EtherCAT_Slave_Simple.c

EtherCAT^® Slave Example Application.

EtherCAT^® Slave Example Application.

Author

KUNBUS GmbH

Copyright

Copyright (c) 2021, KUNBUS GmbH

SPDX-License-Identifier: BSD-3-Clause

Copyright (c) 2023 KUNBUS GmbH.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer./
3. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
4. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 
/* this one shall the only one to be using it ! */
#include "project.h"
#include "ecSlvSimple.h"
 
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
 #include <DPR_Api.h>
 /* DPR implementation */
 #if (defined DPRIMPL_SHAREDRAM) && (DPRIMPL_SHAREDRAM==1)
  /* Shared RAM not TriPort */
  #include <dprLib_sharedMemory.h>
 #endif
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (1==FBTLIMPL_LINEUART)
 #include "sysLib_lineUart.h"
#else
 #include "sysLib_sharedMemory.h"
#endif
 #include <FBTL_api.h>
#endif
 
/* OS */
#include <osal.h>
 
/* ESL */
#include <ESL_os.h>
#include <ESL_BOARD_config.h>
#include <ESL_version.h>
 
/* stack */
#include <ecSlvApi.h>
 
#if (defined OSAL_FREERTOS)
#define FrameProc   ECAT_FrameProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_frame_handler_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/ecat_frame_handler_bin.h>
#define HostProc   ECAT_HostProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_host_interface_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/ecat_host_interface_bin.h>
 
#if (defined INCLUDE_MDIO_MANUAL_MODE_WORKAROUND) && (!defined SOC_AM263X)
#define PRUFirmware   PRUMDIOFirmwareECATAPP
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/mdio_fw_bin.h>
#endif
#endif
 
#define TIESC_HW    0
#define PRU_200MHZ  1
 
#define THREAD_IDLE_TIMEOUT   (100U)     /* 100msec idle timeout */
 
/* @cppcheck_justify{misra-c2012-8.9} scope could be reduced to function, but this is preferred
    against threadsafety warning */
/* cppcheck-suppress misra-c2012-8.9 */
static OSAL_PJumpBuf_t  ECSS_farJumpBuf;
 
static uint32_t EC_SLV_APP_Simple_remoteInit(EC_SLV_APP_SS_Application_t* pApplicationInstance_p);
 
static void EC_SLV_APP_SS_loopTask(void* pArg_p)
{
    /* @cppcheck_justify{misra-c2012-11.5} generic thread API requires cast */
    /* cppcheck-suppress misra-c2012-11.5 */
    EC_SLV_APP_SS_Application_t*    pApplicationInstance    = (EC_SLV_APP_SS_Application_t*)pArg_p;
    uint32_t                        error                   = EC_API_eERR_NONE;
 
    if (!pApplicationInstance)
    {
        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
        /* cppcheck-suppress misra-c2012-15.1 */
        goto Exit;
    }
 
    EC_SLV_APP_SS_initBoardFunctions(pApplicationInstance);
    EC_SLV_APP_SS_registerStacklessBoardFunctions(pApplicationInstance);
 
#if (defined OSAL_FREERTOS)
#if !(defined FBTL_REMOTE) && !(defined DPRAM_REMOTE)
    /* inject firmware */
    error = EC_API_SLV_stackInsertPruFirmware((uint32_t*)ECAT_FrameProcAPP, sizeof(ECAT_FrameProcAPP),
                                              (uint32_t*)ECAT_HostProcAPP, sizeof(ECAT_HostProcAPP));
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
 
#if (defined INCLUDE_MDIO_MANUAL_MODE_WORKAROUND) && (!defined SOC_AM263X)
    error = EC_API_SLV_stackInsertMdioManualFirmware((uint32_t*)PRUMDIOFirmwareECATAPP, sizeof(PRUMDIOFirmwareECATAPP));
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#endif
#endif
#endif
 
    error = EC_API_SLV_stackInit(); // EtherCAT stack init
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
 
    EC_SLV_APP_SS_applicationInit(pApplicationInstance);
 
    /* spit out versions */
    ESL_dumpVersions();
 
    //RAN 2021
 
    for(;;)
    {
        EC_API_SLV_mainLoopCyclic();
 
        if (EC_API_SLV_eESM_init < EC_API_SLV_getState())
        {
            OSAL_SCHED_yield();
        }
        else
        {
            /* for carve up give some air */
            OSAL_SCHED_sleep(10);
        }
    }
    // not reachable
    //EC_SLV_APP_applicationDeInit();
Exit:
    ESL_OS_taskLeave();
 
    return;
}
 
static void EC_SLV_APP_SS_mainTask(void* pArg_p)
{
    /* @cppcheck_justify{misra-c2012-11.5} generic thread API requires cast */
    /* cppcheck-suppress misra-c2012-11.5 */
    EC_SLV_APP_SS_Application_t*    applicationInstance = (EC_SLV_APP_SS_Application_t*)pArg_p;
    uint32_t                        retVal              = OSAL_ERR_NoError;
 
    if(!applicationInstance)
    {
        OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Application instance missing!!!\r\n");
    }
 
    retVal = ESL_OS_boardInit(applicationInstance->selectedPruInstance);
    if(OSAL_ERR_NoError != retVal)
    {
        OSAL_error(__func__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
    }
 
    OSAL_registerPrintOut(NULL, ESL_OS_printf);
 
    retVal = EC_SLV_APP_Simple_remoteInit(applicationInstance);
 
    if(!((OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal) || (OSAL_ERR_NoError == retVal)))
    {
        OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Fatal error remote API init!!!\r\n");
        /* @cppcheck_justify{misra-c2012-15.1} assure single point of return */
        /* cppcheck-suppress misra-c2012-15.1 */
        goto Exit;
    }
 
    retVal = EC_API_SLV_load(&ECSS_farJumpBuf, NULL /* &applErrHandler*/, applicationInstance->selectedPruInstance);
 
    if (EC_API_eERR_NONE == retVal)
    {
        EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1, KBECSLV_PRIO_EOE);
 
        applicationInstance->loopThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_SS_loopTask
                                                                    ,applicationInstance
                                                                    ,OSAL_TASK_Prio_Normal
                                                                    ,(uint8_t*)EC_SLV_APP_applLoopTaskStack_g
                                                                    ,APPLLOOP_TASK_SIZE_BYTE
                                                                    ,0
                                                                    ,"Appl_LoopTask");
        if ( NULL == applicationInstance->loopThreadHandle)
        {
            OSAL_printf("Error return start Loop Task\r\n");
            OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
        }
 
        OSAL_SCHED_joinTask(applicationInstance->loopThreadHandle);
 
        /* No default tasks (run forever) here, so introduce a wait cycle */
        for (;;)
        {
            OSAL_SCHED_sleep(1000);
        }
    }
    else
    {
        for (;;)
        {
 
            for (;;)
            {
                OSAL_printf("long jmp restart\r\n");
                OSAL_SCHED_sleep(1000);
            }
        }
    }
 
    // not reachable
 
    //ESL_OS_boardDeinit();
    //EC_API_SLV_unLoad();
 
Exit:
    return;
}
 
int main(int argc, char *argv[])
{
    /* @cppcheck_justify{threadsafety-threadsafety} not called reentrant */
    /* cppcheck-suppress threadsafety-threadsafety */
    static uint32_t                     selectedPruInstance = UINT32_MAX;
    /* @cppcheck_justify{threadsafety-threadsafety} not called reentrant */
    /* cppcheck-suppress threadsafety-threadsafety */
    static EC_SLV_APP_SS_Application_t  applicationInstance = {0};
    uint32_t                            error                   = OSAL_ERR_NoError;
 
    ESL_OS_init();
 
#if !(defined FBTL_REMOTE)
    selectedPruInstance = ESL_DEFAULT_PRUICSS;
#endif
 
    if (1 < argc)
    {
        char* inst = argv[1];
        selectedPruInstance = strtoul(inst, NULL, 0);
    }
#if (defined OSAL_TIRTOS)
    /* workaround to assure PRUICSS linkage */
    if (0x1000 == argc)
    {
        /* make this link */
        PRUICSS_pruDisable(NULL, 0);
        PRUICSS_pruDisable(NULL, 1);
        PRUICSS_registerIrqHandler(NULL,  0,  0,  0,  0,  NULL);
    }
#endif
 
    /* Init osal */
    OSAL_init();
 
    applicationInstance.selectedPruInstance = selectedPruInstance;
 
#if (defined OSAL_FREERTOS)
    TaskP_Params_init(&applicationInstance.mainThreadParam);
 
    applicationInstance.mainThreadParam.name        = "mainThread";
    applicationInstance.mainThreadParam.stackSize   = MAIN_TASK_SIZE_BYTE;
    applicationInstance.mainThreadParam.stack       = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
    applicationInstance.mainThreadParam.priority    = (TaskP_PRIORITY_HIGHEST-1);
    applicationInstance.mainThreadParam.taskMain    = (TaskP_FxnMain)EC_SLV_APP_SS_mainTask;
    applicationInstance.mainThreadParam.args        = (void*)&applicationInstance;
 
    error = TaskP_construct(&applicationInstance.mainThreadHandle
                           ,&applicationInstance.mainThreadParam);
    if (SystemP_SUCCESS != error)
    {
        OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#elif (defined OSAL_FREERTOS_JACINTO)
    TaskP_Params_init(&applicationInstance.mainThreadParam);
 
    applicationInstance.mainThreadParam.name        = (uint8_t*)"mainThread";
    applicationInstance.mainThreadParam.stacksize   = MAIN_TASK_SIZE_BYTE;
    applicationInstance.mainThreadParam.stack       = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
    applicationInstance.mainThreadParam.priority    = (configMAX_PRIORITIES-1);
    applicationInstance.mainThreadParam.arg0        = (void*)&applicationInstance;
 
    applicationInstance.mainThreadHandle = TaskP_create(EC_SLV_APP_SS_mainTask, &applicationInstance.mainThreadParam);
    if (NULL == applicationInstance.mainThreadHandle)
    {
        OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#else
    applicationInstance.mainThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_SS_mainTask, &applicationInstance,
                                                                OSAL_TASK_Prio_Normal,
                                                                (uint8_t*)EC_SLV_APP_mainTaskStack_g,
                                                                MAIN_TASK_SIZE_BYTE, 0, "MainTask");
    if ( NULL == applicationInstance.mainThreadHandle)
    {
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
        error = OSAL_STACK_INIT_ERROR;
    }
#endif
 
    OSAL_startOs();
 
    OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Not reachable by design!!!\r\n");
 
    // not reachable
    //EC_API_SLV_unLoad();
 
    return error;
}
 
static uint32_t EC_SLV_APP_Simple_remoteInit(EC_SLV_APP_SS_Application_t *pApplicationInstance_p)
{
    uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
 
    if (!pApplicationInstance_p)
    {
        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
        /* cppcheck-suppress misra-c2012-15.1 */
        goto Exit;
    }
 
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
    retVal = DPRLIB_init(pApplicationInstance_p->gpioHandle, false);
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (FBTLIMPL_LINEUART==1)
    retVal = SYSLIB_createLibInstanceLine(  FBTL_LINE_UART_NAME,
                                            FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN,
                                            FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
                                      ,true
#else
                                      ,false
#endif
                                      ,&(pApplicationInstance_p->remoteHandle)
    );
#else
    retVal = SYSLIB_createLibInstanceShm(FBTLSHARED_MEM_NAME, FBTLSHARED_MEM_SIZE, false,
                                      FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN, FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
                                      ,true
#else
                                      ,false
#endif
                                      ,&(pApplicationInstance_p->remoteHandle)
    );
#endif
#else
    OSALUNREF_PARM(pApplicationInstance_p);
    retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
#endif
 
    if(OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal)
    {
        OSAL_printf("\r\nLocal Implementation\r\n");
    }
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
    else if(EC_API_eERR_NONE == retVal)
    {
        OSAL_printf("\r\nDPRAM usage\r\n");
 
        retVal = EC_API_SLV_DPR_configuration(dprRamBase(), dprRamSize());
        if(EC_API_eERR_NONE != retVal)
        {
            OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
            OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
            /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
            /* cppcheck-suppress misra-c2012-15.1 */
            goto Exit;
        }
    }
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
    else if(EC_API_eERR_NONE == retVal)
    {
        retVal = EC_API_SLV_FBTL_configuration(pApplicationInstance_p->remoteHandle);
        if(EC_API_eERR_NONE != retVal)
        {
            OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
            OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
            /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
            /* cppcheck-suppress misra-c2012-15.1 */
            goto Exit;
        }
    }
#endif
    else
    {
        /* nothing to do */
        ;
    }
 
Exit:
    if((OSAL_ERR_NoError != retVal) && (OSAL_CONTAINER_LOCALIMPLEMENTATION != retVal))
    {
        OSAL_printf("%s:%d::> err ret = 0x%x\r\n", __func__, __LINE__, retVal);
    }
    return retVal;
}