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SOEM/soem/ethercattype.h

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/*
* Simple Open EtherCAT Master Library
*
* File : ethercattype.h
* Version : 1.3.1
* Date : 11-03-2015
* Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2015 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2014-2015 rt-labs AB , Sweden
*
* SOEM 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.
*
* SOEM 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. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
/** \file
* \brief
* General typedefs and defines for EtherCAT.
*
* Defines that could need optimalisation 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 timouts 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
/** 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
/** 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 occured 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
{
/** 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,
/** Broaddcast 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 Mulitple Write */
EC_CMD_ARMW,
/** Configured Read Mulitple 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;
/** 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 */
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