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

/** Clock frequency for the EoE state machines. */

    49

#define EC_EOE_FREQUENCY 1000

    50

    51

/** Datagram timeout in microseconds. */

    52

#define EC_IO_TIMEOUT 500

    53

    54

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

    55

#define EC_FSM_RETRIES 3

    56

    57

/** Seconds to wait before fetching SDO dictionary

    58

    after slave entered PREOP state. */

    59

#define EC_WAIT_SDO_DICT 3

    60

    61

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

    62

#define EC_STATE_STRING_SIZE 32

    63

    64

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

    65

#define EC_MAX_SII_SIZE 1024

    66

    67

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

    68

 * EtherCAT protocol

    69

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

    70

    71

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

    72

#define EC_FRAME_HEADER_SIZE 2

    73

    74

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

    75

#define EC_DATAGRAM_HEADER_SIZE 10

    76

    77

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

    78

#define EC_DATAGRAM_FOOTER_SIZE 2

    79

    80

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

    81

#define EC_ADDR_LEN 4

    82

    83

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

    84

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

    85

                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

    86

    87

/** Mailbox header size.  */

    88

#define EC_MBOX_HEADER_SIZE 6

    89

    90

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

    91

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

    92

    93

/** Maximum number of slave ports. */

    94

#define EC_MAX_PORTS 4

    95

    96

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

    97

#define EC_SYNC_PAGE_SIZE 8

    98

    99

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

   100

#define EC_MAX_FMMUS 16

   101

   102

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

   103

#define EC_FMMU_PAGE_SIZE 16

   104

   105

/** Slave state mask.

   106

 *

   107

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

   108

 * the error flag.

   109

 */

   110

#define EC_SLAVE_STATE_MASK 0x0F

   111

   112

/** State of an EtherCAT slave.

   113

 */

   114

typedef enum {

   115

    EC_SLAVE_STATE_UNKNOWN = 0x00,

   116

    /**< unknown state */

   117

    EC_SLAVE_STATE_INIT = 0x01,

   118

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

   119

    EC_SLAVE_STATE_PREOP = 0x02,

   120

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

   121

    EC_SLAVE_STATE_BOOT = 0x03,

   122

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

   123

    EC_SLAVE_STATE_SAFEOP = 0x04,

   124

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

   125

    EC_SLAVE_STATE_OP = 0x08,

   126

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

   127

    EC_SLAVE_STATE_ACK_ERR = 0x10

   128

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

   129

} ec_slave_state_t;

   130

   131

/** Supported mailbox protocols.

   132

 */

   133

enum {

   134

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

   135

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

   136

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

   137

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

   138

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

   139

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

   140

};

   141

   142

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

   143

 */

   144

typedef struct {

   145

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

   146

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

   147

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

   148

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

   149

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

   150

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

   151

} ec_sii_coe_details_t;

   152

   153

/** Slave information interface general flags.

   154

 */

   155

typedef struct {

   156

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

   157

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

   158

} ec_sii_general_flags_t;

   159

   160

/** EtherCAT slave port descriptor.

   161

 */

   162

typedef enum {

   163

    EC_PORT_NOT_IMPLEMENTED,

   164

    EC_PORT_NOT_CONFIGURED,

   165

    EC_PORT_EBUS,

   166

    EC_PORT_MII

   167

} ec_slave_port_desc_t;

   168

   169

/** EtherCAT slave distributed clocks range.

   170

 */

   171

typedef enum {

   172

    EC_DC_32, /**< 32 bit. */

   173

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

   174

               port 0 receive time. */

   175

} ec_slave_dc_range_t;

   176

   177

/** Access states for SDO entries.

   178

 *

   179

 * The access rights are managed per AL state.

   180

 */

   181

enum {

   182

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

   183

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

   184

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

   185

    EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */

   186

};

   187

   188

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

   189

   190

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

   191

 *

   192

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

   193

 *

   194

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

   195

 * \param args arguments (optional)

   196

 */

   197

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

   198

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

   199

   200

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

   201

 *

   202

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

   203

 *

   204

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

   205

 * \param args arguments (optional)

   206

 */

   207

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

   208

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

   209

   210

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

   211

 *

   212

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

   213

 *

   214

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

   215

 * \param args arguments (optional)

   216

 */

   217

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

   218

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

   219

   220

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

   221

 *

   222

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

   223

 *

   224

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

   225

 * \param args arguments (optional)

   226

 */

   227

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

   228

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

   229

   230

/** Convenience macro for defining read-only SysFS attributes.

   231

 *

   232

 * This results in creating a static variable called attr_\a NAME. The SysFS

   233

 * file will be world-readable.

   234

 *

   235

 * \param NAME name of the attribute to create.

   236

 */

   237

#define EC_SYSFS_READ_ATTR(NAME) \

   238

    static struct attribute attr_##NAME = { \

   239

        .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \

   240

    }

   241

   242

/** Convenience macro for defining read-write SysFS attributes.

   243

 *

   244

 * This results in creating a static variable called attr_\a NAME. The SysFS

   245

 * file will be word-readable plus owner-writable.

   246

 *

   247

 * \param NAME name of the attribute to create.

   248

 */

   249

#define EC_SYSFS_READ_WRITE_ATTR(NAME) \

   250

    static struct attribute attr_##NAME = { \

   251

        .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO | S_IWUSR \

   252

    }

   253

   254

/** Timeval to nanoseconds conversion.

   255

 *

   256

 * \param TV Pointer to struct timeval.

   257

 */

   258

#define EC_TIMEVAL2NANO(TV) \

   259

    (((TV)->tv_sec - 946684800ULL) * 1000000000ULL + (TV)->tv_usec * 1000ULL)

   260

   261

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

   262

   263

extern char *ec_master_version_str;

   264

   265

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

   266

   267

void ec_print_data(const uint8_t *, size_t);

   268

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

   269

size_t ec_state_string(uint8_t, char *, uint8_t);

   270

ssize_t ec_mac_print(const uint8_t *, char *);

   271

int ec_mac_is_zero(const uint8_t *);

   272

   273

ec_master_t *ecrt_request_master_err(unsigned int);

   274

   275

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

   276

   277

/** Code/Message pair.

   278

 *

   279

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

   280

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

   281

 */

   282

typedef struct {

   283

    uint32_t code; /**< Code. */

   284

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

   285

} ec_code_msg_t;

   286

   287

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

   288

   289

/** Generic request state.

   290

 *

   291

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

   292

 * state_table in master/sdo_request.c.

   293

 */

   294

typedef enum {

   295

    EC_INT_REQUEST_INIT,

   296

    EC_INT_REQUEST_QUEUED,

   297

    EC_INT_REQUEST_BUSY,

   298

    EC_INT_REQUEST_SUCCESS,

   299

    EC_INT_REQUEST_FAILURE

   300

} ec_internal_request_state_t;

   301

   302

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

   303

   304

extern const ec_request_state_t ec_request_state_translation_table[];

   305

   306

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

   307

   308

/** Origin type.

   309

 */

   310

typedef enum {

   311

    EC_ORIG_INTERNAL, /**< Internal. */

   312

    EC_ORIG_EXTERNAL /**< External. */

   313

} ec_origin_t;

   314

   315

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

   316

   317

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

   318

   319

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

   320

   321

#endif