Diff: SOEM/ethercattype.h

Revision:

0:543d6784d4cc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SOEM/ethercattype.h	Tue Jun 11 10:29:09 2019 +0000
@@ -0,0 +1,565 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * General typedefs and defines for EtherCAT.
+ *
+ * Defines that could need optimisation for specific applications
+ * are the EC_TIMEOUTxxx. Assumptions for the standard settings are a
+ * standard linux PC or laptop and a wired connection to maximal 100 slaves.
+ * For use with wireless connections or lots of slaves the timeouts need
+ * increasing. For fast systems running Xenomai and RT-net or alike the
+ * timeouts need to be shorter.
+ */
+
+#ifndef _EC_TYPE_H
+#define _EC_TYPE_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** Define Little or Big endian target */
+#define EC_LITTLE_ENDIAN
+
+/** define EC_VER1 if version 1 default context and functions are needed
+ * comment if application uses only ecx_ functions and own context */
+#define EC_VER1
+
+#include "osal.h"
+
+/** return value general error */
+#define EC_ERROR           -3
+/** return value no frame returned */
+#define EC_NOFRAME         -1
+/** return value unknown frame received */
+#define EC_OTHERFRAME      -2
+/** maximum EtherCAT frame length in bytes */
+#define EC_MAXECATFRAME    1518
+/** maximum EtherCAT LRW frame length in bytes */
+/* MTU - Ethernet header - length - datagram header - WCK - FCS */
+#define EC_MAXLRWDATA      (EC_MAXECATFRAME - 14 - 2 - 10 - 2 - 4)
+/** size of DC datagram used in first LRW frame */
+#define EC_FIRSTDCDATAGRAM 20
+/** standard frame buffer size in bytes */
+#define EC_BUFSIZE         EC_MAXECATFRAME
+/** datagram type EtherCAT */
+#define EC_ECATTYPE        0x1000
+/** number of frame buffers per channel (tx, rx1 rx2) */
+#define EC_MAXBUF          16
+/** timeout value in us for tx frame to return to rx */
+//#define EC_TIMEOUTRET      2000
+
+#define EC_TIMEOUTRET     500       //Changed: must be less than the CYCLE_TIME 
+
+/** timeout value in us for safe data transfer, max. triple retry */
+#define EC_TIMEOUTRET3     (EC_TIMEOUTRET * 3)
+/** timeout value in us for return "safe" variant (f.e. wireless) */
+#define EC_TIMEOUTSAFE     20000
+/** timeout value in us for EEPROM access */
+#define EC_TIMEOUTEEP      20000
+/** timeout value in us for tx mailbox cycle */
+#define EC_TIMEOUTTXM      20000
+/** timeout value in us for rx mailbox cycle */
+#define EC_TIMEOUTRXM      700000
+/** timeout value in us for check statechange */
+#define EC_TIMEOUTSTATE    2000000
+/** size of EEPROM bitmap cache */
+#define EC_MAXEEPBITMAP    128
+/** size of EEPROM cache buffer */
+#define EC_MAXEEPBUF       EC_MAXEEPBITMAP << 5
+/** default number of retries if wkc <= 0 */
+#define EC_DEFAULTRETRIES  3
+/** default group size in 2^x */
+#define EC_LOGGROUPOFFSET 16
+
+/** definition for frame buffers */
+typedef uint8 ec_bufT[EC_BUFSIZE];
+
+/** ethernet header definition */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** destination MAC */
+   uint16  da0,da1,da2;
+   /** source MAC */
+   uint16  sa0,sa1,sa2;
+   /** ethernet type */
+   uint16  etype;
+} ec_etherheadert;
+PACKED_END
+
+/** ethernet header size */
+#define ETH_HEADERSIZE      sizeof(ec_etherheadert)
+
+/** EtherCAT datagram header definition */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** length of EtherCAT datagram */
+   uint16  elength;
+   /** EtherCAT command, see ec_cmdtype */
+   uint8   command;
+   /** index, used in SOEM for Tx to Rx recombination */
+   uint8   index;
+   /** ADP */
+   uint16  ADP;
+   /** ADO */
+   uint16  ADO;
+   /** length of data portion in datagram */
+   uint16  dlength;
+   /** interrupt, currently unused */
+   uint16  irpt;
+} ec_comt;
+PACKED_END
+
+/** EtherCAT header size */
+#define EC_HEADERSIZE       sizeof(ec_comt)
+/** size of ec_comt.elength item in EtherCAT header */
+#define EC_ELENGTHSIZE      sizeof(uint16)
+/** offset position of command in EtherCAT header */
+#define EC_CMDOFFSET        EC_ELENGTHSIZE
+/** size of workcounter item in EtherCAT datagram */
+#define EC_WKCSIZE          sizeof(uint16)
+/** definition of datagram follows bit in ec_comt.dlength */
+#define EC_DATAGRAMFOLLOWS  (1 << 15)
+
+/** Possible error codes returned. */
+typedef enum
+{
+   /** No error */
+   EC_ERR_OK         = 0,
+   /** Library already initialized. */
+   EC_ERR_ALREADY_INITIALIZED,
+   /** Library not initialized. */
+   EC_ERR_NOT_INITIALIZED,
+   /** Timeout occurred during execution of the function. */
+   EC_ERR_TIMEOUT,
+   /** No slaves were found. */
+   EC_ERR_NO_SLAVES,
+   /** Function failed. */
+   EC_ERR_NOK
+} ec_err;
+
+/** Possible EtherCAT slave states */
+typedef enum
+{
+   /** No valid state. */
+   EC_STATE_NONE           = 0x00,
+   /** Init state*/
+   EC_STATE_INIT           = 0x01,
+   /** Pre-operational. */
+   EC_STATE_PRE_OP         = 0x02,
+   /** Boot state*/
+   EC_STATE_BOOT           = 0x03,
+   /** Safe-operational. */
+   EC_STATE_SAFE_OP        = 0x04,
+   /** Operational */
+   EC_STATE_OPERATIONAL    = 0x08,
+   /** Error or ACK error */
+   EC_STATE_ACK            = 0x10,
+   EC_STATE_ERROR          = 0x10
+} ec_state;
+
+/** Possible buffer states */
+typedef enum
+{
+   /** Empty */
+   EC_BUF_EMPTY        = 0x00,
+   /** Allocated, but not filled */
+   EC_BUF_ALLOC        = 0x01,
+   /** Transmitted */
+   EC_BUF_TX           = 0x02,
+   /** Received, but not consumed */
+   EC_BUF_RCVD         = 0x03,
+   /** Cycle completed */
+   EC_BUF_COMPLETE     = 0x04
+} ec_bufstate;
+
+/** Ethercat data types */
+typedef enum
+{
+   ECT_BOOLEAN         = 0x0001,
+   ECT_INTEGER8        = 0x0002,
+   ECT_INTEGER16       = 0x0003,
+   ECT_INTEGER32       = 0x0004,
+   ECT_UNSIGNED8       = 0x0005,
+   ECT_UNSIGNED16      = 0x0006,
+   ECT_UNSIGNED32      = 0x0007,
+   ECT_REAL32          = 0x0008,
+   ECT_VISIBLE_STRING  = 0x0009,
+   ECT_OCTET_STRING    = 0x000A,
+   ECT_UNICODE_STRING  = 0x000B,
+   ECT_TIME_OF_DAY     = 0x000C,
+   ECT_TIME_DIFFERENCE = 0x000D,
+   ECT_DOMAIN          = 0x000F,
+   ECT_INTEGER24       = 0x0010,
+   ECT_REAL64          = 0x0011,
+   ECT_INTEGER64       = 0x0015,
+   ECT_UNSIGNED24      = 0x0016,
+   ECT_UNSIGNED64      = 0x001B,
+   ECT_BIT1            = 0x0030,
+   ECT_BIT2            = 0x0031,
+   ECT_BIT3            = 0x0032,
+   ECT_BIT4            = 0x0033,
+   ECT_BIT5            = 0x0034,
+   ECT_BIT6            = 0x0035,
+   ECT_BIT7            = 0x0036,
+   ECT_BIT8            = 0x0037
+} ec_datatype;
+
+/** Ethercat command types */
+typedef enum
+{
+   /** No operation */
+   EC_CMD_NOP          = 0x00,
+   /** Auto Increment Read */
+   EC_CMD_APRD,
+   /** Auto Increment Write */
+   EC_CMD_APWR,
+   /** Auto Increment Read Write */
+   EC_CMD_APRW,
+   /** Configured Address Read */
+   EC_CMD_FPRD,
+   /** Configured Address Write */
+   EC_CMD_FPWR,
+   /** Configured Address Read Write */
+   EC_CMD_FPRW,
+   /** Broadcast Read */
+   EC_CMD_BRD,
+   /** Broadcast Write */
+   EC_CMD_BWR,
+   /** Broadcast Read Write */
+   EC_CMD_BRW,
+   /** Logical Memory Read */
+   EC_CMD_LRD,
+   /** Logical Memory Write */
+   EC_CMD_LWR,
+   /** Logical Memory Read Write */
+   EC_CMD_LRW,
+   /** Auto Increment Read Multiple Write */
+   EC_CMD_ARMW,
+   /** Configured Read Multiple Write */
+   EC_CMD_FRMW
+   /** Reserved */
+} ec_cmdtype;
+
+/** Ethercat EEprom command types */
+typedef enum
+{
+   /** No operation */
+   EC_ECMD_NOP         = 0x0000,
+   /** Read */
+   EC_ECMD_READ        = 0x0100,
+   /** Write */
+   EC_ECMD_WRITE       = 0x0201,
+   /** Reload */
+   EC_ECMD_RELOAD      = 0x0300
+} ec_ecmdtype;
+
+/** EEprom state machine read size */
+#define EC_ESTAT_R64    0x0040
+/** EEprom state machine busy flag */
+#define EC_ESTAT_BUSY   0x8000
+/** EEprom state machine error flag mask */
+#define EC_ESTAT_EMASK  0x7800
+/** EEprom state machine error acknowledge */
+#define EC_ESTAT_NACK   0x2000
+
+/* Ethercat SSI (Slave Information Interface) */
+
+/** Start address SII sections in Eeprom */
+#define ECT_SII_START   0x0040
+
+enum
+{
+   /** SII category strings */
+   ECT_SII_STRING      = 10,
+   /** SII category general */
+   ECT_SII_GENERAL     = 30,
+   /** SII category FMMU */
+   ECT_SII_FMMU        = 40,
+   /** SII category SM */
+   ECT_SII_SM          = 41,
+   /** SII category PDO */
+   ECT_SII_PDO         = 50
+};
+
+/** Item offsets in SII general section */
+enum
+{
+   ECT_SII_MANUF       = 0x0008,
+   ECT_SII_ID          = 0x000a,
+   ECT_SII_REV         = 0x000c,
+   ECT_SII_BOOTRXMBX   = 0x0014,
+   ECT_SII_BOOTTXMBX   = 0x0016,
+   ECT_SII_MBXSIZE     = 0x0019,
+   ECT_SII_TXMBXADR    = 0x001a,
+   ECT_SII_RXMBXADR    = 0x0018,
+   ECT_SII_MBXPROTO    = 0x001c
+};
+
+/** Mailbox types definitions */
+enum
+{
+   /** Error mailbox type */
+   ECT_MBXT_ERR        = 0x00,
+   /** ADS over EtherCAT mailbox type */
+   ECT_MBXT_AOE,
+   /** Ethernet over EtherCAT mailbox type */
+   ECT_MBXT_EOE,
+   /** CANopen over EtherCAT mailbox type */
+   ECT_MBXT_COE,
+   /** File over EtherCAT mailbox type */
+   ECT_MBXT_FOE,
+   /** Servo over EtherCAT mailbox type */
+   ECT_MBXT_SOE,
+   /** Vendor over EtherCAT mailbox type */
+   ECT_MBXT_VOE        = 0x0f
+};
+
+/** CoE mailbox types */
+enum
+{
+   ECT_COES_EMERGENCY  = 0x01,
+   ECT_COES_SDOREQ,
+   ECT_COES_SDORES,
+   ECT_COES_TXPDO,
+   ECT_COES_RXPDO,
+   ECT_COES_TXPDO_RR,
+   ECT_COES_RXPDO_RR,
+   ECT_COES_SDOINFO
+};
+
+/** CoE SDO commands */
+enum
+{
+   ECT_SDO_DOWN_INIT    = 0x21,
+   ECT_SDO_DOWN_EXP     = 0x23,
+   ECT_SDO_DOWN_INIT_CA = 0x31,
+   ECT_SDO_UP_REQ       = 0x40,
+   ECT_SDO_UP_REQ_CA    = 0x50,
+   ECT_SDO_SEG_UP_REQ   = 0x60,
+   ECT_SDO_ABORT        = 0x80
+};
+
+/** CoE Object Description commands */
+enum
+{
+   ECT_GET_ODLIST_REQ  = 0x01,
+   ECT_GET_ODLIST_RES  = 0x02,
+   ECT_GET_OD_REQ      = 0x03,
+   ECT_GET_OD_RES      = 0x04,
+   ECT_GET_OE_REQ      = 0x05,
+   ECT_GET_OE_RES      = 0x06,
+   ECT_SDOINFO_ERROR   = 0x07
+};
+
+/** FoE opcodes */
+enum
+{
+   ECT_FOE_READ        = 0x01,
+   ECT_FOE_WRITE,
+   ECT_FOE_DATA,
+   ECT_FOE_ACK,
+   ECT_FOE_ERROR,
+   ECT_FOE_BUSY
+};
+
+/** SoE opcodes */
+enum
+{
+   ECT_SOE_READREQ     = 0x01,
+   ECT_SOE_READRES,
+   ECT_SOE_WRITEREQ,
+   ECT_SOE_WRITERES,
+   ECT_SOE_NOTIFICATION,
+   ECT_SOE_EMERGENCY
+};
+
+/** Ethercat registers */
+enum
+{
+   ECT_REG_TYPE        = 0x0000,
+   ECT_REG_PORTDES     = 0x0007,
+   ECT_REG_ESCSUP      = 0x0008,
+   ECT_REG_STADR       = 0x0010,
+   ECT_REG_ALIAS       = 0x0012,
+   ECT_REG_DLCTL       = 0x0100,
+   ECT_REG_DLPORT      = 0x0101,
+   ECT_REG_DLALIAS     = 0x0103,
+   ECT_REG_DLSTAT      = 0x0110,
+   ECT_REG_ALCTL       = 0x0120,
+   ECT_REG_ALSTAT      = 0x0130,
+   ECT_REG_ALSTATCODE  = 0x0134,
+   ECT_REG_PDICTL      = 0x0140,
+   ECT_REG_IRQMASK     = 0x0200,
+   ECT_REG_RXERR       = 0x0300,
+   ECT_REG_FRXERR      = 0x0308,
+   ECT_REG_EPUECNT     = 0x030C,
+   ECT_REG_PECNT       = 0x030D,
+   ECT_REG_PECODE      = 0x030E,
+   ECT_REG_LLCNT       = 0x0310,
+   ECT_REG_WDCNT       = 0x0442,
+   ECT_REG_EEPCFG      = 0x0500,
+   ECT_REG_EEPCTL      = 0x0502,
+   ECT_REG_EEPSTAT     = 0x0502,
+   ECT_REG_EEPADR      = 0x0504,
+   ECT_REG_EEPDAT      = 0x0508,
+   ECT_REG_FMMU0       = 0x0600,
+   ECT_REG_FMMU1       = ECT_REG_FMMU0 + 0x10,
+   ECT_REG_FMMU2       = ECT_REG_FMMU1 + 0x10,
+   ECT_REG_FMMU3       = ECT_REG_FMMU2 + 0x10,
+   ECT_REG_SM0         = 0x0800,
+   ECT_REG_SM1         = ECT_REG_SM0 + 0x08,
+   ECT_REG_SM2         = ECT_REG_SM1 + 0x08,
+   ECT_REG_SM3         = ECT_REG_SM2 + 0x08,
+   ECT_REG_SM0STAT     = ECT_REG_SM0 + 0x05,
+   ECT_REG_SM1STAT     = ECT_REG_SM1 + 0x05,
+   ECT_REG_SM1ACT      = ECT_REG_SM1 + 0x06,
+   ECT_REG_SM1CONTR    = ECT_REG_SM1 + 0x07,
+   ECT_REG_DCTIME0     = 0x0900,
+   ECT_REG_DCTIME1     = 0x0904,
+   ECT_REG_DCTIME2     = 0x0908,
+   ECT_REG_DCTIME3     = 0x090C,
+   ECT_REG_DCSYSTIME   = 0x0910,
+   ECT_REG_DCSOF       = 0x0918,
+   ECT_REG_DCSYSOFFSET = 0x0920,
+   ECT_REG_DCSYSDELAY  = 0x0928,
+   ECT_REG_DCSYSDIFF   = 0x092C,
+   ECT_REG_DCSPEEDCNT  = 0x0930,
+   ECT_REG_DCTIMEFILT  = 0x0934,
+   ECT_REG_DCCUC       = 0x0980,
+   ECT_REG_DCSYNCACT   = 0x0981,
+   ECT_REG_DCSTART0    = 0x0990,
+   ECT_REG_DCCYCLE0    = 0x09A0,
+   ECT_REG_DCCYCLE1    = 0x09A4
+};
+
+/** standard SDO Sync Manager Communication Type */
+#define ECT_SDO_SMCOMMTYPE      0x1c00
+/** standard SDO PDO assignment */
+#define ECT_SDO_PDOASSIGN       0x1c10
+/** standard SDO RxPDO assignment */
+#define ECT_SDO_RXPDOASSIGN     0x1c12
+/** standard SDO TxPDO assignment */
+#define ECT_SDO_TXPDOASSIGN     0x1c13
+
+/** Ethercat packet type */
+#define ETH_P_ECAT              0x88A4
+
+/** Error types */
+typedef enum
+{
+   EC_ERR_TYPE_SDO_ERROR            = 0,
+   EC_ERR_TYPE_EMERGENCY            = 1,
+   EC_ERR_TYPE_PACKET_ERROR         = 3,
+   EC_ERR_TYPE_SDOINFO_ERROR        = 4,
+   EC_ERR_TYPE_FOE_ERROR            = 5,
+   EC_ERR_TYPE_FOE_BUF2SMALL        = 6,
+   EC_ERR_TYPE_FOE_PACKETNUMBER     = 7,
+   EC_ERR_TYPE_SOE_ERROR            = 8,
+   EC_ERR_TYPE_MBX_ERROR            = 9,
+   EC_ERR_TYPE_FOE_FILE_NOTFOUND    = 10,
+   EC_ERR_TYPE_EOE_INVALID_RX_DATA  = 11
+} ec_err_type;
+
+/** Struct to retrieve errors. */
+typedef struct
+{
+   /** Time at which the error was generated. */
+   ec_timet Time;
+   /** Signal bit, error set but not read */
+   boolean     Signal;
+   /** Slave number that generated the error */
+   uint16      Slave;
+   /** CoE SDO index that generated the error */
+   uint16      Index;
+   /** CoE SDO subindex that generated the error */
+   uint8       SubIdx;
+   /** Type of error */
+   ec_err_type Etype;
+   union
+   {
+      /** General abortcode */
+      int32   AbortCode;
+      /** Specific error for Emergency mailbox */
+      struct
+      {
+         uint16  ErrorCode;
+         uint8   ErrorReg;
+         uint8   b1;
+         uint16  w1;
+         uint16  w2;
+      };
+   };
+} ec_errort;
+
+/** Helper macros */
+/** Macro to make a word from 2 bytes */
+#define MK_WORD(msb, lsb)   ((((uint16)(msb))<<8) | (lsb))
+/** Macro to get hi byte of a word */
+#define HI_BYTE(w)          ((w) >> 8)
+/** Macro to get low byte of a word */
+#define LO_BYTE(w)          ((w) & 0x00ff)
+/** Macro to swap hi and low byte of a word */
+#define SWAP(w)             ((((w)& 0xff00) >> 8) | (((w) & 0x00ff) << 8))
+/** Macro to get hi word of a dword */
+#define LO_WORD(l)          ((l) & 0xffff)
+/** Macro to get hi word of a dword */
+#define HI_WORD(l)          ((l) >> 16)
+
+#define get_unaligned(ptr) \
+  ({ __typeof__(*(ptr)) __tmp; memcpy(&__tmp, (ptr), sizeof(*(ptr))); __tmp; })
+
+#define put_unaligned32(val, ptr)        \
+  (memcpy((ptr), &(val), 4))
+
+#define put_unaligned64(val, ptr)        \
+  (memcpy((ptr), &(val), 8))
+
+#if !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN)
+
+  #define htoes(A) (A)
+  #define htoel(A) (A)
+  #define htoell(A) (A)
+  #define etohs(A) (A)
+  #define etohl(A) (A)
+  #define etohll(A) (A)
+
+#elif !defined(EC_LITTLE_ENDIAN) && defined(EC_BIG_ENDIAN)
+
+  #define htoes(A) ((((uint16)(A) & 0xff00) >> 8) | \
+                    (((uint16)(A) & 0x00ff) << 8))
+  #define htoel(A) ((((uint32)(A) & 0xff000000) >> 24) | \
+                    (((uint32)(A) & 0x00ff0000) >> 8)  | \
+                    (((uint32)(A) & 0x0000ff00) << 8)  | \
+                    (((uint32)(A) & 0x000000ff) << 24))
+  #define htoell(A) ((((uint64)(A) & (uint64)0xff00000000000000ULL) >> 56) | \
+                     (((uint64)(A) & (uint64)0x00ff000000000000ULL) >> 40) | \
+                     (((uint64)(A) & (uint64)0x0000ff0000000000ULL) >> 24) | \
+                     (((uint64)(A) & (uint64)0x000000ff00000000ULL) >> 8)  | \
+                     (((uint64)(A) & (uint64)0x00000000ff000000ULL) << 8)  | \
+                     (((uint64)(A) & (uint64)0x0000000000ff0000ULL) << 24) | \
+                     (((uint64)(A) & (uint64)0x000000000000ff00ULL) << 40) | \
+                     (((uint64)(A) & (uint64)0x00000000000000ffULL) << 56))
+
+  #define etohs  htoes
+  #define etohl  htoel
+  #define etohll htoell
+
+#else
+
+  #error "Must define one of EC_BIG_ENDIAN or EC_LITTLE_ENDIAN"
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _EC_TYPE_H */