STM32H7+FreeRTOS+LwIP移植EtherCAT开源主站SOEM
代码下载什么的就不多说了，直接看需要移植修改的代码。
1、osal.c修改
/******************************************************************************* * *** **** *** *** **** *** **** ********** *** ***** *** **** ****** ********* ********** *** ********* ************ ********** **** *** *** *** *** **** **** *** *** ****** *** *********** *** **** ****** *** *** ****** *** ************* *** **** ****** *** **** **** *** *** *** **** **** *** ******* ***** ************** ************* ********** *** ***** *** ******* ** ** ****** ****** t h e r e a l t i m e t a r g e t e x p e r t s** http://www.rt-labs.com* Copyright (C) 2009. rt-labs AB, Sweden. All rights reserved.*------------------------------------------------------------------------------* $Id: osal.c 452 2013-02-26 21:02:58Z smf.arthur $*------------------------------------------------------------------------------*/#include "FreeRTOS.h"
#include "task.h"
#include "FreeRTOSConfig.h"
#include "osal.h"
#include <stdint.h>
#include <stdbool.h>/* --- 常量定义 --- */
#define USECS_PER_SEC 1000000UL
#define USECS_PER_MSEC 1000UL
#define SECS_PER_DAY 86400UL/* --- 静态函数声明 --- */
static void udelay(uint32_t us);
static inline uint32_t get_usec_per_tick(void);/* * 获取每个tick的微秒数（运行时计算避免除法）*/
static inline uint32_t get_usec_per_tick(void) {static const uint32_t usec_per_tick = USECS_PER_SEC / configTICK_RATE_HZ;return usec_per_tick;
}/*** @brief 获取高精度时间戳（微秒）* @return 从系统启动开始的微秒数*/
uint64_t get_highres_time_us(void) {static uint32_t last_cnt = 0;static uint32_t overflow_count = 0;uint32_t current_cnt = TIM17->CNT;// 检测计数器溢出if (current_cnt < last_cnt) {overflow_count++;}last_cnt = current_cnt;// 计算总微秒数return (uint64_t)overflow_count * 65536 + current_cnt;
}/*** @brief 高精度微秒级延时（基于 TIM17）* @param us 延时的微秒数*/
void udelay(uint32_t us) {if (us == 0) return;// 获取 TIM17 当前计数值uint32_t start = TIM17->CNT;// 计算目标计数值（处理计数器溢出）uint32_t target = start + us;// 处理 16 位计数器溢出if (target > 0xFFFF) {// 等待计数器溢出while (TIM17->CNT >= start) {__NOP();}// 重新计算目标值target = us - (0xFFFF - start + 1);start = 0;}// 等待计数器达到目标值while (TIM17->CNT < target) {__NOP();}
}/** 获取当前时间（高精度实现）*/
int gettimeofday(struct timeval *tp, void *tzp) {if (!tp) return -1;const TickType_t total_ticks = xTaskGetTickCount();const uint32_t ticks_per_sec = configTICK_RATE_HZ;tp->tv_sec = total_ticks / ticks_per_sec;tp->tv_usec = (uint32_t)((total_ticks % ticks_per_sec) * (uint64_t)USECS_PER_SEC / ticks_per_sec);(void)tzp;return 0;
}/** 微秒级睡眠*/
int osal_usleep(uint32_t usec) {udelay(usec);return 0;
}/** 获取当前时间（标准函数封装）*/
int osal_gettimeofday(struct timeval *tv, struct timezone *tz) {(void)tz; // 时区通常不使用return gettimeofday(tv, NULL);
}/** 获取当前时间（ECAT格式）*/
ec_timet osal_current_time(void) {struct timeval tv;gettimeofday(&tv, NULL);return (ec_timet){tv.tv_sec, tv.tv_usec};
}/** 启动定时器*/
void osal_timer_start(osal_timert *self, uint32_t timeout_us) {if (!self) return;self->start_tick = xTaskGetTickCount();const uint32_t usec_per_tick = get_usec_per_tick();// 四舍五入计算tick数self->timeout_ticks = (timeout_us + usec_per_tick / 2) / usec_per_tick;// 确保至少1个tick的延时if (self->timeout_ticks == 0 && timeout_us > 0) {self->timeout_ticks = 1;}
}/** 检查定时器是否过期*/
bool osal_timer_is_expired(const osal_timert *self) {if (!self) return true;const TickType_t current = xTaskGetTickCount();const TickType_t elapsed = current - self->start_tick;// 处理tick计数器溢出情况if (elapsed > current) {// 发生溢出时，elapsed值将大于当前值return true;}return (elapsed >= self->timeout_ticks);
}
2、oshw.c 增加大小端转换宏定义
#ifndef htons
#define htons(x) ((((x)&0xff)<<8)|(((x)&0xff00)>>8))
#endif#ifndef ntohs
#define ntohs(x) htons(x)
#endif#ifndef htonl
#define htonl(x) ((((x)&0xff)<<24)| \(((x)&0xff00)<<8) | \(((x)&0xff0000)>>8) | \(((x)&0xff000000)>>24))
#endif#ifndef ntohl
#define ntohl(x) htonl(x)
#endif
3、nicdrv.c
在nicdrv.h增加FreeRTOS的互斥量操作宏定义
#include "FreeRTOS.h"
#include "semphr.h"// 定义信号量类型
typedef SemaphoreHandle_t mtx_t;// 创建互斥锁
#define mtx_create() xSemaphoreCreateMutex()// 锁定互斥锁（带超时）
#define mtx_lock(mutex) (xSemaphoreTake((mutex), portMAX_DELAY) == pdPASS)// 解锁互斥锁
#define mtx_unlock(mutex) (xSemaphoreGive(mutex) == pdPASS)// 销毁互斥锁
#define mtx_destroy(mutex) vSemaphoreDelete(mutex)
/** Simple Open EtherCAT Master Library ** File : nicdrv.c* Version : 1.3.0* Date : 24-02-2013* Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.* Copyright (C) 2005-2013 Arthur Ketels* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven ** SOEM is free software; you can redistribute it and/or modify it under* the terms of the GNU General Public License version 2 as published by the Free* Software Foundation.** SOEM is distributed in the hope that it will be useful, but WITHOUT ANY* WARRANTY; without even the implied warranty of MERCHANTABILITY or* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License* for more details.** As a special exception, if other files instantiate templates or use macros* or inline functions from this file, or you compile this file and link it* with other works to produce a work based on this file, this file does not* by itself cause the resulting work to be covered by the GNU General Public* License. However the source code for this file must still be made available* in accordance with section (3) of the GNU General Public License.** This exception does not invalidate any other reasons why a work based on* this file might be covered by the GNU General Public License.** The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for* the sole purpose of creating, using and/or selling or otherwise distributing* an EtherCAT network master provided that an EtherCAT Master License is obtained* from Beckhoff Automation GmbH.** In case you did not receive a copy of the EtherCAT Master License along with* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany* (www.beckhoff.com).*//** \file* \brief* EtherCAT RAW socket driver.** Low level interface functions to send and receive EtherCAT packets.* EtherCAT has the property that packets are only send by the master,* and the send packets allways return in the receive buffer.* There can be multiple packets "on the wire" before they return.* To combine the received packets with the original send packets a buffer* system is installed. The identifier is put in the index item of the* EtherCAT header. The index is stored and compared when a frame is recieved.* If there is a match the packet can be combined with the transmit packet* and returned to the higher level function.** The socket layer can exhibit a reversal in the packet order (rare).* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer* will reorder the packets automatically.** The "redundant" option will configure two sockets and two NIC interfaces.* Slaves are connected to both interfaces, one on the IN port and one on the* OUT port. Packets are send via both interfaces. Any one of the connections* (also an interconnect) can be removed and the slaves are still serviced with* packets. The software layer will detect the possible failure modes and* compensate. If needed the packets from interface A are resend through interface B.* This layer is fully transparent for the higher layers.*/
//主要是网络数据收发
#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "soem_hook.h"#ifndef MAX
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
#define MIN(a,b) (((a) < (b)) ? (a) : (b))
#endif/** Redundancy modes */
enum
{/** No redundancy, single NIC mode */ECT_RED_NONE,/** Double redundant NIC connecetion */ECT_RED_DOUBLE
};/** Primary source MAC address used for EtherCAT.* This address is not the MAC address used from the NIC.* EtherCAT does not care about MAC addressing, but it is used here to* differentiate the route the packet traverses through the EtherCAT* segment. This is needed to find out the packet flow in redundant* configurations. */
const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 };
/** Secondary source MAC address used for EtherCAT. */
const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 };/** second MAC word is used for identification */
#define RX_PRIM priMAC[1]
/** second MAC word is used for identification */
#define RX_SEC secMAC[1]/** Basic setup to connect NIC to socket.* @param[in] port = port context struct* @param[in] ifname = Name of NIC device, f.e. "eth0"* @param[in] secondary = if >0 then use secondary stack instead of primary* @return >0 if succeeded*/
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{int i;int rVal;int *psock;port->getindex_mutex = mtx_create();port->tx_mutex = mtx_create();port->rx_mutex = mtx_create();// rVal = bfin_EMAC_init((uint8_t *)priMAC);
// if (rVal != 0)
// return 0;if (secondary){/* secondary port stuct available? */if (port->redport){/* when using secondary socket it is automatically a redundant setup */psock = &(port->redport->sockhandle);*psock = -1;port->redstate = ECT_RED_DOUBLE;port->redport->stack.sock = &(port->redport->sockhandle);port->redport->stack.txbuf = &(port->txbuf);port->redport->stack.txbuflength = &(port->txbuflength);port->redport->stack.tempbuf = &(port->redport->tempinbuf);port->redport->stack.rxbuf = &(port->redport->rxbuf);port->redport->stack.rxbufstat = &(port->redport->rxbufstat);port->redport->stack.rxsa = &(port->redport->rxsa);}else{/* fail */return 0;}}else{port->getindex_mutex = mtx_create();port->tx_mutex = mtx_create();port->rx_mutex = mtx_create();port->sockhandle = -1;port->lastidx = 0;port->redstate = ECT_RED_NONE;port->stack.sock = &(port->sockhandle);port->stack.txbuf = &(port->txbuf);port->stack.txbuflength = &(port->txbuflength);port->stack.tempbuf = &(port->tempinbuf);port->stack.rxbuf = &(port->rxbuf);port->stack.rxbufstat = &(port->rxbufstat);port->stack.rxsa = &(port->rxsa);psock = &(port->sockhandle);} if(install_hook(port, ifname)==0){return 0; //fail}/* setup ethernet headers in tx buffers so we don't have to repeat it */for (i = 0; i < EC_MAXBUF; i++){ec_setupheader(&(port->txbuf[i]));port->rxbufstat[i] = EC_BUF_EMPTY;}ec_setupheader(&(port->txbuf2));return 1;
}/** Close sockets used* @param[in] port = port context struct* @return 0*/
int ecx_closenic(ecx_portt *port)
{mtx_destroy(port->getindex_mutex);mtx_destroy(port->tx_mutex);mtx_destroy(port->rx_mutex);uninstall_hook(port);return 0;
}/** Fill buffer with ethernet header structure.* Destination MAC is allways broadcast.* Ethertype is allways ETH_P_ECAT.* @param[out] p = buffer*/
void ec_setupheader(void *p)
{ec_etherheadert *bp;bp = p;bp->da0 = oshw_htons(0xffff);bp->da1 = oshw_htons(0xffff);bp->da2 = oshw_htons(0xffff);bp->sa0 = oshw_htons(priMAC[0]);bp->sa1 = oshw_htons(priMAC[1]);bp->sa2 = oshw_htons(priMAC[2]);bp->etype = oshw_htons(ETH_P_ECAT);
}/** Get new frame identifier index and allocate corresponding rx buffer.* @param[in] port = port context struct* @return new index.*/
int ecx_getindex(ecx_portt *port)
{int idx;int cnt;mtx_lock (port->getindex_mutex);idx = port->lastidx + 1;/* index can't be larger than buffer array */if (idx >= EC_MAXBUF) {idx = 0;}cnt = 0;/* try to find unused index */while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF)){idx++;cnt++;if (idx >= EC_MAXBUF) {idx = 0;}}port->rxbufstat[idx] = EC_BUF_ALLOC;if (port->redstate != ECT_RED_NONE){port->redport->rxbufstat[idx] = EC_BUF_ALLOC;}port->lastidx = idx;mtx_unlock (port->getindex_mutex);return idx;
}/** Set rx buffer status.* @param[in] port = port context struct* @param[in] idx = index in buffer array* @param[in] bufstat = status to set*/
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{port->rxbufstat[idx] = bufstat;if (port->redstate != ECT_RED_NONE){port->redport->rxbufstat[idx] = bufstat;}
}/** Transmit buffer over socket (non blocking).* @param[in] port = port context struct* @param[in] idx = index in tx buffer array* @param[in] stacknumber = 0=Primary 1=Secondary stack* @return socket send result*/
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{int lp, rval;ec_stackT *stack;if (!stacknumber){stack = &(port->stack);}else{stack = &(port->redport->stack);}lp = (*stack->txbuflength)[idx];rval = net_send((*stack->txbuf)[idx], lp);(*stack->rxbufstat)[idx] = EC_BUF_TX;return rval;
}/** Transmit buffer over socket (non blocking).* @param[in] port = port context struct* @param[in] idx = index in tx buffer array* @return socket send result*/
int ecx_outframe_red(ecx_portt *port, int idx)
{ec_comt *datagramP;ec_etherheadert *ehp;int rval;ehp = (ec_etherheadert *)&(port->txbuf[idx]);/* rewrite MAC source address 1 to primary */ehp->sa1 = oshw_htons(priMAC[1]);/* transmit over primary socket*/rval = ecx_outframe(port, idx, 0);if (port->redstate != ECT_RED_NONE){ mtx_lock (port->tx_mutex);ehp = (ec_etherheadert *)&(port->txbuf2);/* use dummy frame for secondary socket transmit (BRD) */datagramP = (ec_comt*)&(port->txbuf2[ETH_HEADERSIZE]);/* write index to frame */datagramP->index = idx;/* rewrite MAC source address 1 to secondary */ehp->sa1 = oshw_htons(secMAC[1]);/* transmit over secondary socket *///send(sockhandle2, &ec_txbuf2, ec_txbuflength2 , 0);// OBS! redundant not ACTIVE for BFIN, just added to compile
// ASSERT (0);net_send(port->txbuf2, port->txbuflength2);mtx_unlock (port->tx_mutex);port->redport->rxbufstat[idx] = EC_BUF_TX;} return rval;
}/** Non blocking read of socket. Put frame in temporary buffer.* @param[in] port = port context struct* @param[in] stacknumber = 0=primary 1=secondary stack* @return >0 if frame is available and read*/
static int ecx_recvpkt(ecx_portt *port, int stacknumber)
{int lp, bytesrx;ec_stackT *stack;if (!stacknumber){stack = &(port->stack);}else{stack = &(port->redport->stack);}lp = sizeof(port->tempinbuf);bytesrx = net_recv((*stack->tempbuf), lp);port->tempinbufs = bytesrx;return (bytesrx > 0);
}/** Non blocking receive frame function. Uses RX buffer and index to combine* read frame with transmitted frame. To compensate for received frames that* are out-of-order all frames are stored in their respective indexed buffer.* If a frame was placed in the buffer previously, the function retreives it* from that buffer index without calling ec_recvpkt. If the requested index* is not already in the buffer it calls ec_recvpkt to fetch it. There are* three options now, 1 no frame read, so exit. 2 frame read but other* than requested index, store in buffer and exit. 3 frame read with matching* index, store in buffer, set completed flag in buffer status and exit.* * @param[in] port = port context struct* @param[in] idx = requested index of frame* @param[in] stacknumber = 0=primary 1=secondary stack* @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)
{uint16 l;int rval;uint8 idxf;ec_etherheadert *ehp;ec_comt *ecp;ec_stackT *stack;ec_bufT *rxbuf;if (!stacknumber){stack = &(port->stack);}else{stack = &(port->redport->stack);}rval = EC_NOFRAME;rxbuf = &(*stack->rxbuf)[idx];/* check if requested index is already in buffer ? */if ((idx < EC_MAXBUF) && ( (*stack->rxbufstat)[idx] == EC_BUF_RCVD)) {l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);/* return WKC */rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));/* mark as completed */(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;}else {mtx_lock (port->rx_mutex);/* non blocking call to retrieve frame from socket */if (ecx_recvpkt(port, stacknumber)) {rval = EC_OTHERFRAME;ehp =(ec_etherheadert*)(stack->tempbuf);/* check if it is an EtherCAT frame */if (ehp->etype == oshw_htons(ETH_P_ECAT)){ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]); l = etohs(ecp->elength) & 0x0fff;idxf = ecp->index;/* found index equals reqested index ? */if (idxf == idx) {/* yes, put it in the buffer array (strip ethernet header) */memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);/* return WKC */rval = ((*rxbuf)[l] + ((uint16)((*rxbuf)[l + 1]) << 8));/* mark as completed */(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;/* store MAC source word 1 for redundant routing info */(*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);}else {/* check if index exist? */if (idxf < EC_MAXBUF) {rxbuf = &(*stack->rxbuf)[idxf];/* put it in the buffer array (strip ethernet header) */memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);/* mark as received */(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;(*stack->rxsa)[idxf] = oshw_ntohs(ehp->sa1);}else {/* strange things happend */}}}}mtx_unlock (port->rx_mutex);}/* WKC if mathing frame found */return rval;
}/** Blocking redundant receive frame function. If redundant mode is not active then* it skips the secondary stack and redundancy functions. In redundant mode it waits* for both (primary and secondary) frames to come in. The result goes in an decision* tree that decides, depending on the route of the packet and its possible missing arrival,* how to reroute the original packet to get the data in an other try. ** @param[in] port = port context struct* @param[in] idx = requested index of frame* @param[in] timer = absolute timeout time* @return Workcounter if a frame is found with corresponding index, otherwise* EC_NOFRAME.*/
static int ecx_waitinframe_red(ecx_portt *port, int idx, const osal_timert timer)
{int wkc = EC_NOFRAME;int wkc2 = EC_NOFRAME;int primrx, secrx;/* if not in redundant mode then always assume secondary is OK */if (port->redstate == ECT_RED_NONE){wkc2 = 0;}do {/* only read frame if not already in */if (wkc <= EC_NOFRAME){wkc = ecx_inframe(port, idx, 0);}/* only try secondary if in redundant mode */if (port->redstate != ECT_RED_NONE){ /* only read frame if not already in */if (wkc2 <= EC_NOFRAME)wkc2 = ecx_inframe(port, idx, 1);} /* wait for both frames to arrive or timeout */ } while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && (osal_timer_is_expired(&timer) == FALSE));/* only do redundant functions when in redundant mode */if (port->redstate != ECT_RED_NONE){/* primrx if the reveived MAC source on primary socket */primrx = 0;if (wkc > EC_NOFRAME) { primrx = port->rxsa[idx];}/* secrx if the reveived MAC source on psecondary socket */secrx = 0;if (wkc2 > EC_NOFRAME) {secrx = port->redport->rxsa[idx];}/* primary socket got secondary frame and secondary socket got primary frame *//* normal situation in redundant mode */if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) ){/* copy secondary buffer to primary */memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);wkc = wkc2;} /* primary socket got nothing or primary frame, and secondary socket got secondary frame *//* we need to resend TX packet */ if ( ((primrx == 0) && (secrx == RX_SEC)) ||((primrx == RX_PRIM) && (secrx == RX_SEC)) ){osal_timert read_timer;/* If both primary and secondary have partial connection retransmit the primary received* frame over the secondary socket. The result from the secondary received frame is a combined* frame that traversed all slaves in standard order. */if ( (primrx == RX_PRIM) && (secrx == RX_SEC) ){ /* copy primary rx to tx buffer */memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);}osal_timer_start(&read_timer, EC_TIMEOUTRET);/* resend secondary tx */ecx_outframe(port, idx, 1);do {/* retrieve frame */wkc2 = ecx_inframe(port, idx, 1);} while ((wkc2 <= EC_NOFRAME) && (osal_timer_is_expired(&read_timer) == FALSE));if (wkc2 > EC_NOFRAME){ /* copy secondary result to primary rx buffer */memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);wkc = wkc2;} } }/* return WKC or EC_NOFRAME */return wkc;
} /** Blocking receive frame function. Calls ec_waitinframe_red().* @param[in] port = port context struct* @param[in] idx = requested index of frame* @param[in] timeout = timeout in us* @return Workcounter if a frame is found with corresponding index, otherwise* EC_NOFRAME.*/
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{int wkc;osal_timert timer;osal_timer_start (&timer, timeout);wkc = ecx_waitinframe_red(port, idx, timer);/* if nothing received, clear buffer index status so it can be used again */if (wkc <= EC_NOFRAME) {ecx_setbufstat(port, idx, EC_BUF_EMPTY);}return wkc;
}/** Blocking send and recieve frame function. Used for non processdata frames.* A datagram is build into a frame and transmitted via this function. It waits* for an answer and returns the workcounter. The function retries if time is* left and the result is WKC=0 or no frame received.** The function calls ec_outframe_red() and ec_waitinframe_red().** @param[in] port = port context struct* @param[in] idx = index of frame* @param[in] timeout = timeout in us* @return Workcounter or EC_NOFRAME*/
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{int wkc = EC_NOFRAME;osal_timert timer;osal_timer_start(&timer, timeout);do {osal_timert read_timer;/* tx frame on primary and if in redundant mode a dummy on secondary */ecx_outframe_red(port, idx);osal_timer_start(&read_timer, MIN(timeout, EC_TIMEOUTRET));/* get frame from primary or if in redundant mode possibly from secondary */wkc = ecx_waitinframe_red(port, idx, read_timer);/* wait for answer with WKC>0 or otherwise retry until timeout */ } while ((wkc <= EC_NOFRAME) && (osal_timer_is_expired(&timer) == FALSE));/* if nothing received, clear buffer index status so it can be used again */if (wkc <= EC_NOFRAME) {ecx_setbufstat(port, idx, EC_BUF_EMPTY);}return wkc;
}#ifdef EC_VER1
int ec_setupnic(const char *ifname, int secondary)
{return ecx_setupnic(&ecx_port, ifname, secondary);
}int ec_closenic(void)
{return ecx_closenic(&ecx_port);
}int ec_getindex(void)
{return ecx_getindex(&ecx_port);
}void ec_setbufstat(int idx, int bufstat)
{ecx_setbufstat(&ecx_port, idx, bufstat);
}int ec_outframe(int idx, int stacknumber)
{return ecx_outframe(&ecx_port, idx, stacknumber);
}int ec_outframe_red(int idx)
{return ecx_outframe_red(&ecx_port, idx);
}int ec_inframe(int idx, int stacknumber)
{return ecx_inframe(&ecx_port, idx, stacknumber);
}int ec_waitinframe(int idx, int timeout)
{return ecx_waitinframe(&ecx_port, idx, timeout);
}int ec_srconfirm(int idx, int timeout)
{return ecx_srconfirm(&ecx_port, idx, timeout);
}
#endif4、创建一个hook源文件，使用LwIP协议栈底层hook函数来处理PHY芯片的收发。
#include "lwip/netif.h"
#include "lwip/pbuf.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"#include "osal.h"#define HOOK_RX_BUFSIZE 10static uint8_t netfrmbuf[HOOK_RX_BUFSIZE][1540];
static int netfrmbuf_cnt[HOOK_RX_BUFSIZE];
static int netfrm_head = 0;
static int netfrm_tail = 0;
static bool netfrm_full = false;static struct netif *target_netif = NULL;
static netif_input_fn orig_input = NULL;
static netif_linkoutput_fn orig_linkoutput = NULL; // 正确类型声明
static SemaphoreHandle_t buf_mutex = NULL;/******************************************************************************
* Hook Functions
******************************************************************************/
// 修正为正确的参数和返回类型
static err_t _netif_linkoutput(struct netif *netif, struct pbuf *p) {return orig_linkoutput(netif, p);
}static err_t _netif_input(struct pbuf *p, struct netif *inp) {if (p->tot_len >= 14) {uint8_t *data = (uint8_t*)p->payload;if (data[12] == 0x88 && data[13] == 0xa4) { // EtherCAT framexSemaphoreTake(buf_mutex, portMAX_DELAY);if (!netfrm_full) {pbuf_copy_partial(p, netfrmbuf[netfrm_tail], p->tot_len, 0);netfrmbuf_cnt[netfrm_tail] = p->tot_len;netfrm_tail = (netfrm_tail + 1) % HOOK_RX_BUFSIZE;netfrm_full = (netfrm_tail == netfrm_head);}xSemaphoreGive(buf_mutex);}}return orig_input(p, inp);
}/******************************************************************************
* Hook Management
******************************************************************************/
int install_hook(const char *ifname) {if (buf_mutex == NULL) {buf_mutex = xSemaphoreCreateMutex();if (!buf_mutex) return 0;}target_netif = netif_find(ifname);if (!target_netif) {EC_PRINT("[HOOK] Netif %s not found\n", ifname);return 0;}taskENTER_CRITICAL();// 确保使用正确的类型匹配orig_linkoutput = target_netif->linkoutput; // 2个参数的linkoutputorig_input = target_netif->input;target_netif->linkoutput = _netif_linkoutput; // 2个参数target_netif->input = _netif_input;taskEXIT_CRITICAL();EC_PRINT("[HOOK] Installed on %s (0x%p)\n", ifname, (void*)target_netif);return 1;
}int uninstall_hook(void) {if (!target_netif) return 0;taskENTER_CRITICAL();target_netif->input = orig_input;target_netif->linkoutput = orig_linkoutput;target_netif = NULL;taskEXIT_CRITICAL();EC_PRINT("[HOOK] Uninstalled\n");return 1;
}/******************************************************************************
* Network Operations
******************************************************************************/
int net_send(uint8_t *data, int len) {if (len <= 0 || !target_netif) return -1;struct pbuf *p = pbuf_alloc(PBUF_RAW, len, PBUF_POOL);if (!p) {EC_PRINT("[SEND] PBuf alloc failed\n");return -1;}pbuf_take(p, data, len);err_t err = _netif_linkoutput(target_netif, p);pbuf_free(p);return (err == ERR_OK) ? len : -1;
}int net_recv(uint8_t *data, int max_len) {if (!data || max_len <= 0) return -1;xSemaphoreTake(buf_mutex, portMAX_DELAY);if (netfrm_head == netfrm_tail && !netfrm_full) {xSemaphoreGive(buf_mutex);return 0;}int total = netfrmbuf_cnt[netfrm_head];if (total > max_len) total = max_len;memcpy(data, netfrmbuf[netfrm_head], total);netfrm_head = (netfrm_head + 1) % HOOK_RX_BUFSIZE;netfrm_full = false;xSemaphoreGive(buf_mutex);return total;
}
5 、hook测试函数
lwip 默认stm32的网卡名为“st”
void test_hook(void) {#define TEST_FRAME_LEN 64 const char *ifname = "st"; uint8_t send_buf[TEST_FRAME_LEN];uint8_t recv_buf[TEST_FRAME_LEN];int recv_len;// 初始化一个测试帧，设置协议类型为0x88a4（EtherCAT）memset(send_buf, 0, TEST_FRAME_LEN);send_buf[12] = 0x88;send_buf[13] = 0xa4;const char payload[8] = {0x55,0x66,0x77,0x88,0x99,0xaa,0xbb,0xcc};memcpy(send_buf + 14, payload, sizeof(payload));// 安装钩子if (!install_hook(ifname)) {EC_PRINT("Hook installation failed.\n");return;}// 发送测试帧if (net_send(send_buf, TEST_FRAME_LEN) < 0) {EC_PRINT("Send test frame failed.\n");goto uninstall;}// 由于我们的钩子函数在发送时也会被调用（实际上是通过linkoutput钩子发送的，但注意我们的接收钩子是在输入路径上）// 但我们发送的帧不会直接进入接收钩子，除非我们将其注入到接收路径（比如在回环接口上发送）。// 因此，这里需要说明：在真实硬件上，发送的帧不会被自己接收，除非网络设备支持回环或者我们使用回环接口。// 所以我们需要调整测试方法：在同一个网络接口上，我们不能直接捕获自己发送的帧（除非是回环）。// 我们可能需要两个设备或者使用一个支持回环的接口。// 由于测试环境限制，我们可能无法捕获自己发送的帧。因此，这个测试用例可能需要修改：// 方案1：如果我们的网络接口支持回环（例如通过配置），则可以通过回环接收到发送的帧。// 方案2：在模拟的TAP设备上，可以自己发送自己接收。// 方案3：修改钩子函数，使其同时捕获发送和接收的帧。但原设计是只捕获接收路径上的EtherCAT帧。// 重新考虑：我们设计的钩子函数是挂接在netif的input函数上，即当有数据包从网络设备接收时会被调用。发送的数据包只会经过linkoutput。// 因此，我们之前的接收钩子不会捕获发送的包。// 所以我们需要改变测试思路：我们测试接收钩子的正确性需要另一个设备发送EtherCAT帧，或者我们通过其他方式注入一个接收帧（比如直接调用netif->input函数）。// 对于单元测试，我们可以模拟一个接收帧直接调用netif->input函数，但这样就不经过硬件，而我们的钩子函数就是挂在这个input上的。// 但是我们安装钩子后，原来的input函数已经被替换，所以我们可以直接调用钩子函数来模拟接收。// 由于测试的复杂性，这里我们改变策略，分为两个测试：// 测试1：测试发送功能。直接调用net_send，然后在外部验证（如使用抓包工具）是否发送成功。// 测试2：测试接收功能。我们可以模拟一个接收事件：通过直接调用安装钩子后的input函数（即_netif_input）来模拟接收。// 测试1：发送// 已经通过net_send发送了一个帧，在外部抓包验证。EC_PRINT("Test frame sent. Please use external tool to verify.\n");// 测试2：模拟接收// 构建一个模拟接收的帧uint8_t fake_recv_frame[TEST_FRAME_LEN];memset(fake_recv_frame, 0, TEST_FRAME_LEN);fake_recv_frame[12] = 0x88;fake_recv_frame[13] = 0xa4;const char *fake_payload = "Fake received EtherCAT frame";memcpy(fake_recv_frame+14, fake_payload, strlen(fake_payload)+1);// 构建一个pbuf来模拟接收struct pbuf *p = pbuf_alloc(PBUF_RAW, TEST_FRAME_LEN, PBUF_POOL);if (p == NULL) {EC_PRINT("pbuf_alloc failed for simulated receive.\n");goto uninstall;}pbuf_take(p, fake_recv_frame, TEST_FRAME_LEN);// 调用钩子函数（即我们挂接的_netif_input）来处理这个模拟的接收帧_netif_input(p, NULL); // 第二个参数是netif，可以传NULL因为我们内部不用（注意：内部函数使用了target_netif？实际我们函数里没用到inp参数）pbuf_free(p);// 现在我们应该可以通过net_recv接收到这个帧recv_len = net_recv(recv_buf, TEST_FRAME_LEN);if (recv_len <= 0) {EC_PRINT("Didn't receive the simulated frame.\n");} else {EC_PRINT("Received frame, len=%d\n", recv_len);// 打印接收到的内容，对比if (memcmp(fake_recv_frame, recv_buf, recv_len) == 0) {EC_PRINT("Simulated receive frame matches the sent one.\n");} else {EC_PRINT("Simulated receive frame does NOT match.\n");}}uninstall:// 卸载钩子uninstall_hook();EC_PRINT("Test finished.\n");
}
6、测试实例
在任务中循环调用test_hook函数
使用wireshark抓包观察
在这里插入图片描述，数据收发ok,可以识别ethercat frame
