ethercatmain.h

Go to the documentation of this file.

/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatmain.h
 * Version : 1.2.5
 * Date    : 09-04-2011
 * Copyright (C) 2005-2011 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2011 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * 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
 * Headerfile for ethercatmain.c 
 */

#ifndef _ethercatmain_
#define _ethercatmain_

#ifndef PACKED
#define PACKED  __attribute__((__packed__))
#endif

/** max. etries in EtherCAT error list */
#define EC_MAXELIST   64
/** max. length of readable name in slavelist and Object Description List */
#define EC_MAXNAME    36
/** max. number of slaves in array */
#define EC_MAXSLAVE   200
/** max. number of groups */
#define EC_MAXGROUP   8
/** max. number of IO segments per group */
#define EC_MAXIOSEGMENTS 64
/** max. mailbox size */
#define EC_MAXMBX   0x3ff
/** max. eeprom PDO entries */
#define EC_MAXEEPDO   0x200
/** max. SM used */
#define EC_MAXSM    8
/** max. FMMU used */
#define EC_MAXFMMU    4

/** record for FMMU */
typedef struct PACKED
{
  uint32  LogStart;
  uint16  LogLength;
  uint8   LogStartbit;
  uint8   LogEndbit;
  uint16  PhysStart;
  uint8   PhysStartBit;
  uint8   FMMUtype;
  uint8   FMMUactive;
  uint8   unused1;
  uint16  unused2;  
}  ec_fmmut;

/** record for sync manager */
typedef struct PACKED
{
    uint16  StartAddr;
    uint16  SMlength;
    uint32  SMflags;
} ec_smt;

typedef struct PACKED
{
  uint16  State;
  uint16  Unused;
  uint16  ALstatuscode;
} ec_state_status;

#define ECT_MBXPROT_AOE   0x0001
#define ECT_MBXPROT_EOE   0x0002
#define ECT_MBXPROT_COE   0x0004
#define ECT_MBXPROT_FOE   0x0008
#define ECT_MBXPROT_SOE   0x0010
#define ECT_MBXPROT_VOE   0x0020

#define ECT_COEDET_SDO      0x01
#define ECT_COEDET_SDOINFO    0x02
#define ECT_COEDET_PDOASSIGN  0x04
#define ECT_COEDET_PDOCONFIG  0x08
#define ECT_COEDET_UPLOAD   0x10
#define ECT_COEDET_SDOCA    0x20

#define EC_SMENABLEMASK   0xfffeffff

/** for list of ethercat slaves detected */
typedef struct
{
    /** state of slave */
    uint16        state;
  /** AL status code */
  uint16        ALstatuscode;
  /** Configured address */
  uint16        configadr;
  /** Alias address */
  uint16        aliasadr;
    /** Manufacturer from EEprom */
    uint32        eep_man;
    /** ID from EEprom */
    uint32        eep_id;
    /** revision from EEprom */
    uint32        eep_rev;
    /** Interface type */
    uint16        Itype;
    /** Device type */
    uint16        Dtype;
    /** output bits */
    uint16        Obits;
    /** output bytes, if Obits < 8 then Obytes = 0 */
    uint32        Obytes;
    /** output pointer in IOmap buffer */
    uint8       *outputs;
    /** startbit in first output byte */
    uint8       Ostartbit;
    /** input bits */
    uint16        Ibits;
    /** input bytes, if Ibits < 8 then Ibytes = 0 */
    uint32        Ibytes;
    /** input pointer in IOmap buffer */
    uint8       *inputs;
    /** startbit in first input byte */
    uint8       Istartbit;
  /** SM structure */
  ec_smt        SM[EC_MAXSM];
  /** SM type 0=unused 1=MbxWr 2=MbxRd 3=Outputs 4=Inputs */
  uint8       SMtype[EC_MAXSM];
    /** FMMU structure */
    ec_fmmut      FMMU[EC_MAXFMMU];
    /** FMMU0 function */
    uint8       FMMU0func;
    /** FMMU1 function */
    uint8       FMMU1func;
    /** FMMU2 function */
    uint8       FMMU2func;
    /** FMMU3 function */
    uint8       FMMU3func;
    /** length of write mailbox in bytes, if no mailbox then 0 */
    uint16        mbx_l;
    /** mailbox write offset */
    uint16        mbx_wo;
    /** length of read mailbox in bytes */
    uint16        mbx_rl;
    /** mailbox read offset */
    uint16        mbx_ro;
    /** mailbox supported protocols */
    uint16        mbx_proto;
    /** Counter value of mailbox link layer protocol 1..7 */
    uint8       mbx_cnt;
    /** has DC capabillity */
    boolean       hasdc;
    /** Physical type; Ebus, EtherNet combinations */
    uint8       ptype;
    /** topology: 1 to 3 links */
    uint8       topology;
  /** active ports bitmap : ....3210 , set if respective port is active **/
  uint8       activeports;
  /** consumed ports bitmap : ....3210, used for internal delay measurement **/
  uint8       consumedports;
    /** slave number for parent, 0=master */
    uint16        parent;
  /** port number on parent this slave is connected to **/
  uint8       parentport;
  /** port number on this slave the parent is connected to **/
  uint8       entryport;
    /** DC receivetimes on port A */
    int32       DCrtA;
    /** DC receivetimes on port B */
    int32       DCrtB; 
    /** DC receivetimes on port C */
    int32       DCrtC;
    /** DC receivetimes on port D */
    int32       DCrtD;
    /** propagation delay */
    int32       pdelay;
  /** next DC slave */
  uint16        DCnext;
  /** previous DC slave */
  uint16        DCprevious;
    /** DC cyle time in ns */
    int32       DCcycle;
    /** DC shift from clock modulus boundary */
    int32       DCshift;
    /** DC sync activation, 0=off, 1=on */
    uint8       DCactive;
    /** link to config table */
    uint16        configindex;
    /** link to SII config */
    uint16        SIIindex;
    /** 1 = 8 bytes per read, 0 = 4 bytes per read */
    uint8       eep_8byte;
  /** 0 = eeprom to master , 1 = eeprom to PDI */
  uint8       eep_pdi;
    /** CoE details */
    uint8       CoEdetails;
    /** FoE details */
    uint8       FoEdetails;
    /** EoE details */
    uint8       EoEdetails;
    /** SoE details */
    uint8       SoEdetails;
    /** E-bus current */
    int16       Ebuscurrent;
  /** if >0 block use of LRW in processdata */
  uint8       blockLRW;
  /** group */
  uint8       group;
  /** first unused FMMU */
  uint8       FMMUunused;
  /** TRUE is slave is not responding at all */
  boolean       islost;
  /** registered configuration function PO->SO */
  int         (*PO2SOconfig)(uint16 slave);
    /** readable name */
    char        name[EC_MAXNAME + 1];
} ec_slavet;

/** for list of ethercat slave groups */
typedef struct
{
  /** logical start address for this group */
  uint32        logstartaddr;
    /** output bytes, if Obits < 8 then Obytes = 0 */
    uint32        Obytes;
    /** output pointer in IOmap buffer */
    uint8       *outputs;
    /** input bytes, if Ibits < 8 then Ibytes = 0 */
    uint32        Ibytes;
    /** input pointer in IOmap buffer */
    uint8       *inputs;
    /** has DC capabillity */
    boolean       hasdc;
  /** next DC slave */
  uint16        DCnext;
    /** E-bus current */
    int16       Ebuscurrent;
  /** if >0 block use of LRW in processdata */
  uint8       blockLRW;
  /** IO segegments used */
  uint16        nsegments;
  /** 1st input segment */
  uint16        Isegment;
  /** Offset in input segment */
  uint16        Ioffset;
  /** Expected workcounter */
  uint16        expectedWKC;
  /** check slave states */
  boolean       docheckstate;
  /** IO segmentation list. Datagrams must not break SM in two. */
  uint32        IOsegment[EC_MAXIOSEGMENTS];
} ec_groupt;

/** SII FMMU structure */
typedef struct
{
    uint16 Startpos;
    uint8 nFMMU;
    uint8 FMMU0;
    uint8 FMMU1;
    uint8 FMMU2;
    uint8 FMMU3;
} ec_eepromFMMUt;

/** SII SM structure */
typedef struct
{
    uint16 Startpos;
    uint8 nSM;
    uint16 PhStart;
    uint16 Plength;
    uint8 Creg;
    uint8 Sreg;     /* dont care */
    uint8 Activate;
    uint8 PDIctrl;    /* dont care */
} ec_eepromSMt;

/** record to store rxPDO and txPDO table from eeprom */
typedef struct 
{
    uint16 Startpos;
    uint16 Length;
    uint16 nPDO;
    uint16 Index[EC_MAXEEPDO];
    uint16 SyncM[EC_MAXEEPDO];
    uint16 BitSize[EC_MAXEEPDO];
  uint16 SMbitsize[EC_MAXSM];
} ec_eepromPDOt;

/** mailbox buffer array */
typedef uint8 ec_mbxbuft[EC_MAXMBX + 1];

/** standard ethercat mailbox header */
typedef struct PACKED
{
    uint16  length;
    uint16  address;
    uint8   priority;
    uint8   mbxtype;
} ec_mbxheadert;

/** ALstatus and ALstatus code */
typedef struct PACKED
{
  uint16  alstatus;
  uint16  unused;
  uint16  alstatuscode;
} ec_alstatust;

/** main slave data structure array */
extern ec_slavet  ec_slave[EC_MAXSLAVE];
/** number of slaves found by configuration function */
extern int      ec_slavecount;
/** slave group structure */
extern ec_groupt  ec_group[EC_MAXGROUP];
extern boolean    EcatError;

extern uint16 ec_DCtO;
extern int64 ec_DCtime;

void ec_pusherror(const ec_errort *Ec);
boolean ec_poperror(ec_errort *Ec);
boolean ec_iserror(void);
void ec_packeterror(uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode);
int ec_init(const char * ifname);
int ec_init_redundant(const char *ifname, const char *if2name);
void ec_close(void);
uint8 ec_siigetbyte(uint16 slave, uint16 address);
int16 ec_siifind(uint16 slave, uint16 cat);
void ec_siistring(char *str, uint16 slave, uint16 Sn);
uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ec_readstate(void);
int ec_writestate(uint16 slave);
uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
uint8 ec_nextmbxcnt(uint8 cnt);
void ec_clearmbx(ec_mbxbuft *Mbx);
int ec_mbxempty(uint16 slave, int timeout);
int ec_mbxsend(uint16 slave,ec_mbxbuft *mbx, int timeout);
int ec_mbxreceive(uint16 slave, ec_mbxbuft *mbx, int timeout);
void ec_esidump(uint16 slave, uint8 *esibuf, uint8 test);
uint32 ec_readeeprom(uint16 slave, uint16 eeproma, int timeout);
int ec_writeeeprom(uint16 slave, uint16 eeproma, uint16 data, int timeout);
int ec_eeprom2master(uint16 slave);
int ec_eeprom2pdi(uint16 slave);
uint64 ec_readeepromAP(uint16 aiadr, uint16 eeproma, int timeout);
int ec_writeeepromAP(uint16 aiadr, uint16 eeproma, uint16 data, int timeout);
uint64 ec_readeepromFP(uint16 configadr, uint16 eeproma, int timeout);
int ec_writeeepromFP(uint16 configadr, uint16 eeproma, uint16 data, int timeout);
void ec_readeeprom1(uint16 slave, uint16 eeproma);
uint32 ec_readeeprom2(uint16 slave, int timeout);
int ec_send_processdata_group(uint8 group);
int ec_receive_processdata_group(uint8 group, int timeout);
int ec_send_processdata(void);
int ec_receive_processdata(int timeout);

#endif