├── CMakeLists.txt ├── ChangeLog ├── Doxyfile ├── LICENSE ├── README.md ├── appveyor.yml ├── build ├── CMakeCache.txt ├── CMakeFiles │ ├── 2.8.12.2 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeSystem.cmake │ │ └── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeOutput.log │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── cmake.check_cache │ ├── progress.marks │ └── soem.dir │ │ ├── C.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── cmake_clean_target.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── osal │ │ └── linux │ │ │ └── osal.c.o │ │ ├── oshw │ │ └── linux │ │ │ ├── nicdrv.c.o │ │ │ └── oshw.c.o │ │ ├── prj │ │ └── haptic │ │ │ ├── config_SDOparam.c.o │ │ │ ├── config_map.c.o │ │ │ ├── controller.c.o │ │ │ ├── haptic_config.c.o │ │ │ └── haptic_run.c.o │ │ ├── progress.make │ │ └── soem │ │ ├── ethercatbase.c.o │ │ ├── ethercatcoe.c.o │ │ ├── ethercatconfig.c.o │ │ ├── ethercatdc.c.o │ │ ├── ethercatfoe.c.o │ │ ├── ethercatmain.c.o │ │ ├── ethercatprint.c.o │ │ └── ethercatsoe.c.o ├── Makefile ├── cmake_install.cmake ├── libsoem.a ├── prj │ └── haptic │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── haptic_run.dir │ │ │ ├── C.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── config_SDOparam.c.o │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── haptic_config.c.o │ │ │ ├── haptic_run.c.o │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── haptic_run └── test │ └── linux │ ├── eepromtool │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── eepromtool.dir │ │ │ ├── C.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── eepromtool.c.o │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ └── eepromtool │ ├── simple_test │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ └── simple_test.dir │ │ │ ├── C.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── simple_test.c.o │ ├── Makefile │ ├── cmake_install.cmake │ └── simple_test │ └── slaveinfo │ ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── progress.marks │ └── slaveinfo.dir │ │ ├── C.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── slaveinfo.c.o │ ├── Makefile │ ├── cmake_install.cmake │ └── slaveinfo ├── cmake ├── Modules │ └── Platform │ │ ├── rt-kernel-C.cmake │ │ ├── rt-kernel-gcc-bfin.cmake │ │ ├── rt-kernel-gcc-kinetis.cmake │ │ ├── rt-kernel-gcc.cmake │ │ ├── rt-kernel.cmake │ │ └── rtems.cmake └── Toolchains │ ├── rt-kernel-bfin.cmake │ └── rt-kernel-kinetis.cmake ├── doc ├── images │ └── memory_layout.png ├── soem.dox └── tutorial.txt ├── drvcomment.txt ├── osal ├── CMakeLists.txt ├── ChangeLog ├── Doxyfile ├── LICENSE ├── README.md ├── appveyor.yml ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 2.8.12.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeSystem.cmake │ │ │ └── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── progress.marks │ │ └── soem.dir │ │ │ ├── C.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── cmake_clean_target.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── osal │ │ │ └── linux │ │ │ │ └── osal.c.o │ │ │ ├── oshw │ │ │ └── linux │ │ │ │ ├── nicdrv.c.o │ │ │ │ └── oshw.c.o │ │ │ ├── prj │ │ │ └── haptic │ │ │ │ ├── config_SDOparam.c.o │ │ │ │ ├── config_map.c.o │ │ │ │ ├── controller.c.o │ │ │ │ ├── haptic_config.c.o │ │ │ │ └── haptic_run.c.o │ │ │ ├── progress.make │ │ │ └── soem │ │ │ ├── ethercatbase.c.o │ │ │ ├── ethercatcoe.c.o │ │ │ ├── ethercatconfig.c.o │ │ │ ├── ethercatdc.c.o │ │ │ ├── ethercatfoe.c.o │ │ │ ├── ethercatmain.c.o │ │ │ ├── ethercatprint.c.o │ │ │ └── ethercatsoe.c.o │ ├── Makefile │ ├── cmake_install.cmake │ ├── libsoem.a │ ├── prj │ │ └── haptic │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── haptic_run.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── config_SDOparam.c.o │ │ │ │ ├── controller.c.o │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── haptic_config.c.o │ │ │ │ ├── haptic_run.c.o │ │ │ │ ├── link.txt │ │ │ │ ├── pdo_map.c.o │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ ├── haptic_run │ │ │ └── velocity.dat │ └── test │ │ └── linux │ │ ├── eepromtool │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── eepromtool.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── eepromtool.c.o │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── eepromtool │ │ ├── simple_test │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── progress.marks │ │ │ └── simple_test.dir │ │ │ │ ├── C.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── simple_test.c.o │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── simple_test │ │ └── slaveinfo │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── progress.marks │ │ └── slaveinfo.dir │ │ │ ├── C.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── slaveinfo.c.o │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ └── slaveinfo ├── cmake │ ├── Modules │ │ └── Platform │ │ │ ├── rt-kernel-C.cmake │ │ │ ├── rt-kernel-gcc-bfin.cmake │ │ │ ├── rt-kernel-gcc-kinetis.cmake │ │ │ ├── rt-kernel-gcc.cmake │ │ │ ├── rt-kernel.cmake │ │ │ └── rtems.cmake │ └── Toolchains │ │ ├── rt-kernel-bfin.cmake │ │ └── rt-kernel-kinetis.cmake ├── doc │ ├── images │ │ └── memory_layout.png │ ├── soem.dox │ └── tutorial.txt ├── dotgitold │ ├── COMMIT_EDITMSG │ ├── HEAD │ ├── config │ ├── description │ ├── hooks │ │ ├── applypatch-msg.sample │ │ ├── commit-msg.sample │ │ ├── post-update.sample │ │ ├── pre-applypatch.sample │ │ ├── pre-commit.sample │ │ ├── pre-push.sample │ │ ├── pre-rebase.sample │ │ ├── prepare-commit-msg.sample │ │ └── update.sample │ ├── index │ ├── info │ │ └── exclude │ ├── logs │ │ ├── HEAD │ │ └── refs │ │ │ ├── heads │ │ │ ├── feature │ │ │ │ └── config_init_in_state │ │ │ └── master │ │ │ └── remotes │ │ │ └── origin │ │ │ └── HEAD │ ├── objects │ │ ├── 14 │ │ │ └── 646cd5363ced54622c747b9fa97eedbb552a90 │ │ ├── 16 │ │ │ └── 79b9d9405e0a0320c1cd837d3e271fc103ddde │ │ ├── 43 │ │ │ └── dbbd42a8601c99817973f3382d9ef2368df9e5 │ │ ├── 47 │ │ │ └── 9ca4c01e686565a3be268c81f1f7bfd238096e │ │ ├── 52 │ │ │ └── 5272dcdf0f17267ac7ca951960aced93359367 │ │ ├── 84 │ │ │ └── 31b041dbb09444c0e4ce1d44e6e9b47e58729d │ │ ├── 87 │ │ │ └── 4a51124a6742ac539de5396d676187ed67e88d │ │ ├── 98 │ │ │ └── e747582ab9cc8baea753425c66baf9aa7e3875 │ │ ├── 99 │ │ │ └── 71484160f78978393937bf662441bcedfb22a9 │ │ ├── 00 │ │ │ └── 69118f44a576b9bf705753c9a35bbc40de1c29 │ │ ├── 2b │ │ │ └── a5a1d9d99129013a6a38f239a569e047f6ff3b │ │ ├── 4a │ │ │ └── 04511bea88b70cb26f70b54b139e56e36cd66d │ │ ├── 5b │ │ │ └── 920d375a03fd1a92b527b16886e1cf1c983f91 │ │ ├── 9b │ │ │ └── 54e8ef3af090dbe142ba803710a9ff0e239fd1 │ │ ├── ad │ │ │ └── 7f76115750cf5d7751e10ad8646311c50b8864 │ │ ├── bb │ │ │ └── 044f8a9b2286d4287f5c76e26d9af971eaae1b │ │ ├── bd │ │ │ └── e15ed9685a245069c7b1f246d803565f19717e │ │ ├── c6 │ │ │ └── 49a2018f28a34c1c05a82010cc50ad38b0470d │ │ ├── db │ │ │ └── 4d3a9f607f0e26a637461949feb31c966d6617 │ │ ├── e3 │ │ │ └── fc97321c34484b9f146f8740f49d13c331f8d6 │ │ ├── e6 │ │ │ └── a7bdfece4ea76a4458e4cc2e06cbe253eb0e57 │ │ ├── ee │ │ │ └── 514e80c283cb3bcac08dc91481cc76803cc863 │ │ ├── f2 │ │ │ └── 3965ee3f11e312b869dde01eb9161e69e61d30 │ │ └── pack │ │ │ ├── pack-c5cd308d8090df2b70ae089ae1ed97ff44b234b5.idx │ │ │ └── pack-c5cd308d8090df2b70ae089ae1ed97ff44b234b5.pack │ ├── packed-refs │ └── refs │ │ ├── heads │ │ ├── feature │ │ │ └── config_init_in_state │ │ └── master │ │ └── remotes │ │ └── origin │ │ └── HEAD ├── drvcomment.txt ├── intime │ ├── osal.c │ └── osal_defs.h ├── linux │ ├── osal.c │ └── osal_defs.h ├── osal.h ├── osal │ ├── intime │ │ ├── osal.c │ │ └── osal_defs.h │ ├── linux │ │ ├── osal.c │ │ └── osal_defs.h │ ├── osal.h │ ├── rtems │ │ ├── osal.c │ │ └── osal_defs.h │ ├── rtk │ │ ├── osal.c │ │ └── osal_defs.h │ ├── vxworks │ │ ├── osal.c │ │ └── osal_defs.h │ └── win32 │ │ ├── inttypes.h │ │ ├── osal.c │ │ ├── osal_defs.h │ │ ├── osal_win32.h │ │ └── stdint.h ├── oshw │ ├── intime │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── linux │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── rtems │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── rtk │ │ ├── fec │ │ │ ├── fec_ecat.c │ │ │ └── fec_ecat.h │ │ ├── lw_mac │ │ │ ├── lw_emac.c │ │ │ └── lw_emac.h │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ ├── vxworks │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ └── oshw.h │ └── win32 │ │ ├── nicdrv.c │ │ ├── nicdrv.h │ │ ├── oshw.c │ │ ├── oshw.h │ │ └── wpcap │ │ ├── Include │ │ ├── Packet32.h │ │ ├── Win32-Extensions.h │ │ ├── bittypes.h │ │ ├── ip6_misc.h │ │ ├── pcap-bpf.h │ │ ├── pcap-namedb.h │ │ ├── pcap-stdinc.h │ │ ├── pcap.h │ │ ├── pcap │ │ │ ├── bluetooth.h │ │ │ ├── bpf.h │ │ │ ├── namedb.h │ │ │ ├── pcap.h │ │ │ ├── sll.h │ │ │ ├── usb.h │ │ │ └── vlan.h │ │ └── remote-ext.h │ │ └── Lib │ │ ├── Packet.lib │ │ ├── libpacket.a │ │ ├── libwpcap.a │ │ ├── wpcap.lib │ │ └── x64 │ │ ├── Packet.lib │ │ └── wpcap.lib ├── rtems │ ├── osal.c │ └── osal_defs.h ├── rtk │ ├── osal.c │ └── osal_defs.h ├── soem │ ├── ethercat.h │ ├── ethercatbase.c │ ├── ethercatbase.h │ ├── ethercatcoe.c │ ├── ethercatcoe.h │ ├── ethercatconfig.c │ ├── ethercatconfig.h │ ├── ethercatconfiglist.h │ ├── ethercatdc.c │ ├── ethercatdc.h │ ├── ethercatfoe.c │ ├── ethercatfoe.h │ ├── ethercatmain.c │ ├── ethercatmain.h │ ├── ethercatprint.c │ ├── ethercatprint.h │ ├── ethercatsoe.c │ ├── ethercatsoe.h │ └── ethercattype.h ├── test │ ├── intime │ │ └── ec_master │ │ │ └── ec_master.c │ ├── linux │ │ ├── aliastool.c │ │ ├── ebox │ │ │ └── ebox.c │ │ ├── eepromtool │ │ │ ├── CMakeLists.txt │ │ │ └── eepromtool.c │ │ ├── firm_update │ │ │ └── firm_update.c │ │ ├── red_test │ │ │ └── red_test.c │ │ ├── simple_test │ │ │ ├── CMakeLists.txt │ │ │ └── simple_test.c │ │ └── slaveinfo │ │ │ ├── CMakeLists.txt │ │ │ └── slaveinfo.c │ ├── rtk │ │ ├── main.c │ │ └── schedule.tt │ └── win32 │ │ ├── ebox │ │ └── ebox.c │ │ ├── eepromtool │ │ └── eepromtool.c │ │ ├── firm_update │ │ └── firm_update.c │ │ ├── red_test │ │ └── red_test.c │ │ ├── simple_test │ │ └── simple_test.c │ │ └── slaveinfo │ │ └── slaveinfo.c ├── vxworks │ ├── osal.c │ └── osal_defs.h └── win32 │ ├── inttypes.h │ ├── osal.c │ ├── osal_defs.h │ ├── osal_win32.h │ └── stdint.h ├── oshw ├── intime │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ └── oshw.h ├── linux │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ └── oshw.h ├── rtems │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ └── oshw.h ├── rtk │ ├── fec │ │ ├── fec_ecat.c │ │ └── fec_ecat.h │ ├── lw_mac │ │ ├── lw_emac.c │ │ └── lw_emac.h │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ └── oshw.h ├── vxworks │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ └── oshw.h └── win32 │ ├── nicdrv.c │ ├── nicdrv.h │ ├── oshw.c │ ├── oshw.h │ └── wpcap │ ├── Include │ ├── Packet32.h │ ├── Win32-Extensions.h │ ├── bittypes.h │ ├── ip6_misc.h │ ├── pcap-bpf.h │ ├── pcap-namedb.h │ ├── pcap-stdinc.h │ ├── pcap.h │ ├── pcap │ │ ├── bluetooth.h │ │ ├── bpf.h │ │ ├── namedb.h │ │ ├── pcap.h │ │ ├── sll.h │ │ ├── usb.h │ │ └── vlan.h │ └── remote-ext.h │ └── Lib │ ├── Packet.lib │ ├── libpacket.a │ ├── libwpcap.a │ ├── wpcap.lib │ └── x64 │ ├── Packet.lib │ └── wpcap.lib ├── prj └── haptic │ ├── CMakeLists.txt │ ├── config_SDOparam.c │ ├── config_SDOparam.h │ ├── config_map.c │ ├── config_map.h │ ├── controller.c │ ├── controller.h │ ├── ecattype.h │ ├── haptic_config.c │ ├── haptic_config.h │ └── haptic_run.c ├── soem ├── ethercat.h ├── ethercatbase.c ├── ethercatbase.h ├── ethercatcoe.c ├── ethercatcoe.h ├── ethercatconfig.c ├── ethercatconfig.h ├── ethercatconfiglist.h ├── ethercatdc.c ├── ethercatdc.h ├── ethercatfoe.c ├── ethercatfoe.h ├── ethercatmain.c ├── ethercatmain.h ├── ethercatprint.c ├── ethercatprint.h ├── ethercatsoe.c ├── ethercatsoe.h └── ethercattype.h └── test ├── intime └── ec_master │ └── ec_master.c ├── linux ├── aliastool.c ├── ebox │ └── ebox.c ├── eepromtool │ ├── CMakeLists.txt │ └── eepromtool.c ├── firm_update │ └── firm_update.c ├── red_test │ └── red_test.c ├── simple_test │ ├── CMakeLists.txt │ └── simple_test.c └── slaveinfo │ ├── CMakeLists.txt │ └── slaveinfo.c ├── rtk ├── main.c └── schedule.tt └── win32 ├── ebox └── ebox.c ├── eepromtool └── eepromtool.c ├── firm_update └── firm_update.c ├── red_test └── red_test.c ├── simple_test └── simple_test.c └── slaveinfo └── slaveinfo.c /LICENSE: -------------------------------------------------------------------------------- 1 | Simple Open EtherCAT Master Library 2 | 3 | Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f. 4 | Copyright (C) 2005-2017 Arthur Ketels 5 | Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 6 | Copyright (C) 2009-2017 rt-labs AB, Sweden 7 | 8 | SOEM is free software; you can redistribute it and/or modify it under the terms 9 | of the GNU General Public License version 2 as published by the Free Software 10 | Foundation. 11 | 12 | SOEM is distributed in the hope that it will be useful, but WITHOUT ANY 13 | WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A 14 | PARTICULAR PURPOSE. See the GNU General Public License for more details. 15 | 16 | As a special exception, if other files instantiate templates or use macros or 17 | inline functions from this file, or you compile this file and link it with other 18 | works to produce a work based on this file, this file does not by itself cause 19 | the resulting work to be covered by the GNU General Public License. However the 20 | source code for this file must still be made available in accordance with 21 | section (3) of the GNU General Public License. 22 | 23 | This exception does not invalidate any other reasons why a work based on this 24 | file might be covered by the GNU General Public License. 25 | 26 | The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual 27 | property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the 28 | sole purpose of creating, using and/or selling or otherwise distributing an 29 | EtherCAT network master provided that an EtherCAT Master License is obtained 30 | from Beckhoff Automation GmbH. 31 | 32 | In case you did not receive a copy of the EtherCAT Master License along with 33 | SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany 34 | (www.beckhoff.com). 35 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Simple Open EtherCAT Master Library 2 | [![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOEM.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOEM) 3 | [![Build status](https://ci.appveyor.com/api/projects/status/bqgirjsxog9k1odf?svg=true)](https://ci.appveyor.com/project/hefloryd/soem-5kq8b) 4 | 5 | BUILDING 6 | ======== 7 | 8 | 9 | Prerequisites for all platforms 10 | ------------------------------- 11 | 12 | * CMake 2.8.0 or later 13 | 14 | 15 | Windows (Visual Studio) 16 | ----------------------- 17 | 18 | * Start a Visual Studio command prompt then: 19 | * `mkdir build` 20 | * `cd build` 21 | * `cmake .. -G "NMake Makefiles"` 22 | * `nmake` 23 | 24 | Linux 25 | ----- 26 | 27 | * `mkdir build` 28 | * `cd build` 29 | * `cmake ..` 30 | * `make` 31 | 32 | Want to contribute to SOEM or SOES? 33 | ----------------------------------- 34 | 35 | If you want to contribute to SOEM or SOES you will need to sign a Contributor 36 | License Agreement and send it to us either by e-mail or by physical mail. More 37 | information is available in the [PDF](http://openethercatsociety.github.io/cla/cla_soem_soes.pdf). 38 | -------------------------------------------------------------------------------- /appveyor.yml: -------------------------------------------------------------------------------- 1 | version: "{build}" 2 | 3 | install: 4 | - cmd: '"C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x86' 5 | 6 | build_script: 7 | - cmd: mkdir build 8 | - cmd: cd build 9 | - cmd: cmake .. -G "NMake Makefiles" -DCMAKE_BUILD_TYPE=Release 10 | - cmd: nmake install 11 | -------------------------------------------------------------------------------- /build/CMakeFiles/2.8.12.2/CMakeCCompiler.cmake: -------------------------------------------------------------------------------- 1 | set(CMAKE_C_COMPILER "/usr/bin/cc") 2 | set(CMAKE_C_COMPILER_ARG1 "") 3 | set(CMAKE_C_COMPILER_ID "GNU") 4 | set(CMAKE_C_COMPILER_VERSION "4.8.4") 5 | set(CMAKE_C_PLATFORM_ID "Linux") 6 | 7 | set(CMAKE_AR 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-------------------------------------------------------------------------------- /cmake/Modules/Platform/rt-kernel-gcc-bfin.cmake: -------------------------------------------------------------------------------- 1 | 2 | set(MACHINE "-mcpu=bf537") 3 | set(LDFLAGS "-T${RT_KERNEL_PATH}/bsp/${BSP}/${BSP}.ld") 4 | -------------------------------------------------------------------------------- /cmake/Modules/Platform/rt-kernel-gcc-kinetis.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-gcc-kinetis.cmake") 3 | 4 | #SET_PROPERTY(GLOBAL PROPERTY ARCH kinetis) 5 | #SET_PROPERTY(GLOBAL PROPERTY BSP twrk60) 6 | 7 | set(MACHINE "-mfpu=vfp -mcpu=cortex-m3 -mthumb") 8 | -------------------------------------------------------------------------------- /cmake/Modules/Platform/rt-kernel-gcc.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-gcc.cmake") 3 | 4 | set(CMAKE_C_OUTPUT_EXTENSION .o) 5 | set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS FALSE) 6 | 7 | set(CFLAGS "${CFLAGS} -Wall -Wextra -Wno-unused-parameter -Werror") 8 | set(CFLAGS "${CFLAGS} -fomit-frame-pointer -fno-strict-aliasing -fshort-wchar") 9 | #set(CFLAGS" ${CFLAGS} -B$(GCC_PATH)/libexec/gcc") 10 | 11 | set(CXXFLAGS "${CXXFLAGS} -fno-rtti -fno-exceptions") 12 | 13 | set(LDFLAGS "${LDFLAGS} -nostartfiles") 14 | 15 | set(CMAKE_C_FLAGS "${CFLAGS} ${MACHINE}" CACHE STRING "") 16 | set(CMAKE_EXE_LINKER_FLAGS "${MACHINE} ${LDFLAGS}" CACHE STRING "") 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /cmake/Modules/Platform/rt-kernel.cmake: -------------------------------------------------------------------------------- 1 | if(__RTK_CMAKE_INCLUDED) 2 | return() 3 | endif() 4 | set(__RTK_CMAKE_INCLUDED TRUE) 5 | message("rt-kernel.cmake") 6 | 7 | include_directories( 8 | ${RT_KERNEL_PATH}/include 9 | ${RT_KERNEL_PATH}/include/kern 10 | ${RT_KERNEL_PATH}/kern 11 | ${RT_KERNEL_PATH}/include/drivers 12 | ${RT_KERNEL_PATH}/include/arch/${ARCH} 13 | ${RT_KERNEL_PATH}/bsp/${BSP}/include 14 | ${RT_KERNEL_PATH}/lwip/src/include 15 | ${RT_KERNEL_PATH}/lwip/src/include/ipv4 16 | ) 17 | 18 | link_directories( 19 | ${RT_KERNEL_PATH}/lib/${ARCH} 20 | ) 21 | -------------------------------------------------------------------------------- /cmake/Modules/Platform/rtems.cmake: -------------------------------------------------------------------------------- 1 | message("rtems.cmake") 2 | 3 | set(ARCH ${HOST}) 4 | set(BSP ${RTEMS_BSP}) 5 | 6 | set(CMAKE_C_COMPILER_FORCED true) 7 | set(CMAKE_CXX_COMPILER_FORCED true) 8 | set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc) 9 | set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++) 10 | 11 | set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem) 12 | set(SOEM_LIB_INSTALL_DIR ${LIB_DIR}) 13 | 14 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}") 15 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}") 16 | 17 | if(NOT ${HOST_LIBS} STREQUAL "") 18 | set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}") 19 | else() 20 | set(OS_LIBS "-lrtemscpu -lbsd") 21 | endif() 22 | 23 | -------------------------------------------------------------------------------- /cmake/Toolchains/rt-kernel-bfin.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-kinetis.cmake") 3 | 4 | set(CMAKE_SYSTEM_NAME rt-kernel) 5 | set(CMAKE_SYSTEM_VERSION 1) 6 | set(CMAKE_SYSTEM_PROCESSOR bfin) 7 | 8 | set(ARCH bfin CACHE STRING "Architecture") 9 | set(BSP stamp537 CACHE STRING "Board") 10 | -------------------------------------------------------------------------------- /cmake/Toolchains/rt-kernel-kinetis.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-kinetis.cmake") 3 | 4 | set(CMAKE_SYSTEM_NAME rt-kernel) 5 | set(CMAKE_SYSTEM_VERSION 1) 6 | set(CMAKE_SYSTEM_PROCESSOR kinetis) 7 | 8 | set(ARCH kinetis CACHE STRING "Architecture") 9 | set(BSP twrk60 CACHE STRING "Board") 10 | -------------------------------------------------------------------------------- /doc/images/memory_layout.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/doc/images/memory_layout.png -------------------------------------------------------------------------------- /drvcomment.txt: -------------------------------------------------------------------------------- 1 | For faster irq response through the NIC/NAPI/Socket layer set for TG3 (at eth0) 2 | ethtool -C eth0 rx-usecs 0 rx-frames 1 tx-usecs 0 tx-frames 1 3 | -------------------------------------------------------------------------------- /osal/LICENSE: -------------------------------------------------------------------------------- 1 | Simple Open EtherCAT Master Library 2 | 3 | Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f. 4 | Copyright (C) 2005-2017 Arthur Ketels 5 | Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 6 | Copyright (C) 2009-2017 rt-labs AB, Sweden 7 | 8 | SOEM is free software; you can redistribute it and/or modify it under the terms 9 | of the GNU General Public License version 2 as published by the Free Software 10 | Foundation. 11 | 12 | SOEM is distributed in the hope that it will be useful, but WITHOUT ANY 13 | WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A 14 | PARTICULAR PURPOSE. See the GNU General Public License for more details. 15 | 16 | As a special exception, if other files instantiate templates or use macros or 17 | inline functions from this file, or you compile this file and link it with other 18 | works to produce a work based on this file, this file does not by itself cause 19 | the resulting work to be covered by the GNU General Public License. However the 20 | source code for this file must still be made available in accordance with 21 | section (3) of the GNU General Public License. 22 | 23 | This exception does not invalidate any other reasons why a work based on this 24 | file might be covered by the GNU General Public License. 25 | 26 | The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual 27 | property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the 28 | sole purpose of creating, using and/or selling or otherwise distributing an 29 | EtherCAT network master provided that an EtherCAT Master License is obtained 30 | from Beckhoff Automation GmbH. 31 | 32 | In case you did not receive a copy of the EtherCAT Master License along with 33 | SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany 34 | (www.beckhoff.com). 35 | -------------------------------------------------------------------------------- /osal/README.md: -------------------------------------------------------------------------------- 1 | # Simple Open EtherCAT Master Library 2 | [![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOEM.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOEM) 3 | [![Build status](https://ci.appveyor.com/api/projects/status/bqgirjsxog9k1odf?svg=true)](https://ci.appveyor.com/project/hefloryd/soem-5kq8b) 4 | 5 | BUILDING 6 | ======== 7 | 8 | 9 | Prerequisites for all platforms 10 | ------------------------------- 11 | 12 | * CMake 2.8.0 or later 13 | 14 | 15 | Windows (Visual Studio) 16 | ----------------------- 17 | 18 | * Start a Visual Studio command prompt then: 19 | * `mkdir build` 20 | * `cd build` 21 | * `cmake .. -G "NMake Makefiles"` 22 | * `nmake` 23 | 24 | Linux 25 | ----- 26 | 27 | * `mkdir build` 28 | * `cd build` 29 | * `cmake ..` 30 | * `make` 31 | 32 | Want to contribute to SOEM or SOES? 33 | ----------------------------------- 34 | 35 | If you want to contribute to SOEM or SOES you will need to sign a Contributor 36 | License Agreement and send it to us either by e-mail or by physical mail. More 37 | information is available in the [PDF](http://openethercatsociety.github.io/cla/cla_soem_soes.pdf). 38 | -------------------------------------------------------------------------------- /osal/appveyor.yml: -------------------------------------------------------------------------------- 1 | version: "{build}" 2 | 3 | install: 4 | - cmd: '"C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x86' 5 | 6 | build_script: 7 | - cmd: mkdir build 8 | - cmd: cd build 9 | - cmd: cmake .. -G "NMake Makefiles" -DCMAKE_BUILD_TYPE=Release 10 | - cmd: nmake install 11 | -------------------------------------------------------------------------------- /osal/build/CMakeFiles/2.8.12.2/CMakeCCompiler.cmake: -------------------------------------------------------------------------------- 1 | set(CMAKE_C_COMPILER "/usr/bin/cc") 2 | set(CMAKE_C_COMPILER_ARG1 "") 3 | set(CMAKE_C_COMPILER_ID "GNU") 4 | set(CMAKE_C_COMPILER_VERSION "4.8.4") 5 | set(CMAKE_C_PLATFORM_ID "Linux") 6 | 7 | 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nicdrv.h 27 | ../soem/nicdrv.h 28 | ethercatbase.h 29 | ../soem/ethercatbase.h 30 | ethercatmain.h 31 | ../soem/ethercatmain.h 32 | ethercatdc.h 33 | ../soem/ethercatdc.h 34 | ethercatcoe.h 35 | ../soem/ethercatcoe.h 36 | ethercatfoe.h 37 | ../soem/ethercatfoe.h 38 | ethercatsoe.h 39 | ../soem/ethercatsoe.h 40 | ethercatconfig.h 41 | ../soem/ethercatconfig.h 42 | ethercatprint.h 43 | ../soem/ethercatprint.h 44 | 45 | ../soem/ethercatbase.h 46 | 47 | ../soem/ethercatcoe.h 48 | 49 | ../soem/ethercatconfig.h 50 | 51 | ../soem/ethercatdc.h 52 | 53 | ../soem/ethercatfoe.h 54 | 55 | ../soem/ethercatmain.h 56 | 57 | ../soem/ethercatprint.h 58 | 59 | ../soem/ethercatsoe.h 60 | 61 | ../soem/ethercattype.h 62 | osal.h 63 | ../soem/osal.h 64 | 65 | /opt/SOEM/test/linux/slaveinfo/slaveinfo.c 66 | stdio.h 67 | - 68 | string.h 69 | - 70 | inttypes.h 71 | - 72 | ethercat.h 73 | /opt/SOEM/test/linux/slaveinfo/ethercat.h 74 | 75 | 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-------------------------------------------------------------------------------- 1 | # Install script for directory: /opt/SOEM/test/linux/slaveinfo 2 | 3 | # Set the install prefix 4 | IF(NOT DEFINED CMAKE_INSTALL_PREFIX) 5 | SET(CMAKE_INSTALL_PREFIX "/usr/local") 6 | ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) 7 | STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") 8 | 9 | # Set the install configuration name. 10 | IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 11 | IF(BUILD_TYPE) 12 | STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | ELSE(BUILD_TYPE) 15 | SET(CMAKE_INSTALL_CONFIG_NAME "") 16 | ENDIF(BUILD_TYPE) 17 | MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 19 | 20 | # Set the component getting installed. 21 | IF(NOT CMAKE_INSTALL_COMPONENT) 22 | IF(COMPONENT) 23 | MESSAGE(STATUS "Install component: \"${COMPONENT}\"") 24 | SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | ELSE(COMPONENT) 26 | SET(CMAKE_INSTALL_COMPONENT) 27 | ENDIF(COMPONENT) 28 | ENDIF(NOT CMAKE_INSTALL_COMPONENT) 29 | 30 | # Install shared libraries without execute permission? 31 | IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | SET(CMAKE_INSTALL_SO_NO_EXE "1") 33 | ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 34 | 35 | IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") 36 | IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo" AND 37 | NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo") 38 | FILE(RPATH_CHECK 39 | FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo" 40 | RPATH "") 41 | ENDIF() 42 | FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/opt/SOEM/build/test/linux/slaveinfo/slaveinfo") 43 | IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo" AND 44 | NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo") 45 | IF(CMAKE_INSTALL_DO_STRIP) 46 | EXECUTE_PROCESS(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/slaveinfo") 47 | ENDIF(CMAKE_INSTALL_DO_STRIP) 48 | ENDIF() 49 | ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") 50 | 51 | -------------------------------------------------------------------------------- /osal/build/test/linux/slaveinfo/slaveinfo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/build/test/linux/slaveinfo/slaveinfo -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rt-kernel-C.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-C.cmake") 3 | 4 | # Determine toolchain 5 | include(CMakeForceCompiler) 6 | 7 | if(${ARCH} MATCHES "kinetis") 8 | cmake_force_c_compiler(arm-eabi-gcc GNU) 9 | cmake_force_cxx_compiler(arm-eabi-g++ GNU) 10 | elseif(${ARCH} MATCHES "bfin") 11 | cmake_force_c_compiler(bfin-elf-gcc GNU) 12 | cmake_force_cxx_compiler(bfin-elf-g++ GNU) 13 | endif() 14 | -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rt-kernel-gcc-bfin.cmake: -------------------------------------------------------------------------------- 1 | 2 | set(MACHINE "-mcpu=bf537") 3 | set(LDFLAGS "-T${RT_KERNEL_PATH}/bsp/${BSP}/${BSP}.ld") 4 | -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rt-kernel-gcc-kinetis.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-gcc-kinetis.cmake") 3 | 4 | #SET_PROPERTY(GLOBAL PROPERTY ARCH kinetis) 5 | #SET_PROPERTY(GLOBAL PROPERTY BSP twrk60) 6 | 7 | set(MACHINE "-mfpu=vfp -mcpu=cortex-m3 -mthumb") 8 | -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rt-kernel-gcc.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-gcc.cmake") 3 | 4 | set(CMAKE_C_OUTPUT_EXTENSION .o) 5 | set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS FALSE) 6 | 7 | set(CFLAGS "${CFLAGS} -Wall -Wextra -Wno-unused-parameter -Werror") 8 | set(CFLAGS "${CFLAGS} -fomit-frame-pointer -fno-strict-aliasing -fshort-wchar") 9 | #set(CFLAGS" ${CFLAGS} -B$(GCC_PATH)/libexec/gcc") 10 | 11 | set(CXXFLAGS "${CXXFLAGS} -fno-rtti -fno-exceptions") 12 | 13 | set(LDFLAGS "${LDFLAGS} -nostartfiles") 14 | 15 | set(CMAKE_C_FLAGS "${CFLAGS} ${MACHINE}" CACHE STRING "") 16 | set(CMAKE_EXE_LINKER_FLAGS "${MACHINE} ${LDFLAGS}" CACHE STRING "") 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rt-kernel.cmake: -------------------------------------------------------------------------------- 1 | if(__RTK_CMAKE_INCLUDED) 2 | return() 3 | endif() 4 | set(__RTK_CMAKE_INCLUDED TRUE) 5 | message("rt-kernel.cmake") 6 | 7 | include_directories( 8 | ${RT_KERNEL_PATH}/include 9 | ${RT_KERNEL_PATH}/include/kern 10 | ${RT_KERNEL_PATH}/kern 11 | ${RT_KERNEL_PATH}/include/drivers 12 | ${RT_KERNEL_PATH}/include/arch/${ARCH} 13 | ${RT_KERNEL_PATH}/bsp/${BSP}/include 14 | ${RT_KERNEL_PATH}/lwip/src/include 15 | ${RT_KERNEL_PATH}/lwip/src/include/ipv4 16 | ) 17 | 18 | link_directories( 19 | ${RT_KERNEL_PATH}/lib/${ARCH} 20 | ) 21 | -------------------------------------------------------------------------------- /osal/cmake/Modules/Platform/rtems.cmake: -------------------------------------------------------------------------------- 1 | message("rtems.cmake") 2 | 3 | set(ARCH ${HOST}) 4 | set(BSP ${RTEMS_BSP}) 5 | 6 | set(CMAKE_C_COMPILER_FORCED true) 7 | set(CMAKE_CXX_COMPILER_FORCED true) 8 | set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc) 9 | set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++) 10 | 11 | set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem) 12 | set(SOEM_LIB_INSTALL_DIR ${LIB_DIR}) 13 | 14 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}") 15 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}") 16 | 17 | if(NOT ${HOST_LIBS} STREQUAL "") 18 | set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}") 19 | else() 20 | set(OS_LIBS "-lrtemscpu -lbsd") 21 | endif() 22 | 23 | -------------------------------------------------------------------------------- /osal/cmake/Toolchains/rt-kernel-bfin.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-kinetis.cmake") 3 | 4 | set(CMAKE_SYSTEM_NAME rt-kernel) 5 | set(CMAKE_SYSTEM_VERSION 1) 6 | set(CMAKE_SYSTEM_PROCESSOR bfin) 7 | 8 | set(ARCH bfin CACHE STRING "Architecture") 9 | set(BSP stamp537 CACHE STRING "Board") 10 | -------------------------------------------------------------------------------- /osal/cmake/Toolchains/rt-kernel-kinetis.cmake: -------------------------------------------------------------------------------- 1 | 2 | message("rt-kernel-kinetis.cmake") 3 | 4 | set(CMAKE_SYSTEM_NAME rt-kernel) 5 | set(CMAKE_SYSTEM_VERSION 1) 6 | set(CMAKE_SYSTEM_PROCESSOR kinetis) 7 | 8 | set(ARCH kinetis CACHE STRING "Architecture") 9 | set(BSP twrk60 CACHE STRING "Board") 10 | -------------------------------------------------------------------------------- /osal/doc/images/memory_layout.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/doc/images/memory_layout.png -------------------------------------------------------------------------------- /osal/dotgitold/COMMIT_EDITMSG: -------------------------------------------------------------------------------- 1 | First Commit PD Controller 2 | -------------------------------------------------------------------------------- /osal/dotgitold/HEAD: -------------------------------------------------------------------------------- 1 | ref: refs/heads/feature/config_init_in_state 2 | -------------------------------------------------------------------------------- /osal/dotgitold/config: -------------------------------------------------------------------------------- 1 | [core] 2 | repositoryformatversion = 0 3 | filemode = true 4 | bare = false 5 | logallrefupdates = true 6 | [remote "origin"] 7 | url = https://github.com/Halodi/SOEM.git 8 | fetch = +refs/heads/*:refs/remotes/origin/* 9 | [branch "master"] 10 | remote = origin 11 | merge = refs/heads/master 12 | [branch "feature/config_init_in_state"] 13 | remote = origin 14 | merge = refs/heads/feature/config_init_in_state 15 | -------------------------------------------------------------------------------- /osal/dotgitold/description: -------------------------------------------------------------------------------- 1 | Unnamed repository; edit this file 'description' to name the repository. 2 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/applypatch-msg.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to check the commit log message taken by 4 | # applypatch from an e-mail message. 5 | # 6 | # The hook should exit with non-zero status after issuing an 7 | # appropriate message if it wants to stop the commit. The hook is 8 | # allowed to edit the commit message file. 9 | # 10 | # To enable this hook, rename this file to "applypatch-msg". 11 | 12 | . git-sh-setup 13 | test -x "$GIT_DIR/hooks/commit-msg" && 14 | exec "$GIT_DIR/hooks/commit-msg" ${1+"$@"} 15 | : 16 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/commit-msg.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to check the commit log message. 4 | # Called by "git commit" with one argument, the name of the file 5 | # that has the commit message. The hook should exit with non-zero 6 | # status after issuing an appropriate message if it wants to stop the 7 | # commit. The hook is allowed to edit the commit message file. 8 | # 9 | # To enable this hook, rename this file to "commit-msg". 10 | 11 | # Uncomment the below to add a Signed-off-by line to the message. 12 | # Doing this in a hook is a bad idea in general, but the prepare-commit-msg 13 | # hook is more suited to it. 14 | # 15 | # SOB=$(git var GIT_AUTHOR_IDENT | sed -n 's/^\(.*>\).*$/Signed-off-by: \1/p') 16 | # grep -qs "^$SOB" "$1" || echo "$SOB" >> "$1" 17 | 18 | # This example catches duplicate Signed-off-by lines. 19 | 20 | test "" = "$(grep '^Signed-off-by: ' "$1" | 21 | sort | uniq -c | sed -e '/^[ ]*1[ ]/d')" || { 22 | echo >&2 Duplicate Signed-off-by lines. 23 | exit 1 24 | } 25 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/post-update.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to prepare a packed repository for use over 4 | # dumb transports. 5 | # 6 | # To enable this hook, rename this file to "post-update". 7 | 8 | exec git update-server-info 9 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/pre-applypatch.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to verify what is about to be committed 4 | # by applypatch from an e-mail message. 5 | # 6 | # The hook should exit with non-zero status after issuing an 7 | # appropriate message if it wants to stop the commit. 8 | # 9 | # To enable this hook, rename this file to "pre-applypatch". 10 | 11 | . git-sh-setup 12 | test -x "$GIT_DIR/hooks/pre-commit" && 13 | exec "$GIT_DIR/hooks/pre-commit" ${1+"$@"} 14 | : 15 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/pre-commit.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to verify what is about to be committed. 4 | # Called by "git commit" with no arguments. The hook should 5 | # exit with non-zero status after issuing an appropriate message if 6 | # it wants to stop the commit. 7 | # 8 | # To enable this hook, rename this file to "pre-commit". 9 | 10 | if git rev-parse --verify HEAD >/dev/null 2>&1 11 | then 12 | against=HEAD 13 | else 14 | # Initial commit: diff against an empty tree object 15 | against=4b825dc642cb6eb9a060e54bf8d69288fbee4904 16 | fi 17 | 18 | # If you want to allow non-ASCII filenames set this variable to true. 19 | allownonascii=$(git config --bool hooks.allownonascii) 20 | 21 | # Redirect output to stderr. 22 | exec 1>&2 23 | 24 | # Cross platform projects tend to avoid non-ASCII filenames; prevent 25 | # them from being added to the repository. We exploit the fact that the 26 | # printable range starts at the space character and ends with tilde. 27 | if [ "$allownonascii" != "true" ] && 28 | # Note that the use of brackets around a tr range is ok here, (it's 29 | # even required, for portability to Solaris 10's /usr/bin/tr), since 30 | # the square bracket bytes happen to fall in the designated range. 31 | test $(git diff --cached --name-only --diff-filter=A -z $against | 32 | LC_ALL=C tr -d '[ -~]\0' | wc -c) != 0 33 | then 34 | cat <<\EOF 35 | Error: Attempt to add a non-ASCII file name. 36 | 37 | This can cause problems if you want to work with people on other platforms. 38 | 39 | To be portable it is advisable to rename the file. 40 | 41 | If you know what you are doing you can disable this check using: 42 | 43 | git config hooks.allownonascii true 44 | EOF 45 | exit 1 46 | fi 47 | 48 | # If there are whitespace errors, print the offending file names and fail. 49 | exec git diff-index --check --cached $against -- 50 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/pre-push.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # An example hook script to verify what is about to be pushed. Called by "git 4 | # push" after it has checked the remote status, but before anything has been 5 | # pushed. If this script exits with a non-zero status nothing will be pushed. 6 | # 7 | # This hook is called with the following parameters: 8 | # 9 | # $1 -- Name of the remote to which the push is being done 10 | # $2 -- URL to which the push is being done 11 | # 12 | # If pushing without using a named remote those arguments will be equal. 13 | # 14 | # Information about the commits which are being pushed is supplied as lines to 15 | # the standard input in the form: 16 | # 17 | # 18 | # 19 | # This sample shows how to prevent push of commits where the log message starts 20 | # with "WIP" (work in progress). 21 | 22 | remote="$1" 23 | url="$2" 24 | 25 | z40=0000000000000000000000000000000000000000 26 | 27 | IFS=' ' 28 | while read local_ref local_sha remote_ref remote_sha 29 | do 30 | if [ "$local_sha" = $z40 ] 31 | then 32 | # Handle delete 33 | : 34 | else 35 | if [ "$remote_sha" = $z40 ] 36 | then 37 | # New branch, examine all commits 38 | range="$local_sha" 39 | else 40 | # Update to existing branch, examine new commits 41 | range="$remote_sha..$local_sha" 42 | fi 43 | 44 | # Check for WIP commit 45 | commit=`git rev-list -n 1 --grep '^WIP' "$range"` 46 | if [ -n "$commit" ] 47 | then 48 | echo "Found WIP commit in $local_ref, not pushing" 49 | exit 1 50 | fi 51 | fi 52 | done 53 | 54 | exit 0 55 | -------------------------------------------------------------------------------- /osal/dotgitold/hooks/prepare-commit-msg.sample: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # An example hook script to prepare the commit log message. 4 | # Called by "git commit" with the name of the file that has the 5 | # commit message, followed by the description of the commit 6 | # message's source. The hook's purpose is to edit the commit 7 | # message file. If the hook fails with a non-zero status, 8 | # the commit is aborted. 9 | # 10 | # To enable this hook, rename this file to "prepare-commit-msg". 11 | 12 | # This hook includes three examples. The first comments out the 13 | # "Conflicts:" part of a merge commit. 14 | # 15 | # The second includes the output of "git diff --name-status -r" 16 | # into the message, just before the "git status" output. It is 17 | # commented because it doesn't cope with --amend or with squashed 18 | # commits. 19 | # 20 | # The third example adds a Signed-off-by line to the message, that can 21 | # still be edited. This is rarely a good idea. 22 | 23 | case "$2,$3" in 24 | merge,) 25 | /usr/bin/perl -i.bak -ne 's/^/# /, s/^# #/#/ if /^Conflicts/ .. /#/; print' "$1" ;; 26 | 27 | # ,|template,) 28 | # /usr/bin/perl -i.bak -pe ' 29 | # print "\n" . `git diff --cached --name-status -r` 30 | # if /^#/ && $first++ == 0' "$1" ;; 31 | 32 | *) ;; 33 | esac 34 | 35 | # SOB=$(git var GIT_AUTHOR_IDENT | sed -n 's/^\(.*>\).*$/Signed-off-by: \1/p') 36 | # grep -qs "^$SOB" "$1" || echo "$SOB" >> "$1" 37 | -------------------------------------------------------------------------------- /osal/dotgitold/index: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/dotgitold/index -------------------------------------------------------------------------------- /osal/dotgitold/info/exclude: -------------------------------------------------------------------------------- 1 | # git ls-files --others --exclude-from=.git/info/exclude 2 | # Lines that start with '#' are comments. 3 | # For a project mostly in C, the following would be a good set of 4 | # exclude patterns (uncomment them if you want to use them): 5 | # *.[oa] 6 | # *~ 7 | -------------------------------------------------------------------------------- /osal/dotgitold/logs/HEAD: -------------------------------------------------------------------------------- 1 | 0000000000000000000000000000000000000000 5b2c51b65cbacb6720adb789822f7b1416fec2cf root 1536158087 -0400 clone: from https://github.com/Halodi/SOEM.git 2 | 5b2c51b65cbacb6720adb789822f7b1416fec2cf 1176f3c44ddbc86998cecb025f199d613e77e201 root 1536158116 -0400 checkout: moving from master to feature/config_init_in_state 3 | 1176f3c44ddbc86998cecb025f199d613e77e201 9971484160f78978393937bf662441bcedfb22a9 Stephenyu113 1538703067 -0400 commit: First Commit PD Controller 4 | -------------------------------------------------------------------------------- /osal/dotgitold/logs/refs/heads/feature/config_init_in_state: -------------------------------------------------------------------------------- 1 | 0000000000000000000000000000000000000000 1176f3c44ddbc86998cecb025f199d613e77e201 root 1536158116 -0400 branch: Created from refs/remotes/origin/feature/config_init_in_state 2 | 1176f3c44ddbc86998cecb025f199d613e77e201 9971484160f78978393937bf662441bcedfb22a9 Stephenyu113 1538703067 -0400 commit: First Commit PD Controller 3 | -------------------------------------------------------------------------------- /osal/dotgitold/logs/refs/heads/master: -------------------------------------------------------------------------------- 1 | 0000000000000000000000000000000000000000 5b2c51b65cbacb6720adb789822f7b1416fec2cf root 1536158087 -0400 clone: from https://github.com/Halodi/SOEM.git 2 | -------------------------------------------------------------------------------- /osal/dotgitold/logs/refs/remotes/origin/HEAD: -------------------------------------------------------------------------------- 1 | 0000000000000000000000000000000000000000 5b2c51b65cbacb6720adb789822f7b1416fec2cf root 1536158087 -0400 clone: from https://github.com/Halodi/SOEM.git 2 | -------------------------------------------------------------------------------- /osal/dotgitold/objects/00/69118f44a576b9bf705753c9a35bbc40de1c29: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/dotgitold/objects/00/69118f44a576b9bf705753c9a35bbc40de1c29 -------------------------------------------------------------------------------- /osal/dotgitold/objects/14/646cd5363ced54622c747b9fa97eedbb552a90: -------------------------------------------------------------------------------- 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/osal/dotgitold/refs/heads/feature/config_init_in_state: -------------------------------------------------------------------------------- 1 | 9971484160f78978393937bf662441bcedfb22a9 2 | -------------------------------------------------------------------------------- /osal/dotgitold/refs/heads/master: -------------------------------------------------------------------------------- 1 | 5b2c51b65cbacb6720adb789822f7b1416fec2cf 2 | -------------------------------------------------------------------------------- /osal/dotgitold/refs/remotes/origin/HEAD: -------------------------------------------------------------------------------- 1 | ref: refs/remotes/origin/master 2 | -------------------------------------------------------------------------------- /osal/drvcomment.txt: -------------------------------------------------------------------------------- 1 | For faster irq response through the NIC/NAPI/Socket layer set for TG3 (at eth0) 2 | ethtool -C eth0 rx-usecs 0 rx-frames 1 tx-usecs 0 tx-frames 1 3 | -------------------------------------------------------------------------------- /osal/intime/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #ifdef _MSC_VER 16 | #define PACKED_BEGIN __pragma(pack(push, 1)) 17 | #define PACKED 18 | #define PACKED_END __pragma(pack(pop)) 19 | #elif defined(__GNUC__) 20 | #define PACKED_BEGIN 21 | #define PACKED __attribute__((__packed__)) 22 | #define PACKED_END 23 | #endif 24 | #endif 25 | 26 | #define OSAL_THREAD_HANDLE RTHANDLE 27 | #define OSAL_THREAD_FUNC void 28 | #define OSAL_THREAD_FUNC_RT void 29 | 30 | #ifdef __cplusplus 31 | } 32 | #endif 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /osal/linux/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #include 21 | #define OSAL_THREAD_HANDLE pthread_t * 22 | #define OSAL_THREAD_FUNC void 23 | #define OSAL_THREAD_FUNC_RT void 24 | 25 | #ifdef __cplusplus 26 | } 27 | #endif 28 | 29 | #endif 30 | -------------------------------------------------------------------------------- /osal/osal.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_ 7 | #define _osal_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #include "osal_defs.h" 15 | #include 16 | 17 | /* General types */ 18 | typedef uint8_t boolean; 19 | #define TRUE 1 20 | #define FALSE 0 21 | typedef int8_t int8; 22 | typedef int16_t int16; 23 | typedef int32_t int32; 24 | typedef uint8_t uint8; 25 | typedef uint16_t uint16; 26 | typedef uint32_t uint32; 27 | typedef int64_t int64; 28 | typedef uint64_t uint64; 29 | typedef float float32; 30 | typedef double float64; 31 | 32 | typedef struct 33 | { 34 | uint32 sec; /*< Seconds elapsed since the Epoch (Jan 1, 1970) */ 35 | uint32 usec; /*< Microseconds elapsed since last second boundary */ 36 | } ec_timet; 37 | 38 | typedef struct osal_timer 39 | { 40 | ec_timet stop_time; 41 | } osal_timert; 42 | 43 | void osal_timer_start(osal_timert * self, uint32 timeout_us); 44 | boolean osal_timer_is_expired(osal_timert * self); 45 | int osal_usleep(uint32 usec); 46 | ec_timet osal_current_time(void); 47 | void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff); 48 | int osal_thread_create(void *thandle, int stacksize, void *func, void *param); 49 | int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param); 50 | 51 | #ifdef __cplusplus 52 | } 53 | #endif 54 | 55 | #endif 56 | -------------------------------------------------------------------------------- /osal/osal/intime/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #ifdef _MSC_VER 16 | #define PACKED_BEGIN __pragma(pack(push, 1)) 17 | #define PACKED 18 | #define PACKED_END __pragma(pack(pop)) 19 | #elif defined(__GNUC__) 20 | #define PACKED_BEGIN 21 | #define PACKED __attribute__((__packed__)) 22 | #define PACKED_END 23 | #endif 24 | #endif 25 | 26 | #define OSAL_THREAD_HANDLE RTHANDLE 27 | #define OSAL_THREAD_FUNC void 28 | #define OSAL_THREAD_FUNC_RT void 29 | 30 | #ifdef __cplusplus 31 | } 32 | #endif 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /osal/osal/linux/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #include 21 | #define OSAL_THREAD_HANDLE pthread_t * 22 | #define OSAL_THREAD_FUNC void 23 | #define OSAL_THREAD_FUNC_RT void 24 | 25 | #ifdef __cplusplus 26 | } 27 | #endif 28 | 29 | #endif 30 | -------------------------------------------------------------------------------- /osal/osal/osal.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_ 7 | #define _osal_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #include "osal_defs.h" 15 | #include 16 | 17 | /* General types */ 18 | typedef uint8_t boolean; 19 | #define TRUE 1 20 | #define FALSE 0 21 | typedef int8_t int8; 22 | typedef int16_t int16; 23 | typedef int32_t int32; 24 | typedef uint8_t uint8; 25 | typedef uint16_t uint16; 26 | typedef uint32_t uint32; 27 | typedef int64_t int64; 28 | typedef uint64_t uint64; 29 | typedef float float32; 30 | typedef double float64; 31 | 32 | typedef struct 33 | { 34 | uint32 sec; /*< Seconds elapsed since the Epoch (Jan 1, 1970) */ 35 | uint32 usec; /*< Microseconds elapsed since last second boundary */ 36 | } ec_timet; 37 | 38 | typedef struct osal_timer 39 | { 40 | ec_timet stop_time; 41 | } osal_timert; 42 | 43 | void osal_timer_start(osal_timert * self, uint32 timeout_us); 44 | boolean osal_timer_is_expired(osal_timert * self); 45 | int osal_usleep(uint32 usec); 46 | ec_timet osal_current_time(void); 47 | void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff); 48 | int osal_thread_create(void *thandle, int stacksize, void *func, void *param); 49 | int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param); 50 | 51 | #ifdef __cplusplus 52 | } 53 | #endif 54 | 55 | #endif 56 | -------------------------------------------------------------------------------- /osal/osal/rtems/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #include 21 | #define OSAL_THREAD_HANDLE pthread_t * 22 | #define OSAL_THREAD_FUNC void 23 | #define OSAL_THREAD_FUNC_RT void 24 | 25 | #ifdef __cplusplus 26 | } 27 | #endif 28 | 29 | #endif 30 | -------------------------------------------------------------------------------- /osal/osal/rtk/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #define OSAL_THREAD_HANDLE task_t * 21 | #define OSAL_THREAD_FUNC void 22 | #define OSAL_THREAD_FUNC_RT void 23 | 24 | #ifdef __cplusplus 25 | } 26 | #endif 27 | 28 | #endif 29 | -------------------------------------------------------------------------------- /osal/osal/vxworks/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifndef PACKED 10 | #define PACKED_BEGIN 11 | #define PACKED __attribute__((__packed__)) 12 | #define PACKED_END 13 | #endif 14 | 15 | #define OSAL_THREAD_HANDLE TASK_ID 16 | #define OSAL_THREAD_FUNC void 17 | #define OSAL_THREAD_FUNC_RT void 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /osal/osal/win32/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN __pragma(pack(push, 1)) 16 | #define PACKED 17 | #define PACKED_END __pragma(pack(pop)) 18 | #endif 19 | 20 | #define OSAL_THREAD_HANDLE HANDLE 21 | #define OSAL_THREAD_FUNC void 22 | #define OSAL_THREAD_FUNC_RT void 23 | 24 | #ifdef __cplusplus 25 | } 26 | #endif 27 | 28 | #endif 29 | -------------------------------------------------------------------------------- /osal/osal/win32/osal_win32.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_win32_ 7 | #define _osal_win32_ 8 | 9 | /* Convenience macros for operations on timevals. 10 | NOTE: `timercmp' does not work for >= or <=. */ 11 | # define timerisset(tvp) ((tvp)->tv_sec || (tvp)->tv_usec) 12 | # define timeradd(a, b, result) \ 13 | do { \ 14 | (result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \ 15 | (result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \ 16 | if ((result)->tv_usec >= 1000000) \ 17 | { \ 18 | ++(result)->tv_sec; \ 19 | (result)->tv_usec -= 1000000; \ 20 | } \ 21 | } while (0) 22 | # define timersub(a, b, result) \ 23 | do { \ 24 | (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ 25 | (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \ 26 | if ((result)->tv_usec < 0) { \ 27 | --(result)->tv_sec; \ 28 | (result)->tv_usec += 1000000; \ 29 | } \ 30 | } while (0) 31 | 32 | int osal_gettimeofday (struct timeval *tv, struct timezone *tz); 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /osal/oshw/intime/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include 7 | #include "oshw.h" 8 | 9 | /** 10 | * Host to Network byte order (i.e. to big endian). 11 | * 12 | * Note that Ethercat uses little endian byte order, except for the Ethernet 13 | * header which is big endian as usual. 14 | */ 15 | uint16 oshw_htons (uint16 host) 16 | { 17 | uint16 network = htons (host); 18 | return network; 19 | } 20 | 21 | /** 22 | * Network (i.e. big endian) to Host byte order. 23 | * 24 | * Note that Ethercat uses little endian byte order, except for the Ethernet 25 | * header which is big endian as usual. 26 | */ 27 | uint16 oshw_ntohs (uint16 network) 28 | { 29 | uint16 host = ntohs (network); 30 | return host; 31 | } 32 | 33 | /* Create list over available network adapters. 34 | * @return First element in linked list of adapters 35 | */ 36 | ec_adaptert * oshw_find_adapters (void) 37 | { 38 | return NULL; 39 | } 40 | 41 | /** Free memory allocated memory used by adapter collection. 42 | * @param[in] adapter = First element in linked list of adapters 43 | * EC_NOFRAME. 44 | */ 45 | void oshw_free_adapters (ec_adaptert * adapter) 46 | { 47 | 48 | } 49 | -------------------------------------------------------------------------------- /osal/oshw/intime/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #include "ethercattype.h" 15 | #include "ethercatmain.h" 16 | #include "nicdrv.h" 17 | 18 | #ifdef __cplusplus 19 | extern "C" { 20 | #endif 21 | 22 | uint16 oshw_htons (uint16 hostshort); 23 | uint16 oshw_ntohs (uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters (void); 25 | void oshw_free_adapters (ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /osal/oshw/linux/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" { 16 | #endif 17 | 18 | #include "ethercattype.h" 19 | #include "nicdrv.h" 20 | #include "ethercatmain.h" 21 | 22 | uint16 oshw_htons(uint16 hostshort); 23 | uint16 oshw_ntohs(uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters(void); 25 | void oshw_free_adapters(ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /osal/oshw/rtems/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" { 16 | #endif 17 | 18 | #include "ethercattype.h" 19 | #include "nicdrv.h" 20 | #include "ethercatmain.h" 21 | 22 | uint16 oshw_htons(uint16 hostshort); 23 | uint16 oshw_ntohs(uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters(void); 25 | void oshw_free_adapters(ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /osal/oshw/rtk/fec/fec_ecat.h: -------------------------------------------------------------------------------- 1 | /****************************************************************************** 2 | * * *** *** 3 | * *** *** *** 4 | * *** **** ********** *** ***** *** **** ***** 5 | * ********* ********** *** ********* ************ ********* 6 | * **** *** *** *** *** **** *** 7 | * *** *** ****** *** *********** *** **** ***** 8 | * *** *** ****** *** ************* *** **** ***** 9 | * *** **** **** *** *** *** **** *** 10 | * *** ******* ***** ************** ************* ********* 11 | * *** ***** *** ******* ** ** ****** ***** 12 | * t h e r e a l t i m e t a r g e t e x p e r t s 13 | * 14 | * http://www.rt-labs.com 15 | * Copyright (C) 2007. rt-labs AB, Sweden. All rights reserved. 16 | *------------------------------------------------------------------------------ 17 | * $Id: fec_ecat.h 91 2014-04-02 13:32:29Z rtlfrm $ 18 | *------------------------------------------------------------------------------ 19 | */ 20 | 21 | /** 22 | * \defgroup fec EtherCat Ethernet MAC driver for Frescale K60 SoCs. 23 | * 24 | * \{ 25 | */ 26 | 27 | #ifndef FEC_H 28 | #define FEC_H 29 | 30 | #include 31 | 32 | #ifdef __cplusplus 33 | extern "C" 34 | { 35 | #endif 36 | 37 | typedef struct fec_mac_address 38 | { 39 | uint8_t octet[6]; 40 | } fec_mac_address_t; 41 | 42 | int fec_ecat_init (const fec_mac_address_t * mac_address, bool phy_loopback_mode); 43 | 44 | int fec_ecat_send (const void *payload, size_t tot_len); 45 | 46 | int fec_ecat_recv (void * buffer, size_t buffer_length); 47 | 48 | #ifdef __cplusplus 49 | } 50 | #endif 51 | 52 | #endif /* FEC_H */ 53 | 54 | /** 55 | * \} 56 | */ 57 | -------------------------------------------------------------------------------- /osal/oshw/rtk/lw_mac/lw_emac.h: -------------------------------------------------------------------------------- 1 | /* 2 | * author: Tomas Vestelind 3 | */ 4 | 5 | #ifndef LWIP_MAC_H 6 | #define LWIP_MAC_H 7 | 8 | int bfin_EMAC_init(uint8_t *enetaddr); 9 | int bfin_EMAC_send(void *packet, int length); 10 | int bfin_EMAC_recv(uint8_t * packet, size_t size); 11 | 12 | #endif /* LWIP_MAC_H */ 13 | -------------------------------------------------------------------------------- /osal/oshw/rtk/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include "oshw.h" 7 | #include 8 | #include 9 | 10 | /** 11 | * Host to Network byte order (i.e. to big endian). 12 | * 13 | * Note that Ethercat uses little endian byte order, except for the Ethernet 14 | * header which is big endian as usual. 15 | */ 16 | uint16 oshw_htons(const uint16 host) 17 | { 18 | uint16 network = htons (host); 19 | return network; 20 | } 21 | 22 | /** 23 | * Network (i.e. big endian) to Host byte order. 24 | * 25 | * Note that Ethercat uses little endian byte order, except for the Ethernet 26 | * header which is big endian as usual. 27 | */ 28 | uint16 oshw_ntohs(const uint16 network) 29 | { 30 | uint16 host = ntohs (network); 31 | return host; 32 | } 33 | 34 | /* Create list over available network adapters. 35 | * @return First element in linked list of adapters 36 | */ 37 | ec_adaptert * oshw_find_adapters(void) 38 | { 39 | ec_adaptert * ret_adapter = NULL; 40 | 41 | /* TODO if needed */ 42 | 43 | return ret_adapter; 44 | } 45 | 46 | /** Free memory allocated memory used by adapter collection. 47 | * @param[in] adapter = First element in linked list of adapters 48 | * EC_NOFRAME. 49 | */ 50 | void oshw_free_adapters(ec_adaptert * adapter) 51 | { 52 | /* TODO if needed */ 53 | } 54 | -------------------------------------------------------------------------------- /osal/oshw/rtk/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #include 20 | #include "ethercattype.h" 21 | #include "nicdrv.h" 22 | #include "ethercatmain.h" 23 | 24 | 25 | uint16 oshw_htons(uint16 host); 26 | uint16 oshw_ntohs(uint16 network); 27 | 28 | ec_adaptert * oshw_find_adapters(void); 29 | void oshw_free_adapters(ec_adaptert * adapter); 30 | 31 | #ifdef __cplusplus 32 | } 33 | #endif 34 | 35 | #endif 36 | -------------------------------------------------------------------------------- /osal/oshw/vxworks/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include "oshw.h" 15 | 16 | /** 17 | * Host to Network byte order (i.e. to big endian). 18 | * 19 | * Note that Ethercat uses little endian byte order, except for the Ethernet 20 | * header which is big endian as usual. 21 | */ 22 | uint16 oshw_htons(uint16 host) 23 | { 24 | uint16 network = htons (host); 25 | return network; 26 | } 27 | 28 | /** 29 | * Network (i.e. big endian) to Host byte order. 30 | * 31 | * Note that Ethercat uses little endian byte order, except for the Ethernet 32 | * header which is big endian as usual. 33 | */ 34 | uint16 oshw_ntohs(uint16 network) 35 | { 36 | uint16 host = ntohs (network); 37 | return host; 38 | } 39 | 40 | /** Create list over available network adapters. 41 | * @return First element in linked list of adapters 42 | */ 43 | ec_adaptert * oshw_find_adapters(void) 44 | { 45 | ec_adaptert * ret_adapter = NULL; 46 | /* Not implemented */ 47 | assert(0); 48 | 49 | return ret_adapter; 50 | } 51 | 52 | /** Free memory allocated memory used by adapter collection. 53 | * @param[in] adapter = First element in linked list of adapters 54 | * EC_NOFRAME. 55 | */ 56 | void oshw_free_adapters(ec_adaptert * adapter) 57 | { 58 | /* Not implemented */ 59 | assert(0); 60 | } 61 | -------------------------------------------------------------------------------- /osal/oshw/vxworks/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #include "ethercattype.h" 15 | #include "nicdrv.h" 16 | #include "ethercatmain.h" 17 | 18 | uint16 oshw_htons(uint16 hostshort); 19 | uint16 oshw_ntohs(uint16 networkshort); 20 | ec_adaptert * oshw_find_adapters(void); 21 | void oshw_free_adapters(ec_adaptert * adapter); 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /osal/oshw/win32/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #include "ethercattype.h" 20 | #include "nicdrv.h" 21 | #include "ethercatmain.h" 22 | 23 | uint16 oshw_htons (uint16 hostshort); 24 | uint16 oshw_ntohs (uint16 networkshort); 25 | ec_adaptert * oshw_find_adapters (void); 26 | void oshw_free_adapters (ec_adaptert * adapter); 27 | 28 | #ifdef __cplusplus 29 | } 30 | #endif 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Include/pcap/bluetooth.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2006 Paolo Abeni (Italy) 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 9 | * 1. Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * 2. Redistributions in binary form must reproduce the above copyright 12 | * notice, this list of conditions and the following disclaimer in the 13 | * documentation and/or other materials provided with the distribution. 14 | * 3. The name of the author may not be used to endorse or promote 15 | * products derived from this software without specific prior written 16 | * permission. 17 | * 18 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 19 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 20 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 21 | * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 22 | * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 23 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 24 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 25 | * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 26 | * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 27 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 28 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 29 | * 30 | * bluetooth data struct 31 | * By Paolo Abeni 32 | * 33 | * @(#) $Header: /tcpdump/master/libpcap/pcap/bluetooth.h,v 1.1 2007/09/22 02:10:17 guy Exp $ 34 | */ 35 | 36 | #ifndef _PCAP_BLUETOOTH_STRUCTS_H__ 37 | #define _PCAP_BLUETOOTH_STRUCTS_H__ 38 | 39 | /* 40 | * Header prepended libpcap to each bluetooth h:4 frame. 41 | * fields are in network byte order 42 | */ 43 | typedef struct _pcap_bluetooth_h4_header { 44 | u_int32_t direction; /* if first bit is set direction is incoming */ 45 | } pcap_bluetooth_h4_header; 46 | 47 | 48 | #endif 49 | -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/Packet.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/Packet.lib -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/libpacket.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/libpacket.a -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/libwpcap.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/libwpcap.a -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/wpcap.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/wpcap.lib -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/x64/Packet.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/x64/Packet.lib -------------------------------------------------------------------------------- /osal/oshw/win32/wpcap/Lib/x64/wpcap.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/osal/oshw/win32/wpcap/Lib/x64/wpcap.lib -------------------------------------------------------------------------------- /osal/rtems/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #include 21 | #define OSAL_THREAD_HANDLE pthread_t * 22 | #define OSAL_THREAD_FUNC void 23 | #define OSAL_THREAD_FUNC_RT void 24 | 25 | #ifdef __cplusplus 26 | } 27 | #endif 28 | 29 | #endif 30 | -------------------------------------------------------------------------------- /osal/rtk/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN 16 | #define PACKED __attribute__((__packed__)) 17 | #define PACKED_END 18 | #endif 19 | 20 | #define OSAL_THREAD_HANDLE task_t * 21 | #define OSAL_THREAD_FUNC void 22 | #define OSAL_THREAD_FUNC_RT void 23 | 24 | #ifdef __cplusplus 25 | } 26 | #endif 27 | 28 | #endif 29 | -------------------------------------------------------------------------------- /osal/soem/ethercat.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for all ethercat headers 9 | */ 10 | 11 | #ifndef _EC_ETHERCAT_H 12 | #define _EC_ETHERCAT_H 13 | 14 | #include "ethercattype.h" 15 | #include "nicdrv.h" 16 | #include "ethercatbase.h" 17 | #include "ethercatmain.h" 18 | #include "ethercatdc.h" 19 | #include "ethercatcoe.h" 20 | #include "ethercatfoe.h" 21 | #include "ethercatsoe.h" 22 | #include "ethercatconfig.h" 23 | #include "ethercatprint.h" 24 | 25 | #endif /* _EC_ETHERCAT_H */ 26 | -------------------------------------------------------------------------------- /osal/soem/ethercatconfig.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatconfig.c 9 | */ 10 | 11 | #ifndef _ethercatconfig_ 12 | #define _ethercatconfig_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #define EC_NODEOFFSET 0x1000 20 | #define EC_TEMPNODE 0xffff 21 | 22 | #ifdef EC_VER1 23 | int ec_config_init(uint8 usetable); 24 | int ec_config_map(void *pIOmap); 25 | int ec_config_overlap_map(void *pIOmap); 26 | int ec_config_map_group(void *pIOmap, uint8 group); 27 | int ec_config_overlap_map_group(void *pIOmap, uint8 group); 28 | int ec_config(uint8 usetable, void *pIOmap); 29 | int ec_config_overlap(uint8 usetable, void *pIOmap); 30 | int ec_recover_slave(uint16 slave, int timeout); 31 | int ec_reconfig_slave(uint16 slave, int timeout); 32 | #endif 33 | 34 | int ecx_config_init(ecx_contextt *context, uint8 usetable); 35 | int ecx_config_init_to_state(ecx_contextt *context, uint8 usetable, uint16 state); 36 | int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group); 37 | int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 group); 38 | int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout); 39 | int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout); 40 | 41 | #ifdef __cplusplus 42 | } 43 | #endif 44 | 45 | #endif 46 | -------------------------------------------------------------------------------- /osal/soem/ethercatdc.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatdc.c 9 | */ 10 | 11 | #ifndef _EC_ECATDC_H 12 | #define _EC_ECATDC_H 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #ifdef EC_VER1 20 | boolean ec_configdc(); 21 | void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift); 22 | void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift); 23 | #endif 24 | 25 | boolean ecx_configdc(ecx_contextt *context); 26 | void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift); 27 | void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift); 28 | 29 | #ifdef __cplusplus 30 | } 31 | #endif 32 | 33 | #endif /* _EC_ECATDC_H */ 34 | -------------------------------------------------------------------------------- /osal/soem/ethercatfoe.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatfoe.c 9 | */ 10 | 11 | #ifndef _ethercatfoe_ 12 | #define _ethercatfoe_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #ifdef EC_VER1 20 | int ec_FOEdefinehook(void *hook); 21 | int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout); 22 | int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout); 23 | #endif 24 | 25 | int ecx_FOEdefinehook(ecx_contextt *context, void *hook); 26 | int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout); 27 | int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout); 28 | 29 | #ifdef __cplusplus 30 | } 31 | #endif 32 | 33 | #endif 34 | -------------------------------------------------------------------------------- /osal/soem/ethercatprint.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatprint.c 9 | */ 10 | 11 | #ifndef _ethercatprint_ 12 | #define _ethercatprint_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | char* ec_sdoerror2string( uint32 sdoerrorcode); 20 | char* ec_ALstatuscode2string( uint16 ALstatuscode); 21 | char* ec_soeerror2string( uint16 errorcode); 22 | char* ecx_elist2string(ecx_contextt *context); 23 | 24 | #ifdef EC_VER1 25 | char* ec_elist2string(void); 26 | #endif 27 | 28 | #ifdef __cplusplus 29 | } 30 | #endif 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /osal/test/linux/eepromtool/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES eepromtool.c) 3 | add_executable(eepromtool ${SOURCES}) 4 | target_link_libraries(eepromtool soem) 5 | install(TARGETS eepromtool DESTINATION bin) 6 | -------------------------------------------------------------------------------- /osal/test/linux/simple_test/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES simple_test.c) 3 | add_executable(simple_test ${SOURCES}) 4 | target_link_libraries(simple_test soem) 5 | install(TARGETS simple_test DESTINATION bin) 6 | -------------------------------------------------------------------------------- /osal/test/linux/slaveinfo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES slaveinfo.c) 3 | add_executable(slaveinfo ${SOURCES}) 4 | target_link_libraries(slaveinfo soem) 5 | install(TARGETS slaveinfo DESTINATION bin) 6 | -------------------------------------------------------------------------------- /osal/test/rtk/schedule.tt: -------------------------------------------------------------------------------- 1 | stack_size: 2048 2 | 3 | tasks: 4 | - name : tReadIO 5 | entry : read_io 6 | arg : 'NULL' 7 | 8 | schedules: 9 | - name : sched1 10 | period : 1 11 | events : 12 | - task : tReadIO 13 | start : 0 14 | stop : 1 -------------------------------------------------------------------------------- /osal/vxworks/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifndef PACKED 10 | #define PACKED_BEGIN 11 | #define PACKED __attribute__((__packed__)) 12 | #define PACKED_END 13 | #endif 14 | 15 | #define OSAL_THREAD_HANDLE TASK_ID 16 | #define OSAL_THREAD_FUNC void 17 | #define OSAL_THREAD_FUNC_RT void 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /osal/win32/osal_defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_defs_ 7 | #define _osal_defs_ 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #ifndef PACKED 15 | #define PACKED_BEGIN __pragma(pack(push, 1)) 16 | #define PACKED 17 | #define PACKED_END __pragma(pack(pop)) 18 | #endif 19 | 20 | #define OSAL_THREAD_HANDLE HANDLE 21 | #define OSAL_THREAD_FUNC void 22 | #define OSAL_THREAD_FUNC_RT void 23 | 24 | #ifdef __cplusplus 25 | } 26 | #endif 27 | 28 | #endif 29 | -------------------------------------------------------------------------------- /osal/win32/osal_win32.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #ifndef _osal_win32_ 7 | #define _osal_win32_ 8 | 9 | /* Convenience macros for operations on timevals. 10 | NOTE: `timercmp' does not work for >= or <=. */ 11 | # define timerisset(tvp) ((tvp)->tv_sec || (tvp)->tv_usec) 12 | # define timeradd(a, b, result) \ 13 | do { \ 14 | (result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \ 15 | (result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \ 16 | if ((result)->tv_usec >= 1000000) \ 17 | { \ 18 | ++(result)->tv_sec; \ 19 | (result)->tv_usec -= 1000000; \ 20 | } \ 21 | } while (0) 22 | # define timersub(a, b, result) \ 23 | do { \ 24 | (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ 25 | (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \ 26 | if ((result)->tv_usec < 0) { \ 27 | --(result)->tv_sec; \ 28 | (result)->tv_usec += 1000000; \ 29 | } \ 30 | } while (0) 31 | 32 | int osal_gettimeofday (struct timeval *tv, struct timezone *tz); 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /oshw/intime/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include 7 | #include "oshw.h" 8 | 9 | /** 10 | * Host to Network byte order (i.e. to big endian). 11 | * 12 | * Note that Ethercat uses little endian byte order, except for the Ethernet 13 | * header which is big endian as usual. 14 | */ 15 | uint16 oshw_htons (uint16 host) 16 | { 17 | uint16 network = htons (host); 18 | return network; 19 | } 20 | 21 | /** 22 | * Network (i.e. big endian) to Host byte order. 23 | * 24 | * Note that Ethercat uses little endian byte order, except for the Ethernet 25 | * header which is big endian as usual. 26 | */ 27 | uint16 oshw_ntohs (uint16 network) 28 | { 29 | uint16 host = ntohs (network); 30 | return host; 31 | } 32 | 33 | /* Create list over available network adapters. 34 | * @return First element in linked list of adapters 35 | */ 36 | ec_adaptert * oshw_find_adapters (void) 37 | { 38 | return NULL; 39 | } 40 | 41 | /** Free memory allocated memory used by adapter collection. 42 | * @param[in] adapter = First element in linked list of adapters 43 | * EC_NOFRAME. 44 | */ 45 | void oshw_free_adapters (ec_adaptert * adapter) 46 | { 47 | 48 | } 49 | -------------------------------------------------------------------------------- /oshw/intime/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #include "ethercattype.h" 15 | #include "ethercatmain.h" 16 | #include "nicdrv.h" 17 | 18 | #ifdef __cplusplus 19 | extern "C" { 20 | #endif 21 | 22 | uint16 oshw_htons (uint16 hostshort); 23 | uint16 oshw_ntohs (uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters (void); 25 | void oshw_free_adapters (ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /oshw/linux/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" { 16 | #endif 17 | 18 | #include "ethercattype.h" 19 | #include "nicdrv.h" 20 | #include "ethercatmain.h" 21 | 22 | uint16 oshw_htons(uint16 hostshort); 23 | uint16 oshw_ntohs(uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters(void); 25 | void oshw_free_adapters(ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /oshw/rtems/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" { 16 | #endif 17 | 18 | #include "ethercattype.h" 19 | #include "nicdrv.h" 20 | #include "ethercatmain.h" 21 | 22 | uint16 oshw_htons(uint16 hostshort); 23 | uint16 oshw_ntohs(uint16 networkshort); 24 | ec_adaptert * oshw_find_adapters(void); 25 | void oshw_free_adapters(ec_adaptert * adapter); 26 | 27 | #ifdef __cplusplus 28 | } 29 | #endif 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /oshw/rtk/fec/fec_ecat.h: -------------------------------------------------------------------------------- 1 | /****************************************************************************** 2 | * * *** *** 3 | * *** *** *** 4 | * *** **** ********** *** ***** *** **** ***** 5 | * ********* ********** *** ********* ************ ********* 6 | * **** *** *** *** *** **** *** 7 | * *** *** ****** *** *********** *** **** ***** 8 | * *** *** ****** *** ************* *** **** ***** 9 | * *** **** **** *** *** *** **** *** 10 | * *** ******* ***** ************** ************* ********* 11 | * *** ***** *** ******* ** ** ****** ***** 12 | * t h e r e a l t i m e t a r g e t e x p e r t s 13 | * 14 | * http://www.rt-labs.com 15 | * Copyright (C) 2007. rt-labs AB, Sweden. All rights reserved. 16 | *------------------------------------------------------------------------------ 17 | * $Id: fec_ecat.h 91 2014-04-02 13:32:29Z rtlfrm $ 18 | *------------------------------------------------------------------------------ 19 | */ 20 | 21 | /** 22 | * \defgroup fec EtherCat Ethernet MAC driver for Frescale K60 SoCs. 23 | * 24 | * \{ 25 | */ 26 | 27 | #ifndef FEC_H 28 | #define FEC_H 29 | 30 | #include 31 | 32 | #ifdef __cplusplus 33 | extern "C" 34 | { 35 | #endif 36 | 37 | typedef struct fec_mac_address 38 | { 39 | uint8_t octet[6]; 40 | } fec_mac_address_t; 41 | 42 | int fec_ecat_init (const fec_mac_address_t * mac_address, bool phy_loopback_mode); 43 | 44 | int fec_ecat_send (const void *payload, size_t tot_len); 45 | 46 | int fec_ecat_recv (void * buffer, size_t buffer_length); 47 | 48 | #ifdef __cplusplus 49 | } 50 | #endif 51 | 52 | #endif /* FEC_H */ 53 | 54 | /** 55 | * \} 56 | */ 57 | -------------------------------------------------------------------------------- /oshw/rtk/lw_mac/lw_emac.h: -------------------------------------------------------------------------------- 1 | /* 2 | * author: Tomas Vestelind 3 | */ 4 | 5 | #ifndef LWIP_MAC_H 6 | #define LWIP_MAC_H 7 | 8 | int bfin_EMAC_init(uint8_t *enetaddr); 9 | int bfin_EMAC_send(void *packet, int length); 10 | int bfin_EMAC_recv(uint8_t * packet, size_t size); 11 | 12 | #endif /* LWIP_MAC_H */ 13 | -------------------------------------------------------------------------------- /oshw/rtk/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include "oshw.h" 7 | #include 8 | #include 9 | 10 | /** 11 | * Host to Network byte order (i.e. to big endian). 12 | * 13 | * Note that Ethercat uses little endian byte order, except for the Ethernet 14 | * header which is big endian as usual. 15 | */ 16 | uint16 oshw_htons(const uint16 host) 17 | { 18 | uint16 network = htons (host); 19 | return network; 20 | } 21 | 22 | /** 23 | * Network (i.e. big endian) to Host byte order. 24 | * 25 | * Note that Ethercat uses little endian byte order, except for the Ethernet 26 | * header which is big endian as usual. 27 | */ 28 | uint16 oshw_ntohs(const uint16 network) 29 | { 30 | uint16 host = ntohs (network); 31 | return host; 32 | } 33 | 34 | /* Create list over available network adapters. 35 | * @return First element in linked list of adapters 36 | */ 37 | ec_adaptert * oshw_find_adapters(void) 38 | { 39 | ec_adaptert * ret_adapter = NULL; 40 | 41 | /* TODO if needed */ 42 | 43 | return ret_adapter; 44 | } 45 | 46 | /** Free memory allocated memory used by adapter collection. 47 | * @param[in] adapter = First element in linked list of adapters 48 | * EC_NOFRAME. 49 | */ 50 | void oshw_free_adapters(ec_adaptert * adapter) 51 | { 52 | /* TODO if needed */ 53 | } 54 | -------------------------------------------------------------------------------- /oshw/rtk/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #include 20 | #include "ethercattype.h" 21 | #include "nicdrv.h" 22 | #include "ethercatmain.h" 23 | 24 | 25 | uint16 oshw_htons(uint16 host); 26 | uint16 oshw_ntohs(uint16 network); 27 | 28 | ec_adaptert * oshw_find_adapters(void); 29 | void oshw_free_adapters(ec_adaptert * adapter); 30 | 31 | #ifdef __cplusplus 32 | } 33 | #endif 34 | 35 | #endif 36 | -------------------------------------------------------------------------------- /oshw/vxworks/oshw.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include "oshw.h" 15 | 16 | /** 17 | * Host to Network byte order (i.e. to big endian). 18 | * 19 | * Note that Ethercat uses little endian byte order, except for the Ethernet 20 | * header which is big endian as usual. 21 | */ 22 | uint16 oshw_htons(uint16 host) 23 | { 24 | uint16 network = htons (host); 25 | return network; 26 | } 27 | 28 | /** 29 | * Network (i.e. big endian) to Host byte order. 30 | * 31 | * Note that Ethercat uses little endian byte order, except for the Ethernet 32 | * header which is big endian as usual. 33 | */ 34 | uint16 oshw_ntohs(uint16 network) 35 | { 36 | uint16 host = ntohs (network); 37 | return host; 38 | } 39 | 40 | /** Create list over available network adapters. 41 | * @return First element in linked list of adapters 42 | */ 43 | ec_adaptert * oshw_find_adapters(void) 44 | { 45 | ec_adaptert * ret_adapter = NULL; 46 | /* Not implemented */ 47 | assert(0); 48 | 49 | return ret_adapter; 50 | } 51 | 52 | /** Free memory allocated memory used by adapter collection. 53 | * @param[in] adapter = First element in linked list of adapters 54 | * EC_NOFRAME. 55 | */ 56 | void oshw_free_adapters(ec_adaptert * adapter) 57 | { 58 | /* Not implemented */ 59 | assert(0); 60 | } 61 | -------------------------------------------------------------------------------- /oshw/vxworks/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for oshw.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #include "ethercattype.h" 15 | #include "nicdrv.h" 16 | #include "ethercatmain.h" 17 | 18 | uint16 oshw_htons(uint16 hostshort); 19 | uint16 oshw_ntohs(uint16 networkshort); 20 | ec_adaptert * oshw_find_adapters(void); 21 | void oshw_free_adapters(ec_adaptert * adapter); 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /oshw/win32/oshw.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatbase.c 9 | */ 10 | 11 | #ifndef _oshw_ 12 | #define _oshw_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #include "ethercattype.h" 20 | #include "nicdrv.h" 21 | #include "ethercatmain.h" 22 | 23 | uint16 oshw_htons (uint16 hostshort); 24 | uint16 oshw_ntohs (uint16 networkshort); 25 | ec_adaptert * oshw_find_adapters (void); 26 | void oshw_free_adapters (ec_adaptert * adapter); 27 | 28 | #ifdef __cplusplus 29 | } 30 | #endif 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /oshw/win32/wpcap/Include/pcap-namedb.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 1994, 1996 3 | * The Regents of the University of California. All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 1. Redistributions of source code must retain the above copyright 9 | * notice, this list of conditions and the following disclaimer. 10 | * 2. Redistributions in binary form must reproduce the above copyright 11 | * notice, this list of conditions and the following disclaimer in the 12 | * documentation and/or other materials provided with the distribution. 13 | * 3. All advertising materials mentioning features or use of this software 14 | * must display the following acknowledgement: 15 | * This product includes software developed by the Computer Systems 16 | * Engineering Group at Lawrence Berkeley Laboratory. 17 | * 4. Neither the name of the University nor of the Laboratory may be used 18 | * to endorse or promote products derived from this software without 19 | * specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND 22 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 24 | * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE 25 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 26 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 27 | * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 28 | * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 30 | * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 31 | * SUCH DAMAGE. 32 | * 33 | * @(#) $Header: /tcpdump/master/libpcap/pcap-namedb.h,v 1.13 2006/10/04 18:13:32 guy Exp $ (LBL) 34 | */ 35 | 36 | /* 37 | * For backwards compatibility. 38 | * 39 | * Note to OS vendors: do NOT get rid of this file! Some applications 40 | * might expect to be able to include . 41 | */ 42 | #include 43 | -------------------------------------------------------------------------------- /oshw/win32/wpcap/Include/pcap/bluetooth.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2006 Paolo Abeni (Italy) 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 9 | * 1. Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * 2. Redistributions in binary form must reproduce the above copyright 12 | * notice, this list of conditions and the following disclaimer in the 13 | * documentation and/or other materials provided with the distribution. 14 | * 3. The name of the author may not be used to endorse or promote 15 | * products derived from this software without specific prior written 16 | * permission. 17 | * 18 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 19 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 20 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 21 | * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 22 | * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 23 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 24 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 25 | * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 26 | * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 27 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 28 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 29 | * 30 | * bluetooth data struct 31 | * By Paolo Abeni 32 | * 33 | * @(#) $Header: /tcpdump/master/libpcap/pcap/bluetooth.h,v 1.1 2007/09/22 02:10:17 guy Exp $ 34 | */ 35 | 36 | #ifndef _PCAP_BLUETOOTH_STRUCTS_H__ 37 | #define _PCAP_BLUETOOTH_STRUCTS_H__ 38 | 39 | /* 40 | * Header prepended libpcap to each bluetooth h:4 frame. 41 | * fields are in network byte order 42 | */ 43 | typedef struct _pcap_bluetooth_h4_header { 44 | u_int32_t direction; /* if first bit is set direction is incoming */ 45 | } pcap_bluetooth_h4_header; 46 | 47 | 48 | #endif 49 | -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/Packet.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/Packet.lib -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/libpacket.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/libpacket.a -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/libwpcap.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/libwpcap.a -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/wpcap.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/wpcap.lib -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/x64/Packet.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/x64/Packet.lib -------------------------------------------------------------------------------- /oshw/win32/wpcap/Lib/x64/wpcap.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboticsCollaborative/MotorControl_SOEM/9c2562917afc95a203e3000496d714c84e08a9c9/oshw/win32/wpcap/Lib/x64/wpcap.lib -------------------------------------------------------------------------------- /prj/haptic/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES config_SDOparam.c haptic_config.c haptic_run.c) 3 | add_executable(haptic_run ${SOURCES}) 4 | target_link_libraries(haptic_run soem) 5 | install(TARGETS haptic_run DESTINATION bin) 6 | -------------------------------------------------------------------------------- /prj/haptic/config_SDOparam.c: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \ Configure motor static parameters. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 10/2/2018 8 | */ 9 | 10 | #include 11 | #include 12 | #include 13 | 14 | #include "ethercat.h" 15 | #include "config_map.h" 16 | #include "ecattype.h" 17 | 18 | int motor_init(uint16 motor) 19 | { 20 | 21 | uint8 BUF8; uint32 BUF32; 22 | 23 | /* Switch to torque mode */ 24 | /* OpMode: 8 => CSP mode */ 25 | /* OpMode: 10 => Torque mode */ 26 | WRITE_SDO(motor, 0x6060, 0, BUF8, 10, "OpMode"); 27 | READ_SDO(motor, 0x6061, 0, BUF8, "OpMode display"); 28 | /* rated torque (0.001 Nm) */ 29 | /* 1 Nm = 5000 units (up to 4Nm) */ 30 | /* 1 unit = 0.2 mNm */ 31 | WRITE_SDO(motor, 0x6076, 0, BUF32, 200, "Motor rated torque"); 32 | 33 | return 0; 34 | } 35 | 36 | -------------------------------------------------------------------------------- /prj/haptic/config_SDOparam.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \Headerfile of config_SDOparam.c 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 9/6/2018 8 | */ 9 | 10 | #ifndef _CONFIG_SDOPARAM_H 11 | #define _CONFIG_SDOPARAM_H 12 | 13 | int motor_init(uint16 motor); 14 | 15 | #endif //_CONFIG_SDOPARAM_H#endif //_CONFIG_SDOPARAM_H 16 | -------------------------------------------------------------------------------- /prj/haptic/config_map.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \Headerfile of config_map.c 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 9/6/2018 8 | */ 9 | 10 | #ifndef _CONFIG_MAP_H 11 | #define _CONFIG_MAP_H 12 | 13 | #include 14 | #include 15 | #include 16 | #include "ethercat.h" 17 | 18 | 19 | int motor_setup (uint16 slave); 20 | double saturation (double encoder); 21 | //int TargetPosition (uint16 slave, int32 value); 22 | //int TargetTorque (uint16, int16); 23 | //int GetActualPosition (uint16 slave); 24 | //int GetActualVelocity (uint16 slave); 25 | 26 | 27 | #endif //_CONFIG_MAP_h 28 | -------------------------------------------------------------------------------- /prj/haptic/controller.c: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \User defined controller. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 10/1/2018 8 | */ 9 | 10 | #include 11 | #include 12 | #include 13 | 14 | #include "ethercat.h" 15 | #include "config_map.h" 16 | 17 | /* 18 | typedef struct PACKED 19 | { 20 | int32 ac_pos; // Actual position (6064) 21 | int32 ac_vel; // Acutal velocity (606C) 22 | } in_motor_t; 23 | PACKED_END 24 | 25 | typedef struct PACKED 26 | { 27 | int32 tg_pos; // Target position (607A) 28 | int16 tg_tau; // Target torque (6071) 29 | } out_motor_t; 30 | PACKED_END 31 | */ 32 | 33 | /** PD controller 34 | * @param[in] slave = Slave index. 35 | * @param[in] ref_pos = Reference position. 36 | * @param[out] u = Target position. 37 | */ 38 | double PDcontroller (double ReferencePosition, double ActualPosition, double ActualVelocity) 39 | { 40 | double Kp = 50, Kd = 0.2, u; 41 | u = Kp*(ReferencePosition - ActualPosition) + Kd*(0.0 - ActualVelocity); 42 | // if (u > 10) u = 10; 43 | // else if(u<-10) u = -10; 44 | return u; 45 | } 46 | 47 | -------------------------------------------------------------------------------- /prj/haptic/controller.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \Headerfile for controller.c. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 10/1/2018 8 | */ 9 | 10 | #ifndef _CONTROLLER_H 11 | #define _CONTROLLER_H 12 | 13 | #include 14 | #include 15 | 16 | double PDcontroller (double ReferencePosition, double ActualPosition, double ActualVelocity); 17 | 18 | #endif //_CONTROLLER_H 19 | -------------------------------------------------------------------------------- /prj/haptic/ecattype.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \All self-defined macros. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 10/2/2018 8 | */ 9 | 10 | #ifndef _ECATTYPE_H_ 11 | #define _ECATTYPE_H_ 12 | 13 | #include 14 | #include 15 | #include 16 | #include "ethercat.h" 17 | 18 | #define Counts_per_radian 52151.8917 19 | #define Units_per_Nm 5000 20 | #define Encoder_Resolution 32767.0 // 10V -- 16Bits 21 | #define Volt2Radian 2.0 // 5V -- 1Rad 22 | 23 | /* Buffers for SDO transfer */ 24 | #define READ_SDO(slave, idx, sub, buf, comment) \ 25 | { \ 26 | buf=0; \ 27 | int __s = sizeof(buf); \ 28 | int __ret = ec_SDOread(slave, idx, sub, FALSE, &__s, &buf, EC_TIMEOUTRXM); \ 29 | printf("Read at 0x%04x:%d => wkc: %d; data: 0x%.*x (%d)\t[%s]\n", idx, sub, __ret, __s, (unsigned int)buf, (unsigned int)buf, comment); \ 30 | } 31 | 32 | #define WRITE_SDO(slave, idx, sub, buf, value, comment) \ 33 | { \ 34 | int __s = sizeof(buf); \ 35 | buf = value; \ 36 | int __ret = ec_SDOwrite(slave, idx, sub, FALSE, __s, &buf, EC_TIMEOUTRXM); \ 37 | printf("Write at 0x%04x:%d => wkc: %d; data: 0x%.*x (%d)\t[%s]\n", idx, sub, __ret, __s, (unsigned int)buf, (unsigned int)buf, comment); \ 38 | } 39 | 40 | #define CHECKERROR(slave) \ 41 | { \ 42 | ec_readstate(); \ 43 | printf("EC> \"%s\" %x - %x [%s] \n", (char*)ec_elist2string(), ec_slave[slave].state, ec_slave[slave].ALstatuscode, (char*)ec_ALstatuscode2string(ec_slave[slave].ALstatuscode)); \ 44 | } 45 | 46 | 47 | #endif //_ECATTYPE_H_ 48 | -------------------------------------------------------------------------------- /prj/haptic/haptic_config.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \Headerfile for haptic_config.c. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 9/13/2018 8 | */ 9 | 10 | #ifndef _PDO_MAP_H 11 | #define _PDO_MAP_H 12 | 13 | #include 14 | 15 | #include "ethercat.h" 16 | 17 | void haptic_config(char *ifname); 18 | OSAL_THREAD_FUNC ecatcheck( void *ptr ); 19 | OSAL_THREAD_FUNC switch_off( void *ptr ); 20 | 21 | #endif //_HAPTIC_CONFIG_H 22 | -------------------------------------------------------------------------------- /prj/haptic/haptic_run.c: -------------------------------------------------------------------------------- 1 | /** 2 | * \file 3 | * \Main function for running EtherCAT threads. 4 | * 5 | * Edited by Zikun Yu -- yu.zik@husky.neu.edu 6 | * 7 | * Whitney Robotics Lab 9/13/2018 8 | */ 9 | 10 | #include 11 | #include 12 | #include 13 | 14 | #include "ethercat.h" 15 | #include "haptic_config.h" 16 | 17 | OSAL_THREAD_HANDLE thread1, thread2; 18 | 19 | int main(int argc, char *argv[]) 20 | { 21 | 22 | printf("SOEM (Simple Open EtherCAT Master)\nHaptic Run"); 23 | 24 | if (argc > 1) 25 | { 26 | /* Create thread to shut off motor drive */ 27 | osal_thread_create(&thread2, 128000, &switch_off, (void*) &ctime); 28 | /* Create thread to handle slave error handling in OP */ 29 | osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime); 30 | /* Start cyclic part */ 31 | haptic_config(argv[1]); 32 | } 33 | else 34 | { 35 | printf("Usage: haptic_run ifname1\nifname = eth1 for example\n"); 36 | } 37 | 38 | printf("End program\n"); 39 | return 0; 40 | } 41 | 42 | 43 | -------------------------------------------------------------------------------- /soem/ethercat.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for all ethercat headers 9 | */ 10 | 11 | #ifndef _EC_ETHERCAT_H 12 | #define _EC_ETHERCAT_H 13 | 14 | #include "ethercattype.h" 15 | #include "nicdrv.h" 16 | #include "ethercatbase.h" 17 | #include "ethercatmain.h" 18 | #include "ethercatdc.h" 19 | #include "ethercatcoe.h" 20 | #include "ethercatfoe.h" 21 | #include "ethercatsoe.h" 22 | #include "ethercatconfig.h" 23 | #include "ethercatprint.h" 24 | 25 | #endif /* _EC_ETHERCAT_H */ 26 | -------------------------------------------------------------------------------- /soem/ethercatconfig.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatconfig.c 9 | */ 10 | 11 | #ifndef _ethercatconfig_ 12 | #define _ethercatconfig_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #define EC_NODEOFFSET 0x1000 20 | #define EC_TEMPNODE 0xffff 21 | 22 | #ifdef EC_VER1 23 | int ec_config_init(uint8 usetable); 24 | int ec_config_map(void *pIOmap); 25 | int ec_config_overlap_map(void *pIOmap); 26 | int ec_config_map_group(void *pIOmap, uint8 group); 27 | int ec_config_overlap_map_group(void *pIOmap, uint8 group); 28 | int ec_config(uint8 usetable, void *pIOmap); 29 | int ec_config_overlap(uint8 usetable, void *pIOmap); 30 | int ec_recover_slave(uint16 slave, int timeout); 31 | int ec_reconfig_slave(uint16 slave, int timeout); 32 | #endif 33 | 34 | int ecx_config_init(ecx_contextt *context, uint8 usetable); 35 | int ecx_config_init_to_state(ecx_contextt *context, uint8 usetable, uint16 state); 36 | int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group); 37 | int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 group); 38 | int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout); 39 | int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout); 40 | 41 | #ifdef __cplusplus 42 | } 43 | #endif 44 | 45 | #endif 46 | -------------------------------------------------------------------------------- /soem/ethercatdc.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatdc.c 9 | */ 10 | 11 | #ifndef _EC_ECATDC_H 12 | #define _EC_ECATDC_H 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #ifdef EC_VER1 20 | boolean ec_configdc(); 21 | void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift); 22 | void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift); 23 | #endif 24 | 25 | boolean ecx_configdc(ecx_contextt *context); 26 | void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift); 27 | void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift); 28 | 29 | #ifdef __cplusplus 30 | } 31 | #endif 32 | 33 | #endif /* _EC_ECATDC_H */ 34 | -------------------------------------------------------------------------------- /soem/ethercatfoe.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatfoe.c 9 | */ 10 | 11 | #ifndef _ethercatfoe_ 12 | #define _ethercatfoe_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | #ifdef EC_VER1 20 | int ec_FOEdefinehook(void *hook); 21 | int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout); 22 | int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout); 23 | #endif 24 | 25 | int ecx_FOEdefinehook(ecx_contextt *context, void *hook); 26 | int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout); 27 | int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout); 28 | 29 | #ifdef __cplusplus 30 | } 31 | #endif 32 | 33 | #endif 34 | -------------------------------------------------------------------------------- /soem/ethercatprint.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Licensed under the GNU General Public License version 2 with exceptions. See 3 | * LICENSE file in the project root for full license information 4 | */ 5 | 6 | /** \file 7 | * \brief 8 | * Headerfile for ethercatprint.c 9 | */ 10 | 11 | #ifndef _ethercatprint_ 12 | #define _ethercatprint_ 13 | 14 | #ifdef __cplusplus 15 | extern "C" 16 | { 17 | #endif 18 | 19 | char* ec_sdoerror2string( uint32 sdoerrorcode); 20 | char* ec_ALstatuscode2string( uint16 ALstatuscode); 21 | char* ec_soeerror2string( uint16 errorcode); 22 | char* ecx_elist2string(ecx_contextt *context); 23 | 24 | #ifdef EC_VER1 25 | char* ec_elist2string(void); 26 | #endif 27 | 28 | #ifdef __cplusplus 29 | } 30 | #endif 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /test/linux/eepromtool/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES eepromtool.c) 3 | add_executable(eepromtool ${SOURCES}) 4 | target_link_libraries(eepromtool soem) 5 | install(TARGETS eepromtool DESTINATION bin) 6 | -------------------------------------------------------------------------------- /test/linux/simple_test/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES simple_test.c) 3 | add_executable(simple_test ${SOURCES}) 4 | target_link_libraries(simple_test soem) 5 | install(TARGETS simple_test DESTINATION bin) 6 | -------------------------------------------------------------------------------- /test/linux/slaveinfo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | set(SOURCES slaveinfo.c) 3 | add_executable(slaveinfo ${SOURCES}) 4 | target_link_libraries(slaveinfo soem) 5 | install(TARGETS slaveinfo DESTINATION bin) 6 | -------------------------------------------------------------------------------- /test/rtk/schedule.tt: -------------------------------------------------------------------------------- 1 | stack_size: 2048 2 | 3 | tasks: 4 | - name : tReadIO 5 | entry : read_io 6 | arg : 'NULL' 7 | 8 | schedules: 9 | - name : sched1 10 | period : 1 11 | events : 12 | - task : tReadIO 13 | start : 0 14 | stop : 1 --------------------------------------------------------------------------------