feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断

后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新，并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例，避免两个进程争用 Npcap 适配器。记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg 导出用于归因固定频率的超时；配
2026-09-05 01:20:14 +08:00
parent 979da72181
commit 79633a2b0f
121 changed files with 33088 additions and 75 deletions
@@ -0,0 +1,649 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \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 always 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 received.
+ * 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 resent through interface B.
+ * This layer is fully transparent for the higher layers.
+ */
+
+
+#include <assert.h>
+#include <sys/types.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <string.h>
+
+#include "ethercattype.h"
+#include "nicdrv.h"
+#include "osal.h"
+
+/** Redundancy modes */
+enum
+{
+    /** No redundancy, single NIC mode */
+    ECT_RED_NONE,
+    /** Double redundant NIC connection */
+    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 fund 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]
+
+static char errbuf[PCAP_ERRBUF_SIZE];
+
+static void ecx_clear_rxbufstat(int *rxbufstat)
+{
+   int i;
+   for(i = 0; i < EC_MAXBUF; i++)
+   {
+      rxbufstat[i] = EC_BUF_EMPTY;
+   }
+}
+
+/** 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, rval;
+   pcap_t **psock;
+
+   rval = 0;
+   if (secondary)
+   {
+      /* secondary port struct available? */
+      if (port->redport)
+      {
+         /* when using secondary socket it is automatically a redundant setup */
+         psock = &(port->redport->sockhandle);
+         *psock = NULL;
+         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);
+         ecx_clear_rxbufstat(&(port->redport->rxbufstat[0]));
+      }
+      else
+      {
+         /* fail */
+         return 0;
+      }
+   }
+   else
+   {
+      pthread_mutex_init(&(port->getindex_mutex), NULL);
+      pthread_mutex_init(&(port->tx_mutex), NULL);
+      pthread_mutex_init(&(port->rx_mutex), NULL);
+      port->sockhandle        = NULL;
+      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);
+      ecx_clear_rxbufstat(&(port->rxbufstat[0]));
+      psock = &(port->sockhandle);
+   }
+   *psock = pcap_open_live(ifname, 65536, 1, 0, errbuf);
+   if (NULL == *psock)
+   {
+      return 0;
+   }
+   rval = pcap_setdirection(*psock, PCAP_D_IN);
+   if (rval != 0)
+   {
+      return 0;
+   }
+   rval = pcap_setnonblock(*psock, 1, errbuf);
+   if (rval != 0)
+   {
+       return 0;
+   }
+
+   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)
+{
+   if (port->sockhandle != NULL)
+   {
+      pthread_mutex_destroy(&(port->getindex_mutex));
+      pthread_mutex_destroy(&(port->tx_mutex));
+      pthread_mutex_destroy(&(port->rx_mutex));
+      pcap_close(port->sockhandle);
+      port->sockhandle = NULL;
+   }
+   if ((port->redport) && (port->redport->sockhandle != NULL))
+   {
+      pcap_close(port->redport->sockhandle);
+      port->redport->sockhandle = NULL;
+   }
+
+   return 0;
+}
+
+/** Fill buffer with ethernet header structure.
+ * Destination MAC is always broadcast.
+ * Ethertype is always ETH_P_ECAT.
+ * @param[out] p = buffer
+ */
+void ec_setupheader(void *p)
+{
+   ec_etherheadert *bp;
+   bp = p;
+   bp->da0 = htons(0xffff);
+   bp->da1 = htons(0xffff);
+   bp->da2 = htons(0xffff);
+   bp->sa0 = htons(priMAC[0]);
+   bp->sa1 = htons(priMAC[1]);
+   bp->sa2 = htons(priMAC[2]);
+   bp->etype = htons(ETH_P_ECAT);
+}
+
+/** Get new frame identifier index and allocate corresponding rx buffer.
+ * @param[in] port        = port context struct
+ * @return new index.
+ */
+uint8 ecx_getindex(ecx_portt *port)
+{
+   uint8 idx;
+   uint8 cnt;
+
+   pthread_mutex_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;
+
+   pthread_mutex_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, uint8 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, uint8 idx, int stacknumber)
+{
+   int lp, rval;
+   ec_stackT *stack;
+
+   if (!stacknumber)
+   {
+      stack = &(port->stack);
+   }
+   else
+   {
+      stack = &(port->redport->stack);
+   }
+   lp = (*stack->txbuflength)[idx];
+   (*stack->rxbufstat)[idx] = EC_BUF_TX;
+   rval = pcap_sendpacket(*stack->sock, (*stack->txbuf)[idx], lp);
+   if (rval == PCAP_ERROR)
+   {
+      (*stack->rxbufstat)[idx] = EC_BUF_EMPTY;
+   }
+
+   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, uint8 idx)
+{
+   ec_comt *datagramP;
+   ec_etherheadert *ehp;
+   int rval;
+
+   ehp = (ec_etherheadert *)&(port->txbuf[idx]);
+   /* rewrite MAC source address 1 to primary */
+   ehp->sa1 = htons(priMAC[1]);
+   /* transmit over primary socket*/
+   rval = ecx_outframe(port, idx, 0);
+   if (port->redstate != ECT_RED_NONE)
+   {
+      pthread_mutex_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 = htons(secMAC[1]);
+      /* transmit over secondary socket */
+      port->redport->rxbufstat[idx] = EC_BUF_TX;
+      if (pcap_sendpacket(port->redport->sockhandle, (u_char const *)&(port->txbuf2), port->txbuflength2) == PCAP_ERROR)
+      {
+         port->redport->rxbufstat[idx] = EC_BUF_EMPTY;
+      }
+      pthread_mutex_unlock( &(port->tx_mutex) );
+   }
+
+   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;
+   struct pcap_pkthdr * header;
+   unsigned char const * pkt_data;
+   int res;
+
+   if (!stacknumber)
+   {
+      stack = &(port->stack);
+   }
+   else
+   {
+      stack = &(port->redport->stack);
+   }
+   lp = sizeof(port->tempinbuf);
+
+   res = pcap_next_ex(*stack->sock, &header, &pkt_data);
+   if (res <=0 )
+   {
+      port->tempinbufs = 0;
+      return 0;
+   }
+
+   bytesrx = header->len;
+   if (bytesrx > lp)
+   {
+      bytesrx = lp;
+   }
+   memcpy(*stack->tempbuf, pkt_data, bytesrx);
+   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 retrieves 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, uint8 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
+   {
+      pthread_mutex_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 == htons(ETH_P_ECAT))
+         {
+            ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
+            l = etohs(ecp->elength) & 0x0fff;
+            idxf = ecp->index;
+            /* found index equals requested 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] = ntohs(ehp->sa1);
+            }
+            else
+            {
+               /* check if index exist and someone is waiting for it */
+               if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX)
+               {
+                  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] = ntohs(ehp->sa1);
+               }
+               else
+               {
+                  /* strange things happened */
+               }
+            }
+         }
+      }
+      pthread_mutex_unlock( &(port->rx_mutex) );
+
+   }
+
+   /* WKC if matching 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] tvs = timeout
+ * @return Workcounter if a frame is found with corresponding index, otherwise
+ * EC_NOFRAME.
+ */
+static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
+{
+   osal_timert timer2;
+   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));
+   /* only do redundant functions when in redundant mode */
+   if (port->redstate != ECT_RED_NONE)
+   {
+      /* primrx if the received MAC source on primary socket */
+      primrx = 0;
+      if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
+      /* secrx if the received 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)) )
+      {
+         /* 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 (&timer2, 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(&timer2));
+         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, uint8 idx, int timeout)
+{
+   int wkc;
+   osal_timert timer;
+
+   osal_timer_start (&timer, timeout);
+   wkc = ecx_waitinframe_red(port, idx, &timer);
+
+   return wkc;
+}
+
+/** Blocking send and receive 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, uint8 idx, int timeout)
+{
+   int wkc = EC_NOFRAME;
+   osal_timert timer1, timer2;
+
+   osal_timer_start (&timer1, timeout);
+   do
+   {
+      /* tx frame on primary and if in redundant mode a dummy on secondary */
+      ecx_outframe_red(port, idx);
+      if (timeout < EC_TIMEOUTRET)
+      {
+         osal_timer_start (&timer2, timeout);
+      }
+      else
+      {
+         /* normally use partial timeout for rx */
+         osal_timer_start (&timer2, EC_TIMEOUTRET);
+      }
+      /* get frame from primary or if in redundant mode possibly from secondary */
+      wkc = ecx_waitinframe_red(port, idx, &timer2);
+   /* wait for answer with WKC>=0 or otherwise retry until timeout */
+   } while ((wkc <= EC_NOFRAME) && !osal_timer_is_expired (&timer1));
+
+   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);
+}
+
+uint8 ec_getindex(void)
+{
+   return ecx_getindex(&ecx_port);
+}
+
+void ec_setbufstat(uint8 idx, int bufstat)
+{
+   ecx_setbufstat(&ecx_port, idx, bufstat);
+}
+
+int ec_outframe(uint8 idx, int stacknumber)
+{
+   return ecx_outframe(&ecx_port, idx, stacknumber);
+}
+
+int ec_outframe_red(uint8 idx)
+{
+   return ecx_outframe_red(&ecx_port, idx);
+}
+
+int ec_inframe(uint8 idx, int stacknumber)
+{
+   return ecx_inframe(&ecx_port, idx, stacknumber);
+}
+
+int ec_waitinframe(uint8 idx, int timeout)
+{
+   return ecx_waitinframe(&ecx_port, idx, timeout);
+}
+
+int ec_srconfirm(uint8 idx, int timeout)
+{
+   return ecx_srconfirm(&ecx_port, idx, timeout);
+}
+
+#endif
@@ -0,0 +1,120 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for nicdrv.c
+ */
+
+#ifndef _nicdrvh_
+#define _nicdrvh_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <pcap/pcap.h>
+
+/** pointer structure to Tx and Rx stacks */
+typedef struct
+{
+   /** socket connection used */
+   pcap_t      **sock;
+   /** tx buffer */
+   ec_bufT     (*txbuf)[EC_MAXBUF];
+   /** tx buffer lengths */
+   int         (*txbuflength)[EC_MAXBUF];
+   /** temporary receive buffer */
+   ec_bufT     *tempbuf;
+   /** rx buffers */
+   ec_bufT     (*rxbuf)[EC_MAXBUF];
+   /** rx buffer status fields */
+   int         (*rxbufstat)[EC_MAXBUF];
+   /** received MAC source address (middle word) */
+   int         (*rxsa)[EC_MAXBUF];
+} ec_stackT;
+
+/** pointer structure to buffers for redundant port */
+typedef struct
+{
+   ec_stackT   stack;
+   pcap_t      *sockhandle;
+   /** rx buffers */
+   ec_bufT rxbuf[EC_MAXBUF];
+   /** rx buffer status */
+   int rxbufstat[EC_MAXBUF];
+   /** rx MAC source address */
+   int rxsa[EC_MAXBUF];
+   /** temporary rx buffer */
+   ec_bufT tempinbuf;
+} ecx_redportt;
+
+/** pointer structure to buffers, vars and mutexes for port instantiation */
+typedef struct
+{
+   ec_stackT   stack;
+   pcap_t      *sockhandle;
+   /** rx buffers */
+   ec_bufT rxbuf[EC_MAXBUF];
+   /** rx buffer status */
+   int rxbufstat[EC_MAXBUF];
+   /** rx MAC source address */
+   int rxsa[EC_MAXBUF];
+   /** temporary rx buffer */
+   ec_bufT tempinbuf;
+   /** temporary rx buffer status */
+   int tempinbufs;
+   /** transmit buffers */
+   ec_bufT txbuf[EC_MAXBUF];
+   /** transmit buffer lenghts */
+   int txbuflength[EC_MAXBUF];
+   /** temporary tx buffer */
+   ec_bufT txbuf2;
+   /** temporary tx buffer length */
+   int txbuflength2;
+   /** last used frame index */
+   uint8 lastidx;
+   /** current redundancy state */
+   int redstate;
+   /** pointer to redundancy port and buffers */
+   ecx_redportt *redport;
+   pthread_mutex_t getindex_mutex;
+   pthread_mutex_t tx_mutex;
+   pthread_mutex_t rx_mutex;
+} ecx_portt;
+
+extern const uint16 priMAC[3];
+extern const uint16 secMAC[3];
+
+#ifdef EC_VER1
+extern ecx_portt     ecx_port;
+extern ecx_redportt  ecx_redport;
+
+int ec_setupnic(const char * ifname, int secondary);
+int ec_closenic(void);
+void ec_setbufstat(uint8 idx, int bufstat);
+uint8 ec_getindex(void);
+int ec_outframe(uint8 idx, int sock);
+int ec_outframe_red(uint8 idx);
+int ec_waitinframe(uint8 idx, int timeout);
+int ec_srconfirm(uint8 idx,int timeout);
+#endif
+
+void ec_setupheader(void *p);
+int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
+int ecx_closenic(ecx_portt *port);
+void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
+uint8 ecx_getindex(ecx_portt *port);
+int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
+int ecx_outframe_red(ecx_portt *port, uint8 idx);
+int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
+int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,117 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "oshw.h"
+
+/**
+ * Host to Network byte order (i.e. to big endian).
+ *
+ * Note that Ethercat uses little endian byte order, except for the Ethernet
+ * header which is big endian as usual.
+ */
+uint16 oshw_htons(uint16 host)
+{
+   uint16 network = htons (host);
+   return network;
+}
+
+/**
+ * Network (i.e. big endian) to Host byte order.
+ *
+ * Note that Ethercat uses little endian byte order, except for the Ethernet
+ * header which is big endian as usual.
+ */
+uint16 oshw_ntohs(uint16 network)
+{
+   uint16 host = ntohs (network);
+   return host;
+}
+
+/** Create list over available network adapters.
+ * @return First element in linked list of adapters
+ */
+ec_adaptert * oshw_find_adapters(void)
+{
+   int i;
+   struct if_nameindex *ids;
+   ec_adaptert * adapter;
+   ec_adaptert * prev_adapter;
+   ec_adaptert * ret_adapter = NULL;
+
+
+   /* Iterate all devices and create a local copy holding the name and
+    * description.
+    */
+
+   ids = if_nameindex ();
+   for(i = 0; ids[i].if_index != 0; i++)
+   {
+      adapter = (ec_adaptert *)malloc(sizeof(ec_adaptert));
+      /* If we got more than one adapter save link list pointer to previous
+       * adapter.
+       * Else save as pointer to return.
+       */
+      if (i)
+      {
+         prev_adapter->next = adapter;
+      }
+      else
+      {
+         ret_adapter = adapter;
+      }
+
+      /* fetch description and name, in macosx we use the same on both */
+      adapter->next = NULL;
+
+      if (ids[i].if_name)
+      {
+          strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
+          adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
+          strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
+          adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
+      }
+      else
+      {
+         adapter->name[0] = '\0';
+         adapter->desc[0] = '\0';
+      }
+
+      prev_adapter = adapter;
+   }
+
+   if_freenameindex (ids);
+
+   return ret_adapter;
+}
+
+/** Free memory allocated memory used by adapter collection.
+ * @param[in] adapter = First element in linked list of adapters
+ * EC_NOFRAME.
+ */
+void oshw_free_adapters(ec_adaptert * adapter)
+{
+   ec_adaptert * next_adapter;
+   /* Iterate the linked list and free all elements holding
+    * adapter information
+    */
+   if(adapter)
+   {
+      next_adapter = adapter->next;
+      free (adapter);
+      while (next_adapter)
+      {
+         adapter = next_adapter;
+         next_adapter = adapter->next;
+         free (adapter);
+      }
+   }
+}
@@ -0,0 +1,31 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for ethercatbase.c
+ */
+
+#ifndef _oshw_
+#define _oshw_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "ethercattype.h"
+#include "nicdrv.h"
+#include "ethercatmain.h"
+
+uint16 oshw_htons(uint16 hostshort);
+uint16 oshw_ntohs(uint16 networkshort);
+ec_adaptert * oshw_find_adapters(void);
+void oshw_free_adapters(ec_adaptert * adapter);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif