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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* Global definitions and macros.
*/
/*****************************************************************************/
#ifndef __EC_MASTER_GLOBALS_H__
#define __EC_MASTER_GLOBALS_H__
#include "../globals.h"
#include "../include/ecrt.h"
/******************************************************************************
* EtherCAT master
*****************************************************************************/
/** Datagram timeout in microseconds. */
#define EC_IO_TIMEOUT 500
/** SDO injection timeout in microseconds. */
#define EC_SDO_INJECTION_TIMEOUT 10000
/** Time to send a byte in nanoseconds.
*
* t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte
*/
#define EC_BYTE_TRANSMISSION_TIME_NS 80
/** Number of state machine retries on datagram timeout. */
#define EC_FSM_RETRIES 3
/** Seconds to wait before fetching SDO dictionary
after slave entered PREOP state. */
#define EC_WAIT_SDO_DICT 3
/** Minimum size of a buffer used with ec_state_string(). */
#define EC_STATE_STRING_SIZE 32
/** Maximum SII size in words, to avoid infinite reading. */
#define EC_MAX_SII_SIZE 4096
/** Number of statistic rate intervals to maintain. */
#define EC_RATE_COUNT 3
/******************************************************************************
* EtherCAT protocol
*****************************************************************************/
/** Size of an EtherCAT frame header. */
#define EC_FRAME_HEADER_SIZE 2
/** Size of an EtherCAT datagram header. */
#define EC_DATAGRAM_HEADER_SIZE 10
/** Size of an EtherCAT datagram footer. */
#define EC_DATAGRAM_FOOTER_SIZE 2
/** Size of the EtherCAT address field. */
#define EC_ADDR_LEN 4
/** Resulting maximum data size of a single datagram in a frame. */
#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
- EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
/** Mailbox header size. */
#define EC_MBOX_HEADER_SIZE 6
/** Word offset of first SII category. */
#define EC_FIRST_SII_CATEGORY_OFFSET 0x40
/** Size of a sync manager configuration page. */
#define EC_SYNC_PAGE_SIZE 8
/** Maximum number of FMMUs per slave. */
#define EC_MAX_FMMUS 16
/** Size of an FMMU configuration page. */
#define EC_FMMU_PAGE_SIZE 16
/** Number of DC sync signals. */
#define EC_SYNC_SIGNAL_COUNT 2
/** Size of the datagram description string.
*
* This is also used as the maximum lenth of EoE device names.
**/
#define EC_DATAGRAM_NAME_SIZE 20
/** Slave state mask.
*
* Apply this mask to a slave state byte to get the slave state without
* the error flag.
*/
#define EC_SLAVE_STATE_MASK 0x0F
/** State of an EtherCAT slave.
*/
typedef enum {
EC_SLAVE_STATE_UNKNOWN = 0x00,
/**< unknown state */
EC_SLAVE_STATE_INIT = 0x01,
/**< INIT state (no mailbox communication, no IO) */
EC_SLAVE_STATE_PREOP = 0x02,
/**< PREOP state (mailbox communication, no IO) */
EC_SLAVE_STATE_BOOT = 0x03,
/**< Bootstrap state (mailbox communication, firmware update) */
EC_SLAVE_STATE_SAFEOP = 0x04,
/**< SAFEOP (mailbox communication and input update) */
EC_SLAVE_STATE_OP = 0x08,
/**< OP (mailbox communication and input/output update) */
EC_SLAVE_STATE_ACK_ERR = 0x10
/**< Acknowledge/Error bit (no actual state) */
} ec_slave_state_t;
/** Supported mailbox protocols.
*/
enum {
EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
/** Slave information interface CANopen over EtherCAT details flags.
*/
typedef struct {
uint8_t enable_sdo : 1; /**< Enable SDO access. */
uint8_t enable_sdo_info : 1; /**< SDO information service available. */
uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
uint8_t enable_upload_at_startup : 1; /**< ?. */
uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
} ec_sii_coe_details_t;
/** Slave information interface general flags.
*/
typedef struct {
uint8_t enable_safeop : 1; /**< ?. */
uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
} ec_sii_general_flags_t;
/** EtherCAT slave distributed clocks range.
*/
typedef enum {
EC_DC_32, /**< 32 bit. */
EC_DC_64 /*< 64 bit for system time, system time offset and
port 0 receive time. */
} ec_slave_dc_range_t;
/** EtherCAT slave sync signal configuration.
*/
typedef struct {
uint32_t cycle_time; /**< Cycle time [ns]. */
int32_t shift_time; /**< Shift time [ns]. */
} ec_sync_signal_t;
/** Access states for SDO entries.
*
* The access rights are managed per AL state.
*/
enum {
EC_SDO_ENTRY_ACCESS_PREOP, /**< Access rights in PREOP. */
EC_SDO_ENTRY_ACCESS_SAFEOP, /**< Access rights in SAFEOP. */
EC_SDO_ENTRY_ACCESS_OP, /**< Access rights in OP. */
EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
};
/** Master devices.
*/
typedef enum {
EC_DEVICE_MAIN, /**< Main device. */
EC_DEVICE_BACKUP /**< Backup device */
} ec_device_index_t;
extern const char *ec_device_names[2]; // only main and backup!
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
*
* This will print the message in \a fmt with a prefixed "EtherCAT: ".
*
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_INFO(fmt, args...) \
printk(KERN_INFO "EtherCAT: " fmt, ##args)
/** Convenience macro for printing EtherCAT-specific errors to syslog.
*
* This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
*
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_ERR(fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
/** Convenience macro for printing EtherCAT-specific warnings to syslog.
*
* This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
*
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_WARN(fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
/** Convenience macro for printing EtherCAT debug messages to syslog.
*
* This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
*
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_DBG(fmt, args...) \
printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
/*****************************************************************************/
/** Absolute value.
*/
#define EC_ABS(X) ((X) >= 0 ? (X) : -(X))
/*****************************************************************************/
extern char *ec_master_version_str;
/*****************************************************************************/
unsigned int ec_master_count(void);
void ec_print_data(const uint8_t *, size_t);
void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
size_t ec_state_string(uint8_t, char *, uint8_t);
ssize_t ec_mac_print(const uint8_t *, char *);
int ec_mac_is_zero(const uint8_t *);
ec_master_t *ecrt_request_master_err(unsigned int);
/*****************************************************************************/
/** Code/Message pair.
*
* Some EtherCAT datagrams support reading a status code to display a certain
* message. This type allows to map a code to a message string.
*/
typedef struct {
uint32_t code; /**< Code. */
const char *message; /**< Message belonging to \a code. */
} ec_code_msg_t;
/*****************************************************************************/
/** Generic request state.
*
* \attention If ever changing this, please be sure to adjust the \a
* state_table in master/sdo_request.c.
*/
typedef enum {
EC_INT_REQUEST_INIT,
EC_INT_REQUEST_QUEUED,
EC_INT_REQUEST_BUSY,
EC_INT_REQUEST_SUCCESS,
EC_INT_REQUEST_FAILURE
} ec_internal_request_state_t;
/*****************************************************************************/
extern const ec_request_state_t ec_request_state_translation_table[];
/*****************************************************************************/
/** Origin type.
*/
typedef enum {
EC_ORIG_INTERNAL, /**< Internal. */
EC_ORIG_EXTERNAL /**< External. */
} ec_origin_t;
/*****************************************************************************/
typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */
/*****************************************************************************/
#endif
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