move controller to new build

controller/ec/block_beckhoff_el3xxx.c

@@ -25,13 +25,13 @@
 
 #include <controller/controller_block.h>
 
-#include "block_beckhoff_el3xxx.h"
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/block_beckhoff_el3xxx.h>
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 
 struct controller_block_private {

controller/ec/block_beckhoff_el4xxx.c

@@ -23,13 +23,13 @@
 
 #include <controller/controller_block.h>
 
-#include "block_beckhoff_el4xxx.h"
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/block_beckhoff_el4xxx.h>
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 struct controller_block_private {
 	float	*output[8];

controller/ec/block_beckhoff_el5001.c

@@ -24,12 +24,12 @@
 
 #include <controller/controller_block.h>
 
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 struct controller_block_private {
 	float	 converted_value;

controller/ec/block_beckhoff_el5101.c

@@ -28,13 +28,13 @@
 
 #include <controller/controller_block.h>
 
-#include "block_beckhoff_el5101.h"
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/block_beckhoff_el5101.h>
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 
 #define EL5101_OBJ_SM_OUTPUT 			0x1c32

controller/ec/block_beckhoff_el7031.c

@@ -32,12 +32,12 @@
 
 #include <controller/controller_block.h>
 
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 struct controller_block_private {
 	unsigned char		*rx_buffer;

controller/ec/block_ec.c

@@ -23,9 +23,9 @@
 
 #include <controller/controller_block.h>
 
-#include "block_ec.h"
-#include "ec.h"
-#include "log.h"
+#include <ec/block_ec.h>
+#include <ec/ec.h>
+#include <log/log.h>
 
 static struct controller_block *ec_block = NULL;
 

controller/ec/block_stoeber.c

@@ -20,10 +20,10 @@
 #include <string.h>
 #include <stdio.h>
 
-#include "controller_block.h"
-#include "esc.h"
-#include "ec_stoeber.h"
-#include "log.h"
+#include <controller/controller_block.h>
+#include <ec/esc.h>
+#include <ec/ec_stoeber.h>
+#include <log/log.h>
 
 
 #define RPM2RADS(val) ((val)*2.0*M_PI/60.0)

controller/ec/build.mk

+
+EC_TARGETS += $(LIBDIR)/libethercat.la
+
+
+EC_SRCS = \
+	$(DIR)/ec.c \
+	$(DIR)/esc.c \
+	$(DIR)/esc_coe.c \
+	$(DIR)/esc_esi.c \
+	$(DIR)/esc_mailbox.c \
+	$(DIR)/esc_device.c \
+	$(DIR)/esc_watchdog.c \
+	$(DIR)/esc_dc.c \
+	$(DIR)/canopen.c \
+	$(DIR)/ec_stoeber.c \
+	$(DIR)/block_ec.c \
+	$(DIR)/block_beckhoff_el1xxx.c \
+	$(DIR)/block_beckhoff_el2xxx.c \
+	$(DIR)/block_beckhoff_el2502.c \
+	$(DIR)/block_beckhoff_el3xxx.c \
+	$(DIR)/block_beckhoff_el4xxx.c \
+	$(DIR)/block_beckhoff_el5001.c \
+	$(DIR)/block_beckhoff_el5101.c \
+	$(DIR)/block_beckhoff_el7031.c \
+	$(DIR)/block_stoeber.c
+
+ifeq ($(OS), FreeBSD)
+	EC_SRCS+= $(DIR)/eth_bsd.c
+else
+	EC_SRCS+= $(DIR)/eth_linux.c
+endif
+
+EC_OBJS := $(EC_SRCS:.c=.lo)
+
+
+$(LIBDIR)/libethercat.la: libcontroller.la liblog.la
+$(LIBDIR)/libethercat.la: LDFLAGS += -lm -lpthread -lcontroller -llog
+$(LIBDIR)/libethercat.la: CFLAGS += -O3 -Wall
+$(LIBDIR)/libethercat.la: $(EC_OBJS)
+	$(LIB_LINK)
+
+
+EC_TARGETS += $(DIR)/ec_enum
+
+EC_ENUM_SRCS = $(DIR)/ec_enum.c
+EC_ENUM_OBJS := $(EC_ENUM_SRCS:.c=.o)
+
+$(DIR)/ec_enum: libethercat.la
+$(DIR)/ec_enum: CFLAGS += -O3 -Wall
+$(DIR)/ec_enum: LDFLAGS += -lethercat
+$(DIR)/ec_enum: $(EC_ENUM_OBJS)
+
+TARGETS += $(EC_TARGETS)
+CLEAN += $(EC_TARGETS) $(EC_OBJS) $(EC_ENUM_OBJS)
+SRCS += $(EC_SRCS) $(EC_ENUM_SRCS)

controller/ec/canopen.c

@@ -27,9 +27,9 @@
 #include <sys/endian.h>
 #endif
 
-#include "canopen.h"
+#include <ec/canopen.h>
 
-#include "log.h"
+#include <log/log.h>
 
 #define CANOPEN_CSS_MASK	0xe0
 #define CANOPEN_CSS_INITIATE_DOMAIN_DOWNLOAD	(0x1 << 5)	// 0x20

controller/ec/ec.c

@@ -34,12 +34,12 @@
 #include <pthread.h>
 #include <semaphore.h>
 
-#include "controller_sample.h"
+#include <controller/controller_sample.h>
 
-#include "ec.h"
-#include "ec_int.h"
-#include "eth.h"
-#include "log.h"
+#include <ec/ec.h>
+#include <ec/ec_int.h>
+#include <ec/eth.h>
+#include <log/log.h>
 
 static int ec_sock;
 

controller/ec/ec.h

@@ -34,7 +34,7 @@
 #define __packed __attribute__((packed))
 #endif
 
-#include "canopen.h"
+#include <ec/canopen.h>
 
 int ec_init(char *ifname, bool single_cycle);
 bool ec_initialized(void);

controller/ec/ec_enum.c

@@ -25,12 +25,12 @@
 #include <ctype.h>
 #include <stdarg.h>
 
-#include "ec.h"
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_registers.h"
-#include "esc_id.h"
-#include "log.h"
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_registers.h>
+#include <ec/esc_id.h>
+#include <log/log.h>
 
 /* Local override, we don't want a complete log implementation */
 void log_send(enum log_type type, char *fmt, ...)

controller/ec/ec_int.h

@@ -20,9 +20,9 @@
 #ifndef _INCLUDE_EC_INT_H_
 #define _INCLUDE_EC_INT_H_
 
-#include "ec.h"
-#include "esc.h"
-#include "esc_registers.h"
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_registers.h>
 
 #define ETH_P_ETHERCAT	0x88a4
 

controller/ec/ec_stoeber.c

@@ -21,13 +21,13 @@
 #include <stdlib.h>
 #include <math.h>
 
-#include "esc.h"
-#include "esc_esi.h"
-#include "esc_coe.h"
-#include "esc_mailbox.h"
-#include "ec_stoeber.h"
-#include "esc_dc.h"
-#include "log.h"
+#include <ec/esc.h>
+#include <ec/esc_esi.h>
+#include <ec/esc_coe.h>
+#include <ec/esc_mailbox.h>
+#include <ec/ec_stoeber.h>
+#include <ec/esc_dc.h>
+#include <log/log.h>
 
 static void ec_stoeber_emergency_handler(struct canopen_dev *dev, 
     uint16_t code, uint8_t reg, uint8_t vendor[5])

controller/ec/ec_stoeber.h

@@ -20,8 +20,8 @@
 #ifndef _INCLUDE_EC_STOEBER_H_
 #define _INCLUDE_EC_STOEBER_H_
 
-#include "ec.h"
-#include "canopen.h"
+#include <ec/ec.h>
+#include <ec/canopen.h>
 
 #define STOEBER_PARAM2INDEX(group, nr) (0x2000 + ((group) - 'A') * 0x200 + nr)
 

controller/ec/ec_test.c

@@ -23,10 +23,10 @@
 #include <unistd.h>
 #include <time.h>
 
-#include "ec.h"
-#include "esc.h"
-#include "esc_coe.h"
-#include "canopen.h"
+#include <ec/ec.h>
+#include <ec/esc.h>
+#include <ec/esc_coe.h>
+#include <ec/canopen.h>
 
 int main (int argc, char **argv)
 {

controller/ec/esc.c

@@ -21,11 +21,11 @@
 #include <stdio.h>
 #include <time.h>
 
-#include "esc.h"
-#include "esc_registers.h"
-#include "ec.h"
-#include "canopen.h"
-#include "log.h"
+#include <ec/esc.h>
+#include <ec/esc_registers.h>
+#include <ec/ec.h>
+#include <ec/canopen.h>
+#include <log/log.h>
 
 
 bool esc_timeout_expired(struct timespec *start, struct timespec *timeout)

controller/ec/esc.h

@@ -23,9 +23,9 @@
 
 #include <unistd.h>
 #include <time.h>
-#include <ec.h>
+#include <ec/ec.h>
 
-#include "esc_sm.h"
+#include <ec/esc_sm.h>
 
 int esc_init(struct ec_dgram_addr *addr);
 

controller/ec/esc_coe.c

@@ -28,9 +28,9 @@
 #include <limits.h>
 #include <unistd.h>
 
-#include "ec.h"
-#include "esc_coe.h"
-#include "log.h"
+#include <ec/ec.h>
+#include <ec/esc_coe.h>
+#include <log/log.h>
 
 
 

controller/ec/esc_coe.h

@@ -20,7 +20,7 @@
 #ifndef _INCLUDE_EC_ESC_COE_H_
 #define _INCLUDE_EC_ESC_COE_H_
 
-#include "esc_mailbox.h"
+#include <ec/esc_mailbox.h>
 
 struct canopen_dev *esc_coe_create(struct esc_mailbox *mailbox);
 void esc_coe_destroy(struct canopen_dev *coe);