Merge pull request #21 from naivisoftware/ethercat_update

Updating SOEM

soem/CMakeLists.txt

@@ -1,24 +1,23 @@
-cmake_minimum_required(VERSION 2.8.4)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules")
-set(CMAKE_OSX_DEPLOYMENT_TARGET "10.9" CACHE STRING "Minimum OS X deployment version")
+cmake_minimum_required(VERSION 2.8.12)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
 project(SOEM C)
 
 if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   # Default to installing in SOEM source directory
-  set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install)
+  set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
 endif()
 
 set(SOEM_INCLUDE_INSTALL_DIR include/soem)
 set(SOEM_LIB_INSTALL_DIR lib)
-set(BUILD_TESTS FALSE)
+set(BUILD_TESTS TRUE)
 
 if(WIN32)
   set(OS "win32")
   include_directories(oshw/win32/wpcap/Include)
   if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-    link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib/x64)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
   elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
-    link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
   endif()
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  /WX")
@@ -61,22 +60,36 @@ file(GLOB SOEM_HEADERS soem/*.h)
 file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
 file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
 
-include_directories(soem)
-include_directories(osal)
-include_directories(osal/${OS})
-include_directories(oshw/${OS})
-
 add_library(soem STATIC
   ${SOEM_SOURCES}
   ${OSAL_SOURCES}
   ${OSHW_SOURCES}
   ${OSHW_EXTRA_SOURCES})
-set_property(TARGET soem PROPERTY POSITION_INDEPENDENT_CODE ON)
 target_link_libraries(soem ${OS_LIBS})
 
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
+  $<INSTALL_INTERFACE:include/soem>)
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
+  $<INSTALL_INTERFACE:include/soem>)
+
+target_include_directories(soem 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>
+  )
+
 message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
 
-install(TARGETS soem DESTINATION ${SOEM_LIB_INSTALL_DIR})
+install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
+
+install(EXPORT soemConfig DESTINATION share/soem/cmake)
+
 install(FILES
   ${SOEM_HEADERS}
   ${OSAL_HEADERS}

soem/README.md

@@ -1,6 +1,5 @@
 # Simple Open EtherCAT Master Library
-[![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOEM.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOEM)
-[![Build status](https://ci.appveyor.com/api/projects/status/bqgirjsxog9k1odf?svg=true)](https://ci.appveyor.com/project/hefloryd/soem-5kq8b)
+[![Build Status](https://github.com/OpenEtherCATsociety/SOEM/workflows/build/badge.svg?branch=master)](https://github.com/OpenEtherCATsociety/SOEM/actions?workflow=build)
 
 BUILDING
 ========

soem/linux/install/include/soem/ethercatbase.h

@@ -17,7 +17,7 @@ extern "C"
 #endif
 
 int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
-int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
+uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
 int ecx_BWR(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
 int ecx_BRD(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
 int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
@@ -37,7 +37,7 @@ int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16
 
 #ifdef EC_VER1
 int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
-int ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
+uint16 ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
 int ec_BWR(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
 int ec_BRD(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
 int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);

soem/linux/install/include/soem/ethercatcoe.h

@@ -66,8 +66,8 @@ int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
     boolean CA, int psize, void *p, int Timeout);
 int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
-int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
-int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
+int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize);
+int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
 int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
 int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
 int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
@@ -81,8 +81,8 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
     boolean CA, int psize, void *p, int Timeout);
 int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
 int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
-int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
-int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
+int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *Isize);
+int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
 int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
 int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
 int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);

soem/linux/install/include/soem/ethercateoe.h

@@ -16,12 +16,17 @@ extern "C"
 {
 #endif
 
-#include <ethercattype.h> 
+#include "ethercattype.h" 
+
+/* use maximum size for EOE mailbox data */
+#define EC_MAXEOEDATA EC_MAXMBX
 
 /** DNS length according to ETG 1000.6 */
 #define EOE_DNS_NAME_LENGTH  32
 /** Ethernet address length not including VLAN */
 #define EOE_ETHADDR_LENGTH    6
+/** IPv4 address length */
+#define EOE_IP4_LENGTH        sizeof(uint32_t)
 
 #define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \
                             ((uint32_t)((b) & 0xff) << 16) | \
@@ -61,7 +66,7 @@ extern "C"
 #define EOE_HDR_FRAME_TYPE_GET(x)      (((x) >> 0) & 0xF)
 #define EOE_HDR_FRAME_PORT_OFFSET      4
 #define EOE_HDR_FRAME_PORT             (0xF << 4)
-#define EOE_HDR_FRAME_PORT_SET(x)      (((x) & 0xF) << 4)
+#define EOE_HDR_FRAME_PORT_SET(x)      ((uint16)(((x) & 0xF) << 4))
 #define EOE_HDR_FRAME_PORT_GET(x)      (((x) >> 4) & 0xF)
 #define EOE_HDR_LAST_FRAGMENT_OFFSET   8
 #define EOE_HDR_LAST_FRAGMENT          (0x1 << 8)
@@ -79,15 +84,15 @@ extern "C"
 /** Header frame info 2 */
 #define EOE_HDR_FRAG_NO_OFFSET         0
 #define EOE_HDR_FRAG_NO                (0x3F << 0)
-#define EOE_HDR_FRAG_NO_SET(x)         (((x) & 0x3F) << 0)
+#define EOE_HDR_FRAG_NO_SET(x)         ((uint16)(((x) & 0x3F) << 0))
 #define EOE_HDR_FRAG_NO_GET(x)         (((x) >> 0) & 0x3F)
 #define EOE_HDR_FRAME_OFFSET_OFFSET    6
 #define EOE_HDR_FRAME_OFFSET           (0x3F << 6)
-#define EOE_HDR_FRAME_OFFSET_SET(x)    (((x) & 0x3F) << 6)
+#define EOE_HDR_FRAME_OFFSET_SET(x)    ((uint16)(((x) & 0x3F) << 6))
 #define EOE_HDR_FRAME_OFFSET_GET(x)    (((x) >> 6) & 0x3F)
 #define EOE_HDR_FRAME_NO_OFFSET        12
 #define EOE_HDR_FRAME_NO               (0xF << 12)
-#define EOE_HDR_FRAME_NO_SET(x)        (((x) & 0xF) << 12)
+#define EOE_HDR_FRAME_NO_SET(x)        ((uint16)(((x) & 0xF) << 12))
 #define EOE_HDR_FRAME_NO_GET(x)        (((x) >> 12) & 0xF)
 
 /** EOE param */
@@ -163,7 +168,7 @@ typedef struct PACKED
       uint16_t frameinfo2;
       uint16_t result;
    };
-   uint8 data[0];
+   uint8 data[EC_MAXEOEDATA];
 } ec_EOEt;
 PACKED_END
 

soem/linux/install/include/soem/ethercatmain.h

@@ -340,6 +340,7 @@ typedef struct ec_idxstack
    uint8   idx[EC_MAXBUF];
    void    *data[EC_MAXBUF];
    uint16  length[EC_MAXBUF];
+   uint16  dcoffset[EC_MAXBUF];
 } ec_idxstackT;
 
 /** ringbuf for error storage */
@@ -407,10 +408,6 @@ struct ecx_context
    ec_idxstackT   *idxstack;
    /** reference to ecaterror state */
    boolean        *ecaterror;
-   /** internal, position of DC datagram in process data packet */
-   uint16         DCtO;
-   /** internal, length of DC datagram */
-   uint16         DCl;
    /** reference to last DC time from slaves */
    int64          *DCtime;
    /** internal, SM buffer */
@@ -429,6 +426,8 @@ struct ecx_context
    int            (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
    /** flag to control legacy automatic state change or manual state change */
    int            manualstatechange;
+   /** additional misc handle */
+   void*		  misc;
 };
 
 #ifdef EC_VER1
@@ -456,7 +455,7 @@ void ec_siistring(char *str, uint16 slave, uint16 Sn);
 uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
 uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
 uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
-int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
+uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
 int ec_readstate(void);
 int ec_writestate(uint16 slave);
 uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
@@ -499,7 +498,7 @@ void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn);
 uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU);
 uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
 uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n);
-int ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
+uint32 ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
 int ecx_readstate(ecx_contextt *context);
 int ecx_writestate(ecx_contextt *context, uint16 slave);
 uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);

soem/linux/install/include/soem/ethercatsoe.h

@@ -116,12 +116,12 @@ PACKED_END
 #ifdef EC_VER1
 int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
 int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
-int ec_readIDNmap(uint16 slave, int *Osize, int *Isize);
+int ec_readIDNmap(uint16 slave, uint32 *Osize, uint32 *Isize);
 #endif
 
 int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
 int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
-int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize);
+int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize);
 
 #ifdef __cplusplus
 }

soem/linux/install/include/soem/ethercattype.h

@@ -506,6 +506,10 @@ typedef struct
 } ec_errort;
 
 /** Helper macros */
+
+/** Set the count value in the Mailbox header */
+#define MBX_HDR_SET_CNT(cnt) ((uint8)((cnt) << 4))
+
 /** Macro to make a word from 2 bytes */
 #define MK_WORD(msb, lsb)   ((((uint16)(msb))<<8) | (lsb))
 /** Macro to get hi byte of a word */

soem/linux/install/include/soem/nicdrv.h

@@ -76,7 +76,7 @@ typedef struct
    /** temporary tx buffer length */
    int txbuflength2;
    /** last used frame index */
-   int lastidx;
+   uint8 lastidx;
    /** current redundancy state */
    int redstate;
    /** pointer to redundancy port and buffers */
@@ -95,23 +95,23 @@ extern ecx_redportt  ecx_redport;
 
 int ec_setupnic(const char * ifname, int secondary);
 int ec_closenic(void);
-void ec_setbufstat(int idx, int bufstat);
-int ec_getindex(void);
-int ec_outframe(int idx, int sock);
-int ec_outframe_red(int idx);
-int ec_waitinframe(int idx, int timeout);
-int ec_srconfirm(int idx,int timeout);
+void ec_setbufstat(uint8 idx, int bufstat);
+uint8 ec_getindex(void);
+int ec_outframe(uint8 idx, int sock);
+int ec_outframe_red(uint8 idx);
+int ec_waitinframe(uint8 idx, int timeout);
+int ec_srconfirm(uint8 idx,int timeout);
 #endif
 
 void ec_setupheader(void *p);
 int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
 int ecx_closenic(ecx_portt *port);
-void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
-int ecx_getindex(ecx_portt *port);
-int ecx_outframe(ecx_portt *port, int idx, int sock);
-int ecx_outframe_red(ecx_portt *port, int idx);
-int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
-int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
+void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
+uint8 ecx_getindex(ecx_portt *port);
+int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
+int ecx_outframe_red(ecx_portt *port, uint8 idx);
+int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
+int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
 
 #ifdef __cplusplus
 }

soem/linux/install/share/soem/cmake/soemConfig-release.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "soem" for configuration "Release"
+set_property(TARGET soem APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(soem PROPERTIES
+  IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "C"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libsoem.a"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS soem )
+list(APPEND _IMPORT_CHECK_FILES_FOR_soem "${_IMPORT_PREFIX}/lib/libsoem.a" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)