First Last
EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
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EtherCAT
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First Last
Diff: EtherCAT/esc.h
- Revision:
- 0:a8daa9348a67
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EtherCAT/esc.h Mon Nov 17 13:55:07 2014 +0000
@@ -0,0 +1,445 @@
+/*
+ * SOES Simple Open EtherCAT Slave
+ *
+ * File : esc.h
+ * Version : 1.0.0
+ * Date : 11-07-2010
+ * Copyright (C) 2007-2010 Arthur Ketels
+ *
+ * SOES is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the Free
+ * Software Foundation.
+ *
+ * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * As a special exception, if other files instantiate templates or use macros
+ * or inline functions from this file, or you compile this file and link it
+ * with other works to produce a work based on this file, this file does not
+ * by itself cause the resulting work to be covered by the GNU General Public
+ * License. However the source code for this file must still be made available
+ * in accordance with section (3) of the GNU General Public License.
+ *
+ * This exception does not invalidate any other reasons why a work based on
+ * this file might be covered by the GNU General Public License.
+ *
+ * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
+ * property of, and protected by Beckhoff Automation GmbH.
+ */
+#ifndef __esc__
+#define __esc__
+
+// storage modifier for data stored in flashmemory
+#define FLASHSTORE const
+//#define FLASHSTORE
+#define PACKED __attribute__((__packed__))
+
+#define ESCREG_ADDRESS 0x0010
+#define ESCREG_DLSTATUS 0x0110
+#define ESCREG_ALCONTROL 0x0120
+#define ESCREG_ALSTATUS 0x0130
+#define ESCREG_ALERROR 0x0134
+#define ESCREG_ALEVENT_SM_MASK 0x0310
+#define ESCREG_ALEVENT_SMCHANGE 0x0010
+#define ESCREG_ALEVENT_CONTROL 0x0001
+#define ESCREG_ALEVENT_SM2 0x0400
+#define ESCREG_WDSTATUS 0x0440
+#define ESCREG_SM0 0x0800
+#define ESCREG_SM0STATUS ESCREG_SM0 + 5
+#define ESCREG_SM0PDI ESCREG_SM0 + 7
+#define ESCREG_SM1 ESCREG_SM0 + 0x08
+#define ESCREG_SM2 ESCREG_SM0 + 0x10
+#define ESCREG_SM3 ESCREG_SM0 + 0x18
+#define ESCREG_LOCALTIME 0x0910
+#define ESCREG_SMENABLE_BIT 0x01
+
+#define ESCinit 0x01
+#define ESCpreop 0x02
+#define ESCsafeop 0x04
+#define ESCop 0x08
+#define ESCerror 0x10
+
+#define INIT_TO_INIT 0x11
+#define INIT_TO_PREOP 0x21
+#define INIT_TO_BOOT 0x31
+#define INIT_TO_SAFEOP 0x41
+#define INIT_TO_OP 0x81
+#define PREOP_TO_INIT 0x12
+#define PREOP_TO_PREOP 0x22
+#define PREOP_TO_BOOT 0x32
+#define PREOP_TO_SAFEOP 0x42
+#define PREOP_TO_OP 0x82
+#define SAFEOP_TO_INIT 0x14
+#define SAFEOP_TO_PREOP 0x24
+#define SAFEOP_TO_BOOT 0x34
+#define SAFEOP_TO_SAFEOP 0x44
+#define SAFEOP_TO_OP 0x84
+#define OP_TO_INIT 0x18
+#define OP_TO_PREOP 0x28
+#define OP_TO_BOOT 0x38
+#define OP_TO_SAFEOP 0x48
+#define OP_TO_OP 0x88
+
+#define ALERR_NONE 0x0000
+#define ALERR_INVALIDSTATECHANGE 0x0011
+#define ALERR_UNKNOWNSTATE 0x0012
+#define ALERR_BOOTNOTSUPPORTED 0x0013
+#define ALERR_INVALIDMBXCONFIG 0x0016
+#define ALERR_INVALIDSMCONFIG 0x0017
+#define ALERR_WATCHDOG 0x0019
+#define ALERR_INVALIDOUTPUTSM 0x001D
+#define ALERR_INVALIDINPUTSM 0x001E
+
+#define MBXERR_SYNTAX 0x0001
+#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002
+#define MBXERR_INVALIDCHANNEL 0x0003
+#define MBXERR_SERVICENOTSUPPORTED 0x0004
+#define MBXERR_INVALIDHEADER 0x0005
+#define MBXERR_SIZETOOSHORT 0x0006
+#define MBXERR_NOMOREMEMORY 0x0007
+#define MBXERR_INVALIDSIZE 0x0008
+
+#define ABORT_NOTOGGLE 0x05030000
+#define ABORT_UNKNOWN 0x05040001
+#define ABORT_UNSUPPORTED 0x06010000
+#define ABORT_WRITEONLY 0x06010001
+#define ABORT_READONLY 0x06010002
+#define ABORT_NOOBJECT 0x06020000
+#define ABORT_TYPEMISMATCH 0x06070010
+#define ABORT_NOSUBINDEX 0x06090011
+#define ABORT_GENERALERROR 0x08000000
+#define ABORT_NOTINTHISSTATE 0x08000022
+
+#define MBXstate_idle 0x00
+#define MBXstate_inclaim 0x01
+#define MBXstate_outclaim 0x02
+#define MBXstate_outreq 0x03
+#define MBXstate_outpost 0x04
+#define MBXstate_backup 0x05
+#define MBXstate_again 0x06
+
+#define COE_DEFAULTLENGTH 0x0a
+#define COE_HEADERSIZE 0x0a
+#define COE_SEGMENTHEADERSIZE 0x03
+#define COE_SDOREQUEST 0x02
+#define COE_SDORESPONSE 0x03
+#define COE_SDOINFORMATION 0x08
+#define COE_COMMAND_SDOABORT 0x80
+#define COE_COMMAND_UPLOADREQUEST 0x40
+#define COE_COMMAND_UPLOADRESPONSE 0x40
+#define COE_COMMAND_UPLOADSEGMENT 0x00
+#define COE_COMMAND_UPLOADSEGREQ 0x60
+#define COE_COMMAND_DOWNLOADRESPONSE 0x60
+#define COE_COMMAND_LASTSEGMENTBIT 0x01
+#define COE_SIZE_INDICATOR 0x01
+#define COE_EXPEDITED_INDICATOR 0x02
+#define COE_COMPLETEACCESS 0x10
+#define COE_TOGGLEBIT 0x10
+#define COE_INFOERROR 0x07
+#define COE_GETODLISTRESPONSE 0x02
+#define COE_GETODRESPONSE 0x04
+#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
+#define COE_VALUEINFO_ACCESS 0x01
+#define COE_VALUEINFO_OBJECT 0x02
+#define COE_VALUEINFO_MAPPABLE 0x04
+#define COE_VALUEINFO_TYPE 0x08
+#define COE_VALUEINFO_DEFAULT 0x10
+#define COE_VALUEINFO_MINIMUM 0x20
+#define COE_VALUEINFO_MAXIMUM 0x40
+
+//////////////////////////////////////////////////////////
+#define MBXSIZE 0x80
+#define MBXBUFFERS 3
+
+#define MBX0_sma 0x1000
+#define MBX0_sml MBXSIZE
+#define MBX0_sme MBX0_sma+MBX0_sml-1
+#define MBX0_smc 0x26
+#define MBX1_sma 0x1080
+#define MBX1_sml MBXSIZE
+#define MBX1_sme MBX1_sma+MBX1_sml-1
+#define MBX1_smc 0x22
+
+#define SM2_sma 0x1100
+#define SM2_smc 0x24
+#define SM2_act 0x01
+#define SM3_sma 0x1180
+#define SM3_smc 0x20
+#define SM3_act 0x01
+/////////////////////////////////////////////////////////////
+
+#define MBXHSIZE sizeof(_MBXh)
+#define MBXDSIZE MBXSIZE-MBXHSIZE
+
+#define MBXERR 0x00
+#define MBXAOE 0x01
+#define MBXEOE 0x02
+#define MBXCOE 0x03
+#define MBXFOE 0x04
+#define MBXODL 0x10
+#define MBXOD 0x20
+#define MBXED 0x30
+#define MBXSEU 0x40
+#define MBXSED 0x50
+
+#define SMRESULT_ERRSM0 0x01
+#define SMRESULT_ERRSM1 0x02
+#define SMRESULT_ERRSM2 0x04
+#define SMRESULT_ERRSM3 0x08
+
+// Attention! this struct is always little-endian
+typedef struct PACKED
+ {
+ uint16 PSA;
+ uint16 Length;
+
+#if defined(EC_LITTLE_ENDIAN)
+ uint8 Mode:2;
+ uint8 Direction:2;
+ uint8 IntECAT:1;
+ uint8 IntPDI:1;
+ uint8 WTE:1;
+ uint8 R1:1;
+
+ uint8 IntW:1;
+ uint8 IntR:1;
+ uint8 R2:1;
+ uint8 MBXstat:1;
+ uint8 BUFstat:2;
+ uint8 R3:2;
+
+ uint8 ECsm:1;
+ uint8 ECrep:1;
+ uint8 ECr4:4;
+ uint8 EClatchEC:1;
+ uint8 EClatchPDI:1;
+
+ uint8 PDIsm:1;
+ uint8 PDIrep:1;
+ uint8 PDIr5:6;
+#endif
+
+#if defined(EC_BIG_ENDIAN)
+ uint8 R1:1;
+ uint8 WTE:1;
+ uint8 IntPDI:1;
+ uint8 IntECAT:1;
+ uint8 Direction:2;
+ uint8 Mode:2;
+
+ uint8 R3:2;
+ uint8 BUFstat:2;
+ uint8 MBXstat:1;
+ uint8 R2:1;
+ uint8 IntR:1;
+ uint8 IntW:1;
+
+ uint8 EClatchPDI:1;
+ uint8 EClatchEC:1;
+ uint8 ECr4:4;
+ uint8 ECrep:1;
+ uint8 ECsm:1;
+
+ uint8 PDIr5:6;
+ uint8 PDIrep:1;
+ uint8 PDIsm:1;
+#endif
+ } _ESCsm;
+
+// Attention! this struct is always little-endian
+typedef struct PACKED
+ {
+ uint16 PSA;
+ uint16 Length;
+ uint8 Command;
+ uint8 Status;
+ uint8 ActESC;
+ uint8 ActPDI;
+ } _ESCsm2;
+
+typedef FLASHSTORE struct PACKED
+ {
+ uint16 PSA;
+ uint16 Length;
+ uint8 Command;
+ } _ESCsmCompact;
+
+typedef struct
+ {
+ uint16 ALevent;
+ uint16 ALstatus;
+ uint16 ALcontrol;
+ uint16 ALerror;
+ uint16 DLstatus;
+ uint16 address;
+ uint8 mbxcnt;
+ uint8 mbxincnt;
+ uint8 mbxoutpost;
+ uint8 mbxbackup;
+ uint8 xoe;
+ uint8 txcue;
+ uint8 mbxfree;
+ uint8 segmented;
+ void *data;
+ uint16 entries;
+ uint16 frags;
+ uint16 fragsleft;
+
+#if defined(EC_LITTLE_ENDIAN)
+ uint8 r1:1;
+ uint8 toggle:1;
+ uint8 r2:6;
+#endif
+
+#if defined(EC_BIG_ENDIAN)
+ uint8 r2:6;
+ uint8 toggle:1;
+ uint8 r1:1;
+#endif
+
+ uint8 SMtestresult;
+ int16 temp;
+ uint16 wdcnt;
+ uint32 PrevTime;
+ uint32 Time;
+ _ESCsm SM[4];
+ } _ESCvar;
+
+typedef struct PACKED
+ {
+ uint16 length;
+ uint16 address;
+
+#if defined(EC_LITTLE_ENDIAN)
+ uint8 channel:6;
+ uint8 priority:2;
+
+ uint8 mbxtype:4;
+ uint8 mbxcnt: 4;
+#endif
+
+#if defined(EC_BIG_ENDIAN)
+ uint8 priority:2;
+ uint8 channel:6;
+
+ uint8 mbxcnt: 4;
+ uint8 mbxtype:4;
+#endif
+ } _MBXh;
+
+typedef struct PACKED
+ {
+ _MBXh header;
+ uint8 b[MBXDSIZE];
+ } _MBX;
+
+typedef struct PACKED
+ {
+ uint16 numberservice;
+ } _COEh;
+
+typedef struct PACKED
+ {
+#if defined(EC_LITTLE_ENDIAN)
+ uint8 opcode:7;
+ uint8 incomplete:1;
+#endif
+
+#if defined(EC_BIG_ENDIAN)
+ uint8 incomplete:1;
+ uint8 opcode:7;
+#endif
+
+ uint8 reserved;
+ uint16 fragmentsleft;
+ } _INFOh;
+
+typedef struct PACKED
+ {
+ _MBXh mbxheader;
+ uint16 type;
+ uint16 detail;
+ } _MBXerr;
+
+typedef struct PACKED
+ {
+ _MBXh mbxheader;
+ _COEh coeheader;
+ uint8 command;
+ uint16 index;
+ uint8 subindex;
+ uint32 size;
+ } _COEsdo;
+
+typedef struct PACKED
+ {
+ _MBXh mbxheader;
+ _COEh coeheader;
+ _INFOh infoheader;
+ uint16 index;
+ uint16 datatype;
+ uint8 maxsub;
+ uint8 objectcode;
+ char name;
+ } _COEobjdesc;
+
+typedef struct PACKED
+ {
+ _MBXh mbxheader;
+ _COEh coeheader;
+ _INFOh infoheader;
+ uint16 index;
+ uint8 subindex;
+ uint8 valueinfo;
+ uint16 datatype;
+ uint16 bitlength;
+ uint16 access;
+ char name;
+ } _COEentdesc;
+
+// state definition in mailbox
+// 0 : idle
+// 1 : claimed for inbox
+// 2 : claimed for outbox
+// 3 : request post outbox
+// 4 : outbox posted not send
+// 5 : backup outbox
+// 6 : mailbox needs to be transmitted again
+typedef struct
+ {
+ uint8 state;
+ } _MBXcontrol;
+
+uint16 sizeTXPDO(void);
+uint16 sizeRXPDO(void);
+uint8 ESC_read(uint16 address,void *buf,uint8 len,void *tALevent);
+uint8 ESC_write(uint16 address,void *buf,uint8 len,void *tALevent);
+void ESC_ALerror(uint16 errornumber);
+void ESC_ALstatus(uint8 status);
+void ESC_SMstatus(uint8 n);
+uint8 ESC_WDstatus(void);
+uint8 ESC_startmbx(uint8 state);
+void ESC_stopmbx(void);
+uint8 ESC_mbxprocess(void);
+void ESC_coeprocess(void);
+void ESC_xoeprocess(void);
+uint8 ESC_startinput(uint8 state);
+void ESC_stopinput(void);
+uint8 ESC_startoutput(uint8 state);
+void ESC_stopoutput(void);
+void ESC_ALevent(void);
+void ESC_state(void);
+extern void ESC_objecthandler(uint16 index, uint8 subindex);
+extern void APP_safeoutput(void);
+
+extern _ESCvar ESCvar;
+extern _MBX MBX[MBXBUFFERS];
+extern _MBXcontrol MBXcontrol[MBXBUFFERS];
+extern uint8 MBXrun;
+extern uint16 SM2_sml,SM3_sml;
+extern uint8 SDO1C12size;
+
+#endif
+