1

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

     2

 *

     3

 *  $Id$

     4

 *

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

    20

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

    21

 *

    24

 *

    25

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

    26

    27

/** \file

    28

 * Global definitions and macros.

    29

 */

    30

    31

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

    32

    33

#ifndef __EC_MASTER_GLOBALS_H__

    34

#define __EC_MASTER_GLOBALS_H__

    35

    36

#include <linux/types.h>

    37

    38

#include "../globals.h"

    39

    40

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

    41

 * EtherCAT master

    42

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

    43

    44

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

    45

#define EC_EOE_FREQUENCY 1000

    46

    47

/** Datagram timeout in microseconds. */

    48

#define EC_IO_TIMEOUT 500

    49

    50

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

    51

#define EC_FSM_RETRIES 3

    52

    53

/** Seconds to wait before fetching Sdo dictionary

    54

    after slave entered PREOP state. */

    55

#define EC_WAIT_SDO_DICT 3

    56

    57

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

    58

#define EC_STATE_STRING_SIZE 32

    59

    60

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

    61

#define EC_MAX_SII_SIZE 1024

    62

    63

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

    64

 * EtherCAT protocol

    65

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

    66

    67

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

    68

#define EC_FRAME_HEADER_SIZE 2

    69

    70

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

    71

#define EC_DATAGRAM_HEADER_SIZE 10

    72

    73

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

    74

#define EC_DATAGRAM_FOOTER_SIZE 2

    75

    76

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

    77

#define EC_ADDR_LEN 4

    78

    79

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

    80

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

    81

                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

    82

    83

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

    84

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

    85

    86

/** Maximum number of slave ports. */

    87

#define EC_MAX_PORTS 4

    88

    89

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

    90

#define EC_SYNC_PAGE_SIZE 8

    91

    92

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

    93

#define EC_MAX_FMMUS 16

    94

    95

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

    96

#define EC_FMMU_PAGE_SIZE 16

    97

    98

/** Slave state mask.

    99

 *

   100

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

   101

 * the error flag.

   102

 */

   103

#define EC_SLAVE_STATE_MASK 0x0F

   104

   105

/** State of an EtherCAT slave.

   106

 */

   107

typedef enum {

   108

    EC_SLAVE_STATE_UNKNOWN = 0x00,

   109

    /**< unknown state */

   110

    EC_SLAVE_STATE_INIT = 0x01,

   111

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

   112

    EC_SLAVE_STATE_PREOP = 0x02,

   113

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

   114

    EC_SLAVE_STATE_SAFEOP = 0x04,

   115

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

   116

    EC_SLAVE_STATE_OP = 0x08,

   117

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

   118

    EC_SLAVE_STATE_ACK_ERR = 0x10

   119

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

   120

} ec_slave_state_t;

   121

   122

/** Supported mailbox protocols.

   123

 */

   124

enum {

   125

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

   126

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

   127

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

   128

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

   129

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

   130

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

   131

};

   132

   133

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

   134

 */

   135

typedef struct {

   136

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

   137

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

   138

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

   139

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

   140

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

   141

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

   142

} ec_sii_coe_details_t;

   143

   144

/** Slave information interface general flags.

   145

 */

   146

typedef struct {

   147

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

   148

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

   149

} ec_sii_general_flags_t;

   150

   151

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

   152

   153

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

   154

 *

   155

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

   156

 *

   157

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

   158

 * \param args arguments (optional)

   159

 */

   160

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

   161

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

   162

   163

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

   164

 *

   165

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

   166

 *

   167

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

   168

 * \param args arguments (optional)

   169

 */

   170

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

   171

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

   172

   173

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

   174

 *

   175

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

   176

 *

   177

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

   178

 * \param args arguments (optional)

   179

 */

   180

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

   181

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

   182

   183

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

   184

 *

   185

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

   186

 *

   187

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

   188

 * \param args arguments (optional)

   189

 */

   190

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

   191

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

   192

   193

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

   194

 *

   195

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

   196

 * file will be world-readable.

   197

 *

   198

 * \param NAME name of the attribute to create.

   199

 */

   200

#define EC_SYSFS_READ_ATTR(NAME) \

   201

    static struct attribute attr_##NAME = { \

   202

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

   203

    }

   204

   205

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

   206

 *

   207

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

   208

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

   209

 *

   210

 * \param NAME name of the attribute to create.

   211

 */

   212

#define EC_SYSFS_READ_WRITE_ATTR(NAME) \

   213

    static struct attribute attr_##NAME = { \

   214

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

   215

    }

   216

   217

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

   218

   219

extern char *ec_master_version_str;

   220

   221

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

   222

   223

void ec_print_data(const uint8_t *, size_t);

   224

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

   225

size_t ec_state_string(uint8_t, char *);

   226

ssize_t ec_mac_print(const uint8_t *, char *);

   227

int ec_mac_is_zero(const uint8_t *);

   228

   229

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

   230

   231

/** Code/Message pair.

   232

 *

   233

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

   234

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

   235

 */

   236

typedef struct {

   237

    uint32_t code; /**< Code. */

   238

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

   239

} ec_code_msg_t;

   240

   241

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

   242

   243

/** Generic request state.

   244

 *

   245

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

   246

 * state_table in master/sdo_request.c.

   247

 */

   248

typedef enum {

   249

    EC_REQUEST_INIT,

   250

    EC_REQUEST_QUEUED,

   251

    EC_REQUEST_BUSY,

   252

    EC_REQUEST_SUCCESS,

   253

    EC_REQUEST_FAILURE

   254

} ec_request_state_t;

   255

   256

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

   257

   258

/** Origin type.

   259

 */

   260

typedef enum {

   261

    EC_ORIG_INTERNAL, /**< Internal. */

   262

    EC_ORIG_EXTERNAL /**< External. */

   263

} ec_origin_t;

   264

   265

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

   266

   267

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

   268

   269

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

   270

   271

#endif