fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@792: /** \file
fp@792:  * Global definitions and macros.
fp@792:  */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@883: #ifndef __EC_MASTER_GLOBALS_H__
fp@883: #define __EC_MASTER_GLOBALS_H__
fp@0: 
fp@444: #include "../globals.h"
fp@1209: #include "../include/ecrt.h"
fp@392: 
fp@196: /******************************************************************************
fp@792:  * EtherCAT master
fp@196:  *****************************************************************************/
fp@41: 
fp@792: /** Datagram timeout in microseconds. */
fp@325: #define EC_IO_TIMEOUT 500
fp@325: 
martin@1585: /** SDO injection timeout in microseconds. */
martin@1585: #define EC_SDO_INJECTION_TIMEOUT 10000
martin@1585: 
fp@1774: /** Time to send a byte in nanoseconds.
fp@1774:  *
fp@1774:  * t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte
fp@1774:  */
fp@1774: #define EC_BYTE_TRANSMISSION_TIME_NS 80
martin@1585: 
fp@792: /** Number of state machine retries on datagram timeout. */
fp@505: #define EC_FSM_RETRIES 3
fp@505: 
fp@1327: /** Seconds to wait before fetching SDO dictionary
fp@427:     after slave entered PREOP state. */
fp@427: #define EC_WAIT_SDO_DICT 3
fp@427: 
fp@792: /** Minimum size of a buffer used with ec_state_string(). */
fp@453: #define EC_STATE_STRING_SIZE 32
fp@403: 
fp@872: /** Maximum SII size in words, to avoid infinite reading. */
fp@1443: #define EC_MAX_SII_SIZE 4096
fp@696: 
fp@1851: /** Number of statistic rate intervals to maintain. */
fp@1851: #define EC_RATE_COUNT 3
fp@1851: 
fp@196: /******************************************************************************
fp@792:  * EtherCAT protocol
fp@196:  *****************************************************************************/
fp@196: 
fp@792: /** Size of an EtherCAT frame header. */
fp@196: #define EC_FRAME_HEADER_SIZE 2
fp@196: 
fp@792: /** Size of an EtherCAT datagram header. */
fp@293: #define EC_DATAGRAM_HEADER_SIZE 10
fp@196: 
fp@792: /** Size of an EtherCAT datagram footer. */
fp@293: #define EC_DATAGRAM_FOOTER_SIZE 2
fp@196: 
fp@792: /** Size of the EtherCAT address field. */
fp@708: #define EC_ADDR_LEN 4
fp@708: 
fp@792: /** Resulting maximum data size of a single datagram in a frame. */
fp@211: #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
fp@293:                           - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
fp@0: 
fp@1217: /** Mailbox header size.  */
fp@1217: #define EC_MBOX_HEADER_SIZE 6
fp@1217: 
fp@872: /** Word offset of first SII category. */
fp@872: #define EC_FIRST_SII_CATEGORY_OFFSET 0x40
fp@696: 
fp@1055: /** Maximum number of slave ports. */
fp@1055: #define EC_MAX_PORTS 4
fp@1055: 
fp@792: /** Size of a sync manager configuration page. */
fp@792: #define EC_SYNC_PAGE_SIZE 8
fp@792: 
fp@792: /** Maximum number of FMMUs per slave. */
fp@792: #define EC_MAX_FMMUS 16
fp@792: 
fp@792: /** Size of an FMMU configuration page. */
fp@792: #define EC_FMMU_PAGE_SIZE 16
fp@792: 
fp@1438: /** Number of DC sync signals. */
fp@1438: #define EC_SYNC_SIGNAL_COUNT 2
fp@1438: 
fp@1485: /** Size of the datagram description string.
fp@1485:  *
fp@1485:  * This is also used as the maximum lenth of EoE device names.
fp@1485:  **/
fp@1485: #define EC_DATAGRAM_NAME_SIZE 20
fp@1485: 
fp@989: /** Slave state mask.
fp@989:  *
fp@989:  * Apply this mask to a slave state byte to get the slave state without
fp@989:  * the error flag.
fp@989:  */
fp@989: #define EC_SLAVE_STATE_MASK 0x0F
fp@989: 
fp@989: /** State of an EtherCAT slave.
fp@989:  */
fp@989: typedef enum {
fp@989:     EC_SLAVE_STATE_UNKNOWN = 0x00,
fp@989:     /**< unknown state */
fp@989:     EC_SLAVE_STATE_INIT = 0x01,
fp@989:     /**< INIT state (no mailbox communication, no IO) */
fp@989:     EC_SLAVE_STATE_PREOP = 0x02,
fp@989:     /**< PREOP state (mailbox communication, no IO) */
fp@1337:     EC_SLAVE_STATE_BOOT = 0x03,
fp@1337:     /**< Bootstrap state (mailbox communication, firmware update) */
fp@989:     EC_SLAVE_STATE_SAFEOP = 0x04,
fp@989:     /**< SAFEOP (mailbox communication and input update) */
fp@989:     EC_SLAVE_STATE_OP = 0x08,
fp@989:     /**< OP (mailbox communication and input/output update) */
fp@989:     EC_SLAVE_STATE_ACK_ERR = 0x10
fp@989:     /**< Acknowledge/Error bit (no actual state) */
fp@989: } ec_slave_state_t;
fp@989: 
fp@989: /** Supported mailbox protocols.
fp@989:  */
fp@989: enum {
fp@1327:     EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
fp@1327:     EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
fp@1327:     EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
fp@1327:     EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
fp@1327:     EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
fp@989:     EC_MBOX_VOE = 0x20  /**< Vendor specific */
fp@989: };
fp@989: 
fp@1327: /** Slave information interface CANopen over EtherCAT details flags.
fp@989:  */
fp@989: typedef struct {
fp@1327:     uint8_t enable_sdo : 1; /**< Enable SDO access. */
fp@989:     uint8_t enable_sdo_info : 1; /**< SDO information service available. */
fp@1327:     uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
fp@1327:     uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
fp@989:     uint8_t enable_upload_at_startup : 1; /**< ?. */
fp@989:     uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
fp@989: } ec_sii_coe_details_t;
fp@989: 
fp@989: /** Slave information interface general flags.
fp@989:  */
fp@989: typedef struct {
fp@989:     uint8_t enable_safeop : 1; /**< ?. */
fp@989:     uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
fp@989: } ec_sii_general_flags_t;
fp@989: 
fp@1379: /** EtherCAT slave port descriptor.
fp@1379:  */
fp@1379: typedef enum {
fp@1379:     EC_PORT_NOT_IMPLEMENTED,
fp@1379:     EC_PORT_NOT_CONFIGURED,
fp@1379:     EC_PORT_EBUS,
fp@1379:     EC_PORT_MII
fp@1379: } ec_slave_port_desc_t;
fp@1379: 
fp@1420: /** EtherCAT slave port information.
fp@1420:  */
fp@1420: typedef struct {
fp@1425:     uint8_t link_up; /**< Link detected. */
fp@1425:     uint8_t loop_closed; /**< Loop closed. */
fp@1425:     uint8_t signal_detected; /**< Detected signal on RX port. */
fp@1425: } ec_slave_port_link_t;
fp@1420: 
fp@1379: /** EtherCAT slave distributed clocks range.
fp@1379:  */
fp@1379: typedef enum {
fp@1379:     EC_DC_32, /**< 32 bit. */
fp@1379:     EC_DC_64 /*< 64 bit for system time, system time offset and
fp@1379:                port 0 receive time. */
fp@1379: } ec_slave_dc_range_t;
fp@1379: 
fp@1438: /** EtherCAT slave sync signal configuration.
fp@1438:  */
fp@1438: typedef struct {
fp@1438:     uint32_t cycle_time; /**< Cycle time [ns]. */
fp@1438:     uint32_t shift_time; /**< Shift time [ns]. */
fp@1438: } ec_sync_signal_t;
fp@1438: 
fp@1382: /** Access states for SDO entries.
fp@1382:  *
fp@1382:  * The access rights are managed per AL state.
fp@1382:  */
fp@1382: enum {
fp@1382:     EC_SDO_ENTRY_ACCESS_PREOP, /**< Access rights in PREOP. */
fp@1382:     EC_SDO_ENTRY_ACCESS_SAFEOP, /**< Access rights in SAFEOP. */
fp@1382:     EC_SDO_ENTRY_ACCESS_OP, /**< Access rights in OP. */
fp@1382:     EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
fp@1382: };
fp@1382: 
fp@2267: /** Master devices.
fp@2267:  */
fp@2267: enum {
fp@2267:     EC_DEVICE_MAIN, /**< Main device. */
fp@2267:     EC_DEVICE_BACKUP, /**< Backup device */
fp@2267:     EC_NUM_DEVICES /**< Number of devices. */
fp@2267: };
fp@2267: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Convenience macro for printing EtherCAT-specific information to syslog.
fp@792:  *
fp@792:  * This will print the message in \a fmt with a prefixed "EtherCAT: ".
fp@792:  *
fp@792:  * \param fmt format string (like in printf())
fp@792:  * \param args arguments (optional)
fp@792:  */
fp@84: #define EC_INFO(fmt, args...) \
fp@84:     printk(KERN_INFO "EtherCAT: " fmt, ##args)
fp@259: 
fp@792: /** Convenience macro for printing EtherCAT-specific errors to syslog.
fp@792:  *
fp@792:  * This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
fp@792:  *
fp@792:  * \param fmt format string (like in printf())
fp@792:  * \param args arguments (optional)
fp@792:  */
fp@84: #define EC_ERR(fmt, args...) \
fp@84:     printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
fp@259: 
fp@792: /** Convenience macro for printing EtherCAT-specific warnings to syslog.
fp@792:  *
fp@792:  * This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
fp@792:  *
fp@792:  * \param fmt format string (like in printf())
fp@792:  * \param args arguments (optional)
fp@792:  */
fp@84: #define EC_WARN(fmt, args...) \
fp@84:     printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
fp@259: 
fp@792: /** Convenience macro for printing EtherCAT debug messages to syslog.
fp@792:  *
fp@792:  * This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
fp@792:  *
fp@792:  * \param fmt format string (like in printf())
fp@792:  * \param args arguments (optional)
fp@792:  */
fp@84: #define EC_DBG(fmt, args...) \
fp@84:     printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
fp@84: 
fp@41: /*****************************************************************************/
fp@41: 
fp@1904: /** Absolute value.
fp@1904:  */
fp@1904: #define EC_ABS(X) ((X) >= 0 ? (X) : -(X))
fp@1904: 
fp@1904: /*****************************************************************************/
fp@1904: 
fp@444: extern char *ec_master_version_str;
fp@444: 
fp@444: /*****************************************************************************/
fp@444: 
fp@1826: unsigned int ec_master_count(void);
fp@325: void ec_print_data(const uint8_t *, size_t);
fp@325: void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
fp@1337: size_t ec_state_string(uint8_t, char *, uint8_t);
fp@639: ssize_t ec_mac_print(const uint8_t *, char *);
fp@639: int ec_mac_is_zero(const uint8_t *);
fp@152: 
fp@1312: ec_master_t *ecrt_request_master_err(unsigned int);
fp@1312: 
fp@152: /*****************************************************************************/
fp@152: 
fp@809: /** Code/Message pair.
fp@792:  *
fp@792:  * Some EtherCAT datagrams support reading a status code to display a certain
fp@792:  * message. This type allows to map a code to a message string.
fp@792:  */
fp@792: typedef struct {
fp@792:     uint32_t code; /**< Code. */
fp@792:     const char *message; /**< Message belonging to \a code. */
fp@809: } ec_code_msg_t;
fp@164: 
fp@164: /*****************************************************************************/
fp@164: 
fp@861: /** Generic request state.
fp@861:  *
fp@861:  * \attention If ever changing this, please be sure to adjust the \a
fp@861:  * state_table in master/sdo_request.c.
fp@861:  */
fp@861: typedef enum {
fp@1209:     EC_INT_REQUEST_INIT,
fp@1209:     EC_INT_REQUEST_QUEUED,
fp@1209:     EC_INT_REQUEST_BUSY,
fp@1209:     EC_INT_REQUEST_SUCCESS,
fp@1209:     EC_INT_REQUEST_FAILURE
fp@1209: } ec_internal_request_state_t;
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1209: extern const ec_request_state_t ec_request_state_translation_table[];
fp@861: 
fp@861: /*****************************************************************************/
fp@861: 
fp@809: /** Origin type.
fp@809:  */
fp@809: typedef enum {
fp@809:     EC_ORIG_INTERNAL, /**< Internal. */
fp@809:     EC_ORIG_EXTERNAL /**< External. */
fp@809: } ec_origin_t;
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@792: typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */
fp@740: 
fp@740: /*****************************************************************************/
fp@740: 
fp@0: #endif