First batch of cherry picks from the vitsch branch.

common/include/dynarg.h

@@ -20,7 +20,7 @@
 #define _INCLUDE_DYNARG_H_
 
 #include <stdarg.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 
 

common/utils/tcp_listen.c

@@ -25,6 +25,8 @@
 #include <netinet/in.h>
 #include <string.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include "tcp_listen.h"
 

controller/Makefile

@@ -7,11 +7,16 @@ CFLAGS= -Wall -O3 \
 	-I../common/trace \
 	-I../common/include \
 	-Idt_azimuth -Idt_elevation -Iec -Ishell -Ilog
-LDFLAGS= -lpthread -lrt -lm -ldl -Wl,-E -L../common/lib -L./lib
+LDFLAGS= -lpthread -lrt -lm -Wl,-E -L../common/lib -L./lib
 CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+LDFLAGS+= -ldl
+endif
 
-dt_ctrl_LDFLAGS=`controller/block_list.sh lib/*.a` \
+
+dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
 	-lcontroller -lethercat -llog -lshell -ldt_azimuth -ldt_elevation
 
 all: dt_ctrl \

controller/build.mk

@@ -8,6 +8,13 @@ VPATH= /lib64 /usr/lib64 /usr/local/lib64 /lib /usr/lib /usr/local/lib
 
 LIBTOOL=libtool
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+FLEX=flex
+else
+FLEX=/usr/local/bin/flex
+endif
+
 %.o : %.c
 	@echo "LT   CC $<"
 	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
@@ -22,7 +29,11 @@ LIBTOOL=libtool
 %.lo: %.c
 	@echo "LT   CC $<"
 	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-	@sed -i -e "s:\.libs/::" -e "s:\.o:\.lo:" .libs/$*.d
+# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
+# while on FreeBSD, '-i' takes a non-optional extension argument. With
+# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
+# as intermediate file for in-place editing.
+	@sed -e "s:\.libs/::" -e "s:\.o:\.lo:" -i -i .libs/$*.d
 
 %.la:
 	@echo "LIBTOOL $@"
@@ -38,7 +49,8 @@ LIBTOOL=libtool
 
 %.yy.c %.yy.h: %.l %.tab.h
 	@echo "   FLEX $<"
-	@flex --header-file=$*.yy.h -o $*.yy.c $<
+	@echo $(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
+	@$(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
 
 # il2c: instruction list 2 c 'compiler'
 %.c %.h: %.il

controller/controller/Makefile

@@ -14,7 +14,6 @@ BLOCKSRCS= \
 	block_friction.c \
 	block_gain.c \
 	block_gain_var.c \
-	block_joystick.c \
 	block_limit.c \
 	block_limit_dyn.c \
 	block_limit_2nd.c \
@@ -43,6 +42,13 @@ BLOCKSRCS= \
 	block_value_bool.c \
 	block_value_uint32.c
 
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+BLOCKSRCS+= \
+	block_joystick.c
+endif
+
+
 CONTROLLERSRCS= \
 	controller_block.c \
 	controller_block_param.c \

controller/controller/block_list.sh

-#!/bin/bash
+#!/bin/sh
 
 for lib in $@; do
 	SYMBOLS=`nm $lib |grep "block_.*_create" |cut -d' ' -f3`

controller/controller/controller_block_param.c

@@ -25,7 +25,7 @@
  */
 
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include "controller_block.h"
 #include "controller_sample.h"

controller/controller/controller_block_trace.c

@@ -22,7 +22,7 @@
 	This module takes care of tracing block outputs.
  */
 
-#include <malloc.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "controller_block.h"

controller/controller/controller_dumpdot.c

@@ -18,7 +18,7 @@
 
 #include <stdio.h>
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include <controller/controller_block.h>
 #include <controller/controller_trace.h>

controller/controller/controller_load.c

@@ -19,7 +19,7 @@
 
 #include <stdio.h>
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 #include <stdbool.h>
 #include "controller_load_parser.tab.h"
 #include "controller_load_parser.yy.h"

controller/controller/il2c/il2c.c

@@ -19,7 +19,7 @@
 
 #include <stdio.h>
 #include <string.h>
-#include <malloc.h>
+#include <stdlib.h>
 #include <stdbool.h>
 #include "il.tab.h"
 #include "il2c.h"

controller/dt_azimuth/dt_az_stoeber_sim.c

@@ -19,7 +19,7 @@
 
 #include <string.h>
 #include <stdio.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include "controller_block.h"
 

controller/dt_elevation/dt_el_stoeber_l_sim.c

@@ -20,7 +20,7 @@
 
 #include <string.h>
 #include <stdio.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include "controller_block.h"
 #include "log.h"

controller/dt_elevation/dt_el_stoeber_r_sim.c

@@ -20,7 +20,7 @@
 
 #include <string.h>
 #include <stdio.h>
-#include <malloc.h>
+#include <stdlib.h>
 
 #include "controller_block.h"
 

controller/ec/Makefile

@@ -33,6 +33,8 @@ BLOCKSRCS= \
 	block_beckhoff_el7031.c \
 	block_stoeber.c
 
+#	block_beckhoff_ax5xxx.c \
+
 BLOCKS=$(BLOCKSRCS:.c=.lo)
 SRCS=$(BLOCKSRCS) $(LIBSRCS)
 

controller/ec/canopen.c

@@ -21,6 +21,12 @@
 #include <stdio.h>
 #include <pthread.h>
 
+#if defined(__linux__)
+#include <endian.h>
+#else
+#include <sys/endian.h>
+#endif
+
 #include "canopen.h"
 
 #include "log.h"

controller/ec/esc_coe.c

@@ -32,12 +32,6 @@
 #include "esc_coe.h"
 #include "log.h"
 
-#define ESC_MAILBOX_TYPE_ADS	0x1
-#define ESC_MAILBOX_TYPE_EOE	0x2
-#define ESC_MAILBOX_TYPE_COE	0x3
-#define ESC_MAILBOX_TYPE_FOE	0x4
-#define ESC_MAILBOX_TYPE_SOE	0x5
-#define ESC_MAILBOX_TYPE_VOE	0xf
 
 
 struct canopen_dev_priv {

controller/ec/esc_id.h

@@ -133,6 +133,8 @@
 
 #define ESC_ESI_PRODUCTCODE_BECKHOFF_EL7031	0x1b773052
 
+#define ESC_ESI_PRODUCTCODE_BECKHOFF_AX5203	0x14536012
+
 struct esc_vendor {
 	uint32_t vendorid;
 	char *name;

controller/ec/esc_mailbox.h

@@ -35,5 +35,12 @@ void esc_mailbox_destroy(struct esc_mailbox *mailbox);
 
 int esc_syncmanager_claim(struct ec_dgram_addr *addr);
 
+#define ESC_MAILBOX_TYPE_ADS	0x1
+#define ESC_MAILBOX_TYPE_EOE	0x2
+#define ESC_MAILBOX_TYPE_COE	0x3
+#define ESC_MAILBOX_TYPE_FOE	0x4
+#define ESC_MAILBOX_TYPE_SOE	0x5
+#define ESC_MAILBOX_TYPE_VOE	0xf
+
 
 #endif /* _INCLUDE_EC_ESC_MAILBOX_H_ */

controller/ec/eth_bsd.c

@@ -28,8 +28,8 @@ struct sockaddr_ll {
         size_t			sll_halen;
 };
 
-static struct tx_timeout;
-static struct rx_timeout;
+static struct timeval tx_timeout;
+static struct timeval rx_timeout;
 static struct sockaddr_ll sockaddr_ll;
 
 int eth_timeout_set(int ec_sock, struct timeval *tx, struct timeval *rx)
@@ -151,7 +151,7 @@ int eth_recv(int ec_sock, void *frame, int max_len)
 
 	while (1) {
 		// TODO: kqueue?
-		memcpy(&timeout, rx_timeout, sizeof(timeout));
+		memcpy(&timeout, &rx_timeout, sizeof(timeout));
 
 		FD_ZERO(&fdr);
 		FD_SET(ec_sock, &fdr);
@@ -226,7 +226,7 @@ struct ethercat_pkt		tx_pkt;
 
 int eth_send(int ec_sock, void *frame, int len)
 {
-	struct sockaddr_ll	*addr = (struct sockaddr_ll *)sockaddr_ll;
+	struct sockaddr_ll	*addr = (struct sockaddr_ll *)&sockaddr_ll;
 	int			result;
 	uint8_t			*ptr;
 	
@@ -244,6 +244,18 @@ int eth_send(int ec_sock, void *frame, int len)
 	memcpy(tx_pkt.data, frame, len);
 
 	ptr = (uint8_t *)&tx_pkt;
+	//TODO: do this once during start-up, in ec_init()
+	// destination address
+	ptr[0] = 0xff;
+	ptr[1] = 0xff;
+	ptr[2] = 0xff;
+	ptr[3] = 0xff;
+	ptr[4] = 0xff;
+	ptr[5] = 0xff;
+	// protocol
+	ptr[2 * 6 + 0] = ETH_P_ETHERCAT >> 8;
+	ptr[2 * 6 + 1] = ETH_P_ETHERCAT & 0xff;
+	
 #if 0
 	printf("tx:");
 	for (result = 0; result < ETHER_HDR_LEN + len; result++) {