
{
exit_code = 1;
}
if (IDK_deInit(pAdp_s, eTMDX654IDKEVM))
{
exit_code = 1;
}
return exit_code;
}
void EI_APP_adpInit(void)
{
uint32_t errCode = 0;
uint16_t vendorId = 806;
uint16_t deviceType = 0x000c;
uint16_t productCode = 0x6401;
uint32_t serialNumber = 0x00000065;
const char productName[] = "EtherNet/IP(tm) Adapter";
EI_APP_PERM_read(true);
}
void EI_APP_cipGenerateContent(EI_API_CIP_NODE_T* pCipNode_p, uint16_t classId_p, uint16_t instanceId_p)
{
uint16_t i = 0;
uint16_t attribID = 0x300;
for (i = 0; i < 64; i++)
{
memset(&attr, 0, sizeof(attr));
attribID++;
}
for (i = 0; i < 32; i++)
{
memset(&attr, 0, sizeof(attr));
attribID++;
}
for (i = 0; i < 16; i++)
{
memset(&attr, 0, sizeof(attr));
attribID++;
}
for (i = 0; i < 8; i++)
{
memset(&attr, 0, sizeof(attr));
attribID++;
}
}
static bool EI_APP_cipSetup(EI_API_CIP_NODE_T* pCipNode_p)
{
uint32_t errCode = 0;
uint16_t i = 0;
uint16_t classId = 0x70;
uint16_t instanceId = 0x01;
EI_APP_cipGenerateContent(pCipNode_p, classId, instanceId);
for (i = 0x300; i < 0x305; i++)
{
{
OSAL_printf("Failed to add Class ID %#x, Instance ID %#x, Attribute ID %#x to Assembly Instance 0x64: Error code: 0x%08x\n", classId, instanceId, (uint16_t)i, errCode);
}
OSAL_printf("Failed to add Class ID %#x, Instance ID %#x, Attribute ID %#x to Assembly Instance 0x65: Error code: 0x%08x\n", classId, instanceId, (uint16_t)(8 + i), errCode);
}
}
return true;
}
static bool EI_APP_cipCreateCallback(EI_API_CIP_NODE_T* pCipNode_p)
{
uint8_t errorCnt = 0;
return true;
}
bool EI_APP_init(void)
{
bool result = 1;
EI_APP_PERM_init(pAdp_s);
EI_APP_stackInit(EI_APP_pruLogicalInstance_g);
EI_APP_cipCreateCallback(pCip_s);
EI_APP_cipSetup(pCip_s);
IDK_init(pAdp_s, eTMDX654IDKEVM);
EI_APP_CLASS71_init(pCip_s);
EI_APP_adpInit();
OSAL_printf("EI_API_ADP_getMacAddr: %02x:%02x:%02x:%02x:%02x:%02x\r\n",
return result;
}
void EI_APP_run(void)
{
}
void EI_APP_mainTask(
void* pvTaskArg_p)
{
Board_init();
Drivers_open();
Board_driversOpen();
int16_t resetServiceFlag;
if (false == EI_APP_init())
{
OSAL_printf("Fatal error: application initialization failed\n");
return;
}
for (;;)
{
EI_APP_run();
resetServiceFlag = EI_APP_PERM_getResetRequired();
if (resetServiceFlag != -1)
{
break;
}
OSAL_SCHED_yield();
}
EI_APP_cleanup();
PRU_EIP_stop();
Board_deinit();
System_deinit();
Sciclient_pmDeviceReset(0xFFFFFFFFU);
}
int main(
int argc,
char* argv[])
{
uint32_t err;
System_init ();
Board_init ();
err = HWAL_init ();
if (err != OSAL_NO_ERROR)
{
goto laError;
}
OSAL_registerErrorHandler (EI_APP_osErrorHandlerCb);
err = OSAL_init ();
if (err != OSAL_NO_ERROR)
{
goto laError;
}
EI_APP_pvTaskMainHandle_s = OSAL_SCHED_startTask (EI_APP_mainTask,
(void*)&EI_APP_pruLogicalInstance_g,
OSAL_TASK_ePRIO_4,
EI_APP_aTaskStackMainStack_s,
EI_APP_STACK_MAIN_TASK_STACK_SIZE,
OSAL_OS_START_TASK_FLG_NONE,
"main_task");
if (EI_APP_pvTaskMainHandle_s == NULL)
{
goto laError;
}
OSAL_startOs ();
return (0);
laError:
return (-1);
}
void EI_APP_stackErrorHandlerCb(
uint32_t i32uErrorCode_p,
uint8_t bFatal_p,
uint8_t i8uNumOfPara_p,
va_list argptr_p)
{
OSAL_printf("###### Stack Error: 0x%08x, %s ######\n", i32uErrorCode_p, bFatal_p == 0 ? "non fatal" : "fatal");
if (bFatal_p)
{
EI_APP_cleanup();
exit(255);
}
}
void EI_APP_osErrorHandlerCb (
uint32_t errorCode_p,
bool fatal_p,
uint8_t paraCnt_p,
va_list argptr_p)
{
int32_t argInd;
uint32_t arg;
EI_APP_globalError_g = errorCode_p;
OSAL_printf ("\nError: 0x%8.8x, Fatal: %s", errorCode_p, fatal_p ? "yes" : "no");
if (fatal_p == true)
{
exit (1);
}
}
void EI_APP_stackInit (uint8_t pruInstance_p)
{
uint32_t err;
err = APP_initPhyResetGpio ();
if (err != OSAL_NO_ERROR)
{
goto laError;
}
if (err)
{
goto laError;
}
OSAL_printf("+EI_API_ADP_startFirmware\r\n");
OSAL_printf("-EI_API_ADP_startFirmware\r\n");
return;
laError:
printf ("\nStack Init Error: 0x%8.8x", err);
return;
}
static uint8_t* EI_APP_getMacAddr (void)
{
#ifndef _DEBUG_USE_KUNBUS_MAC_ADDRESS
static uint8_t mac_addr[6];
const uint32_t mac_address_upper_16_bits = *IDK_CTRLMMR0_MAC_ID1;
const uint32_t mac_address_lower_32_bits = *IDK_CTRLMMR0_MAC_ID0;
mac_addr[0] = (uint8_t) (mac_address_upper_16_bits >> 8);
mac_addr[1] = (uint8_t) (mac_address_upper_16_bits);
mac_addr[2] = (uint8_t) (mac_address_lower_32_bits >> 24);
mac_addr[3] = (uint8_t) (mac_address_lower_32_bits >> 16);
mac_addr[4] = (uint8_t) (mac_address_lower_32_bits >> 8);
mac_addr[5] = (uint8_t) (mac_address_lower_32_bits);
memcpy(EI_APP_aMacAddr_g, mac_addr, 6);
return mac_addr;
#else
return EI_APP_aMacAddr_g;
#endif
}
ETHIP_API void EI_API_ADP_run(void)
Main run function.
Definition: EI_API_ADP_main.c:490
ETHIP_API T * EI_API_ADP_new(uint8_t numInterfaces_p)
Create a new EtherNet/IP adapter.
Definition: EI_API_ADP_main.c:195
ETHIP_API uint32_t EI_API_ADP_delete(T *pAdp_p)
Delete an existing EtherNet/IP adapter.
Definition: EI_API_ADP_main.c:303
ETHIP_API uint32_t EI_API_ADP_setErrorHandlerFunc(EI_API_ADP_CBStackError callback_p)
Set the stack error handler function.
Definition: EI_API_ADP_main.c:703
ETHIP_API uint32_t EI_API_ADP_loadMac(EIP_SLoadParameter *ptPara_p, uint8_t pruInstance)
Load and initialize EthernetIP firmware in PRU.
Definition: EI_API_ADP_main.c:96
ETHIP_API void EI_API_ADP_startFirmware(void)
Enable PRU firmware.
Definition: EI_API_ADP_main.c:140
ETHIP_API uint32_t EI_API_ADP_init(T *pAdp_p)
Apply parameters.
Definition: EI_API_ADP_main.c:390
ETHIP_API uint32_t EI_API_ADP_getMacAddr(T *pAdp_p, EI_API_ADP_SParam_t *pMacAddr_p)
Get the adapter MAC address (Instance Attribute ID: 3).
Definition: EI_API_ADP_main.c:3499
ETHIP_API uint32_t EI_API_ADP_setSerialNumber(T *pAdp_p, uint32_t serialNumber_p)
Set the adapter's unique serial number (Instance Attribute ID: 6).
Definition: EI_API_ADP_main.c:1487
ETHIP_API uint32_t EI_API_ADP_setRevision(T *pAdp_p, EI_API_ADP_SRevision_t revison_p)
Set the adapter revision (Instance Attribute ID: 4).
Definition: EI_API_ADP_main.c:1350
ETHIP_API uint32_t EI_API_ADP_setProductCode(T *pAdp_p, uint16_t productCode_p)
Set the adapter product code (Instance Attribute ID: 3).
Definition: EI_API_ADP_main.c:1212
ETHIP_API uint32_t EI_API_ADP_setProductName(T *pAdp_p, const char *pProductName_p)
Set the adapter product name (Instance Attribute ID: 7).
Definition: EI_API_ADP_main.c:1622
ETHIP_API uint32_t EI_API_ADP_setVendorId(T *pAdp_p, uint16_t vendorId_p)
Set the adapter vendor identifier (Instance Attribute ID: 1).
Definition: EI_API_ADP_main.c:946
ETHIP_API uint32_t EI_API_ADP_setDeviceType(T *pAdp_p, uint16_t deviceType_p)
Set the adapter device type (Instance Attribute ID: 2).
Definition: EI_API_ADP_main.c:1080
ETHIP_API uint32_t EI_API_CIP_addAssemblyMember(T *pCipNode_p, uint16_t assemblyInstanceId_p, uint16_t classId_p, uint16_t instanceId_p, uint16_t attributeId_p)
Add an member to an assembly member list.
Definition: EI_API_CIP_main.c:5465
ETHIP_API uint32_t EI_API_CIP_createAssembly(T *pCipNode_p, uint16_t assemblyInstanceId_p, EI_API_CIP_EAr_t accessRule_p)
Create a new assembly instance.
Definition: EI_API_CIP_main.c:5329
void(* EI_API_CIP_CBService)(EI_API_CIP_NODE_T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p, uint16_t attrId_p, EI_API_CIP_ESc_t serviceCode_p, int16_t serviceFlag_p)
Function prototype for CIP service callback functions.
Definition: EI_API_def.h:256
ETHIP_API uint32_t EI_API_CIP_addClassService(T *pCipNode_p, uint16_t classId_p, EI_API_CIP_SService_t *pService_p)
Add service/s to the class.
Definition: EI_API_CIP_main.c:428
ETHIP_API uint32_t EI_API_CIP_createClass(T *pCipNode_p, uint16_t classId_p)
Create a CIP class.
Definition: EI_API_CIP_main.c:354
@ EI_API_CIP_eSC_RESET
Definition: EI_API_def.h:115
@ EI_API_CIP_eSC_GETATTRSINGLE
Definition: EI_API_def.h:116
@ EI_API_CIP_eSC_SETATTRSINGLE
Definition: EI_API_def.h:117
@ EI_API_CIP_eAR_GET_AND_SET
Definition: EI_API_def.h:131
@ EI_API_CIP_eAR_GET
Attribute is gettable.
Definition: EI_API_def.h:130
@ EI_API_CIP_eEDT_UDINT
Definition: EI_API_CIP.h:129
@ EI_API_CIP_eEDT_USINT
Definition: EI_API_CIP.h:127
@ EI_API_CIP_eEDT_ULINT
Definition: EI_API_CIP.h:130
@ EI_API_CIP_eEDT_UINT
Definition: EI_API_CIP.h:128
@ EI_API_CIP_eERR_OK
Definition: EI_API_CIP.h:52
ETHIP_API uint32_t EI_API_CIP_setInstanceServiceFunc(T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p, EI_API_CIP_SService_t *pService_p)
Add a callback function to an instance service.
Definition: EI_API_CIP_main.c:1300
ETHIP_API uint32_t EI_API_CIP_addInstanceService(T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p, EI_API_CIP_SService_t *pService_p)
Add one or more service/s to the class instance.
Definition: EI_API_CIP_main.c:1069
ETHIP_API uint32_t EI_API_CIP_createInstance(T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p)
Creates a CIP instance.
Definition: EI_API_CIP_main.c:898
ETHIP_API uint32_t EI_API_CIP_addInstanceAttr(T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p, EI_API_CIP_SAttr_t *pAttr_p)
Add an attribute to an instance.
Definition: EI_API_CIP_main.c:1447
ETHIP_API uint32_t EI_API_CIP_setInstanceAttr(T *pCipNode_p, uint16_t classId_p, uint16_t instanceId_p, EI_API_CIP_SAttr_t *pAttr_p)
Set instance attribute value only.
Definition: EI_API_CIP_main.c:2227
ETHIP_API T * EI_API_CIP_NODE_new(void)
Create a new CIP node.
Definition: EI_API_CIP_main.c:69
ETHIP_API uint32_t EI_API_CIP_NODE_delete(T *pCipNode_p)
Delete the CIP node specified by parameter pCipNode_p.
Definition: EI_API_CIP_main.c:148
uint8_t * data
Definition: EI_API_ADP.h:113
Definition: EI_API_ADP.h:111
uint8_t major
Definition: EI_API_ADP.h:127
uint8_t minor
Definition: EI_API_ADP.h:129
Definition: EI_API_ADP.h:126
EI_API_CIP_EEdt_t edt
Definition: EI_API_CIP.h:194
EI_API_CIP_EAr_t accessRule
Definition: EI_API_CIP.h:196
uint16_t id
Definition: EI_API_CIP.h:193
void * pvValue
Definition: EI_API_CIP.h:200
General attribute parameter collection.
Definition: EI_API_CIP.h:192
EI_API_CIP_ESc_t code
Definition: EI_API_CIP.h:181
EI_API_CIP_CBService callback
Definition: EI_API_CIP.h:184
uint16_t getAttrAllResponseCnt
Definition: EI_API_CIP.h:182
General service parameter collection.
Definition: EI_API_CIP.h:180
uint8_t ai8uMacAddr[EIP_MAC_ADDR_LEN]
Definition: EI_API_ADP.h:162
Definition: EI_API_ADP.h:161