Commiting hijack drivers for mc (ABB IRC5 master controller)

common/hijacknet.c

+/*
+  User visible interface to hijacknet drivers.
+
+  Hijacknet drivers are modifications to parts of ABB/VxWorks drivers,
+  where much of the tNetTask work is moved to the interrupt routines
+  in order to keep ethernet response time as low as possible (ususally 
+  in 5-15 us range).
+
+
+  Copyright 2012 Anders Blomdell <anders.blomdell@control.lth.se>
+
+  This program is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#include <vxWorks.h>
+#include <symLib.h>
+#include <sysSymTbl.h>
+#include <string.h>
+#include <hijacknet_private.h>
+#include <stdio.h>
+
+HIJACKNET_DRIVER *hijacknet_open(char *name)
+{
+  HIJACKNET_DRIVER *result = NULL;
+  char open_name[80];
+  HIJACKNET_DRIVER *(*open)(int unit) = 0;
+  SYM_TYPE type;
+  int i, unit;
+
+  for (i = strlen(name) ; '0' <= name[i - 1] && name[i - 1] <= '9' ; i--) {
+  }
+  
+  unit = atoi(&name[i]);
+  strncpy(open_name, name, i);
+  open_name[i] = 0;
+  strcat(open_name, "_hijacknet_open");
+  if (OK == symFindByName(sysSymTbl, open_name, (char**)&open, &type)) {
+    result = open(unit);
+    if (result) {
+      strncpy(result->name, name, 80);
+    } else {
+      printf("Failed to open hijacknet '%s'\n", name);
+    }
+  } else {
+    printf("Failed to find '%s' symbol\n", open_name);
+  }
+  return result;
+}
+
+int hijacknet_close(HIJACKNET_DRIVER *driver)
+{
+  return driver->close(driver);
+}
+
+static inline int hijacknet_add_hook(struct hijacknet_hook **root,
+				     int ether_type,
+				     int (*hook)(HIJACKNET_DRIVER *driver,
+						 void *data, int length,
+						 void *context),
+				     void *context)
+{
+  int result = 0;
+  int intLevel;
+  struct hijacknet_hook *h;
+
+  h = malloc(sizeof(*h));
+  if (!h) {
+    result = 1;
+    goto malloc_failed;
+  }
+  h->next = NULL;
+  h->ether_type = ether_type;
+  h->hook = hook;
+  h->context = context;
+
+  intLevel = intLock();
+  /* See if hook already installed */
+  for ( ; *root ; root = &((*root)->next)) {
+    if ((*root)->ether_type == ether_type &&
+	(*root)->hook == hook &&
+	(*root)->context == context) {
+      result = 2;
+      goto out;
+    }
+  }
+  /* Put hook last in list */
+  *root = h;
+  /* make sure it won't get freed below */
+  h = NULL;
+out:
+  intUnlock(intLevel);
+  if (h) {
+    free(h);
+  }
+malloc_failed:
+  switch (result) {
+    case 0: break;
+    case 1: printf("Failed to allocate hook struct"); break;
+    case 2: printf("Hook already installed"); break;
+    default: break;
+  }
+  return result;
+}
+
+static inline int hijacknet_del_hook(struct hijacknet_hook **root,
+				     int ether_type,
+				     int (*hook)(HIJACKNET_DRIVER *driver,
+						 void *data, int length,
+						 void *context),
+				     void *context)
+{
+  int result = 1;
+  int intLevel;
+  struct hijacknet_hook *h = NULL;
+
+  intLevel = intLock();
+  /* See if hook is installed */
+  for ( ; *root ; root = &((*root)->next)) {
+    if ((*root)->ether_type == ether_type &&
+	(*root)->hook == hook &&
+	(*root)->context == context) {
+      result = 0;
+      h = *root;
+      *root = h->next;
+      goto out;
+    }
+  }
+out:
+  intUnlock(intLevel);
+  if (h) {
+    free(h);
+  }
+  switch (result) {
+    case 0: break;
+    case 1: printf("Hook not found"); break;
+    default: break;
+  }
+  return result;
+}
+
+int hijacknet_add_receive_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context)
+{
+  int result;
+
+  result = hijacknet_add_hook(&driver->receive_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_del_receive_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context)
+{
+  int result;
+
+  result = hijacknet_del_hook(&driver->receive_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_add_send_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context)
+{
+  int result;
+
+  result = hijacknet_add_hook(&driver->send_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_del_send_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context)
+{
+  int result;
+
+  result = hijacknet_del_hook(&driver->send_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_add_send_done_hook(HIJACKNET_DRIVER *driver,
+				  int ether_type,
+				  int (*hook)(HIJACKNET_DRIVER *driver,
+					      void *data, int length,
+					      void *context),
+				  void *context)
+{
+  int result;
+
+  result = hijacknet_add_hook(&driver->send_done_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_del_send_done_hook(HIJACKNET_DRIVER *driver,
+				 int ether_type,
+				 int (*hook)(HIJACKNET_DRIVER *driver,
+					     void *data, int length,
+					     void *context),
+				 void *context)
+{
+  int result;
+
+  result = hijacknet_del_hook(&driver->send_done_hook, ether_type, hook, context);
+  if (result) {
+    printf(" on %s", driver->name);
+
+  }
+  return result;
+}
+
+int hijacknet_get_mac_address(HIJACKNET_DRIVER *driver, 
+			      unsigned char *mac)
+{
+  return driver->get_mac_address(driver, mac);
+}
+
+int hijacknet_send(HIJACKNET_DRIVER *driver, 
+		   void *data, 
+		   int length)
+{
+  return driver->send(driver, data, length);
+}
+

common/hijacknet.h

+#ifndef __HIJACK_H__
+
+#define HIJACK_ANY_ETHER_TYPE -1
+
+typedef struct hijacknet_driver HIJACKNET_DRIVER;
+
+HIJACKNET_DRIVER *hijacknet_open(char *name);
+
+int hijacknet_close(HIJACKNET_DRIVER *driver);
+
+int hijacknet_add_receive_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context);
+
+int hijacknet_del_receive_hook(HIJACKNET_DRIVER *driver,
+			       int ether_type,
+			       int (*hook)(HIJACKNET_DRIVER *driver,
+					   void *data, int length,
+					   void *context),
+			       void *context);
+
+int hijacknet_add_send_hook(HIJACKNET_DRIVER *driver,
+			    int ether_type,
+			    int (*hook)(HIJACKNET_DRIVER *driver,
+					void *data, int length,
+					void *context),
+			    void *context);
+
+int hijacknet_del_send_hook(HIJACKNET_DRIVER *driver,
+			    int ether_type,
+			    int (*hook)(HIJACKNET_DRIVER *driver,
+					void *data, int length,
+					void *context),
+			    void *context);
+
+int hijacknet_add_completion_hook(HIJACKNET_DRIVER *driver,
+				  int ether_type,
+				  int (*hook)(HIJACKNET_DRIVER *driver,
+					      void *data, int length,
+					      void *context),
+				  void *context);
+
+int hijacknet_del_completion_hook(HIJACKNET_DRIVER *driver,
+				  int ether_type,
+				  int (*hook)(HIJACKNET_DRIVER *driver,
+					      void *data, int length,
+					      void *context),
+				  void *context);
+
+int hijacknet_get_mac_address(HIJACKNET_DRIVER *driver, 
+			      unsigned char *mac);
+
+int hijacknet_send(HIJACKNET_DRIVER *driver, 
+		   void *data, 
+		   int length);
+
+
+#endif
+  

common/hijacknet_hpnet.h

+extern void hijacknet_hpnet_start();
+extern void hijacknet_hpnet_handle(unsigned int unit, 
+				   unsigned char *data, int length);

common/hijacknet_private.h

+/*
+  Private interface to hijacknet drivers.
+
+  Hijacknet drivers are modifications to parts of ABB/VxWorks drivers,
+  where much of the tNetTask work is moved to the interrupt routines
+  in order to keep ethernet response time as low as possible (ususally 
+  in 5-15 us range).
+
+
+  Copyright 2012 Anders Blomdell <anders.blomdell@control.lth.se>
+
+  This program is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#include <intLib.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <hijacknet.h>
+
+struct hijacknet_hook {
+  struct hijacknet_hook *next;
+  int ether_type;
+  void *context;
+  int (*hook)(HIJACKNET_DRIVER *driver,
+	      void *data, int length,
+	      void *context);
+};
+
+struct hijacknet_driver {
+  char name[80];
+  int (*close)(HIJACKNET_DRIVER *driver);
+  int (*send)(HIJACKNET_DRIVER *driver, 
+	      void *data, 
+	      int length);
+  int (*get_mac_address)(HIJACKNET_DRIVER *driver, 
+			 unsigned char mac[6]);
+  struct hijacknet_hook *receive_hook;
+  struct hijacknet_hook *send_hook;
+  struct hijacknet_hook *send_done_hook;
+};
+
+static inline int hijacknet_call_hook(struct hijacknet_hook *first,
+				      HIJACKNET_DRIVER *driver,
+				      int ether_type,
+				      unsigned char *data,
+				      int length)
+{
+  int result;
+  struct hijacknet_hook *hook;
+
+  result = length;
+  for (hook = first ; result && hook ; hook = hook->next) {
+    if (hook->ether_type == HIJACK_ANY_ETHER_TYPE ||
+	hook->ether_type == ether_type) {
+      result = hook->hook(driver,
+			  data, result,
+			  hook->context);
+    }
+  }
+  return result;
+}

mc/Makefile

+TARGETS=lth_fixes.mc \
+        hijacknet.mc \
+	hijacknet_fei.mc \
+	hijacknet_hpnet.mc \
+	hijacknet_lth_net.mc \
+	fei82557End.mc \
+	hijacknet_test.mc \
+	extctrl2014_lc.mc
+AUTO_GEN=extctrl2014_lc.c \
+	 extctrl2014_lc.h
+GLOBALIZE=netFuncs \
+	  fei82557Int \
+	  fei82557Send \
+	  hpnet_traffic_activated \
+	  hpnetObjects
+
+EXTRA_CFLAGS_hijacknet_lth_net=-I/opt/robot/include
+EXTRA_CFLAGS_fei82557End=-Wno-error -Wno-all -Wno-endif-labels
+EXTRA_CFLAGS_extctrl2014_lc=-I/usr/include/labcomm \
+                            -DLABCOMM_COMPAT="<labcomm_compat.h>"
+ROBOT=
+ROBOTWARE=$(shell [ -n "$(ROBOT)" ] && \
+	    ../tools/abb_extctrl_setup.py --robot "$(ROBOT)" --robotware)
+DESTDIR=$(USER)
+
+VPATH = /opt/robot ../common
+
+.PRECIOUS: %.c %.h
+
+all: $(TARGETS)
+
+mc_test_load: hijack_fei.mc.load spray_test.mc.load
+
+%.mc:	%.mc.c
+	WIND_BASE=/opt/robot/include/vxworks/5.5.1/ \
+		i586-wrs-vxworks-gcc \
+		-O3 -Wall -Wno-unused-but-set-variable -Werror \
+		$(EXTRA_CFLAGS_$*) \
+		-DPRJ_BUILD -D__PROTOTYPE_5_0 \
+		-I/opt/robot/include/vxworks/5.5.1/mc/bsp/h \
+		-I/opt/robot/include/vxworks/5.5.1/mc/bsp/config/abb_extras \
+		-I/opt/robot/include/vxworks/5.5.1/target/h/wrn/coreip \
+		-I. \
+		-I../common \
+		-o $@ \
+		-c $< 
+
+%.mc:	%.c
+	WIND_BASE=/opt/robot/include/vxworks/5.5.1/ \
+		i586-wrs-vxworks-gcc \
+		-O3 -Wall -Wno-unused-but-set-variable -Werror \
+		$(EXTRA_CFLAGS_$*) \
+		-DPRJ_BUILD -D__PROTOTYPE_5_0 \
+		-I/opt/robot/include/vxworks/5.5.1/target/h/wrn/coreip \
+		-I. \
+		-I../common \
+		-o $@ \
+		-c $< 
+
+%_lc.c %_lc.h: %.lc
+	labcomm2014 --c=$*_lc.c --h=$*_lc.h $<
+
+%.load:		%
+	@ [ -n '$(ROBOT)' ] || ( echo ROBOT not defined ; exit 1)
+	ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) $<
+
+
+.PHONY: globalize
+globalize: Makefile ../tools/globalize.py
+	@ [ -n '$(ROBOT)' ] || ( echo ROBOT file not defined ; exit 1)
+	../tools/abb_extctrl_setup.py --robot $(ROBOT) \
+		--globalize mc.globalize.c \
+		--image mc.sym --patterns 'fei82557.*' \
+		--symbols $(GLOBALIZE)
+	$(MAKE) mc.globalize.mc
+	mv mc.globalize.mc mc.globalize
+
+.PHONY: commands
+commands:
+	@echo "### On host ($(ROBOT) $(ROBOTWARE))"
+	@$(MAKE) --quiet host_commands
+	@echo "### On robot:"
+	@$(MAKE) --quiet robot_commands
+
+.PHONY: host_commands
+host_commands:
+	@ [ -n '$(ROBOT)' ] || ( echo ROBOT not defined >&2 ; exit 1)
+	@ [ -n '$(ROBOTWARE)' ] || ( echo ROBOTWARE not defined >&2 ; exit 1)
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(ROBOTWARE)/bin mc.globalize"
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) lth_fixes.mc"
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_hpnet.mc"
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_fei.mc"
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet.mc"
+	@echo "ncftpput -uu -pp $(ROBOT) /hd0a/$(DESTDIR) hijacknet_test.mc"
+
+.PHONY: robot_commands
+robot_commands:
+	@echo "ld < /hd0a/$(DESTDIR)/lth_fixes.mc"
+	@echo "lth_fixes"
+	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_hpnet.mc"
+	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_fei.mc"
+	@echo "ld < /hd0a/$(DESTDIR)/hijacknet.mc"
+	@echo "ld < /hd0a/$(DESTDIR)/hijacknet_test.mc"
+
+
+.PHONY: clean
+clean:
+	rm -f *~
+
+.PHONY: distclean
+distclean: clean
+	rm -f *.mc mc.globalize $(AUTO_GEN)
+
+hijacknet_fei.mc: fei82557.mc.h hijacknet_private.h
+hijacknet.mc: hijacknet.h

mc/check_version_mc.c

+#include <vxWorks.h>
+#include <stdio.h>
+#include <string.h>
+/*
+
+  nm /tmp/andersb/mc | grep mc_linktimestamp
+  objdump -s --start-address=0x01688410 --stop-address=0x01688418 mc
+  objdump -s --start-address=0x016883f0 --stop-address=0x01688406 mc 
+
+*/
+
+
+static char *(*unlinked)() = (char *(*)())0x0;
+extern char *mc_linktimestamp();
+static char *hijacked_mc_linktimestamp = "#14:34:22/mar 11 2011#";
+
+int hijackOK()
+{
+  if (mc_linktimestamp == unlinked) {
+    printf("'mc_linktimestamp' symbol not found\n");
+    return 0;
+  } else if (strcmp(mc_linktimestamp(), hijacked_mc_linktimestamp)) {
+    printf("'mc_linktimestamp' strings differ ('%s' != '%s')\n",
+	   mc_linktimestamp(), hijacked_mc_linktimestamp);
+    return 0;
+  } else {
+    return 1;
+  }     
+}

mc/fei82557.mc.h

+#include <netinet/if_ether.h>
+#include <drv/end/fei82557End.h>
+#include <fei82557EndDefs.h>
+
+/* CSR inline access functions */
+
+//#undef CSR_BYTE_RD
+#undef CSR_WORD_RD
+//#undef CSR_BYTE_WR
+#undef CSR_WORD_WR
+#undef CSR_LONG_WR
+
+static inline UINT16 csrGetStatus(DRV_CTRL *drv) 
+{
+  return *(UINT16*)((ULONG)drv->pCSR + CSR_STAT_OFFSET);
+}
+
+static inline UINT8 csrReadByte(DRV_CTRL *drv, unsigned int offset) 
+{ 
+  return *(UINT8*)((ULONG)drv->pCSR + offset);
+}
+
+static inline UINT16 csrReadWord(DRV_CTRL *drv, unsigned int offset) 
+{
+  return *(UINT16*)((ULONG)drv->pCSR + offset);
+}
+
+static inline void csrWriteByte(DRV_CTRL *drv, unsigned int offset, 
+				UINT8 value) 
+{ 
+  *(UINT8*)((ULONG)drv->pCSR + offset) = value;
+  CACHE_PIPE_FLUSH();
+  csrReadByte(drv, CSR_INT_OFFSET);
+}
+
+static inline void csrWriteWord(DRV_CTRL *drv, unsigned int offset, 
+				UINT16 value) 
+{ 
+  *(UINT16*)((ULONG)drv->pCSR + offset) = value;
+  CACHE_PIPE_FLUSH();
+  csrReadByte(drv, CSR_INT_OFFSET);
+}
+
+static inline void csrWriteLong(DRV_CTRL *drv, unsigned int offset, 
+				UINT32 value) 
+{ 
+  *(UINT32*)((ULONG)drv->pCSR + offset) = value;
+  CACHE_PIPE_FLUSH();
+  csrReadByte(drv, CSR_INT_OFFSET);
+}
+
+static inline void csrWriteVirtToSys(DRV_CTRL *drv, unsigned int offset, 
+				     volatile void *value)
+{
+  UINT32 local, bus;
+  
+  local = (UINT32)CACHE_DRV_VIRT_TO_PHYS(&drv->cacheFuncs, value);
+  if (drv->board.sysLocalToBus) {
+    bus = drv->board.sysLocalToBus(drv->unit, local);
+  } else {