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 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 sending and receiving datagrams.

    53

 *   ecrt_master_send_ext() is used to execute the sending of non-application

    54

 *   datagrams.

    55

 * - Added watchdog configuration (method ecrt_slave_config_watchdog(),

    56

 *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and

    57

 *   ecrt_slave_config_sync_manager()).

    58

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

    59

 *   configuration via CompleteAccess.

    60

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

    61

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

    62

 *   userspace.

    63

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

    64

 *   ecrt_master_get_slave(), ecrt_master_get_sync_manager(),

    65

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

    66

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

    67

 * - Added ecrt_master_sdo_download() and ecrt_master_sdo_upload()

    68

 *   methods to let an application transfer SDOs before activating the master.

    69

 * - Changed the meaning of the negative return values of

    70

 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().

    71

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

    72

 *   ecrt_slave_config_create_voe_handler().

    73

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

    74

 *   used by VoE handlers.

    75

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

    76

 *   userspace library has to modify object internals.

    77

 * - Added 64-bit data access macros.

    78

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

    79

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

    80

 *   ad-hoc via the user-space library.

    81

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

    82

 *

    83

 * @{

    84

 */

    85

    86

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

    87

    88

#ifndef __ECRT_H__

    89

#define __ECRT_H__

    90

    91

#ifdef __KERNEL__

    92

#include <asm/byteorder.h>

    93

#include <linux/types.h>

    94

#include <linux/time.h>

    95

#else

    96

#include <stdlib.h> // for size_t

    97

#include <stdint.h>

    98

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

    99

#endif

   100

   101

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

   102

 * Global definitions

   103

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

   104

   105

/** EtherCAT realtime interface major version number.

   106

 */

   107

#define ECRT_VER_MAJOR 1

   108

   109

/** EtherCAT realtime interface minor version number.

   110

 */

   111

#define ECRT_VER_MINOR 5

   112

   113

/** EtherCAT realtime interface version word generator.

   114

 */

   115

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

   116

   117

/** EtherCAT realtime interface version word.

   118

 */

   119

#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)

   120

   121

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

   122

   123

/** End of list marker.

   124

 *

   125

 * This can be used with ecrt_slave_config_pdos().

   126

 */

   127

#define EC_END ~0U

   128

   129

/** Maximum number of sync managers per slave.

   130

 */

   131

#define EC_MAX_SYNC_MANAGERS 16

   132

   133

/** Maximum string length.

   134

 *

   135

 * Used in ec_slave_info_t.

   136

 */

   137

#define EC_MAX_STRING_LENGTH 64

   138

   139

/** Timeval to nanoseconds conversion.

   140

 *

   141

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

   142

 *

   143

 * \see void ecrt_master_application_time()

   144

 *

   145

 * \param TV struct timeval containing epoch time.

   146

 */

   147

#define EC_TIMEVAL2NANO(TV) \

   148

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

   149

   150

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

   151

 * Data types 

   152

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

   153

   154

struct ec_master;

   155

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

   156

   157

struct ec_slave_config;

   158

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

   159

   160

struct ec_domain;

   161

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

   162

   163

struct ec_sdo_request;

   164

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

   165

   166

struct ec_voe_handler;

   167

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

   168

   169

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

   170

   171

/** Master state.

   172

 *

   173

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

   174

 *

   175

 * \see ecrt_master_state().

   176

 */

   177

typedef struct {

   178

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

   179

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

   180

                                  The states are coded in the lower 4 bits.

   181

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

   182

                                  slave in the bus is in the corresponding

   183

                                  state:

   184

                                  - Bit 0: \a INIT

   185

                                  - Bit 1: \a PREOP

   186

                                  - Bit 2: \a SAFEOP

   187

                                  - Bit 3: \a OP */

   188

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

   189

} ec_master_state_t;

   190

   191

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

   192

   193

/** Slave configuration state.

   194

 *

   195

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

   196

 * 

   197

 * \see ecrt_slave_config_state().

   198

 */

   199

typedef struct  {

   200

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

   201

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

   202

                                    using the specified configuration. */

   203

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

   204

                                 - 1: \a INIT

   205

                                 - 2: \a PREOP

   206

                                 - 4: \a SAFEOP

   207

                                 - 8: \a OP

   208

   209

                                 Note that each state is coded in a different

   210

                                 bit! */

   211

} ec_slave_config_state_t;

   212

   213

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

   214

   215

/** Master information.

   216

 *

   217

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

   218

 *

   219

 * \see ecrt_master().

   220

 */

   221

typedef struct {

   222

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

   223

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

   224

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

   225

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

   226

} ec_master_info_t;

   227

   228

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

   229

   230

/** Slave information.

   231

 *

   232

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

   233

 *

   234

 * \see ecrt_master_get_slave().

   235

 */

   236

typedef struct {

   237

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

   238

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

   239

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

   240

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

   241

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

   242

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

   243

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

   244

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

   245

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

   246

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

   247

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

   248

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

   249

} ec_slave_info_t;

   250

   251

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

   252

   253

/** Domain working counter interpretation.

   254

 *

   255

 * This is used in ec_domain_state_t.

   256

 */

   257

typedef enum {

   258

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

   259

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

   260

                        exchanged. */

   261

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

   262

} ec_wc_state_t;

   263

   264

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

   265

   266

/** Domain state.

   267

 *

   268

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

   269

 */

   270

typedef struct {

   271

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

   272

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

   273

} ec_domain_state_t;

   274

   275

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

   276

   277

/** Direction type for PDO assignment functions.

   278

 */

   279

typedef enum {

   280

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

   281

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

   282

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

   283

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

   284

} ec_direction_t;

   285

   286

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

   287

   288

/** Watchdog mode for sync manager configuration.

   289

 *

   290

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

   291

 */

   292

typedef enum {

   293

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

   294

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

   295

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

   296

} ec_watchdog_mode_t;

   297

   298

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

   299

   300

/** PDO entry configuration information.

   301

 *

   302

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

   303

 *

   304

 * \see ecrt_slave_config_pdos().

   305

 */

   306

typedef struct {

   307

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

   308

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

   309

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

   310

} ec_pdo_entry_info_t;

   311

   312

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

   313

   314

/** PDO configuration information.

   315

 * 

   316

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

   317

 * 

   318

 * \see ecrt_slave_config_pdos().

   319

 */

   320

typedef struct {

   321

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

   322

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

   323

                              Zero means, that the default mapping shall be

   324

                              used (this can only be done if the slave is

   325

                              present at bus configuration time). */

   326

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

   327

                                    be \a NULL, or must contain at

   328

                                    least \a n_entries values. */

   329

} ec_pdo_info_t;

   330

   331

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

   332

   333

/** Sync manager configuration information.

   334

 *

   335

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

   336

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

   337

 * ecrt_slave_config_pdos().

   338

 */

   339

typedef struct {

   340

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

   341

                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,

   342

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

   343

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

   344

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

   345

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

   346

                            at least \a n_pdos PDOs. */

   347

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

   348

} ec_sync_info_t;

   349

   350

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

   351

   352

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

   353

 *

   354

 * This type is used for the array parameter of the

   355

 * ecrt_domain_reg_pdo_entry_list()

   356

 */

   357

typedef struct {

   358

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

   359

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

   360

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

   361

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

   362

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

   363

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

   364

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

   365

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

   366

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

   367

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

   368

                                  NULL, in which case an error is raised if the

   369

                                  PDO entry does not byte-align. */

   370

} ec_pdo_entry_reg_t;

   371

   372

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

   373

   374

/** Request state.

   375

 *

   376

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

   377

 * ecrt_voe_handler_state().

   378

 */

   379

typedef enum {

   380

    EC_REQUEST_UNUSED, /**< Not requested. */

   381

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

   382

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

   383

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

   384

} ec_request_state_t;

   385

   386

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

   387

   388

/** Application-layer state.

   389

 */

   390

typedef enum {

   391

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

   392

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

   393

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

   394

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

   395

} ec_al_state_t;

   396

   397

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

   398

 * Global functions

   399

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

   400

   401

#ifdef __cplusplus

   402

extern "C" {

   403

#endif

   404

   405

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

   406

 *

   407

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

   408

 */

   409

unsigned int ecrt_version_magic(void);

   410

   411

/** Requests an EtherCAT master for realtime operation.

   412

 * 

   413

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

   414

 * for exclusive use.

   415

 *

   416

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

   417

 * ecrt_master_reserve().

   418

 *

   419

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

   420

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

   421

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

   422

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

   423

 *

   424

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

   425

 */

   426

ec_master_t *ecrt_request_master(

   427

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

   428

        );

   429

   430

#ifndef __KERNEL__

   431

   432

/** Opens an EtherCAT master for userspace access.

   433

 *

   434

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

   435

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

   436

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

   437

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

   438

 *

   439

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

   440

 *

   441

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

   442

 */

   443

ec_master_t *ecrt_open_master(

   444

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

   445

        );

   446

   447

#endif // #ifndef __KERNEL__

   448

   449

/** Releases a requested EtherCAT master.

   450

 *

   451

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

   452

 * applications.

   453

 */

   454

void ecrt_release_master(

   455

        ec_master_t *master /**< EtherCAT master */

   456

        );

   457

   458

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

   459

 * Master methods

   460

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

   461

   462

#ifndef __KERNEL__

   463

   464

/** Reserves an EtherCAT master for realtime operation.

   465

 *

   466

 * Before an application can use PDO/domain registration functions or SDO

   467

 * request functions on the master, it has to reserve one for exclusive use.

   468

 *

   469

 * \return 0 in case of success, else < 0

   470

 *

   471

 */

   472

int ecrt_master_reserve(

   473

        ec_master_t *master /**< EtherCAT master */

   474

        );

   475

   476

#endif // #ifndef __KERNEL__

   477

   478

#ifdef __KERNEL__

   479

   480

/** Sets the locking callbacks.

   481

 *

   482

 * For concurrent master access, i. e. if other instances than the application

   483

 * want to send and receive datagrams on the bus, the application has to

   484

 * provide a callback mechanism. This method takes two function pointers as

   485

 * its parameters. Asynchronous master access (like EoE processing) is only