1

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

     2

 *

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT master userspace library.

     8

 *

     9

 *  The IgH EtherCAT master userspace library is free software; you can

    10

 *  redistribute it and/or modify it under the terms of the GNU Lesser General

    11

 *  Public License as published by the Free Software Foundation; version 2.1

    12

 *  of the License.

    13

 *

    14

 *  The IgH EtherCAT master userspace library is distributed in the hope that

    15

 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

    16

 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU Lesser General Public License for more details.

    18

 *

    19

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

    20

 *  along with the IgH EtherCAT master userspace library. If not, see

    21

 *  <http://www.gnu.org/licenses/>.

    22

 *

    23

 *  ---

    24

 *

    25

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

    26

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

    27

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    28

 *

    29

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

    30

    31

/** \file

    32

 *

    33

 * EtherCAT master application interface.

    34

 *

    35

 * \defgroup ApplicationInterface EtherCAT Application Interface

    36

 *

    37

 * EtherCAT interface for realtime applications. This interface is designed

    38

 * for realtime modules that want to use EtherCAT. There are functions to

    39

 * request a master, to map process data, to communicate with slaves via CoE

    40

 * and to configure and activate the bus.

    41

 *

    42

 * Changes in version 1.5:

    43

 *

    44

 * - Added the distributed clocks feature and the respective method

    45

 *   ecrt_slave_config_dc() to configure a slave for cyclic operation, and

    46

 *   ecrt_master_application_time(), ecrt_master_sync_reference_clock() and

    47

 *   ecrt_master_sync_slave_clocks() for offset and drift compensation. The

    48

 *   EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the

    49

 *   ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()

    50

 *   methods can be used to monitor the synchrony.

    51

 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two

    52

 *   callback functions for locking and unlocking the fsm datagram queue.

    53

 * - Added watchdog configuration (method ecrt_slave_config_watchdog(),

    54

 *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and

    55

 *   ecrt_slave_config_sync_manager()).

    56

 * - Added ecrt_slave_config_complete_sdo() method to download an SDO during

    57

 *   configuration via CompleteAccess.

    58

 * - Added ecrt_master_deactivate() to remove the bus configuration.

    59

 * - Added ecrt_open_master() and ecrt_master_reserve() separation for

    60

 *   userspace.

    61

 * - Added bus information interface (methods ecrt_master(),

    62

 *   ecrt_master_get_slave(), ecrt_master_get_sync_manager(),

    63

 *   ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information

    64

 *   about the currently connected slaves and the PDO entries provided.

    68

 * - Changed the meaning of the negative return values of

    69

 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().

    70

 * - Implemented the Vendor-specific over EtherCAT mailbox protocol. See

    71

 *   ecrt_slave_config_create_voe_handler().

    72

 * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also

    73

 *   used by VoE handlers.

    74

 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the

    75

 *   userspace library has to modify object internals.

    76

 * - Added 64-bit data access macros.

    77

 * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,

    78

 *   and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs

    79

 *   ad-hoc via the user-space library.

    80

 * - Added ecrt_master_reset() to initiate retrying to configure slaves.

    81

 * - Added support for overlapping PDOs which allows inputs to use the same

    82

 *   space as outputs on the frame. This reduces the frame length.

    83

 *

    84

 *

    85

 * @{

    86

 */

    87

    88

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

    89

    90

#ifndef __ECRT_H__

    91

#define __ECRT_H__

    92

    93

#ifdef __KERNEL__

    94

#include <asm/byteorder.h>

    95

#include <linux/types.h>

    96

#include <linux/time.h>

    97

#else

    98

#include <stdlib.h> // for size_t

    99

#include <stdint.h>

   100

#include <sys/time.h> // for struct timeval

   101

#endif

   102

   103

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

   104

 * Global definitions

   105

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

   106

   107

/** EtherCAT realtime interface major version number.

   108

 */

   109

#define ECRT_VER_MAJOR 1

   110

   111

/** EtherCAT realtime interface minor version number.

   112

 */

   113

#define ECRT_VER_MINOR 5

   114

   115

/** EtherCAT realtime interface version word generator.

   116

 */

   117

#define ECRT_VERSION(a, b) (((a) << 8) + (b))

   118

   119

/** EtherCAT realtime interface version word.

   120

 */

   121

#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)

   122

   123

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

   124

   125

/** End of list marker.

   126

 *

   127

 * This can be used with ecrt_slave_config_pdos().

   128

 */

   129

#define EC_END ~0U

   130

   131

/** Maximum number of sync managers per slave.

   132

 */

   133

#define EC_MAX_SYNC_MANAGERS 16

   134

   135

/** Maximum string length.

   136

 *

   137

 * Used in ec_slave_info_t.

   138

 */

   139

#define EC_MAX_STRING_LENGTH 64

   140

   141

/** Maximum number of slave ports. */

   142

#define EC_MAX_PORTS 4

   143

   144

/** Timeval to nanoseconds conversion.

   145

 *

   146

 * This macro converts a Unix epoch time to EtherCAT DC time.

   147

 *

   148

 * \see void ecrt_master_application_time()

   149

 *

   150

 * \param TV struct timeval containing epoch time.

   151

 */

   152

#define EC_TIMEVAL2NANO(TV) \

   153

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

   154

   155

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

   156

 * Data types

   157

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

   158

   159

struct ec_master;

   160

typedef struct ec_master ec_master_t; /**< \see ec_master */

   161

   162

struct ec_slave_config;

   163

typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */

   164

   165

struct ec_domain;

   166

typedef struct ec_domain ec_domain_t; /**< \see ec_domain */

   167

   168

struct ec_sdo_request;

   169

typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */

   170

   171

struct ec_voe_handler;

   172

typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */

   173

   174

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

   175

   176

/** Master state.

   177

 *

   178

 * This is used for the output parameter of ecrt_master_state().

   179

 *

   180

 * \see ecrt_master_state().

   181

 */

   182

typedef struct {

   183

    unsigned int slaves_responding; /**< Number of slaves in the bus. */

   184

    unsigned int al_states : 4; /**< Application-layer states of all slaves.

   185

                                  The states are coded in the lower 4 bits.

   186

                                  If a bit is set, it means that at least one

   187

                                  slave in the bus is in the corresponding

   188

                                  state:

   189

                                  - Bit 0: \a INIT

   190

                                  - Bit 1: \a PREOP

   191

                                  - Bit 2: \a SAFEOP

   192

                                  - Bit 3: \a OP */

   193

    unsigned int link_up : 1; /**< \a true, if the network link is up. */

   194

} ec_master_state_t;

   195

   196

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

   197

   198

/** Slave configuration state.

   199

 *

   200

 * This is used as an output parameter of ecrt_slave_config_state().

   201

 *

   202

 * \see ecrt_slave_config_state().

   203

 */

   204

typedef struct  {

   205

    unsigned int online : 1; /**< The slave is online. */

   206

    unsigned int operational : 1; /**< The slave was brought into \a OP state

   207

                                    using the specified configuration. */

   208

    unsigned int al_state : 4; /**< The application-layer state of the slave.

   209

                                 - 1: \a INIT

   210

                                 - 2: \a PREOP

   211

                                 - 4: \a SAFEOP

   212

                                 - 8: \a OP

   213

   214

                                 Note that each state is coded in a different

   215

                                 bit! */

   216

} ec_slave_config_state_t;

   217

   218

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

   219

   220

/** Master information.

   221

 *

   222

 * This is used as an output parameter of ecrt_master().

   223

 *

   224

 * \see ecrt_master().

   225

 */

   226

typedef struct {

   227

   unsigned int slave_count; /**< Number of slaves in the bus. */

   228

   unsigned int link_up : 1; /**< \a true, if the network link is up. */

   229

   uint8_t scan_busy; /**< \a true, while the master is scanning the bus */

   230

   uint64_t app_time; /**< Application time. */

   231

} ec_master_info_t;

   232

   233

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

   234

   235

/** EtherCAT slave port descriptor.

   236

 */

   237

typedef enum {

   238

    EC_PORT_NOT_IMPLEMENTED, /**< Port is not implemented. */

   239

    EC_PORT_NOT_CONFIGURED, /**< Port is not configured. */

   240

    EC_PORT_EBUS, /**< Port is an e-bus. */

   241

    EC_PORT_MII /**< Port is a mii. */

   242

} ec_slave_port_desc_t;

   243

   244

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

   245

   246

/** EtherCAT slave port information.

   247

 */

   248

typedef struct {

   249

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

   250

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

   251

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

   252

} ec_slave_port_link_t;

   253

   254

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

   255

   256

/** Slave information.

   257

 *

   258

 * This is used as an output parameter of ecrt_master_get_slave().

   259

 *

   260

 * \see ecrt_master_get_slave().

   261

 */

   262

typedef struct {

   263

    uint16_t position; /**< Offset of the slave in the ring. */

   264

    uint32_t vendor_id; /**< Vendor-ID stored on the slave. */

   265

    uint32_t product_code; /**< Product-Code stored on the slave. */

   266

    uint32_t revision_number; /**< Revision-Number stored on the slave. */

   267

    uint32_t serial_number; /**< Serial-Number stored on the slave. */

   268

    uint16_t alias; /**< The slaves alias if not equal to 0. */

   269

    int16_t current_on_ebus; /**< Used current in mA. */

   270

    struct {

   271

        ec_slave_port_desc_t desc;

   272

        ec_slave_port_link_t link;

   273

        uint32_t receive_time;

   274

        uint16_t next_slave;

   275

        uint32_t delay_to_next_dc;

   276

    } ports[EC_MAX_PORTS];

   277

    uint8_t al_state; /**< Current state of the slave. */

   278

    uint8_t error_flag; /**< Error flag for that slave. */

   279

    uint8_t sync_count; /**< Number of sync managers. */

   280

    uint16_t sdo_count; /**< Number of SDOs. */

   281

    char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */

   282

} ec_slave_info_t;

   283

   284

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

   285

   286

/** Domain working counter interpretation.

   287

 *

   288

 * This is used in ec_domain_state_t.

   289

 */

   290

typedef enum {

   291

    EC_WC_ZERO = 0,   /**< No registered process data were exchanged. */

   292

    EC_WC_INCOMPLETE, /**< Some of the registered process data were

   293

                        exchanged. */

   294

    EC_WC_COMPLETE    /**< All registered process data were exchanged. */

   295

} ec_wc_state_t;

   296

   297

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

   298

   299

/** Domain state.

   300

 *

   301

 * This is used for the output parameter of ecrt_domain_state().

   302

 */

   303

typedef struct {

   304

    unsigned int working_counter; /**< Value of the last working counter. */

   305

    ec_wc_state_t wc_state; /**< Working counter interpretation. */

   306

} ec_domain_state_t;

   307

   308

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

   309

   310

/** Direction type for PDO assignment functions.

   311

 */

   312

typedef enum {

   313

    EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */

   314

    EC_DIR_OUTPUT, /**< Values written by the master. */

   315

    EC_DIR_INPUT, /**< Values read by the master. */

   316

    EC_DIR_COUNT /**< Number of directions. For internal use only. */

   317

} ec_direction_t;

   318

   319

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

   320

   321

/** Watchdog mode for sync manager configuration.

   322

 *

   323

 * Used to specify, if a sync manager's watchdog is to be enabled.

   324

 */

   325

typedef enum {

   326

    EC_WD_DEFAULT, /**< Use the default setting of the sync manager. */

   327

    EC_WD_ENABLE, /**< Enable the watchdog. */

   328

    EC_WD_DISABLE, /**< Disable the watchdog. */

   329

} ec_watchdog_mode_t;

   330

   331

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

   332

   333

/** PDO entry configuration information.

   334

 *

   335

 * This is the data type of the \a entries field in ec_pdo_info_t.

   336

 *

   337

 * \see ecrt_slave_config_pdos().

   338

 */

   339

typedef struct {

   340

    uint16_t index; /**< PDO entry index. */

   341

    uint8_t subindex; /**< PDO entry subindex. */

   342

    uint8_t bit_length; /**< Size of the PDO entry in bit. */

   343

} ec_pdo_entry_info_t;

   344

   345

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

   346

   347

/** PDO configuration information.

   348

 *

   349

 * This is the data type of the \a pdos field in ec_sync_info_t.

   350

 *

   351

 * \see ecrt_slave_config_pdos().

   352

 */

   353

typedef struct {

   354

    uint16_t index; /**< PDO index. */

   355

    unsigned int n_entries; /**< Number of PDO entries in \a entries to map.

   356

                              Zero means, that the default mapping shall be

   357

                              used (this can only be done if the slave is

   358

                              present at bus configuration time). */

   359

    ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either

   360

                                    be \a NULL, or must contain at

   361

                                    least \a n_entries values. */

   362

} ec_pdo_info_t;

   363

   364

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

   365

   366

/** Sync manager configuration information.

   367

 *

   368

 * This can be use to configure multiple sync managers including the PDO

   369

 * assignment and PDO mapping. It is used as an input parameter type in

   370

 * ecrt_slave_config_pdos().

   371

 */

   372

typedef struct {

   373

    uint8_t index; /**< Sync manager index. Must be less

   374

                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,

   375

                     but can also be \a 0xff to mark the end of the list. */

   376

    ec_direction_t dir; /**< Sync manager direction. */

   377

    unsigned int n_pdos; /**< Number of PDOs in \a pdos. */

   378

    ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain

   379

                            at least \a n_pdos PDOs. */

   380

    ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */

   381

} ec_sync_info_t;

   382

   383

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

   384

   385

/** List record type for PDO entry mass-registration.

   386

 *

   387

 * This type is used for the array parameter of the

   388

 * ecrt_domain_reg_pdo_entry_list()

   389

 */

   390

typedef struct {

   391

    uint16_t alias; /**< Slave alias address. */

   392

    uint16_t position; /**< Slave position. */

   393

    uint32_t vendor_id; /**< Slave vendor ID. */

   394

    uint32_t product_code; /**< Slave product code. */

   395

    uint16_t index; /**< PDO entry index. */

   396

    uint8_t subindex; /**< PDO entry subindex. */

   397

    unsigned int *offset; /**< Pointer to a variable to store the PDO entry's

   398

                       (byte-)offset in the process data. */

   399

    unsigned int *bit_position; /**< Pointer to a variable to store a bit

   400

                                  position (0-7) within the \a offset. Can be

   401

                                  NULL, in which case an error is raised if the

   402

                                  PDO entry does not byte-align. */

   403

} ec_pdo_entry_reg_t;

   404

   405

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

   406

   407

/** Request state.

   408

 *

   409

 * This is used as return type for ecrt_sdo_request_state() and

   410

 * ecrt_voe_handler_state().

   411

 */

   412

typedef enum {

   413

    EC_REQUEST_UNUSED, /**< Not requested. */

   414

    EC_REQUEST_BUSY, /**< Request is being processed. */

   415

    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */

   416

    EC_REQUEST_ERROR, /**< Request processing failed. */

   417

} ec_request_state_t;

   418

   419

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

   420

   421

/** Application-layer state.

   422

 */

   423

typedef enum {

   424

    EC_AL_STATE_INIT = 1, /**< Init. */

   425

    EC_AL_STATE_PREOP = 2, /**< Pre-operational. */

   426

    EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */

   427

    EC_AL_STATE_OP = 8, /**< Operational. */

   428

} ec_al_state_t;

   429

   430

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

   431

 * Global functions

   432

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

   433

   434

#ifdef __cplusplus

   435

extern "C" {

   436

#endif

   437

   438

/** Returns the version magic of the realtime interface.

   439

 *

   440

 * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.

   441

 */

   442

unsigned int ecrt_version_magic(void);

   443

   444

/** Requests an EtherCAT master for realtime operation.

   445

 *

   446

 * Before an application can access an EtherCAT master, it has to reserve one

   447

 * for exclusive use.

   448

 *

   449

 * In userspace, this is a convenience function for ecrt_open_master() and

   450

 * ecrt_master_reserve().

   451

 *

   452

 * This function has to be the first function an application has to call to

   453

 * use EtherCAT. The function takes the index of the master as its argument.

   454

 * The first master has index 0, the n-th master has index n - 1. The number

   455

 * of masters has to be specified when loading the master module.

   456

 *

   457

 * \return Pointer to the reserved master, otherwise \a NULL.

   458

 */

   459

ec_master_t *ecrt_request_master(

   460

        unsigned int master_index /**< Index of the master to request. */

   461

        );

   462

   463

#ifndef __KERNEL__

   464

   465

/** Opens an EtherCAT master for userspace access.

   466

 *

   467

 * This function has to be the first function an application has to call to

   468

 * use EtherCAT. The function takes the index of the master as its argument.

   469

 * The first master has index 0, the n-th master has index n - 1. The number

   470

 * of masters has to be specified when loading the master module.

   471

 *

   472

 * For convenience, the function ecrt_request_master() can be used.

   473

 *

   474

 * \return Pointer to the opened master, otherwise \a NULL.

   475

 */

   476

ec_master_t *ecrt_open_master(

   477

        unsigned int master_index /**< Index of the master to request. */

   478

        );

   479

   480

#endif // #ifndef __KERNEL__

   481

   482

/** Releases a requested EtherCAT master.

   483

 *

   484

 * After use, a master it has to be released to make it available for other

   485

 * applications.