Dev

CMakeLists.txt

@@ -4,6 +4,7 @@ project(ingenialink LANGUAGES C VERSION 6.3.2)
 set(CMAKE_MODULE_PATH
   ${CMAKE_SOURCE_DIR}/cmake
 )
+set(CMAKE_BUILD_TYPE Release)
 
 #-------------------------------------------------------------------------------
 # Compiler options
@@ -12,7 +13,7 @@ if(MSVC)
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /W4 /D_CRT_SECURE_NO_WARNINGS")
     set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} /Zi")
 elseif(${CMAKE_C_COMPILER_ID} MATCHES "(GNU|Clang)")
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -Wall -Wextra -pedantic")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -w -O3")
 endif()
 
 #-------------------------------------------------------------------------------

examples/simple_ecat.c

@@ -8,7 +8,7 @@ int main(int argc, const char *argv[])
 {
 	il_net_t *net = NULL;
 	il_servo_t *servo = NULL;
-	char* ifname = "\\Device\\NPF_{XXX}";
+	char* ifname = "enp0s25";
 	char* dict_path = "XXX";
 	int port = 1061;
 	int slave = 1;

include/ingenialink/net.h

@@ -22,8 +22,8 @@ typedef struct il_net_emcy_subscriber il_net_emcy_subscriber_t;
 /** Emergency subcriber callback. */
 typedef void (*il_net_emcy_subscriber_cb_t)(void *ctx, uint32_t code);
 
-int il_net_monitoring_mapping_register[16];
-int il_net_disturbance_mapping_register[16];
+// int il_net_monitoring_mapping_register[16];
+// int il_net_disturbance_mapping_register[16];
 
 /**
  * Retain a reference of the network.

ingenialink/ecat/lwip.c

@@ -41,7 +41,7 @@
 #define UDP_OPEN_PORT           (uint16_t)1061U
 
 /* Network instance */
-struct netif tNetif;
+struct netif tNetifLwip;
 
 /* Global reply data buffer */
 uint8_t pReplyData[1024U];
@@ -137,11 +137,11 @@ void LWIP_Init(void)
              DEFAULT_GW_IP_ADDR3, DEFAULT_GW_IP_ADDR4);
 
     /* Add the network interface */
-    netif_add(&tNetif, &tIpAddr, &tNetmask, &tGwIpAddr, NULL,
+    netif_add(&tNetifLwip, &tIpAddr, &tNetmask, &tGwIpAddr, NULL,
               &LWIP_EthernetifInit, &ethernet_input);
-    netif_set_default(&tNetif);
-    netif_set_up(&tNetif);
-    tNetif.flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_LINK_UP;
+    netif_set_default(&tNetifLwip);
+    netif_set_up(&tNetifLwip);
+    tNetifLwip.flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_LINK_UP;
 
     /* Open the Upd port and link receive callback */
     ptUdpPcb = udp_new();
@@ -190,7 +190,7 @@ void LWIP_EthernetifIntput(void* pData, uint16_t u16SizeBy)
     memcpy((void*)pBuf->payload, (const void*)pData, u16SizeBy);
     pBuf->len = u16SizeBy;
 
-    tError = tNetif.input(pBuf, &tNetif);
+    tError = tNetifLwip.input(pBuf, &tNetifLwip);
 
     if (tError != ERR_OK)
     {
@@ -204,23 +204,23 @@ void LWIP_SetIpAddress(uint8_t* pu8IpAddr)
     ip4_addr_t tNewIpAddr;
 
     IP4_ADDR(&tNewIpAddr, pu8IpAddr[0], pu8IpAddr[1], pu8IpAddr[2], pu8IpAddr[3]);
-    netif_set_ipaddr(&tNetif, &tNewIpAddr);
+    netif_set_ipaddr(&tNetifLwip, &tNewIpAddr);
 }
 
 void LWIP_SetNetmask(uint8_t* pu8Netmask)
 {
     ip4_addr_t tNewNetmask;
 
     IP4_ADDR(&tNewNetmask, pu8Netmask[0], pu8Netmask[1], pu8Netmask[2], pu8Netmask[3]);
-    netif_set_netmask(&tNetif, &tNewNetmask);
+    netif_set_netmask(&tNetifLwip, &tNewNetmask);
 }
 
 void LWIP_SetGwAddress(uint8_t* pu8GwAddr)
 {
     ip4_addr_t tNewGwAddr;
 
     IP4_ADDR(&tNewGwAddr, pu8GwAddr[0], pu8GwAddr[1], pu8GwAddr[2], pu8GwAddr[3]);
-    netif_set_gw(&tNetif, &tNewGwAddr);
+    netif_set_gw(&tNetifLwip, &tNewGwAddr);
 }
 
 void LWIP_ProcessTimeouts()