220 lines
9.0 KiB
Plaintext
220 lines
9.0 KiB
Plaintext
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/**
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* \mainpage Simple Open EtherCAT Master or SOEM
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*
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* \section start Tutorial
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* For a tutorial on SOEM See tutorial.txt
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*
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* \section overview Overview
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* SOEM is an EtherCAT master library written in c. Its purpose is to learn and
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* to use. All users are invited to study the source to get an understanding
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* how an EtherCAT master functions and how it interacts with EtherCAT slaves.
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*
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* As all applications are different SOEM tries to not impose any design architecture.
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* Under Linux it can be used in generic user mode, PREEMPT_RT or Xenomai. under Windows
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* it can be used as user mode program.
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*
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* Preconditions Linux:
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* - Linux 2.6 kernel.
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* - GCC compiler (others might work, just not tested).
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* - One (or two if in redundant mode) 100Mb/s NIC that can connect to a RAW socket.
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* - Application must run as root / kernel.
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*
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* Preconditions Windows:
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* - Windows2000 - Windows 7 (8 not tested, might work).
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* - VC compiler (others might work, just not tested).
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* - One (or two if in redundant mode) 100Mb/s NIC that can connect to a RAW socket.
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* - WinPcap installed.
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*
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* Features as of 1.1.2 :
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* - Connects to a standard RAW socket.
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* - Full redundancy support.
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* - Recovery of "out-of-order" frames.
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* - Low level functions, BRD, BWR, APRMW, FPRD, LRW....
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* - Blocking or non blocking transfers.
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* - Automatic configuration of slaves.
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* - Use of internal configuration table (quick).
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* - Use of slave internal data in EEprom and/or CoE.
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* - Setting and reading of slave state.
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* - Automatic generation of processdata mapping.
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* - Mailbox link layer support with resend toggle.
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* - CoE, SDO read / write.
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* - CoE, Complete Access support.
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* - CoE, Segmented transfer support.
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* - CoE, Object Description list
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* - CoE, Emergency and abort SDO support.
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* - Distributed Clock (DC) support.
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* - Automatic configuration of DC slaves.
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* - Automatic sync of clocks with process data exchange.
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* - Flexible settting of sync0 and sync1 firing per slave.
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* - Access to slave functions through one slave structure.
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* - EEPROM read / write.
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* - Local cache for EEPROM access with automatic 4/8 byte reading.
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* - SII parsing.
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* - Portable code, only standard c, usable for embedded applications.
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* - All buffers are static so can be memory locked.
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* - Support for Little and Big endian targets.
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*
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* Features as of 1.1.3 :
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* - CoE, TxPDO and RxPDO, master is client (beta).
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* - FoE, Read and Write file (beta).
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*
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* Features as of 1.1.4 :
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* - FMMU allocation is floating instead of fixed. If needed more than 2 FMMUs are used.
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* - SYNC1 generation supported.
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*
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* Features as of 1.2.0 :
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* - Changed license to GPLv2 only. Adresses leagal concerns about master licensing.
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* - Slave init and process data mapping is split in two functions. This allows
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* dynamic user reconfiguration of PDO mapping.
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* - Eeprom transfer to and from PDI
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* - Eeprom is released to PDI when going to SAFEOP.
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*
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* Features as of 1.2.2 :
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* - Redesign of topology and delay measurement. 4 port slaves are fully supported now.
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* - Delay measurement of slaves that are reverse connected work too.
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* - New ethercatprint unit to display errors in readable text.
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*
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* Features as of 1.2.4 :
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* - SoE, servo over EtherCAT support.
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* - SoE read request and write request.
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* - SoE segmented transfers.
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* - SoE error response.
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* - Added SoE errors to print module.
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* - Auto config of SoE process data.
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*
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* Features as of 1.2.5 :
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* - Added eepromtool, it can read and write the ESC eeprom of a designated slave.
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* - Rewrite of eeprom read/write functions.
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* - Added infrastructure change to allow slave groups.
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* - Added recovery and reconfiguration of slaves after connection loss.
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* - Improved CoE PDO assignment read from slaves, no longer assume assign indexes
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* as functionally fixed.
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*
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* Features as of 1.2.8 :
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* - Changed directory structure.
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* - Changed make file.
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* - Moved hardware / OS dependend part in separate directories.
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* - Added firm_update tool to upload firmware to slaves in Boot state, use with care.
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* - Added DC for LRD/LWR case.
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* - Separated expectedWKC to inputsWKC and outputsWKC.
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* - Added PreOP->SafeOP hooks in configuration functions.
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* - With CoE use expedited download if mailbox size is very small and object <= 4 bytes.
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* - Added mailbox error handling.
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* - Rewrite of ec_recover_slave() and ec_reconfigure_slave()
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* - Added -map option in slaveinfo, shows SOEM IO mapping of all slaves found.
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*
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* Features as of 1.3.0 :
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* - Added win32 target.
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* - Added rtk target.
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* - Compiles under gcc / visual-c / borland-c.
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* - Multiple port support. One master can run concurrent stacks on multiple network ports.
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* - All global vars are encapsulated in context struct.
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* - All timing abstracted in osal.c.
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* - Linux timing converted to get_clock(CLOCK_MONOTONIC).
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* - Error messages updated to latest ETG1020 document.
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* - FoE transfers now support busy response.
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*
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* \section start Getting started
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*
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* For Linux
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* - go to project directory
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* - source ./setup.sh linux
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* - make all
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*
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* For examples see simple_test.c in ~/test/linux/simple_test.
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* First try (assume EtherCAT on eth0): sudo ./simple_test eth0
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* As SOEM uses RAW sockets it will need to run as root.
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*
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* For Windows
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* - have winpcap installed (included with WireShark)
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* - go to project directory
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* - for VC, run vcvarsall.bat
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* f.e. : C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC\vcvarsall.bat x86
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* - run make_test_win32_all.bat
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*
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* \section bugs Squashed bugs
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* Version 1.1.3
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* - Added missing Big-Endian conversion in ethercatconfig.c
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* - Fixed bug in segmented SDO transfers in ethercatcoe.c
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*
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* Version 1.1.4
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* - Changed FMMU algorithm of allocation during configuration. EL4732 supported now.
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* - Changed the ec_slave structure around SM en FMMU storage.
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* - Fixed bug in FoE write in ethercatfoe.c
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*
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* Version 1.2.0
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* - Fixed bug in type definition of int32 and uint32 for 64bit OS.
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* - Fixed bug in maximum dataframe size calculation.
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*
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* Version 1.2.2
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* - Fixed bugs in ec_adddatagram.
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* - Fixed several bugs in CoE object dictionary read functions.
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* - Fixed bug in PDO mapping read function.
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* - Changed ec_slave structure around topology and delay variables.
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* - Added several constants in ethercattype.c
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*
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* Version 1.2.3
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* - Clear SM enable if size is 0, even if enable is set in SII.
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* - Fixed bug in DC propagation delay calculation. Branches with only non DC slaves
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* now correctly close root port.
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* - Fixed bug in ec_receive_processdata(), wkc now checks for EC_NOFRAME instead of 0.
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* - Fixed bug in makefile.
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*
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* Version 1.2.5
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* - Fixed bugs in ec_config_map().
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* - Added EC_STATE_BOOT constant.
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* - Fixed mailbox size bug, In and Out mailbox can now be of different size.
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* - Fixed SM type bug.
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* - Fixed FoE bugs.
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* - Fixed siigetbyte() unaligned copy.
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* - Fixed bug in nicdrv.c, socket handles are 0 included.
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* - Fixed bug in ethercatconfig.c causing memory corruption.
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*
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* Version 1.2.8
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* - Fixed NetX mailbox configuration behaviour.
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* - Fixed FoE write bug.
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* - Fixed SII string read bug.
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* - Fixed bug in table lookup for printing
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*
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* Version 1.3.0
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* - Fixed NetX100 configuration behaviour.
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* - Fixed linux gettimeofday() to get_clock().
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* - Fixed eeprom cache flush on reinit.
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* - Fixed make for new gcc linker version.
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*
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* \section legal Legal notice
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* Copyright© 2005-2013 Speciaal Machinefabriek Ketels v.o.f. \n
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* Copyright© 2005-2013 Arthur Ketels \n
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* Copyright© 2008-2010 TU/e Technische Universiteit Eindhoven \n
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* Copyright© 2012-2013 RT-labs AB \n
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*
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* SOEM is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License version 2 as published by the Free
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* Software Foundation.
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*
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* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* As a special exception, if other files instantiate templates or use macros
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* or inline functions from this file, or you compile this file and link it
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* with other works to produce a work based on this file, this file does not
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* by itself cause the resulting work to be covered by the GNU General Public
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* License. However the source code for this file must still be made available
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* in accordance with section (3) of the GNU General Public License.
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*
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* This exception does not invalidate any other reasons why a work based on
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* this file might be covered by the GNU General Public License.
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*
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* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
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* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
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* the sole purpose of creating, using and/or selling or otherwise distributing
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* an EtherCAT network master provided that an EtherCAT Master License is obtained
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* from Beckhoff Automation GmbH.
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*
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* In case you did not receive a copy of the EtherCAT Master License along with
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* SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
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* (www.beckhoff.com).
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*/
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