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 "../globals.h"

    40

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

    41

    42

#ifdef __KERNEL__

    43

#include <linux/version.h>

    44

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,24)

    45

#include <linux/rtmutex.h>

    46

#endif  // KERNEL_VERSION(2,6,24)

    47

#endif // __KERNEL__

    48

    49

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

    50

 * EtherCAT master

    51

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

    52

    53

/** Datagram timeout in microseconds. */

    54

#define EC_IO_TIMEOUT 500

    55

    56

/** FSM injection timeout in microseconds. */

    57

#define EC_FSM_INJECTION_TIMEOUT 10000

    58

    59

/** Time to send a byte in nanoseconds.

    60

 *

    61

 * t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte

    62

 */

    63

#define EC_BYTE_TRANSMISSION_TIME_NS 80

    64

    65

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

    66

#define EC_FSM_RETRIES 3

    67

    68

/** Seconds to wait before fetching SDO dictionary

    69

    after slave entered PREOP state. */

    70

#define EC_WAIT_SDO_DICT 3

    71

    72

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

    73

#define EC_STATE_STRING_SIZE 32

    74

    75

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

    76

#define EC_MAX_SII_SIZE 4096

    77

    78

/** Number of statistic rate intervals to maintain. */

    79

#define EC_RATE_COUNT 3

    80

    81

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

    82

 * EtherCAT protocol

    83

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

    84

    85

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

    86

#define EC_FRAME_HEADER_SIZE 2

    87

    88

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

    89

#define EC_DATAGRAM_HEADER_SIZE 10

    90

    91

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

    92

#define EC_DATAGRAM_FOOTER_SIZE 2

    93

    94

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

    95

#define EC_ADDR_LEN 4

    96

    97

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

    98

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

    99

                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

   100

   101

/** Mailbox header size.  */

   102

#define EC_MBOX_HEADER_SIZE 6

   103

   104

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

   105

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

   106

   107

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

   108

#define EC_SYNC_PAGE_SIZE 8

   109

   110

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

   111

#define EC_MAX_FMMUS 16

   112

   113

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

   114

#define EC_FMMU_PAGE_SIZE 16

   115

   116

/** Number of DC sync signals. */

   117

#define EC_SYNC_SIGNAL_COUNT 2

   118

   119

/** Size of the datagram description string.

   120

 *

   121

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

   122

 **/

   123

#define EC_DATAGRAM_NAME_SIZE 20

   124

   125

/** Slave state mask.

   126

 *

   127

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

   128

 * the error flag.

   129

 */

   130

#define EC_SLAVE_STATE_MASK 0x0F

   131

   132

/** State of an EtherCAT slave.

   133

 */

   134

typedef enum {

   135

    EC_SLAVE_STATE_UNKNOWN = 0x00,

   136

    /**< unknown state */

   137

    EC_SLAVE_STATE_INIT = 0x01,

   138

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

   139

    EC_SLAVE_STATE_PREOP = 0x02,

   140

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

   141

    EC_SLAVE_STATE_BOOT = 0x03,

   142

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

   143

    EC_SLAVE_STATE_SAFEOP = 0x04,

   144

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

   145

    EC_SLAVE_STATE_OP = 0x08,

   146

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

   147

    EC_SLAVE_STATE_ACK_ERR = 0x10

   148

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

   149

} ec_slave_state_t;

   150

   151

/** Supported mailbox protocols.

   152

 */

   153

enum {

   154

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

   155

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

   156

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

   157

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

   158

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

   159

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

   160

};

   161

   162

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

   163

 */

   164

typedef struct {

   165

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

   166

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

   167

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

   168

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

   169

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

   170

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

   171

} ec_sii_coe_details_t;

   172

   173

/** Slave information interface general flags.

   174

 */

   175

typedef struct {

   176

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

   177

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

   178

} ec_sii_general_flags_t;

   179

   180

/** EtherCAT slave distributed clocks range.

   181

 */

   182

typedef enum {

   183

    EC_DC_32, /**< 32 bit. */

   184

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

   185

               port 0 receive time. */

   186

} ec_slave_dc_range_t;

   187

   188

/** EtherCAT slave sync signal configuration.

   189

 */

   190

typedef struct {

   191

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

   192

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

   193

} ec_sync_signal_t;

   194

   195

/** Access states for SDO entries.

   196

 *

   197

 * The access rights are managed per AL state.

   198

 */

   199

enum {

   200

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

   201

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

   202

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

   203

    EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */

   204

};

   205

   206

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

   207

   208

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

   209

 *

   210

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

   211

 *

   212

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

   213

 * \param args arguments (optional)

   214

 */

   215

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

   216

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

   217

   218

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

   219

 *

   220

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

   221

 *

   222

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

   223

 * \param args arguments (optional)

   224

 */

   225

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

   226

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

   227

   228

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

   229

 *

   230

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

   231

 *

   232

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

   233

 * \param args arguments (optional)

   234

 */

   235

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

   236

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

   237

   238

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

   239

 *

   240

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

   241

 *

   242

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

   243

 * \param args arguments (optional)

   244

 */

   245

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

   246

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

   247

   248

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

   249

   250

/** Absolute value.

   251

 */

   252

#define EC_ABS(X) ((X) >= 0 ? (X) : -(X))

   253

   254

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

   255

   256

extern char *ec_master_version_str;

   257

   258

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

   259

   260

unsigned int ec_master_count(void);

   261

void ec_print_data(const uint8_t *, size_t);

   262

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

   263

size_t ec_state_string(uint8_t, char *, uint8_t);

   264

ssize_t ec_mac_print(const uint8_t *, char *);

   265

int ec_mac_is_zero(const uint8_t *);

   266

   267

ec_master_t *ecrt_request_master_err(unsigned int);

   268

   269

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

   270

   271

/** Code/Message pair.

   272

 *

   273

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

   274

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

   275

 */

   276

typedef struct {

   277

    uint32_t code; /**< Code. */

   278

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

   279

} ec_code_msg_t;

   280

   281

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

   282

   283

/** Generic request state.

   284

 *

   285

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

   286

 * state_table in master/sdo_request.c.

   287

 */

   288

typedef enum {

   289

    EC_INT_REQUEST_INIT,

   290

    EC_INT_REQUEST_QUEUED,

   291

    EC_INT_REQUEST_BUSY,

   292

    EC_INT_REQUEST_SUCCESS,

   293

    EC_INT_REQUEST_FAILURE

   294

} ec_internal_request_state_t;

   295

   296

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

   297

   298

extern const ec_request_state_t ec_request_state_translation_table[];

   299

   300

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

   301

   302

/** Origin type.

   303

 */

   304

typedef enum {

   305

    EC_ORIG_INTERNAL, /**< Internal. */

   306

    EC_ORIG_EXTERNAL /**< External. */

   307

} ec_origin_t;

   308

   309

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

   310

   311

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

   312

   313

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

   314

   315

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

   316

   317

#ifdef __KERNEL__

   318

   319

/** Mutual exclusion helpers.

   320

 *

   321

 */

   322

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,24)

   323

#define ec_mutex_t rt_mutex

   324

static inline void ec_mutex_init(struct ec_mutex_t *mutex)

   325

{

   326

    rt_mutex_init(mutex);

   327

}

   328

static inline void ec_mutex_lock(struct ec_mutex_t *mutex)

   329

{

   330

    rt_mutex_lock(mutex);

   331

}

   332

static inline int ec_mutex_trylock(struct ec_mutex_t *mutex)

   333

{

   334

    return rt_mutex_trylock(mutex);

   335

}

   336

static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *mutex)

   337

{

   338

    return rt_mutex_lock_interruptible(mutex,0);

   339

}

   340

static inline void ec_mutex_unlock(struct ec_mutex_t *mutex)

   341

{

   342

    rt_mutex_unlock(mutex);

   343

}

   344

#else   // < KERNEL_VERSION(2,6,24)

   345

#define ec_mutex_t semaphore

   346

static inline void ec_mutex_init(struct ec_mutex_t *sem)

   347

{

   348

    sema_init(sem, 1);

   349

}

   350

static inline void ec_mutex_lock(struct ec_mutex_t *sem)

   351

{

   352

    down(sem);

   353

}

   354

static inline int ec_mutex_trylock(struct ec_mutex_t *sem)

   355

{

   356

    down(sem);

   357

    return 1;

   358

}

   359

static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *sem)

   360

{

   361

    return down_interruptible(sem);

   362

}

   363

static inline void ec_mutex_unlock(struct ec_mutex_t *sem)

   364

{

   365

    up(sem);

   366

}

   367

   368

#endif // KERNEL_VERSION(2,6,24)

   369

#endif // __KERNEL__

   370

   371

#endif