Diff: SOEM/ethercatmain.h

Revision:

0:543d6784d4cc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SOEM/ethercatmain.h	Tue Jun 11 10:29:09 2019 +0000
@@ -0,0 +1,526 @@
+/*
+ * 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 ethercatmain.c
+ */
+
+#ifndef _ethercatmain_
+#define _ethercatmain_
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** max. entries in EtherCAT error list */
+#define EC_MAXELIST       64
+/** max. length of readable name in slavelist and Object Description List */
+#define EC_MAXNAME        40
+/** max. number of slaves in array */
+#define EC_MAXSLAVE       200
+/** max. number of groups */
+#define EC_MAXGROUP       2
+/** max. number of IO segments per group */
+#define EC_MAXIOSEGMENTS  64
+/** max. mailbox size */
+#define EC_MAXMBX         1486
+/** max. eeprom PDO entries */
+#define EC_MAXEEPDO       0x200
+/** max. SM used */
+#define EC_MAXSM          8
+/** max. FMMU used */
+#define EC_MAXFMMU        4
+/** max. Adapter */
+#define EC_MAXLEN_ADAPTERNAME    128
+/** define maximum number of concurrent threads in mapping */
+#define EC_MAX_MAPT           1
+
+typedef struct ec_adapter ec_adaptert;
+struct ec_adapter
+{
+   char   name[EC_MAXLEN_ADAPTERNAME];
+   char   desc[EC_MAXLEN_ADAPTERNAME];
+   ec_adaptert *next;
+};
+
+/** record for FMMU */
+PACKED_BEGIN
+typedef struct PACKED ec_fmmu
+{
+   uint32  LogStart;
+   uint16  LogLength;
+   uint8   LogStartbit;
+   uint8   LogEndbit;
+   uint16  PhysStart;
+   uint8   PhysStartBit;
+   uint8   FMMUtype;
+   uint8   FMMUactive;
+   uint8   unused1;
+   uint16  unused2;
+}  ec_fmmut;
+PACKED_END
+
+/** record for sync manager */
+PACKED_BEGIN
+typedef struct PACKED ec_sm
+{
+   uint16  StartAddr;
+   uint16  SMlength;
+   uint32  SMflags;
+} ec_smt;
+PACKED_END
+
+PACKED_BEGIN
+typedef struct PACKED ec_state_status
+{
+   uint16  State;
+   uint16  Unused;
+   uint16  ALstatuscode;
+} ec_state_status;
+PACKED_END
+
+#define ECT_MBXPROT_AOE      0x0001
+#define ECT_MBXPROT_EOE      0x0002
+#define ECT_MBXPROT_COE      0x0004
+#define ECT_MBXPROT_FOE      0x0008
+#define ECT_MBXPROT_SOE      0x0010
+#define ECT_MBXPROT_VOE      0x0020
+
+#define ECT_COEDET_SDO       0x01
+#define ECT_COEDET_SDOINFO   0x02
+#define ECT_COEDET_PDOASSIGN 0x04
+#define ECT_COEDET_PDOCONFIG 0x08
+#define ECT_COEDET_UPLOAD    0x10
+#define ECT_COEDET_SDOCA     0x20
+
+#define EC_SMENABLEMASK      0xfffeffff
+
+/** for list of ethercat slaves detected */
+typedef struct ec_slave
+{
+   /** state of slave */
+   uint16           state;
+   /** AL status code */
+   uint16           ALstatuscode;
+   /** Configured address */
+   uint16           configadr;
+   /** Alias address */
+   uint16           aliasadr;
+   /** Manufacturer from EEprom */
+   uint32           eep_man;
+   /** ID from EEprom */
+   uint32           eep_id;
+   /** revision from EEprom */
+   uint32           eep_rev;
+   /** Interface type */
+   uint16           Itype;
+   /** Device type */
+   uint16           Dtype;
+   /** output bits */
+   uint16           Obits;
+   /** output bytes, if Obits < 8 then Obytes = 0 */
+   uint32           Obytes;
+   /** output pointer in IOmap buffer */
+   uint8            *outputs;
+   /** startbit in first output byte */
+   uint8            Ostartbit;
+   /** input bits */
+   uint16           Ibits;
+   /** input bytes, if Ibits < 8 then Ibytes = 0 */
+   uint32           Ibytes;
+   /** input pointer in IOmap buffer */
+   uint8            *inputs;
+   /** startbit in first input byte */
+   uint8            Istartbit;
+   /** SM structure */
+   ec_smt           SM[EC_MAXSM];
+   /** SM type 0=unused 1=MbxWr 2=MbxRd 3=Outputs 4=Inputs */
+   uint8            SMtype[EC_MAXSM];
+   /** FMMU structure */
+   ec_fmmut         FMMU[EC_MAXFMMU];
+   /** FMMU0 function */
+   uint8            FMMU0func;
+   /** FMMU1 function */
+   uint8            FMMU1func;
+   /** FMMU2 function */
+   uint8            FMMU2func;
+   /** FMMU3 function */
+   uint8            FMMU3func;
+   /** length of write mailbox in bytes, if no mailbox then 0 */
+   uint16           mbx_l;
+   /** mailbox write offset */
+   uint16           mbx_wo;
+   /** length of read mailbox in bytes */
+   uint16           mbx_rl;
+   /** mailbox read offset */
+   uint16           mbx_ro;
+   /** mailbox supported protocols */
+   uint16           mbx_proto;
+   /** Counter value of mailbox link layer protocol 1..7 */
+   uint8            mbx_cnt;
+   /** has DC capability */
+   boolean          hasdc;
+   /** Physical type; Ebus, EtherNet combinations */
+   uint8            ptype;
+   /** topology: 1 to 3 links */
+   uint8            topology;
+   /** active ports bitmap : ....3210 , set if respective port is active **/
+   uint8            activeports;
+   /** consumed ports bitmap : ....3210, used for internal delay measurement **/
+   uint8            consumedports;
+   /** slave number for parent, 0=master */
+   uint16           parent;
+   /** port number on parent this slave is connected to **/
+   uint8            parentport;
+   /** port number on this slave the parent is connected to **/
+   uint8            entryport;
+   /** DC receivetimes on port A */
+   int32            DCrtA;
+   /** DC receivetimes on port B */
+   int32            DCrtB;
+   /** DC receivetimes on port C */
+   int32            DCrtC;
+   /** DC receivetimes on port D */
+   int32            DCrtD;
+   /** propagation delay */
+   int32            pdelay;
+   /** next DC slave */
+   uint16           DCnext;
+   /** previous DC slave */
+   uint16           DCprevious;
+   /** DC cycle time in ns */
+   int32            DCcycle;
+   /** DC shift from clock modulus boundary */
+   int32            DCshift;
+   /** DC sync activation, 0=off, 1=on */
+   uint8            DCactive;
+   /** link to config table */
+   uint16           configindex;
+   /** link to SII config */
+   uint16           SIIindex;
+   /** 1 = 8 bytes per read, 0 = 4 bytes per read */
+   uint8            eep_8byte;
+   /** 0 = eeprom to master , 1 = eeprom to PDI */
+   uint8            eep_pdi;
+   /** CoE details */
+   uint8            CoEdetails;
+   /** FoE details */
+   uint8            FoEdetails;
+   /** EoE details */
+   uint8            EoEdetails;
+   /** SoE details */
+   uint8            SoEdetails;
+   /** E-bus current */
+   int16            Ebuscurrent;
+   /** if >0 block use of LRW in processdata */
+   uint8            blockLRW;
+   /** group */
+   uint8            group;
+   /** first unused FMMU */
+   uint8            FMMUunused;
+   /** Boolean for tracking whether the slave is (not) responding, not used/set by the SOEM library */
+   boolean          islost;
+   /** registered configuration function PO->SO */
+   int              (*PO2SOconfig)(uint16 slave);
+   /** readable name */
+   char             name[EC_MAXNAME + 1];
+} ec_slavet;
+
+/** for list of ethercat slave groups */
+typedef struct ec_group
+{
+   /** logical start address for this group */
+   uint32           logstartaddr;
+   /** output bytes, if Obits < 8 then Obytes = 0 */
+   uint32           Obytes;
+   /** output pointer in IOmap buffer */
+   uint8            *outputs;
+   /** input bytes, if Ibits < 8 then Ibytes = 0 */
+   uint32           Ibytes;
+   /** input pointer in IOmap buffer */
+   uint8            *inputs;
+   /** has DC capabillity */
+   boolean          hasdc;
+   /** next DC slave */
+   uint16           DCnext;
+   /** E-bus current */
+   int16            Ebuscurrent;
+   /** if >0 block use of LRW in processdata */
+   uint8            blockLRW;
+   /** IO segments used */
+   uint16           nsegments;
+   /** 1st input segment */
+   uint16           Isegment;
+   /** Offset in input segment */
+   uint16           Ioffset;
+   /** Expected workcounter outputs */
+   uint16           outputsWKC;
+   /** Expected workcounter inputs */
+   uint16           inputsWKC;
+   /** check slave states */
+   boolean          docheckstate;
+   /** IO segmentation list. Datagrams must not break SM in two. */
+   uint32           IOsegment[EC_MAXIOSEGMENTS];
+} ec_groupt;
+
+/** SII FMMU structure */
+typedef struct ec_eepromFMMU
+{
+   uint16  Startpos;
+   uint8   nFMMU;
+   uint8   FMMU0;
+   uint8   FMMU1;
+   uint8   FMMU2;
+   uint8   FMMU3;
+} ec_eepromFMMUt;
+
+/** SII SM structure */
+typedef struct ec_eepromSM
+{
+   uint16  Startpos;
+   uint8   nSM;
+   uint16  PhStart;
+   uint16  Plength;
+   uint8   Creg;
+   uint8   Sreg;       /* don't care */
+   uint8   Activate;
+   uint8   PDIctrl;      /* don't care */
+} ec_eepromSMt;
+
+/** record to store rxPDO and txPDO table from eeprom */
+typedef struct ec_eepromPDO
+{
+   uint16  Startpos;
+   uint16  Length;
+   uint16  nPDO;
+   uint16  Index[EC_MAXEEPDO];
+   uint16  SyncM[EC_MAXEEPDO];
+   uint16  BitSize[EC_MAXEEPDO];
+   uint16  SMbitsize[EC_MAXSM];
+} ec_eepromPDOt;
+
+/** mailbox buffer array */
+typedef uint8 ec_mbxbuft[EC_MAXMBX + 1];
+
+/** standard ethercat mailbox header */
+PACKED_BEGIN
+typedef struct PACKED ec_mbxheader
+{
+   uint16  length;
+   uint16  address;
+   uint8   priority;
+   uint8   mbxtype;
+} ec_mbxheadert;
+PACKED_END
+
+/** ALstatus and ALstatus code */
+PACKED_BEGIN
+typedef struct PACKED ec_alstatus
+{
+   uint16  alstatus;
+   uint16  unused;
+   uint16  alstatuscode;
+} ec_alstatust;
+PACKED_END
+
+/** stack structure to store segmented LRD/LWR/LRW constructs */
+typedef struct ec_idxstack
+{
+   uint8   pushed;
+   uint8   pulled;
+   uint8   idx[EC_MAXBUF];
+   void    *data[EC_MAXBUF];
+   uint16  length[EC_MAXBUF];
+} ec_idxstackT;
+
+/** ringbuf for error storage */
+typedef struct ec_ering
+{
+   int16     head;
+   int16     tail;
+   ec_errort Error[EC_MAXELIST + 1];
+} ec_eringt;
+
+/** SyncManager Communication Type structure for CA */
+PACKED_BEGIN
+typedef struct PACKED ec_SMcommtype
+{
+   uint8   n;
+   uint8   nu1;
+   uint8   SMtype[EC_MAXSM];
+} ec_SMcommtypet;
+PACKED_END
+
+/** SDO assign structure for CA */
+PACKED_BEGIN
+typedef struct PACKED ec_PDOassign
+{
+   uint8   n;
+   uint8   nu1;
+   uint16  index[256];
+} ec_PDOassignt;
+PACKED_END
+
+/** SDO description structure for CA */
+PACKED_BEGIN
+typedef struct PACKED ec_PDOdesc
+{
+   uint8   n;
+   uint8   nu1;
+   uint32  PDO[256];
+} ec_PDOdesct;
+PACKED_END
+
+/** Context structure , referenced by all ecx functions*/
+typedef struct ecx_context ecx_contextt;
+struct ecx_context
+{
+   /** port reference, may include red_port */
+   ecx_portt      *port;
+   /** slavelist reference */
+   ec_slavet      *slavelist;
+   /** number of slaves found in configuration */
+   int            *slavecount;
+   /** maximum number of slaves allowed in slavelist */
+   int            maxslave;
+   /** grouplist reference */
+   ec_groupt      *grouplist;
+   /** maximum number of groups allowed in grouplist */
+   int            maxgroup;
+   /** internal, reference to eeprom cache buffer */
+   uint8          *esibuf;
+   /** internal, reference to eeprom cache map */
+   uint32         *esimap;
+   /** internal, current slave for eeprom cache */
+   uint16         esislave;
+   /** internal, reference to error list */
+   ec_eringt      *elist;
+   /** internal, reference to processdata stack buffer info */
+   ec_idxstackT   *idxstack;
+   /** reference to ecaterror state */
+   boolean        *ecaterror;
+   /** internal, position of DC datagram in process data packet */
+   uint16         DCtO;
+   /** internal, length of DC datagram */
+   uint16         DCl;
+   /** reference to last DC time from slaves */
+   int64          *DCtime;
+   /** internal, SM buffer */
+   ec_SMcommtypet *SMcommtype;
+   /** internal, PDO assign list */
+   ec_PDOassignt  *PDOassign;
+   /** internal, PDO description list */
+   ec_PDOdesct    *PDOdesc;
+   /** internal, SM list from eeprom */
+   ec_eepromSMt   *eepSM;
+   /** internal, FMMU list from eeprom */
+   ec_eepromFMMUt *eepFMMU;
+   /** registered FoE hook */
+   int            (*FOEhook)(uint16 slave, int packetnumber, int datasize);
+   /** registered EoE hook */
+   int            (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
+};
+
+#ifdef EC_VER1
+/** global struct to hold default master context */
+extern ecx_contextt  ecx_context;
+/** main slave data structure array */
+extern ec_slavet   ec_slave[EC_MAXSLAVE];
+/** number of slaves found by configuration function */
+extern int         ec_slavecount;
+/** slave group structure */
+extern ec_groupt   ec_group[EC_MAXGROUP];
+extern boolean     EcatError;
+extern int64       ec_DCtime;
+
+void ec_pusherror(const ec_errort *Ec);
+boolean ec_poperror(ec_errort *Ec);
+boolean ec_iserror(void);
+void ec_packeterror(uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode);
+int ec_init(const char * ifname);
+int ec_init_redundant(const char *ifname, char *if2name);
+void ec_close(void);
+uint8 ec_siigetbyte(uint16 slave, uint16 address);
+int16 ec_siifind(uint16 slave, uint16 cat);
+void ec_siistring(char *str, uint16 slave, uint16 Sn);
+uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
+uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
+uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
+int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
+int ec_readstate(void);
+int ec_writestate(uint16 slave);
+uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
+int ec_mbxempty(uint16 slave, int timeout);
+int ec_mbxsend(uint16 slave,ec_mbxbuft *mbx, int timeout);
+int ec_mbxreceive(uint16 slave, ec_mbxbuft *mbx, int timeout);
+void ec_esidump(uint16 slave, uint8 *esibuf);
+uint32 ec_readeeprom(uint16 slave, uint16 eeproma, int timeout);
+int ec_writeeeprom(uint16 slave, uint16 eeproma, uint16 data, int timeout);
+int ec_eeprom2master(uint16 slave);
+int ec_eeprom2pdi(uint16 slave);
+uint64 ec_readeepromAP(uint16 aiadr, uint16 eeproma, int timeout);
+int ec_writeeepromAP(uint16 aiadr, uint16 eeproma, uint16 data, int timeout);
+uint64 ec_readeepromFP(uint16 configadr, uint16 eeproma, int timeout);
+int ec_writeeepromFP(uint16 configadr, uint16 eeproma, uint16 data, int timeout);
+void ec_readeeprom1(uint16 slave, uint16 eeproma);
+uint32 ec_readeeprom2(uint16 slave, int timeout);
+int ec_send_processdata_group(uint8 group);
+int ec_send_overlap_processdata_group(uint8 group);
+int ec_receive_processdata_group(uint8 group, int timeout);
+int ec_send_processdata(void);
+int ec_send_overlap_processdata(void);
+int ec_receive_processdata(int timeout);
+#endif
+
+ec_adaptert * ec_find_adapters(void);
+void ec_free_adapters(ec_adaptert * adapter);
+uint8 ec_nextmbxcnt(uint8 cnt);
+void ec_clearmbx(ec_mbxbuft *Mbx);
+void ecx_pusherror(ecx_contextt *context, const ec_errort *Ec);
+boolean ecx_poperror(ecx_contextt *context, ec_errort *Ec);
+boolean ecx_iserror(ecx_contextt *context);
+void ecx_packeterror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode);
+int ecx_init(ecx_contextt *context, const char * ifname);
+int ecx_init_redundant(ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name);
+void ecx_close(ecx_contextt *context);
+uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address);
+int16 ecx_siifind(ecx_contextt *context, uint16 slave, uint16 cat);
+void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn);
+uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU);
+uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
+uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n);
+int ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
+int ecx_readstate(ecx_contextt *context);
+int ecx_writestate(ecx_contextt *context, uint16 slave);
+uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);
+int ecx_mbxempty(ecx_contextt *context, uint16 slave, int timeout);
+int ecx_mbxsend(ecx_contextt *context, uint16 slave,ec_mbxbuft *mbx, int timeout);
+int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout);
+void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf);
+uint32 ecx_readeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout);
+int ecx_writeeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout);
+int ecx_eeprom2master(ecx_contextt *context, uint16 slave);
+int ecx_eeprom2pdi(ecx_contextt *context, uint16 slave);
+uint64 ecx_readeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout);
+int ecx_writeeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout);
+uint64 ecx_readeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout);
+int ecx_writeeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout);
+void ecx_readeeprom1(ecx_contextt *context, uint16 slave, uint16 eeproma);
+uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout);
+int ecx_send_overlap_processdata_group(ecx_contextt *context, uint8 group);
+int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout);
+int ecx_send_processdata(ecx_contextt *context);
+int ecx_send_overlap_processdata(ecx_contextt *context);
+int ecx_receive_processdata(ecx_contextt *context, int timeout);
+int ecx_send_processdata_group(ecx_contextt *context, uint8 group);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif