First Last
EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of
EtherCAT
by 
First Last
EtherCAT/esc.h
- Committer:
- vsluiter
- Date:
- 2015-09-11
- Revision:
- 42:ef78d11f2bd7
- Parent:
- 0:a8daa9348a67
File content as of revision 42:ef78d11f2bd7:
/*
* 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