Merge branch 'master' into p2o_user_data

.github/workflows/build.yml

@@ -0,0 +1,31 @@
+name: build
+on: [push, pull_request]
+env:
+  BUILD_TYPE: Release
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os:
+          - ubuntu-latest
+          - ubuntu-20.04
+          - ubuntu-18.04
+          - macos-latest
+          - windows-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: true
+
+      - name: Configure
+        shell: bash
+        run: |
+          cmake -E make_directory $GITHUB_WORKSPACE/build
+          cmake -B $GITHUB_WORKSPACE/build -S $GITHUB_WORKSPACE \
+             -DCMAKE_BUILD_TYPE=$BUILD_TYPE
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build $GITHUB_WORKSPACE/build -j4 --target install

.gitignore

@@ -1,4 +1,4 @@
-build*
+build*/
 install
 *~
 /doc/latex

CMakeLists.txt

@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.9)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
-project(SOEM C)
+project(SOEM
+    DESCRIPTION "Simple Open EtherCAT Master"
+    VERSION 1.4.0
+    LANGUAGES C)
 
 if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   # Default to installing in SOEM source directory
@@ -9,7 +12,13 @@ endif()
 
 set(SOEM_INCLUDE_INSTALL_DIR include/soem)
 set(SOEM_LIB_INSTALL_DIR lib)
-set(BUILD_TESTS TRUE)
+
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  set(BUILD_TESTS TRUE)
+else()
+  message(STATUS "SOEM: not building tests when built as dependency")
+  set(BUILD_TESTS FALSE)
+endif()
 
 if(WIN32)
   set(OS "win32")
@@ -33,8 +42,8 @@ elseif(APPLE)
   set(OS_LIBS pthread pcap)
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
   set(OS "rtk")
-  message("ARCH is ${ARCH}")
-  message("BSP is ${BSP}")
+  message(STATUS "ARCH is ${ARCH}")
+  message(STATUS "BSP is ${BSP}")
   include_directories(oshw/${OS}/${ARCH})
   file(GLOB OSHW_EXTRA_SOURCES oshw/${OS}/${ARCH}/*.c)
   set(OSHW_SOURCES "${OS_HW_SOURCES} ${OSHW_ARCHSOURCES}")
@@ -44,13 +53,13 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
   set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
-  message("Building for RTEMS")
+  message(STATUS "Building for RTEMS")
   set(OS "rtems")
   set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
   set(BUILD_TESTS FALSE)
 endif()
 
-message("OS is ${OS}")
+message(STATUS "OS is ${OS}")
 
 file(GLOB SOEM_SOURCES soem/*.c)
 file(GLOB OSAL_SOURCES osal/${OS}/*.c)
@@ -84,7 +93,7 @@ target_include_directories(soem
   $<INSTALL_INTERFACE:include/soem>
   )
 
-message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
+message(STATUS "LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
 
 install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
 
@@ -97,6 +106,7 @@ install(FILES
   DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
 
 if(BUILD_TESTS) 
+  add_subdirectory(test/simple_ng)
   add_subdirectory(test/linux/slaveinfo)
   add_subdirectory(test/linux/eepromtool)
   add_subdirectory(test/linux/simple_test)

Doxyfile

@@ -668,6 +668,7 @@ WARN_LOGFILE           =
 INPUT                  = doc/tutorial.txt \
                          doc/soem.dox \
                          soem \
+                         test/simple_ng \
                          test/linux/ebox \
                          test/linux/eepromtool \
                          test/linux/red_test \

README.md

@@ -1,6 +1,5 @@
 # Simple Open EtherCAT Master Library
-[![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOEM.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOEM)
-[![Build status](https://ci.appveyor.com/api/projects/status/bqgirjsxog9k1odf?svg=true)](https://ci.appveyor.com/project/hefloryd/soem-5kq8b)
+[![Build Status](https://github.com/OpenEtherCATsociety/SOEM/workflows/build/badge.svg?branch=master)](https://github.com/OpenEtherCATsociety/SOEM/actions?workflow=build)
 
 BUILDING
 ========
@@ -9,7 +8,7 @@ BUILDING
 Prerequisites for all platforms
 -------------------------------
 
- * CMake 2.8.0 or later
+ * CMake 3.9 or later
 
 
 Windows (Visual Studio)

doc/soem.dox

@@ -127,8 +127,8 @@
  *
  * \section start Getting started
  *
- * For examples see simple_test.c in ~/test/linux/simple_test.
- * First try (assume EtherCAT on eth0): sudo ./simple_test eth0
+ * For examples see simple_ng.c in ~/test/simple_ng.
+ * First try (assume EtherCAT on eth0): sudo ./simple_ng eth0
  * As SOEM uses RAW sockets it will need to run as root.
  *
  * \section bugs Squashed bugs

osal/linux/osal.c

@@ -21,30 +21,15 @@ int osal_usleep (uint32 usec)
    return nanosleep(&ts, NULL);
 }
 
-int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
-{
-   struct timespec ts;
-   int return_value;
-   (void)tz;       /* Not used */
-
-   /* Use clock_gettime to prevent possible live-lock.
-    * Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
-    * If this function preempts timeadjust and it uses vpage it live-locks.
-    * Also when using XENOMAI, only clock_gettime is RT safe */
-   return_value = clock_gettime(CLOCK_MONOTONIC, &ts);
-   tv->tv_sec = ts.tv_sec;
-   tv->tv_usec = ts.tv_nsec / 1000;
-   return return_value;
-}
-
 ec_timet osal_current_time(void)
 {
-   struct timeval current_time;
+   struct timespec current_time;
    ec_timet return_value;
 
-   osal_gettimeofday(&current_time, 0);
+   clock_gettime(CLOCK_REALTIME, &current_time);
    return_value.sec = current_time.tv_sec;
-   return_value.usec = current_time.tv_usec;
+   return_value.usec = current_time.tv_nsec / 1000;
+
    return return_value;
 }
 
@@ -60,13 +45,28 @@ void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
    }
 }
 
+/* Returns time from some unspecified moment in past,
+ * strictly increasing, used for time intervals measurement. */
+static void osal_getrelativetime(struct timeval *tv)
+{
+   struct timespec ts;
+
+   /* Use clock_gettime to prevent possible live-lock.
+    * Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
+    * If this function preempts timeadjust and it uses vpage it live-locks.
+    * Also when using XENOMAI, only clock_gettime is RT safe */
+   clock_gettime(CLOCK_MONOTONIC, &ts);
+   tv->tv_sec = ts.tv_sec;
+   tv->tv_usec = ts.tv_nsec / 1000;
+}
+
 void osal_timer_start(osal_timert * self, uint32 timeout_usec)
 {
    struct timeval start_time;
    struct timeval timeout;
    struct timeval stop_time;
 
-   osal_gettimeofday(&start_time, 0);
+   osal_getrelativetime(&start_time);
    timeout.tv_sec = timeout_usec / USECS_PER_SEC;
    timeout.tv_usec = timeout_usec % USECS_PER_SEC;
    timeradd(&start_time, &timeout, &stop_time);
@@ -81,7 +81,7 @@ boolean osal_timer_is_expired (osal_timert * self)
    struct timeval stop_time;
    int is_not_yet_expired;
 
-   osal_gettimeofday(&current_time, 0);
+   osal_getrelativetime(&current_time);
    stop_time.tv_sec = self->stop_time.sec;
    stop_time.tv_usec = self->stop_time.usec;
    is_not_yet_expired = timercmp(&current_time, &stop_time, <);

oshw/erika/nicdrv.c

@@ -165,10 +165,10 @@ void ec_setupheader(void *p)
  * @param[in] port        = port context struct
  * @return new index.
  */
-int ecx_getindex(ecx_portt *port)
+uint8 ecx_getindex(ecx_portt *port)
 {
-   	int idx;
-   	int cnt = 0;
+   	uint8 idx;
+   	uint8 cnt = 0;
 
 	ee_port_lock();
 
@@ -199,7 +199,7 @@ int ecx_getindex(ecx_portt *port)
  * @param[in] idx      = index in buffer array
  * @param[in] bufstat  = status to set
  */
-void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
+void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
 {
    	port->rxbufstat[idx] = bufstat;
    	if (port->redstate != ECT_RED_NONE)
@@ -212,7 +212,7 @@ void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
  * @param[in] stacknumber  = 0=Primary 1=Secondary stack
  * @return socket send result
  */
-int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
+int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
 {
    	int lp;
    	ec_stackT *stack;
@@ -234,7 +234,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
  * @param[in] idx = index in tx buffer array
  * @return socket send result
  */
-int ecx_outframe_red(ecx_portt *port, int idx)
+int ecx_outframe_red(ecx_portt *port, uint8 idx)
 {
    	ec_comt *datagramP;
    	ec_etherheadert *ehp;
@@ -300,11 +300,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
  * @return Workcounter if a frame is found with corresponding index, otherwise
  * EC_NOFRAME or EC_OTHERFRAME.
  */
-int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
+int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
 {
    	uint16  l;
    	int     rval;
-   	int     idxf;
+   	uint8     idxf;
    	ec_etherheadert *ehp;
    	ec_comt *ecp;
    	ec_stackT *stack;
@@ -389,7 +389,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
  * @return Workcounter if a frame is found with corresponding index, otherwise
  * EC_NOFRAME.
  */
-static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
+static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
 {
    	osal_timert timer2;
    	int wkc  = EC_NOFRAME;
@@ -464,7 +464,7 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
  * @return Workcounter if a frame is found with corresponding index, otherwise
  * EC_NOFRAME.
  */
-int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
+int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
 {
    	int wkc;
    	osal_timert timer;
@@ -487,7 +487,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
  * @param[in] timeout  = timeout in us
  * @return Workcounter or EC_NOFRAME
  */
-int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
+int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
 {
    	int wkc = EC_NOFRAME;
    	osal_timert timer1, timer2;
@@ -529,32 +529,32 @@ int ec_getindex(void)
    return ecx_getindex(&ecx_port);
 }
 
-void ec_setbufstat(int idx, int bufstat)
+void ec_setbufstat(uint8 idx, int bufstat)
 {
    ecx_setbufstat(&ecx_port, idx, bufstat);
 }
 
-int ec_outframe(int idx, int stacknumber)
+int ec_outframe(uint8 idx, int stacknumber)
 {
    return ecx_outframe(&ecx_port, idx, stacknumber);
 }
 
-int ec_outframe_red(int idx)
+int ec_outframe_red(uint8 idx)
 {
    return ecx_outframe_red(&ecx_port, idx);
 }
 
-int ec_inframe(int idx, int stacknumber)
+int ec_inframe(uint8 idx, int stacknumber)
 {
    return ecx_inframe(&ecx_port, idx, stacknumber);
 }
 
-int ec_waitinframe(int idx, int timeout)
+int ec_waitinframe(uint8 idx, int timeout)
 {
    return ecx_waitinframe(&ecx_port, idx, timeout);
 }
 
-int ec_srconfirm(int idx, int timeout)
+int ec_srconfirm(uint8 idx, int timeout)
 {
    return ecx_srconfirm(&ecx_port, idx, timeout);
 }