coe.h

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/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat 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
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_COE_H
#define LIBETHERCAT_COE_H
 
#include <libosal/types.h>
#include <libosal/mutex.h>
 
#include "libethercat/common.h"
#include "libethercat/idx.h"
#include "libethercat/pool.h"
 
typedef struct ec_coe_emergency_message {
    osal_timer_t timestamp;     
    osal_size_t msg_len;        
    osal_uint8_t msg[LEC_MAX_COE_EMERGENCY_MSG_LEN];        
} ec_coe_emergency_message_t;
 
typedef struct ec_coe {
    pool_t recv_pool;           
    
    osal_mutex_t lock;          
    uint32_t emergency_next_read;   
    uint32_t emergency_next_write;  
    ec_coe_emergency_message_t emergencies[LEC_MAX_COE_EMERGENCIES];    
} ec_coe_t;             
 
enum {
    EC_COE_EMERGENCY  = 0x01,               
    EC_COE_SDOREQ,                          
    EC_COE_SDORES,                          
    EC_COE_TXPDO,                           
    EC_COE_RXPDO,                           
    EC_COE_TXPDO_RR,                        
    EC_COE_RXPDO_RR,                        
    EC_COE_SDOINFO                          
};
 
enum {
    EC_COE_SDO_DOWNLOAD_SEQ_REQ = 0x00,     
    EC_COE_SDO_DOWNLOAD_REQ     = 0x01,     
    EC_COE_SDO_UPLOAD_REQ       = 0x02,     
    EC_COE_SDO_ABORT_REQ        = 0x04      
};
 
enum {
    EC_COE_SDO_INFO_ODLIST_REQ = 0x01,      
    EC_COE_SDO_INFO_ODLIST_RESP,            
    EC_COE_SDO_INFO_GET_OBJECT_DESC_REQ,    
    EC_COE_SDO_INFO_GET_OBJECT_DESC_RESP,   
    EC_COE_SDO_INFO_GET_ENTRY_DESC_REQ,     
    EC_COE_SDO_INFO_GET_ENTRY_DESC_RESP,    
    EC_COE_SDO_INFO_ERROR_REQUEST,          
};
 
enum {
    DEFTYPE_NULL                = 0x0000, 
    DEFTYPE_BOOLEAN             = 0x0001, 
    DEFTYPE_INTEGER8            = 0x0002, 
    DEFTYPE_INTEGER16           = 0x0003, 
    DEFTYPE_INTEGER32           = 0x0004, 
    DEFTYPE_UNSIGNED8           = 0x0005, 
    DEFTYPE_UNSIGNED16          = 0x0006, 
    DEFTYPE_UNSIGNED32          = 0x0007, 
    DEFTYPE_REAL32              = 0x0008, 
    DEFTYPE_VISIBLESTRING       = 0x0009, 
    DEFTYPE_OCTETSTRING         = 0x000A, 
    DEFTYPE_UNICODE_STRING      = 0x000B, 
    DEFTYPE_TIME_OF_DAY         = 0x000C, 
    DEFTYPE_TIME_DIFFERENCE     = 0x000D, 
    DEFTYPE_INTEGER24           = 0x0010, 
    DEFTYPE_REAL64              = 0x0011, 
    DEFTYPE_INTEGER40           = 0x0012, 
    DEFTYPE_INTEGER48           = 0x0013, 
    DEFTYPE_INTEGER56           = 0x0014, 
    DEFTYPE_INTEGER64           = 0x0015, 
    DEFTYPE_UNSIGNED24          = 0x0016, 
    DEFTYPE_UNSIGNED40          = 0x0018, 
    DEFTYPE_UNSIGNED48          = 0x0019, 
    DEFTYPE_UNSIGNED56          = 0x001A, 
    DEFTYPE_UNSIGNED64          = 0x001B, 
    DEFTYPE_GUID                = 0x001D, 
    DEFTYPE_BYTE                = 0x001E, 
    DEFTYPE_WORD                = 0x001F, 
    DEFTYPE_DWORD               = 0x0020, 
    DEFTYPE_PDOMAPPING          = 0x0021, 
    DEFTYPE_IDENTITY            = 0x0023, 
    DEFTYPE_COMMAND             = 0x0025, 
    DEFTYPE_PDOCOMPAR           = 0x0027, 
    DEFTYPE_ENUM                = 0x0028, 
    DEFTYPE_SMPAR               = 0x0029, 
    DEFTYPE_RECORD              = 0x002A, 
    DEFTYPE_BACKUP              = 0x002B, 
    DEFTYPE_MDP                 = 0x002C, 
    DEFTYPE_BITARR8             = 0x002D, 
    DEFTYPE_BITARR16            = 0x002E, 
    DEFTYPE_BITARR32            = 0x002F, 
    DEFTYPE_BIT1                = 0x0030, 
    DEFTYPE_BIT2                = 0x0031, 
    DEFTYPE_BIT3                = 0x0032, 
    DEFTYPE_BIT4                = 0x0033, 
    DEFTYPE_BIT5                = 0x0034, 
    DEFTYPE_BIT6                = 0x0035, 
    DEFTYPE_BIT7                = 0x0036, 
    DEFTYPE_BIT8                = 0x0037, 
    DEFTYPE_ARRAY_OF_INT        = 0x0260, 
    DEFTYPE_ARRAY_OF_SINT       = 0x0261, 
    DEFTYPE_ARRAY_OF_DINT       = 0x0262, 
    DEFTYPE_ARRAY_OF_UDINT      = 0x0263, 
    DEFTYPE_ERRORHANDLING       = 0x0281, 
    DEFTYPE_DIAGHISTORY         = 0x0282, 
    DEFTYPE_SYNCSTATUS          = 0x0283, 
    DEFTYPE_SYNCSETTINGS        = 0x0284, 
    DEFTYPE_FSOEFRAME           = 0x0285, 
    DEFTYPE_FSOECOMMPAR         = 0x0286,
};
 
enum {
    OBJCODE_VAR                 = 0x07,    
    OBJCODE_ARR                 = 0x08,    
    OBJCODE_REC                 = 0x09,    
};
 
enum {
    ACCESS_READWRITE            = 0x003F,  
    ACCESS_READ                 = 0x0007,  
    ACCESS_READ_PREOP           = 0x0001,  
    ACCESS_READ_SAFEOP          = 0x0002,  
    ACCESS_READ_OP              = 0x0004,  
    ACCESS_WRITE                = 0x0038,  
    ACCESS_WRITE_PREOP          = 0x0008,  
    ACCESS_WRITE_SAFEOP         = 0x0010,  
    ACCESS_WRITE_OP             = 0x0020,  
};
 
#define CANOPEN_MAXNAME                         (40u)       
#define CANOPEN_MAXDATA                         (128u)      
    
typedef struct PACKED ec_coe_sdo_desc {
    osal_uint16_t data_type;                
    osal_uint8_t  obj_code;                 
    osal_uint8_t  max_subindices;           
    osal_char_t   name[CANOPEN_MAXNAME];    
    osal_size_t   name_len;                 
} PACKED ec_coe_sdo_desc_t;                 
 
typedef struct PACKED ec_coe_sdo_entry_desc {
    osal_uint8_t  value_info;               
    osal_uint16_t data_type;                
    osal_uint16_t bit_length;               
    osal_uint16_t obj_access;               
    osal_uint8_t  data[CANOPEN_MAXDATA];    
    osal_size_t   data_len;                 
} PACKED ec_coe_sdo_entry_desc_t;           
 
#define EC_COE_SDO_VALUE_INFO_ACCESS_RIGHTS      (0x01)     
#define EC_COE_SDO_VALUE_INFO_OBJECT_CATEGORY    (0x02)     
#define EC_COE_SDO_VALUE_INFO_MAPPABLE           (0x04)     
#define EC_COE_SDO_VALUE_INFO_UNIT               (0x08)     
#define EC_COE_SDO_VALUE_INFO_DEFAULT_VALUE      (0x10)     
#define EC_COE_SDO_VALUE_INFO_MIN_VALUE          (0x20)     
#define EC_COE_SDO_VALUE_INFO_MAX_VALUE          (0x40)     
 
// forward declarations
struct ec;
typedef struct ec ec_t;     
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
void ec_coe_init(ec_t *pec, osal_uint16_t slave);
 
 
void ec_coe_deinit(ec_t *pec, osal_uint16_t slave);
 
 
int ec_coe_sdo_read(ec_t *pec, osal_uint16_t slave, osal_uint16_t index, 
        osal_uint8_t sub_index, int complete, osal_uint8_t *buf, osal_size_t *len, 
        osal_uint32_t *abort_code);
 
 
int ec_coe_master_sdo_read(ec_t *pec, osal_uint16_t index, 
        osal_uint8_t sub_index, int complete, osal_uint8_t *buf, osal_size_t *len, 
        osal_uint32_t *abort_code);
 
 
int ec_coe_sdo_write(ec_t *pec, osal_uint16_t slave, osal_uint16_t index, 
        osal_uint8_t sub_index, int complete, osal_uint8_t *buf, osal_size_t len,
        osal_uint32_t *abort_code);
 
 
int ec_coe_master_sdo_write(ec_t *pec, osal_uint16_t index, 
        osal_uint8_t sub_index, int complete, osal_uint8_t *buf, osal_size_t len,
        osal_uint32_t *abort_code);
 
 
int ec_coe_sdo_desc_read(ec_t *pec, osal_uint16_t slave, osal_uint16_t index, 
        ec_coe_sdo_desc_t *desc, osal_uint32_t *error_code);
 
 
int ec_coe_master_sdo_desc_read(const ec_t *pec, osal_uint16_t index, 
        ec_coe_sdo_desc_t *desc, osal_uint32_t *error_code);
 
 
int ec_coe_sdo_entry_desc_read(ec_t *pec, osal_uint16_t slave, osal_uint16_t index,
        osal_uint8_t sub_index, osal_uint8_t value_info, ec_coe_sdo_entry_desc_t *desc, 
        osal_uint32_t *error_code);
 
 
int ec_coe_master_sdo_entry_desc_read(const ec_t *pec, osal_uint16_t index,
        osal_uint8_t sub_index, osal_uint8_t value_info, ec_coe_sdo_entry_desc_t *desc, 
        osal_uint32_t *error_code);
 
 
int ec_coe_odlist_read(ec_t *pec, osal_uint16_t slave, osal_uint8_t *buf, osal_size_t *len);
 
 
int ec_coe_master_odlist_read(ec_t *pec, osal_uint8_t *buf, osal_size_t *len);
 
 
int ec_coe_generate_mapping(ec_t *pec, osal_uint16_t slave);
 
 
void ec_coe_emergency_enqueue(ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry);
 
 
int ec_coe_emergency_get_next(ec_t *pec, osal_uint16_t slave, ec_coe_emergency_message_t *msg);
 
 
void ec_coe_enqueue(ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry);
 
 
const osal_char_t *get_sdo_info_error_string(osal_uint32_t errorcode);
 
#ifdef __cplusplus
}
#endif
 
#endif // LIBETHERCAT_COE_H