AB&T / SOEM

SOEM EtherCAT Master library for STM Nucleo F767ZI

Dependents:   EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB

  • It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .

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/media/uploads/EasyCAT/easycat_lab.jpg

SOEM/ethercattype.h@0:543d6784d4cc, 2019-06-11 (annotated)

Committer:
EasyCAT
Date:
Tue Jun 11 10:29:09 2019 +0000
Revision:
0:543d6784d4cc
SOEM EtherCAT Master Library for STM Nucleo F767ZI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EasyCAT 0:543d6784d4cc 1 /*
EasyCAT 0:543d6784d4cc 2 * Licensed under the GNU General Public License version 2 with exceptions. See
EasyCAT 0:543d6784d4cc 3 * LICENSE file in the project root for full license information
EasyCAT 0:543d6784d4cc 4 */
EasyCAT 0:543d6784d4cc 5
EasyCAT 0:543d6784d4cc 6 /** \file
EasyCAT 0:543d6784d4cc 7 * \brief
EasyCAT 0:543d6784d4cc 8 * General typedefs and defines for EtherCAT.
EasyCAT 0:543d6784d4cc 9 *
EasyCAT 0:543d6784d4cc 10 * Defines that could need optimisation for specific applications
EasyCAT 0:543d6784d4cc 11 * are the EC_TIMEOUTxxx. Assumptions for the standard settings are a
EasyCAT 0:543d6784d4cc 12 * standard linux PC or laptop and a wired connection to maximal 100 slaves.
EasyCAT 0:543d6784d4cc 13 * For use with wireless connections or lots of slaves the timeouts need
EasyCAT 0:543d6784d4cc 14 * increasing. For fast systems running Xenomai and RT-net or alike the
EasyCAT 0:543d6784d4cc 15 * timeouts need to be shorter.
EasyCAT 0:543d6784d4cc 16 */
EasyCAT 0:543d6784d4cc 17
EasyCAT 0:543d6784d4cc 18 #ifndef _EC_TYPE_H
EasyCAT 0:543d6784d4cc 19 #define _EC_TYPE_H
EasyCAT 0:543d6784d4cc 20
EasyCAT 0:543d6784d4cc 21 #ifdef __cplusplus
EasyCAT 0:543d6784d4cc 22 extern "C"
EasyCAT 0:543d6784d4cc 23 {
EasyCAT 0:543d6784d4cc 24 #endif
EasyCAT 0:543d6784d4cc 25
EasyCAT 0:543d6784d4cc 26 /** Define Little or Big endian target */
EasyCAT 0:543d6784d4cc 27 #define EC_LITTLE_ENDIAN
EasyCAT 0:543d6784d4cc 28
EasyCAT 0:543d6784d4cc 29 /** define EC_VER1 if version 1 default context and functions are needed
EasyCAT 0:543d6784d4cc 30 * comment if application uses only ecx_ functions and own context */
EasyCAT 0:543d6784d4cc 31 #define EC_VER1
EasyCAT 0:543d6784d4cc 32
EasyCAT 0:543d6784d4cc 33 #include "osal.h"
EasyCAT 0:543d6784d4cc 34
EasyCAT 0:543d6784d4cc 35 /** return value general error */
EasyCAT 0:543d6784d4cc 36 #define EC_ERROR -3
EasyCAT 0:543d6784d4cc 37 /** return value no frame returned */
EasyCAT 0:543d6784d4cc 38 #define EC_NOFRAME -1
EasyCAT 0:543d6784d4cc 39 /** return value unknown frame received */
EasyCAT 0:543d6784d4cc 40 #define EC_OTHERFRAME -2
EasyCAT 0:543d6784d4cc 41 /** maximum EtherCAT frame length in bytes */
EasyCAT 0:543d6784d4cc 42 #define EC_MAXECATFRAME 1518
EasyCAT 0:543d6784d4cc 43 /** maximum EtherCAT LRW frame length in bytes */
EasyCAT 0:543d6784d4cc 44 /* MTU - Ethernet header - length - datagram header - WCK - FCS */
EasyCAT 0:543d6784d4cc 45 #define EC_MAXLRWDATA (EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4)
EasyCAT 0:543d6784d4cc 46 /** size of DC datagram used in first LRW frame */
EasyCAT 0:543d6784d4cc 47 #define EC_FIRSTDCDATAGRAM 20
EasyCAT 0:543d6784d4cc 48 /** standard frame buffer size in bytes */
EasyCAT 0:543d6784d4cc 49 #define EC_BUFSIZE EC_MAXECATFRAME
EasyCAT 0:543d6784d4cc 50 /** datagram type EtherCAT */
EasyCAT 0:543d6784d4cc 51 #define EC_ECATTYPE 0x1000
EasyCAT 0:543d6784d4cc 52 /** number of frame buffers per channel (tx, rx1 rx2) */
EasyCAT 0:543d6784d4cc 53 #define EC_MAXBUF 16
EasyCAT 0:543d6784d4cc 54 /** timeout value in us for tx frame to return to rx */
EasyCAT 0:543d6784d4cc 55 //#define EC_TIMEOUTRET 2000
EasyCAT 0:543d6784d4cc 56
EasyCAT 0:543d6784d4cc 57 #define EC_TIMEOUTRET 500 //Changed: must be less than the CYCLE_TIME
EasyCAT 0:543d6784d4cc 58
EasyCAT 0:543d6784d4cc 59 /** timeout value in us for safe data transfer, max. triple retry */
EasyCAT 0:543d6784d4cc 60 #define EC_TIMEOUTRET3 (EC_TIMEOUTRET * 3)
EasyCAT 0:543d6784d4cc 61 /** timeout value in us for return "safe" variant (f.e. wireless) */
EasyCAT 0:543d6784d4cc 62 #define EC_TIMEOUTSAFE 20000
EasyCAT 0:543d6784d4cc 63 /** timeout value in us for EEPROM access */
EasyCAT 0:543d6784d4cc 64 #define EC_TIMEOUTEEP 20000
EasyCAT 0:543d6784d4cc 65 /** timeout value in us for tx mailbox cycle */
EasyCAT 0:543d6784d4cc 66 #define EC_TIMEOUTTXM 20000
EasyCAT 0:543d6784d4cc 67 /** timeout value in us for rx mailbox cycle */
EasyCAT 0:543d6784d4cc 68 #define EC_TIMEOUTRXM 700000
EasyCAT 0:543d6784d4cc 69 /** timeout value in us for check statechange */
EasyCAT 0:543d6784d4cc 70 #define EC_TIMEOUTSTATE 2000000
EasyCAT 0:543d6784d4cc 71 /** size of EEPROM bitmap cache */
EasyCAT 0:543d6784d4cc 72 #define EC_MAXEEPBITMAP 128
EasyCAT 0:543d6784d4cc 73 /** size of EEPROM cache buffer */
EasyCAT 0:543d6784d4cc 74 #define EC_MAXEEPBUF EC_MAXEEPBITMAP << 5
EasyCAT 0:543d6784d4cc 75 /** default number of retries if wkc <= 0 */
EasyCAT 0:543d6784d4cc 76 #define EC_DEFAULTRETRIES 3
EasyCAT 0:543d6784d4cc 77 /** default group size in 2^x */
EasyCAT 0:543d6784d4cc 78 #define EC_LOGGROUPOFFSET 16
EasyCAT 0:543d6784d4cc 79
EasyCAT 0:543d6784d4cc 80 /** definition for frame buffers */
EasyCAT 0:543d6784d4cc 81 typedef uint8 ec_bufT[EC_BUFSIZE];
EasyCAT 0:543d6784d4cc 82
EasyCAT 0:543d6784d4cc 83 /** ethernet header definition */
EasyCAT 0:543d6784d4cc 84 PACKED_BEGIN
EasyCAT 0:543d6784d4cc 85 typedef struct PACKED
EasyCAT 0:543d6784d4cc 86 {
EasyCAT 0:543d6784d4cc 87 /** destination MAC */
EasyCAT 0:543d6784d4cc 88 uint16 da0,da1,da2;
EasyCAT 0:543d6784d4cc 89 /** source MAC */
EasyCAT 0:543d6784d4cc 90 uint16 sa0,sa1,sa2;
EasyCAT 0:543d6784d4cc 91 /** ethernet type */
EasyCAT 0:543d6784d4cc 92 uint16 etype;
EasyCAT 0:543d6784d4cc 93 } ec_etherheadert;
EasyCAT 0:543d6784d4cc 94 PACKED_END
EasyCAT 0:543d6784d4cc 95
EasyCAT 0:543d6784d4cc 96 /** ethernet header size */
EasyCAT 0:543d6784d4cc 97 #define ETH_HEADERSIZE sizeof(ec_etherheadert)
EasyCAT 0:543d6784d4cc 98
EasyCAT 0:543d6784d4cc 99 /** EtherCAT datagram header definition */
EasyCAT 0:543d6784d4cc 100 PACKED_BEGIN
EasyCAT 0:543d6784d4cc 101 typedef struct PACKED
EasyCAT 0:543d6784d4cc 102 {
EasyCAT 0:543d6784d4cc 103 /** length of EtherCAT datagram */
EasyCAT 0:543d6784d4cc 104 uint16 elength;
EasyCAT 0:543d6784d4cc 105 /** EtherCAT command, see ec_cmdtype */
EasyCAT 0:543d6784d4cc 106 uint8 command;
EasyCAT 0:543d6784d4cc 107 /** index, used in SOEM for Tx to Rx recombination */
EasyCAT 0:543d6784d4cc 108 uint8 index;
EasyCAT 0:543d6784d4cc 109 /** ADP */
EasyCAT 0:543d6784d4cc 110 uint16 ADP;
EasyCAT 0:543d6784d4cc 111 /** ADO */
EasyCAT 0:543d6784d4cc 112 uint16 ADO;
EasyCAT 0:543d6784d4cc 113 /** length of data portion in datagram */
EasyCAT 0:543d6784d4cc 114 uint16 dlength;
EasyCAT 0:543d6784d4cc 115 /** interrupt, currently unused */
EasyCAT 0:543d6784d4cc 116 uint16 irpt;
EasyCAT 0:543d6784d4cc 117 } ec_comt;
EasyCAT 0:543d6784d4cc 118 PACKED_END
EasyCAT 0:543d6784d4cc 119
EasyCAT 0:543d6784d4cc 120 /** EtherCAT header size */
EasyCAT 0:543d6784d4cc 121 #define EC_HEADERSIZE sizeof(ec_comt)
EasyCAT 0:543d6784d4cc 122 /** size of ec_comt.elength item in EtherCAT header */
EasyCAT 0:543d6784d4cc 123 #define EC_ELENGTHSIZE sizeof(uint16)
EasyCAT 0:543d6784d4cc 124 /** offset position of command in EtherCAT header */
EasyCAT 0:543d6784d4cc 125 #define EC_CMDOFFSET EC_ELENGTHSIZE
EasyCAT 0:543d6784d4cc 126 /** size of workcounter item in EtherCAT datagram */
EasyCAT 0:543d6784d4cc 127 #define EC_WKCSIZE sizeof(uint16)
EasyCAT 0:543d6784d4cc 128 /** definition of datagram follows bit in ec_comt.dlength */
EasyCAT 0:543d6784d4cc 129 #define EC_DATAGRAMFOLLOWS (1 << 15)
EasyCAT 0:543d6784d4cc 130
EasyCAT 0:543d6784d4cc 131 /** Possible error codes returned. */
EasyCAT 0:543d6784d4cc 132 typedef enum
EasyCAT 0:543d6784d4cc 133 {
EasyCAT 0:543d6784d4cc 134 /** No error */
EasyCAT 0:543d6784d4cc 135 EC_ERR_OK = 0,
EasyCAT 0:543d6784d4cc 136 /** Library already initialized. */
EasyCAT 0:543d6784d4cc 137 EC_ERR_ALREADY_INITIALIZED,
EasyCAT 0:543d6784d4cc 138 /** Library not initialized. */
EasyCAT 0:543d6784d4cc 139 EC_ERR_NOT_INITIALIZED,
EasyCAT 0:543d6784d4cc 140 /** Timeout occurred during execution of the function. */
EasyCAT 0:543d6784d4cc 141 EC_ERR_TIMEOUT,
EasyCAT 0:543d6784d4cc 142 /** No slaves were found. */
EasyCAT 0:543d6784d4cc 143 EC_ERR_NO_SLAVES,
EasyCAT 0:543d6784d4cc 144 /** Function failed. */
EasyCAT 0:543d6784d4cc 145 EC_ERR_NOK
EasyCAT 0:543d6784d4cc 146 } ec_err;
EasyCAT 0:543d6784d4cc 147
EasyCAT 0:543d6784d4cc 148 /** Possible EtherCAT slave states */
EasyCAT 0:543d6784d4cc 149 typedef enum
EasyCAT 0:543d6784d4cc 150 {
EasyCAT 0:543d6784d4cc 151 /** No valid state. */
EasyCAT 0:543d6784d4cc 152 EC_STATE_NONE = 0x00,
EasyCAT 0:543d6784d4cc 153 /** Init state*/
EasyCAT 0:543d6784d4cc 154 EC_STATE_INIT = 0x01,
EasyCAT 0:543d6784d4cc 155 /** Pre-operational. */
EasyCAT 0:543d6784d4cc 156 EC_STATE_PRE_OP = 0x02,
EasyCAT 0:543d6784d4cc 157 /** Boot state*/
EasyCAT 0:543d6784d4cc 158 EC_STATE_BOOT = 0x03,
EasyCAT 0:543d6784d4cc 159 /** Safe-operational. */
EasyCAT 0:543d6784d4cc 160 EC_STATE_SAFE_OP = 0x04,
EasyCAT 0:543d6784d4cc 161 /** Operational */
EasyCAT 0:543d6784d4cc 162 EC_STATE_OPERATIONAL = 0x08,
EasyCAT 0:543d6784d4cc 163 /** Error or ACK error */
EasyCAT 0:543d6784d4cc 164 EC_STATE_ACK = 0x10,
EasyCAT 0:543d6784d4cc 165 EC_STATE_ERROR = 0x10
EasyCAT 0:543d6784d4cc 166 } ec_state;
EasyCAT 0:543d6784d4cc 167
EasyCAT 0:543d6784d4cc 168 /** Possible buffer states */
EasyCAT 0:543d6784d4cc 169 typedef enum
EasyCAT 0:543d6784d4cc 170 {
EasyCAT 0:543d6784d4cc 171 /** Empty */
EasyCAT 0:543d6784d4cc 172 EC_BUF_EMPTY = 0x00,
EasyCAT 0:543d6784d4cc 173 /** Allocated, but not filled */
EasyCAT 0:543d6784d4cc 174 EC_BUF_ALLOC = 0x01,
EasyCAT 0:543d6784d4cc 175 /** Transmitted */
EasyCAT 0:543d6784d4cc 176 EC_BUF_TX = 0x02,
EasyCAT 0:543d6784d4cc 177 /** Received, but not consumed */
EasyCAT 0:543d6784d4cc 178 EC_BUF_RCVD = 0x03,
EasyCAT 0:543d6784d4cc 179 /** Cycle completed */
EasyCAT 0:543d6784d4cc 180 EC_BUF_COMPLETE = 0x04
EasyCAT 0:543d6784d4cc 181 } ec_bufstate;
EasyCAT 0:543d6784d4cc 182
EasyCAT 0:543d6784d4cc 183 /** Ethercat data types */
EasyCAT 0:543d6784d4cc 184 typedef enum
EasyCAT 0:543d6784d4cc 185 {
EasyCAT 0:543d6784d4cc 186 ECT_BOOLEAN = 0x0001,
EasyCAT 0:543d6784d4cc 187 ECT_INTEGER8 = 0x0002,
EasyCAT 0:543d6784d4cc 188 ECT_INTEGER16 = 0x0003,
EasyCAT 0:543d6784d4cc 189 ECT_INTEGER32 = 0x0004,
EasyCAT 0:543d6784d4cc 190 ECT_UNSIGNED8 = 0x0005,
EasyCAT 0:543d6784d4cc 191 ECT_UNSIGNED16 = 0x0006,
EasyCAT 0:543d6784d4cc 192 ECT_UNSIGNED32 = 0x0007,
EasyCAT 0:543d6784d4cc 193 ECT_REAL32 = 0x0008,
EasyCAT 0:543d6784d4cc 194 ECT_VISIBLE_STRING = 0x0009,
EasyCAT 0:543d6784d4cc 195 ECT_OCTET_STRING = 0x000A,
EasyCAT 0:543d6784d4cc 196 ECT_UNICODE_STRING = 0x000B,
EasyCAT 0:543d6784d4cc 197 ECT_TIME_OF_DAY = 0x000C,
EasyCAT 0:543d6784d4cc 198 ECT_TIME_DIFFERENCE = 0x000D,
EasyCAT 0:543d6784d4cc 199 ECT_DOMAIN = 0x000F,
EasyCAT 0:543d6784d4cc 200 ECT_INTEGER24 = 0x0010,
EasyCAT 0:543d6784d4cc 201 ECT_REAL64 = 0x0011,
EasyCAT 0:543d6784d4cc 202 ECT_INTEGER64 = 0x0015,
EasyCAT 0:543d6784d4cc 203 ECT_UNSIGNED24 = 0x0016,
EasyCAT 0:543d6784d4cc 204 ECT_UNSIGNED64 = 0x001B,
EasyCAT 0:543d6784d4cc 205 ECT_BIT1 = 0x0030,
EasyCAT 0:543d6784d4cc 206 ECT_BIT2 = 0x0031,
EasyCAT 0:543d6784d4cc 207 ECT_BIT3 = 0x0032,
EasyCAT 0:543d6784d4cc 208 ECT_BIT4 = 0x0033,
EasyCAT 0:543d6784d4cc 209 ECT_BIT5 = 0x0034,
EasyCAT 0:543d6784d4cc 210 ECT_BIT6 = 0x0035,
EasyCAT 0:543d6784d4cc 211 ECT_BIT7 = 0x0036,
EasyCAT 0:543d6784d4cc 212 ECT_BIT8 = 0x0037
EasyCAT 0:543d6784d4cc 213 } ec_datatype;
EasyCAT 0:543d6784d4cc 214
EasyCAT 0:543d6784d4cc 215 /** Ethercat command types */
EasyCAT 0:543d6784d4cc 216 typedef enum
EasyCAT 0:543d6784d4cc 217 {
EasyCAT 0:543d6784d4cc 218 /** No operation */
EasyCAT 0:543d6784d4cc 219 EC_CMD_NOP = 0x00,
EasyCAT 0:543d6784d4cc 220 /** Auto Increment Read */
EasyCAT 0:543d6784d4cc 221 EC_CMD_APRD,
EasyCAT 0:543d6784d4cc 222 /** Auto Increment Write */
EasyCAT 0:543d6784d4cc 223 EC_CMD_APWR,
EasyCAT 0:543d6784d4cc 224 /** Auto Increment Read Write */
EasyCAT 0:543d6784d4cc 225 EC_CMD_APRW,
EasyCAT 0:543d6784d4cc 226 /** Configured Address Read */
EasyCAT 0:543d6784d4cc 227 EC_CMD_FPRD,
EasyCAT 0:543d6784d4cc 228 /** Configured Address Write */
EasyCAT 0:543d6784d4cc 229 EC_CMD_FPWR,
EasyCAT 0:543d6784d4cc 230 /** Configured Address Read Write */
EasyCAT 0:543d6784d4cc 231 EC_CMD_FPRW,
EasyCAT 0:543d6784d4cc 232 /** Broadcast Read */
EasyCAT 0:543d6784d4cc 233 EC_CMD_BRD,
EasyCAT 0:543d6784d4cc 234 /** Broadcast Write */
EasyCAT 0:543d6784d4cc 235 EC_CMD_BWR,
EasyCAT 0:543d6784d4cc 236 /** Broadcast Read Write */
EasyCAT 0:543d6784d4cc 237 EC_CMD_BRW,
EasyCAT 0:543d6784d4cc 238 /** Logical Memory Read */
EasyCAT 0:543d6784d4cc 239 EC_CMD_LRD,
EasyCAT 0:543d6784d4cc 240 /** Logical Memory Write */
EasyCAT 0:543d6784d4cc 241 EC_CMD_LWR,
EasyCAT 0:543d6784d4cc 242 /** Logical Memory Read Write */
EasyCAT 0:543d6784d4cc 243 EC_CMD_LRW,
EasyCAT 0:543d6784d4cc 244 /** Auto Increment Read Multiple Write */
EasyCAT 0:543d6784d4cc 245 EC_CMD_ARMW,
EasyCAT 0:543d6784d4cc 246 /** Configured Read Multiple Write */
EasyCAT 0:543d6784d4cc 247 EC_CMD_FRMW
EasyCAT 0:543d6784d4cc 248 /** Reserved */
EasyCAT 0:543d6784d4cc 249 } ec_cmdtype;
EasyCAT 0:543d6784d4cc 250
EasyCAT 0:543d6784d4cc 251 /** Ethercat EEprom command types */
EasyCAT 0:543d6784d4cc 252 typedef enum
EasyCAT 0:543d6784d4cc 253 {
EasyCAT 0:543d6784d4cc 254 /** No operation */
EasyCAT 0:543d6784d4cc 255 EC_ECMD_NOP = 0x0000,
EasyCAT 0:543d6784d4cc 256 /** Read */
EasyCAT 0:543d6784d4cc 257 EC_ECMD_READ = 0x0100,
EasyCAT 0:543d6784d4cc 258 /** Write */
EasyCAT 0:543d6784d4cc 259 EC_ECMD_WRITE = 0x0201,
EasyCAT 0:543d6784d4cc 260 /** Reload */
EasyCAT 0:543d6784d4cc 261 EC_ECMD_RELOAD = 0x0300
EasyCAT 0:543d6784d4cc 262 } ec_ecmdtype;
EasyCAT 0:543d6784d4cc 263
EasyCAT 0:543d6784d4cc 264 /** EEprom state machine read size */
EasyCAT 0:543d6784d4cc 265 #define EC_ESTAT_R64 0x0040
EasyCAT 0:543d6784d4cc 266 /** EEprom state machine busy flag */
EasyCAT 0:543d6784d4cc 267 #define EC_ESTAT_BUSY 0x8000
EasyCAT 0:543d6784d4cc 268 /** EEprom state machine error flag mask */
EasyCAT 0:543d6784d4cc 269 #define EC_ESTAT_EMASK 0x7800
EasyCAT 0:543d6784d4cc 270 /** EEprom state machine error acknowledge */
EasyCAT 0:543d6784d4cc 271 #define EC_ESTAT_NACK 0x2000
EasyCAT 0:543d6784d4cc 272
EasyCAT 0:543d6784d4cc 273 /* Ethercat SSI (Slave Information Interface) */
EasyCAT 0:543d6784d4cc 274
EasyCAT 0:543d6784d4cc 275 /** Start address SII sections in Eeprom */
EasyCAT 0:543d6784d4cc 276 #define ECT_SII_START 0x0040
EasyCAT 0:543d6784d4cc 277
EasyCAT 0:543d6784d4cc 278 enum
EasyCAT 0:543d6784d4cc 279 {
EasyCAT 0:543d6784d4cc 280 /** SII category strings */
EasyCAT 0:543d6784d4cc 281 ECT_SII_STRING = 10,
EasyCAT 0:543d6784d4cc 282 /** SII category general */
EasyCAT 0:543d6784d4cc 283 ECT_SII_GENERAL = 30,
EasyCAT 0:543d6784d4cc 284 /** SII category FMMU */
EasyCAT 0:543d6784d4cc 285 ECT_SII_FMMU = 40,
EasyCAT 0:543d6784d4cc 286 /** SII category SM */
EasyCAT 0:543d6784d4cc 287 ECT_SII_SM = 41,
EasyCAT 0:543d6784d4cc 288 /** SII category PDO */
EasyCAT 0:543d6784d4cc 289 ECT_SII_PDO = 50
EasyCAT 0:543d6784d4cc 290 };
EasyCAT 0:543d6784d4cc 291
EasyCAT 0:543d6784d4cc 292 /** Item offsets in SII general section */
EasyCAT 0:543d6784d4cc 293 enum
EasyCAT 0:543d6784d4cc 294 {
EasyCAT 0:543d6784d4cc 295 ECT_SII_MANUF = 0x0008,
EasyCAT 0:543d6784d4cc 296 ECT_SII_ID = 0x000a,
EasyCAT 0:543d6784d4cc 297 ECT_SII_REV = 0x000c,
EasyCAT 0:543d6784d4cc 298 ECT_SII_BOOTRXMBX = 0x0014,
EasyCAT 0:543d6784d4cc 299 ECT_SII_BOOTTXMBX = 0x0016,
EasyCAT 0:543d6784d4cc 300 ECT_SII_MBXSIZE = 0x0019,
EasyCAT 0:543d6784d4cc 301 ECT_SII_TXMBXADR = 0x001a,
EasyCAT 0:543d6784d4cc 302 ECT_SII_RXMBXADR = 0x0018,
EasyCAT 0:543d6784d4cc 303 ECT_SII_MBXPROTO = 0x001c
EasyCAT 0:543d6784d4cc 304 };
EasyCAT 0:543d6784d4cc 305
EasyCAT 0:543d6784d4cc 306 /** Mailbox types definitions */
EasyCAT 0:543d6784d4cc 307 enum
EasyCAT 0:543d6784d4cc 308 {
EasyCAT 0:543d6784d4cc 309 /** Error mailbox type */
EasyCAT 0:543d6784d4cc 310 ECT_MBXT_ERR = 0x00,
EasyCAT 0:543d6784d4cc 311 /** ADS over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 312 ECT_MBXT_AOE,
EasyCAT 0:543d6784d4cc 313 /** Ethernet over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 314 ECT_MBXT_EOE,
EasyCAT 0:543d6784d4cc 315 /** CANopen over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 316 ECT_MBXT_COE,
EasyCAT 0:543d6784d4cc 317 /** File over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 318 ECT_MBXT_FOE,
EasyCAT 0:543d6784d4cc 319 /** Servo over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 320 ECT_MBXT_SOE,
EasyCAT 0:543d6784d4cc 321 /** Vendor over EtherCAT mailbox type */
EasyCAT 0:543d6784d4cc 322 ECT_MBXT_VOE = 0x0f
EasyCAT 0:543d6784d4cc 323 };
EasyCAT 0:543d6784d4cc 324
EasyCAT 0:543d6784d4cc 325 /** CoE mailbox types */
EasyCAT 0:543d6784d4cc 326 enum
EasyCAT 0:543d6784d4cc 327 {
EasyCAT 0:543d6784d4cc 328 ECT_COES_EMERGENCY = 0x01,
EasyCAT 0:543d6784d4cc 329 ECT_COES_SDOREQ,
EasyCAT 0:543d6784d4cc 330 ECT_COES_SDORES,
EasyCAT 0:543d6784d4cc 331 ECT_COES_TXPDO,
EasyCAT 0:543d6784d4cc 332 ECT_COES_RXPDO,
EasyCAT 0:543d6784d4cc 333 ECT_COES_TXPDO_RR,
EasyCAT 0:543d6784d4cc 334 ECT_COES_RXPDO_RR,
EasyCAT 0:543d6784d4cc 335 ECT_COES_SDOINFO
EasyCAT 0:543d6784d4cc 336 };
EasyCAT 0:543d6784d4cc 337
EasyCAT 0:543d6784d4cc 338 /** CoE SDO commands */
EasyCAT 0:543d6784d4cc 339 enum
EasyCAT 0:543d6784d4cc 340 {
EasyCAT 0:543d6784d4cc 341 ECT_SDO_DOWN_INIT = 0x21,
EasyCAT 0:543d6784d4cc 342 ECT_SDO_DOWN_EXP = 0x23,
EasyCAT 0:543d6784d4cc 343 ECT_SDO_DOWN_INIT_CA = 0x31,
EasyCAT 0:543d6784d4cc 344 ECT_SDO_UP_REQ = 0x40,
EasyCAT 0:543d6784d4cc 345 ECT_SDO_UP_REQ_CA = 0x50,
EasyCAT 0:543d6784d4cc 346 ECT_SDO_SEG_UP_REQ = 0x60,
EasyCAT 0:543d6784d4cc 347 ECT_SDO_ABORT = 0x80
EasyCAT 0:543d6784d4cc 348 };
EasyCAT 0:543d6784d4cc 349
EasyCAT 0:543d6784d4cc 350 /** CoE Object Description commands */
EasyCAT 0:543d6784d4cc 351 enum
EasyCAT 0:543d6784d4cc 352 {
EasyCAT 0:543d6784d4cc 353 ECT_GET_ODLIST_REQ = 0x01,
EasyCAT 0:543d6784d4cc 354 ECT_GET_ODLIST_RES = 0x02,
EasyCAT 0:543d6784d4cc 355 ECT_GET_OD_REQ = 0x03,
EasyCAT 0:543d6784d4cc 356 ECT_GET_OD_RES = 0x04,
EasyCAT 0:543d6784d4cc 357 ECT_GET_OE_REQ = 0x05,
EasyCAT 0:543d6784d4cc 358 ECT_GET_OE_RES = 0x06,
EasyCAT 0:543d6784d4cc 359 ECT_SDOINFO_ERROR = 0x07
EasyCAT 0:543d6784d4cc 360 };
EasyCAT 0:543d6784d4cc 361
EasyCAT 0:543d6784d4cc 362 /** FoE opcodes */
EasyCAT 0:543d6784d4cc 363 enum
EasyCAT 0:543d6784d4cc 364 {
EasyCAT 0:543d6784d4cc 365 ECT_FOE_READ = 0x01,
EasyCAT 0:543d6784d4cc 366 ECT_FOE_WRITE,
EasyCAT 0:543d6784d4cc 367 ECT_FOE_DATA,
EasyCAT 0:543d6784d4cc 368 ECT_FOE_ACK,
EasyCAT 0:543d6784d4cc 369 ECT_FOE_ERROR,
EasyCAT 0:543d6784d4cc 370 ECT_FOE_BUSY
EasyCAT 0:543d6784d4cc 371 };
EasyCAT 0:543d6784d4cc 372
EasyCAT 0:543d6784d4cc 373 /** SoE opcodes */
EasyCAT 0:543d6784d4cc 374 enum
EasyCAT 0:543d6784d4cc 375 {
EasyCAT 0:543d6784d4cc 376 ECT_SOE_READREQ = 0x01,
EasyCAT 0:543d6784d4cc 377 ECT_SOE_READRES,
EasyCAT 0:543d6784d4cc 378 ECT_SOE_WRITEREQ,
EasyCAT 0:543d6784d4cc 379 ECT_SOE_WRITERES,
EasyCAT 0:543d6784d4cc 380 ECT_SOE_NOTIFICATION,
EasyCAT 0:543d6784d4cc 381 ECT_SOE_EMERGENCY
EasyCAT 0:543d6784d4cc 382 };
EasyCAT 0:543d6784d4cc 383
EasyCAT 0:543d6784d4cc 384 /** Ethercat registers */
EasyCAT 0:543d6784d4cc 385 enum
EasyCAT 0:543d6784d4cc 386 {
EasyCAT 0:543d6784d4cc 387 ECT_REG_TYPE = 0x0000,
EasyCAT 0:543d6784d4cc 388 ECT_REG_PORTDES = 0x0007,
EasyCAT 0:543d6784d4cc 389 ECT_REG_ESCSUP = 0x0008,
EasyCAT 0:543d6784d4cc 390 ECT_REG_STADR = 0x0010,
EasyCAT 0:543d6784d4cc 391 ECT_REG_ALIAS = 0x0012,
EasyCAT 0:543d6784d4cc 392 ECT_REG_DLCTL = 0x0100,
EasyCAT 0:543d6784d4cc 393 ECT_REG_DLPORT = 0x0101,
EasyCAT 0:543d6784d4cc 394 ECT_REG_DLALIAS = 0x0103,
EasyCAT 0:543d6784d4cc 395 ECT_REG_DLSTAT = 0x0110,
EasyCAT 0:543d6784d4cc 396 ECT_REG_ALCTL = 0x0120,
EasyCAT 0:543d6784d4cc 397 ECT_REG_ALSTAT = 0x0130,
EasyCAT 0:543d6784d4cc 398 ECT_REG_ALSTATCODE = 0x0134,
EasyCAT 0:543d6784d4cc 399 ECT_REG_PDICTL = 0x0140,
EasyCAT 0:543d6784d4cc 400 ECT_REG_IRQMASK = 0x0200,
EasyCAT 0:543d6784d4cc 401 ECT_REG_RXERR = 0x0300,
EasyCAT 0:543d6784d4cc 402 ECT_REG_FRXERR = 0x0308,
EasyCAT 0:543d6784d4cc 403 ECT_REG_EPUECNT = 0x030C,
EasyCAT 0:543d6784d4cc 404 ECT_REG_PECNT = 0x030D,
EasyCAT 0:543d6784d4cc 405 ECT_REG_PECODE = 0x030E,
EasyCAT 0:543d6784d4cc 406 ECT_REG_LLCNT = 0x0310,
EasyCAT 0:543d6784d4cc 407 ECT_REG_WDCNT = 0x0442,
EasyCAT 0:543d6784d4cc 408 ECT_REG_EEPCFG = 0x0500,
EasyCAT 0:543d6784d4cc 409 ECT_REG_EEPCTL = 0x0502,
EasyCAT 0:543d6784d4cc 410 ECT_REG_EEPSTAT = 0x0502,
EasyCAT 0:543d6784d4cc 411 ECT_REG_EEPADR = 0x0504,
EasyCAT 0:543d6784d4cc 412 ECT_REG_EEPDAT = 0x0508,
EasyCAT 0:543d6784d4cc 413 ECT_REG_FMMU0 = 0x0600,
EasyCAT 0:543d6784d4cc 414 ECT_REG_FMMU1 = ECT_REG_FMMU0 + 0x10,
EasyCAT 0:543d6784d4cc 415 ECT_REG_FMMU2 = ECT_REG_FMMU1 + 0x10,
EasyCAT 0:543d6784d4cc 416 ECT_REG_FMMU3 = ECT_REG_FMMU2 + 0x10,
EasyCAT 0:543d6784d4cc 417 ECT_REG_SM0 = 0x0800,
EasyCAT 0:543d6784d4cc 418 ECT_REG_SM1 = ECT_REG_SM0 + 0x08,
EasyCAT 0:543d6784d4cc 419 ECT_REG_SM2 = ECT_REG_SM1 + 0x08,
EasyCAT 0:543d6784d4cc 420 ECT_REG_SM3 = ECT_REG_SM2 + 0x08,
EasyCAT 0:543d6784d4cc 421 ECT_REG_SM0STAT = ECT_REG_SM0 + 0x05,
EasyCAT 0:543d6784d4cc 422 ECT_REG_SM1STAT = ECT_REG_SM1 + 0x05,
EasyCAT 0:543d6784d4cc 423 ECT_REG_SM1ACT = ECT_REG_SM1 + 0x06,
EasyCAT 0:543d6784d4cc 424 ECT_REG_SM1CONTR = ECT_REG_SM1 + 0x07,
EasyCAT 0:543d6784d4cc 425 ECT_REG_DCTIME0 = 0x0900,
EasyCAT 0:543d6784d4cc 426 ECT_REG_DCTIME1 = 0x0904,
EasyCAT 0:543d6784d4cc 427 ECT_REG_DCTIME2 = 0x0908,
EasyCAT 0:543d6784d4cc 428 ECT_REG_DCTIME3 = 0x090C,
EasyCAT 0:543d6784d4cc 429 ECT_REG_DCSYSTIME = 0x0910,
EasyCAT 0:543d6784d4cc 430 ECT_REG_DCSOF = 0x0918,
EasyCAT 0:543d6784d4cc 431 ECT_REG_DCSYSOFFSET = 0x0920,
EasyCAT 0:543d6784d4cc 432 ECT_REG_DCSYSDELAY = 0x0928,
EasyCAT 0:543d6784d4cc 433 ECT_REG_DCSYSDIFF = 0x092C,
EasyCAT 0:543d6784d4cc 434 ECT_REG_DCSPEEDCNT = 0x0930,
EasyCAT 0:543d6784d4cc 435 ECT_REG_DCTIMEFILT = 0x0934,
EasyCAT 0:543d6784d4cc 436 ECT_REG_DCCUC = 0x0980,
EasyCAT 0:543d6784d4cc 437 ECT_REG_DCSYNCACT = 0x0981,
EasyCAT 0:543d6784d4cc 438 ECT_REG_DCSTART0 = 0x0990,
EasyCAT 0:543d6784d4cc 439 ECT_REG_DCCYCLE0 = 0x09A0,
EasyCAT 0:543d6784d4cc 440 ECT_REG_DCCYCLE1 = 0x09A4
EasyCAT 0:543d6784d4cc 441 };
EasyCAT 0:543d6784d4cc 442
EasyCAT 0:543d6784d4cc 443 /** standard SDO Sync Manager Communication Type */
EasyCAT 0:543d6784d4cc 444 #define ECT_SDO_SMCOMMTYPE 0x1c00
EasyCAT 0:543d6784d4cc 445 /** standard SDO PDO assignment */
EasyCAT 0:543d6784d4cc 446 #define ECT_SDO_PDOASSIGN 0x1c10
EasyCAT 0:543d6784d4cc 447 /** standard SDO RxPDO assignment */
EasyCAT 0:543d6784d4cc 448 #define ECT_SDO_RXPDOASSIGN 0x1c12
EasyCAT 0:543d6784d4cc 449 /** standard SDO TxPDO assignment */
EasyCAT 0:543d6784d4cc 450 #define ECT_SDO_TXPDOASSIGN 0x1c13
EasyCAT 0:543d6784d4cc 451
EasyCAT 0:543d6784d4cc 452 /** Ethercat packet type */
EasyCAT 0:543d6784d4cc 453 #define ETH_P_ECAT 0x88A4
EasyCAT 0:543d6784d4cc 454
EasyCAT 0:543d6784d4cc 455 /** Error types */
EasyCAT 0:543d6784d4cc 456 typedef enum
EasyCAT 0:543d6784d4cc 457 {
EasyCAT 0:543d6784d4cc 458 EC_ERR_TYPE_SDO_ERROR = 0,
EasyCAT 0:543d6784d4cc 459 EC_ERR_TYPE_EMERGENCY = 1,
EasyCAT 0:543d6784d4cc 460 EC_ERR_TYPE_PACKET_ERROR = 3,
EasyCAT 0:543d6784d4cc 461 EC_ERR_TYPE_SDOINFO_ERROR = 4,
EasyCAT 0:543d6784d4cc 462 EC_ERR_TYPE_FOE_ERROR = 5,
EasyCAT 0:543d6784d4cc 463 EC_ERR_TYPE_FOE_BUF2SMALL = 6,
EasyCAT 0:543d6784d4cc 464 EC_ERR_TYPE_FOE_PACKETNUMBER = 7,
EasyCAT 0:543d6784d4cc 465 EC_ERR_TYPE_SOE_ERROR = 8,
EasyCAT 0:543d6784d4cc 466 EC_ERR_TYPE_MBX_ERROR = 9,
EasyCAT 0:543d6784d4cc 467 EC_ERR_TYPE_FOE_FILE_NOTFOUND = 10,
EasyCAT 0:543d6784d4cc 468 EC_ERR_TYPE_EOE_INVALID_RX_DATA = 11
EasyCAT 0:543d6784d4cc 469 } ec_err_type;
EasyCAT 0:543d6784d4cc 470
EasyCAT 0:543d6784d4cc 471 /** Struct to retrieve errors. */
EasyCAT 0:543d6784d4cc 472 typedef struct
EasyCAT 0:543d6784d4cc 473 {
EasyCAT 0:543d6784d4cc 474 /** Time at which the error was generated. */
EasyCAT 0:543d6784d4cc 475 ec_timet Time;
EasyCAT 0:543d6784d4cc 476 /** Signal bit, error set but not read */
EasyCAT 0:543d6784d4cc 477 boolean Signal;
EasyCAT 0:543d6784d4cc 478 /** Slave number that generated the error */
EasyCAT 0:543d6784d4cc 479 uint16 Slave;
EasyCAT 0:543d6784d4cc 480 /** CoE SDO index that generated the error */
EasyCAT 0:543d6784d4cc 481 uint16 Index;
EasyCAT 0:543d6784d4cc 482 /** CoE SDO subindex that generated the error */
EasyCAT 0:543d6784d4cc 483 uint8 SubIdx;
EasyCAT 0:543d6784d4cc 484 /** Type of error */
EasyCAT 0:543d6784d4cc 485 ec_err_type Etype;
EasyCAT 0:543d6784d4cc 486 union
EasyCAT 0:543d6784d4cc 487 {
EasyCAT 0:543d6784d4cc 488 /** General abortcode */
EasyCAT 0:543d6784d4cc 489 int32 AbortCode;
EasyCAT 0:543d6784d4cc 490 /** Specific error for Emergency mailbox */
EasyCAT 0:543d6784d4cc 491 struct
EasyCAT 0:543d6784d4cc 492 {
EasyCAT 0:543d6784d4cc 493 uint16 ErrorCode;
EasyCAT 0:543d6784d4cc 494 uint8 ErrorReg;
EasyCAT 0:543d6784d4cc 495 uint8 b1;
EasyCAT 0:543d6784d4cc 496 uint16 w1;
EasyCAT 0:543d6784d4cc 497 uint16 w2;
EasyCAT 0:543d6784d4cc 498 };
EasyCAT 0:543d6784d4cc 499 };
EasyCAT 0:543d6784d4cc 500 } ec_errort;
EasyCAT 0:543d6784d4cc 501
EasyCAT 0:543d6784d4cc 502 /** Helper macros */
EasyCAT 0:543d6784d4cc 503 /** Macro to make a word from 2 bytes */
EasyCAT 0:543d6784d4cc 504 #define MK_WORD(msb, lsb) ((((uint16)(msb))<<8) | (lsb))
EasyCAT 0:543d6784d4cc 505 /** Macro to get hi byte of a word */
EasyCAT 0:543d6784d4cc 506 #define HI_BYTE(w) ((w) >> 8)
EasyCAT 0:543d6784d4cc 507 /** Macro to get low byte of a word */
EasyCAT 0:543d6784d4cc 508 #define LO_BYTE(w) ((w) & 0x00ff)
EasyCAT 0:543d6784d4cc 509 /** Macro to swap hi and low byte of a word */
EasyCAT 0:543d6784d4cc 510 #define SWAP(w) ((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8))
EasyCAT 0:543d6784d4cc 511 /** Macro to get hi word of a dword */
EasyCAT 0:543d6784d4cc 512 #define LO_WORD(l) ((l) & 0xffff)
EasyCAT 0:543d6784d4cc 513 /** Macro to get hi word of a dword */
EasyCAT 0:543d6784d4cc 514 #define HI_WORD(l) ((l) >> 16)
EasyCAT 0:543d6784d4cc 515
EasyCAT 0:543d6784d4cc 516 #define get_unaligned(ptr) \
EasyCAT 0:543d6784d4cc 517 ({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; })
EasyCAT 0:543d6784d4cc 518
EasyCAT 0:543d6784d4cc 519 #define put_unaligned32(val, ptr) \
EasyCAT 0:543d6784d4cc 520 (memcpy((ptr), &(val), 4))
EasyCAT 0:543d6784d4cc 521
EasyCAT 0:543d6784d4cc 522 #define put_unaligned64(val, ptr) \
EasyCAT 0:543d6784d4cc 523 (memcpy((ptr), &(val), 8))
EasyCAT 0:543d6784d4cc 524
EasyCAT 0:543d6784d4cc 525 #if !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN)
EasyCAT 0:543d6784d4cc 526
EasyCAT 0:543d6784d4cc 527 #define htoes(A) (A)
EasyCAT 0:543d6784d4cc 528 #define htoel(A) (A)
EasyCAT 0:543d6784d4cc 529 #define htoell(A) (A)
EasyCAT 0:543d6784d4cc 530 #define etohs(A) (A)
EasyCAT 0:543d6784d4cc 531 #define etohl(A) (A)
EasyCAT 0:543d6784d4cc 532 #define etohll(A) (A)
EasyCAT 0:543d6784d4cc 533
EasyCAT 0:543d6784d4cc 534 #elif !defined(EC_LITTLE_ENDIAN) && defined(EC_BIG_ENDIAN)
EasyCAT 0:543d6784d4cc 535
EasyCAT 0:543d6784d4cc 536 #define htoes(A) ((((uint16)(A) & 0xff00) >> 8) | \
EasyCAT 0:543d6784d4cc 537 (((uint16)(A) & 0x00ff) << 8))
EasyCAT 0:543d6784d4cc 538 #define htoel(A) ((((uint32)(A) & 0xff000000) >> 24) | \
EasyCAT 0:543d6784d4cc 539 (((uint32)(A) & 0x00ff0000) >> 8) | \
EasyCAT 0:543d6784d4cc 540 (((uint32)(A) & 0x0000ff00) << 8) | \
EasyCAT 0:543d6784d4cc 541 (((uint32)(A) & 0x000000ff) << 24))
EasyCAT 0:543d6784d4cc 542 #define htoell(A) ((((uint64)(A) & (uint64)0xff00000000000000ULL) >> 56) | \
EasyCAT 0:543d6784d4cc 543 (((uint64)(A) & (uint64)0x00ff000000000000ULL) >> 40) | \
EasyCAT 0:543d6784d4cc 544 (((uint64)(A) & (uint64)0x0000ff0000000000ULL) >> 24) | \
EasyCAT 0:543d6784d4cc 545 (((uint64)(A) & (uint64)0x000000ff00000000ULL) >> 8) | \
EasyCAT 0:543d6784d4cc 546 (((uint64)(A) & (uint64)0x00000000ff000000ULL) << 8) | \
EasyCAT 0:543d6784d4cc 547 (((uint64)(A) & (uint64)0x0000000000ff0000ULL) << 24) | \
EasyCAT 0:543d6784d4cc 548 (((uint64)(A) & (uint64)0x000000000000ff00ULL) << 40) | \
EasyCAT 0:543d6784d4cc 549 (((uint64)(A) & (uint64)0x00000000000000ffULL) << 56))
EasyCAT 0:543d6784d4cc 550
EasyCAT 0:543d6784d4cc 551 #define etohs htoes
EasyCAT 0:543d6784d4cc 552 #define etohl htoel
EasyCAT 0:543d6784d4cc 553 #define etohll htoell
EasyCAT 0:543d6784d4cc 554
EasyCAT 0:543d6784d4cc 555 #else
EasyCAT 0:543d6784d4cc 556
EasyCAT 0:543d6784d4cc 557 #error "Must define one of EC_BIG_ENDIAN or EC_LITTLE_ENDIAN"
EasyCAT 0:543d6784d4cc 558
EasyCAT 0:543d6784d4cc 559 #endif
EasyCAT 0:543d6784d4cc 560
EasyCAT 0:543d6784d4cc 561 #ifdef __cplusplus
EasyCAT 0:543d6784d4cc 562 }
EasyCAT 0:543d6784d4cc 563 #endif
EasyCAT 0:543d6784d4cc 564
EasyCAT 0:543d6784d4cc 565 #endif /* _EC_TYPE_H */