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Add the test/linux/firm_update example to the CMake build #710

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Add the test/linux/firm_update example to the CMake build #710

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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,10 @@ install(FILES
${OSHW_HEADERS}
DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})

if(BUILD_TESTS)
if(BUILD_TESTS)
add_subdirectory(test/simple_ng)
add_subdirectory(test/linux/slaveinfo)
add_subdirectory(test/linux/firm_update)
add_subdirectory(test/linux/eepromtool)
add_subdirectory(test/linux/simple_test)
endif()
5 changes: 5 additions & 0 deletions test/linux/firm_update/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@

set(SOURCES firm_update.c)
add_executable(firm_update ${SOURCES})
target_link_libraries(firm_update soem)
install(TARGETS firm_update DESTINATION bin)
234 changes: 117 additions & 117 deletions test/linux/firm_update/firm_update.c
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Expand Up @@ -33,130 +33,130 @@ uint16 argslave;

int input_bin(char *fname, int *length)
{
FILE *fp;

int cc = 0, c;

fp = fopen(fname, "rb");
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
filebuffer[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
FILE *fp;

int cc = 0, c;

fp = fopen(fname, "rb");
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
filebuffer[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
}


void boottest(char *ifname, uint16 slave, char *filename)
{
printf("Starting firmware update example\n");

/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */


if ( ec_config_init(FALSE) > 0 )
{
printf("%d slaves found and configured.\n",ec_slavecount);

/* wait for all slaves to reach PRE_OP state */
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE * 4);

printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);

/* wait for slave to reach INIT state */
ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
printf("Slave %d state to INIT.\n", slave);

/* read BOOT mailbox data, master -> slave */
data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
/* store boot write mailbox address */
ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
/* store boot write mailbox size */
ec_slave[slave].mbx_l = (uint16)HI_WORD(data);

/* read BOOT mailbox data, slave -> master */
data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
/* store boot read mailbox address */
ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
/* store boot read mailbox size */
ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);

printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
(int)ec_slave[slave].SM[0].SMflags);
printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
(int)ec_slave[slave].SM[1].SMflags);
/* program SM0 mailbox in for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
/* program SM1 mailbox out for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);

printf("Request BOOT state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_BOOT;
ec_writestate(slave);

/* wait for slave to reach BOOT state */
if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
{
printf("Slave %d state to BOOT.\n", slave);

if (input_bin(filename, &filesize))
{
printf("File read OK, %d bytes.\n",filesize);
printf("FoE write....");
j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
printf("result %d.\n",j);
printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);
}
else
printf("File not read OK.\n");
}

}
else
{
printf("No slaves found!\n");
}
printf("End firmware update example, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
printf("Starting firmware update example\n");

/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */


if ( ec_config_init(FALSE) > 0 )
{
printf("%d slaves found and configured.\n",ec_slavecount);

/* wait for all slaves to reach PRE_OP state */
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE * 4);

printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);

/* wait for slave to reach INIT state */
ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
printf("Slave %d state to INIT.\n", slave);

/* read BOOT mailbox data, master -> slave */
data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
/* store boot write mailbox address */
ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
/* store boot write mailbox size */
ec_slave[slave].mbx_l = (uint16)HI_WORD(data);

/* read BOOT mailbox data, slave -> master */
data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
/* store boot read mailbox address */
ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
/* store boot read mailbox size */
ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);

printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
(int)ec_slave[slave].SM[0].SMflags);
printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
(int)ec_slave[slave].SM[1].SMflags);
/* program SM0 mailbox in for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
/* program SM1 mailbox out for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);

printf("Request BOOT state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_BOOT;
ec_writestate(slave);

/* wait for slave to reach BOOT state */
if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
{
printf("Slave %d state to BOOT.\n", slave);

if (input_bin(filename, &filesize))
{
printf("File read OK, %d bytes.\n",filesize);
printf("FoE write....");
j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
printf("result %d.\n",j);
printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);
}
else
printf("File not read OK.\n");
}

}
else
{
printf("No slaves found!\n");
}
printf("End firmware update example, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}

int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");

if (argc > 3)
{
argslave = atoi(argv[2]);
boottest(argv[1], argslave, argv[3]);
}
else
{
printf("Usage: firm_update ifname1 slave fname\n");
printf("ifname = eth0 for example\n");
printf("slave = slave number in EtherCAT order 1..n\n");
printf("fname = binary file to store in slave\n");
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
}

printf("End program\n");
return (0);
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");

if (argc > 3)
{
argslave = atoi(argv[2]);
boottest(argv[1], argslave, argv[3]);
}
else
{
printf("Usage: firm_update ifname1 slave fname\n");
printf("ifname = eth0 for example\n");
printf("slave = slave number in EtherCAT order 1..n\n");
printf("fname = binary file to store in slave\n");
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
}

printf("End program\n");
return (0);
}