Merge pull request OpenEtherCATsociety#70 from nakarlsson/master

Add vxworks port

osal/vxworks/osal.c

@@ -0,0 +1,217 @@
+/*
+ * Simple Open EtherCAT Master Library
+ *
+ * File    : osal.c
+ * Version : 1.3.1
+ * Date    : 10-01-2017
+ * Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2017 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2012-2017 rt-labs AB , Sweden
+ *
+ * SOEM is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the Free
+ * Software Foundation.
+ *
+ * SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * for more details.
+ *
+ * As a special exception, if other files instantiate templates or use macros
+ * or inline functions from this file, or you compile this file and link it
+ * with other works to produce a work based on this file, this file does not
+ * by itself cause the resulting work to be covered by the GNU General Public
+ * License. However the source code for this file must still be made available
+ * in accordance with section (3) of the GNU General Public License.
+ *
+ * This exception does not invalidate any other reasons why a work based on
+ * this file might be covered by the GNU General Public License.
+ *
+ * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
+ * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
+ * the sole purpose of creating, using and/or selling or otherwise distributing
+ * an EtherCAT network master provided that an EtherCAT Master License is obtained
+ * from Beckhoff Automation GmbH.
+ *
+ * In case you did not receive a copy of the EtherCAT Master License along with
+ * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
+ * (www.beckhoff.com).
+ */
+
+#include <time.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <osal.h>
+#include <vxWorks.h>
+#include <taskLib.h>
+
+
+#define  timercmp(a, b, CMP)                                \
+  (((a)->tv_sec == (b)->tv_sec) ?                           \
+   ((a)->tv_usec CMP (b)->tv_usec) :                        \
+   ((a)->tv_sec CMP (b)->tv_sec))
+#define  timeradd(a, b, result)                             \
+  do {                                                      \
+    (result)->tv_sec = (a)->tv_sec + (b)->tv_sec;           \
+    (result)->tv_usec = (a)->tv_usec + (b)->tv_usec;        \
+    if ((result)->tv_usec >= 1000000)                       \
+    {                                                       \
+       ++(result)->tv_sec;                                  \
+       (result)->tv_usec -= 1000000;                        \
+    }                                                       \
+  } while (0)
+#define  timersub(a, b, result)                             \
+  do {                                                      \
+    (result)->tv_sec = (a)->tv_sec - (b)->tv_sec;           \
+    (result)->tv_usec = (a)->tv_usec - (b)->tv_usec;        \
+    if ((result)->tv_usec < 0) {                            \
+      --(result)->tv_sec;                                   \
+      (result)->tv_usec += 1000000;                         \
+    }                                                       \
+  } while (0)
+
+#define USECS_PER_SEC     1000000
+
+/* OBS! config worker threads must have higher prio that task running ec_configuration */
+#define ECAT_TASK_PRIO_HIGH      20     /* Priority for high performance network task */
+#define ECAT_TASK_PRIO_LOW       80     /* Priority for high performance network task */
+#define ECAT_STACK_SIZE          10000  /* Stack size for high performance task */
+static int ecatTaskOptions       = VX_SUPERVISOR_MODE | VX_UNBREAKABLE;
+static int ecatTaskIndex         = 0;
+
+#ifndef use_task_delay
+#define use_task_delay 1
+#endif
+
+int osal_usleep (uint32 usec)
+{
+#if (use_task_delay == 1)
+    /* Task delay 0 only yields */
+   taskDelay(usec / 1000);
+   return 0;
+#else
+    /* The suspension may be longer than requested due to the rounding up of 
+     * the request to the timer's resolution or to other scheduling activities
+     * (e.g., a higher priority task intervenes). 
+     */
+   struct timespec ts;
+   ts.tv_sec = usec / USECS_PER_SEC;
+   ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
+   return nanosleep(&ts, NULL);
+#endif
+
+}
+
+int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
+{
+   int return_value;
+
+   return_value = gettimeofday(tv, tz);
+
+   return return_value;
+}
+
+ec_timet osal_current_time(void)
+{
+   struct timeval current_time;
+   ec_timet return_value;
+
+   osal_gettimeofday(&current_time, 0);
+   return_value.sec = current_time.tv_sec;
+   return_value.usec = current_time.tv_usec;
+   return return_value;
+}
+
+void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
+{
+   diff->sec = end->sec - start->sec;                             
+   diff->usec = end->usec - start->usec;                             
+   if (diff->usec < 0) {                                              
+     --diff->sec;                                                     
+     diff->usec += 1000000;                                           
+   }                                                                         
+}
+
+void osal_timer_start(osal_timert * self, uint32 timeout_usec)
+{
+   struct timeval start_time;
+   struct timeval timeout;
+   struct timeval stop_time;
+
+   osal_gettimeofday(&start_time, 0);
+   timeout.tv_sec = timeout_usec / USECS_PER_SEC;
+   timeout.tv_usec = timeout_usec % USECS_PER_SEC;
+   timeradd(&start_time, &timeout, &stop_time);
+
+   self->stop_time.sec = stop_time.tv_sec;
+   self->stop_time.usec = stop_time.tv_usec;
+}
+
+boolean osal_timer_is_expired (osal_timert * self)
+{
+   struct timeval current_time;
+   struct timeval stop_time;
+   int is_not_yet_expired;
+
+   osal_gettimeofday(&current_time, 0);
+   stop_time.tv_sec = self->stop_time.sec;
+   stop_time.tv_usec = self->stop_time.usec;
+   is_not_yet_expired = timercmp(&current_time, &stop_time, <);
+
+   return is_not_yet_expired == FALSE;
+}
+
+void *osal_malloc(size_t size)
+{
+   return malloc(size);
+}
+
+void osal_free(void *ptr)
+{
+   free(ptr);
+}
+
+int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
+{
+   char task_name[20];
+   TASK_ID * tid = (TASK_ID *)thandle;
+   FUNCPTR  func_ptr = func;
+   _Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
+
+   snprintf(task_name,sizeof(task_name),"worker_%d",ecatTaskIndex++);
+
+   *tid = taskSpawn (task_name, ECAT_TASK_PRIO_LOW,
+                      ecatTaskOptions, ECAT_STACK_SIZE,
+                      func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
+   if(*tid == TASK_ID_ERROR) 
+   {
+      return 0;
+   }
+
+   return 1;
+}
+
+int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
+{
+   char task_name[20];
+   TASK_ID * tid = (TASK_ID *)thandle; 
+   FUNCPTR  func_ptr = func;
+   _Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
+
+   snprintf(task_name,sizeof(task_name),"worker_rt_%d",ecatTaskIndex++);
+
+   *tid = taskSpawn (task_name, ECAT_TASK_PRIO_HIGH,
+                      ecatTaskOptions, ECAT_STACK_SIZE,
+                      func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
+
+   if(*tid == TASK_ID_ERROR) 
+   {
+      return 0;
+   }
+   return 1;
+}
+

osal/vxworks/osal_defs.h

@@ -0,0 +1,55 @@
+/*
+ * Simple Open EtherCAT Master Library
+ *
+ * File    : osal_defs.h
+ * Version : 1.3.1
+ * Date    : 10-01-2017
+ * Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
+ * Copyright (C) 2005-2017 Arthur Ketels
+ * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+ * Copyright (C) 2012-2017 rt-labs AB , Sweden
+ *
+ * SOEM is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the Free
+ * Software Foundation.
+ *
+ * SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * for more details.
+ *
+ * As a special exception, if other files instantiate templates or use macros
+ * or inline functions from this file, or you compile this file and link it
+ * with other works to produce a work based on this file, this file does not
+ * by itself cause the resulting work to be covered by the GNU General Public
+ * License. However the source code for this file must still be made available
+ * in accordance with section (3) of the GNU General Public License.
+ *
+ * This exception does not invalidate any other reasons why a work based on
+ * this file might be covered by the GNU General Public License.
+ *
+ * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
+ * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
+ * the sole purpose of creating, using and/or selling or otherwise distributing
+ * an EtherCAT network master provided that an EtherCAT Master License is obtained
+ * from Beckhoff Automation GmbH.
+ *
+ * In case you did not receive a copy of the EtherCAT Master License along with
+ * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
+ * (www.beckhoff.com).
+ */
+
+#ifndef _osal_defs_
+#define _osal_defs_
+
+#ifndef PACKED
+#define PACKED_BEGIN
+#define PACKED  __attribute__((__packed__))
+#define PACKED_END
+#endif
+
+#define OSAL_THREAD_HANDLE TASK_ID
+#define OSAL_THREAD_FUNC void
+#define OSAL_THREAD_FUNC_RT void
+
+#endif