1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/** \file

    31

 * Global definitions and macros.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#ifndef __EC_MASTER_GLOBALS_H__

    37

#define __EC_MASTER_GLOBALS_H__

    38

    39

#include <linux/types.h>

    40

    41

#include "../globals.h"

    42

#include "../include/ecrt.h"

    43

    44

/******************************************************************************

    45

 * EtherCAT master

    46

 *****************************************************************************/

    47

    48

/** Datagram timeout in microseconds. */

    49

#define EC_IO_TIMEOUT 500

    50

    51

/** SDO injection timeout in microseconds. */

    52

#define EC_SDO_INJECTION_TIMEOUT 10000

    53

    54

/** time to send a byte in nanoseconds. */

    55

#define EC_BYTE_TRANSMITION_TIME 80LL

    56

    57

/** Number of state machine retries on datagram timeout. */

    58

#define EC_FSM_RETRIES 3

    59

    60

/** Seconds to wait before fetching SDO dictionary

    61

    after slave entered PREOP state. */

    62

#define EC_WAIT_SDO_DICT 3

    63

    64

/** Minimum size of a buffer used with ec_state_string(). */

    65

#define EC_STATE_STRING_SIZE 32

    66

    67

/** Maximum SII size in words, to avoid infinite reading. */

    68

#define EC_MAX_SII_SIZE 4096

    69

    70

/******************************************************************************

    71

 * EtherCAT protocol

    72

 *****************************************************************************/

    73

    74

/** Size of an EtherCAT frame header. */

    75

#define EC_FRAME_HEADER_SIZE 2

    76

    77

/** Size of an EtherCAT datagram header. */

    78

#define EC_DATAGRAM_HEADER_SIZE 10

    79

    80

/** Size of an EtherCAT datagram footer. */

    81

#define EC_DATAGRAM_FOOTER_SIZE 2

    82

    83

/** Size of the EtherCAT address field. */

    84

#define EC_ADDR_LEN 4

    85

    86

/** Resulting maximum data size of a single datagram in a frame. */

    87

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

    88

                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

    89

    90

/** Mailbox header size.  */

    91

#define EC_MBOX_HEADER_SIZE 6

    92

    93

/** Word offset of first SII category. */

    94

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

    95

    96

/** Maximum number of slave ports. */

    97

#define EC_MAX_PORTS 4

    98

    99

/** Size of a sync manager configuration page. */

   100

#define EC_SYNC_PAGE_SIZE 8

   101

   102

/** Maximum number of FMMUs per slave. */

   103

#define EC_MAX_FMMUS 16

   104

   105

/** Size of an FMMU configuration page. */

   106

#define EC_FMMU_PAGE_SIZE 16

   107

   108

/** Number of DC sync signals. */

   109

#define EC_SYNC_SIGNAL_COUNT 2

   110

   111

/** Size of the datagram description string.

   112

 *

   113

 * This is also used as the maximum lenth of EoE device names.

   114

 **/

   115

#define EC_DATAGRAM_NAME_SIZE 20

   116

   117

/** Slave state mask.

   118

 *

   119

 * Apply this mask to a slave state byte to get the slave state without

   120

 * the error flag.

   121

 */

   122

#define EC_SLAVE_STATE_MASK 0x0F

   123

   124

/** State of an EtherCAT slave.

   125

 */

   126

typedef enum {

   127

    EC_SLAVE_STATE_UNKNOWN = 0x00,

   128

    /**< unknown state */

   129

    EC_SLAVE_STATE_INIT = 0x01,

   130

    /**< INIT state (no mailbox communication, no IO) */

   131

    EC_SLAVE_STATE_PREOP = 0x02,

   132

    /**< PREOP state (mailbox communication, no IO) */

   133

    EC_SLAVE_STATE_BOOT = 0x03,

   134

    /**< Bootstrap state (mailbox communication, firmware update) */

   135

    EC_SLAVE_STATE_SAFEOP = 0x04,

   136

    /**< SAFEOP (mailbox communication and input update) */

   137

    EC_SLAVE_STATE_OP = 0x08,

   138

    /**< OP (mailbox communication and input/output update) */

   139

    EC_SLAVE_STATE_ACK_ERR = 0x10

   140

    /**< Acknowledge/Error bit (no actual state) */

   141

} ec_slave_state_t;

   142

   143

/** Supported mailbox protocols.

   144

 */

   145

enum {

   146

    EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */

   147

    EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */

   148

    EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */

   149

    EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */

   150

    EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */

   151

    EC_MBOX_VOE = 0x20  /**< Vendor specific */

   152

};

   153

   154

/** Slave information interface CANopen over EtherCAT details flags.

   155

 */

   156

typedef struct {

   157

    uint8_t enable_sdo : 1; /**< Enable SDO access. */

   158

    uint8_t enable_sdo_info : 1; /**< SDO information service available. */

   159

    uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */

   160

    uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */

   161

    uint8_t enable_upload_at_startup : 1; /**< ?. */

   162

    uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */

   163

} ec_sii_coe_details_t;

   164

   165

/** Slave information interface general flags.

   166

 */

   167

typedef struct {

   168

    uint8_t enable_safeop : 1; /**< ?. */

   169

    uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */

   170

} ec_sii_general_flags_t;

   171

   172

/** EtherCAT slave port descriptor.

   173

 */

   174

typedef enum {

   175

    EC_PORT_NOT_IMPLEMENTED,

   176

    EC_PORT_NOT_CONFIGURED,

   177

    EC_PORT_EBUS,

   178

    EC_PORT_MII

   179

} ec_slave_port_desc_t;

   180

   181

/** EtherCAT slave port information.

   182

 */

   183

typedef struct {

   184

    uint8_t link_up; /**< Link detected. */

   185

    uint8_t loop_closed; /**< Loop closed. */

   186

    uint8_t signal_detected; /**< Detected signal on RX port. */

   187

} ec_slave_port_link_t;

   188

   189

/** EtherCAT slave distributed clocks range.

   190

 */

   191

typedef enum {

   192

    EC_DC_32, /**< 32 bit. */

   193

    EC_DC_64 /*< 64 bit for system time, system time offset and

   194

               port 0 receive time. */

   195

} ec_slave_dc_range_t;

   196

   197

/** EtherCAT slave sync signal configuration.

   198

 */

   199

typedef struct {

   200

    uint32_t cycle_time; /**< Cycle time [ns]. */

   201

    uint32_t shift_time; /**< Shift time [ns]. */

   202

} ec_sync_signal_t;

   203

   204

/** Access states for SDO entries.

   205

 *

   206

 * The access rights are managed per AL state.

   207

 */

   208

enum {

   209

    EC_SDO_ENTRY_ACCESS_PREOP, /**< Access rights in PREOP. */

   210

    EC_SDO_ENTRY_ACCESS_SAFEOP, /**< Access rights in SAFEOP. */

   211

    EC_SDO_ENTRY_ACCESS_OP, /**< Access rights in OP. */

   212

    EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */

   213

};

   214

   215

/*****************************************************************************/

   216

   217

/** Convenience macro for printing EtherCAT-specific information to syslog.

   218

 *

   219

 * This will print the message in \a fmt with a prefixed "EtherCAT: ".

   220

 *

   221

 * \param fmt format string (like in printf())

   222

 * \param args arguments (optional)

   223

 */

   224

#define EC_INFO(fmt, args...) \

   225

    printk(KERN_INFO "EtherCAT: " fmt, ##args)

   226

   227

/** Convenience macro for printing EtherCAT-specific errors to syslog.

   228

 *

   229

 * This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".

   230

 *

   231

 * \param fmt format string (like in printf())

   232

 * \param args arguments (optional)

   233

 */

   234

#define EC_ERR(fmt, args...) \

   235

    printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)

   236

   237

/** Convenience macro for printing EtherCAT-specific warnings to syslog.

   238

 *

   239

 * This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".

   240

 *

   241

 * \param fmt format string (like in printf())

   242

 * \param args arguments (optional)

   243

 */

   244

#define EC_WARN(fmt, args...) \

   245

    printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)

   246

   247

/** Convenience macro for printing EtherCAT debug messages to syslog.

   248

 *

   249

 * This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".

   250

 *

   251

 * \param fmt format string (like in printf())

   252

 * \param args arguments (optional)

   253

 */

   254

#define EC_DBG(fmt, args...) \

   255

    printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)

   256

   257

/*****************************************************************************/

   258

   259

extern char *ec_master_version_str;

   260

   261

/*****************************************************************************/

   262

   263

void ec_print_data(const uint8_t *, size_t);

   264

void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);

   265

size_t ec_state_string(uint8_t, char *, uint8_t);

   266

ssize_t ec_mac_print(const uint8_t *, char *);

   267

int ec_mac_is_zero(const uint8_t *);

   268

   269

ec_master_t *ecrt_request_master_err(unsigned int);

   270

   271

/*****************************************************************************/

   272

   273

/** Code/Message pair.

   274

 *

   275

 * Some EtherCAT datagrams support reading a status code to display a certain

   276

 * message. This type allows to map a code to a message string.

   277

 */

   278

typedef struct {

   279

    uint32_t code; /**< Code. */

   280

    const char *message; /**< Message belonging to \a code. */

   281

} ec_code_msg_t;

   282

   283

/*****************************************************************************/

   284

   285

/** Generic request state.

   286

 *

   287

 * \attention If ever changing this, please be sure to adjust the \a

   288

 * state_table in master/sdo_request.c.

   289

 */

   290

typedef enum {

   291

    EC_INT_REQUEST_INIT,

   292

    EC_INT_REQUEST_QUEUED,

   293

    EC_INT_REQUEST_BUSY,

   294

    EC_INT_REQUEST_SUCCESS,

   295

    EC_INT_REQUEST_FAILURE

   296

} ec_internal_request_state_t;

   297

   298

/*****************************************************************************/

   299

   300

extern const ec_request_state_t ec_request_state_translation_table[];

   301

   302

/*****************************************************************************/

   303

   304

/** Origin type.

   305

 */

   306

typedef enum {

   307

    EC_ORIG_INTERNAL, /**< Internal. */

   308

    EC_ORIG_EXTERNAL /**< External. */

   309

} ec_origin_t;

   310

   311

/*****************************************************************************/

   312

   313

typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */

   314

   315

/*****************************************************************************/

   316

   317

#endif