kernel/2.6.29.6-aldebaran-rt/drivers/staging/epl/EplFrame.h

   1 /****************************************************************************
   2
   3   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  include file for EPL frames
   9
  10   License:
  11
  12     Redistribution and use in source and binary forms, with or without
  13     modification, are permitted provided that the following conditions
  14     are met:
  15
  16     1. Redistributions of source code must retain the above copyright
  17        notice, this list of conditions and the following disclaimer.
  18
  19     2. Redistributions in binary form must reproduce the above copyright
  20        notice, this list of conditions and the following disclaimer in the
  21        documentation and/or other materials provided with the distribution.
  22
  23     3. Neither the name of SYSTEC electronic GmbH nor the names of its
  24        contributors may be used to endorse or promote products derived
  25        from this software without prior written permission. For written
  26        permission, please contact info@systec-electronic.com.
  27
  28     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  29     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  30     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  31     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  32     COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  33     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  34     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  35     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  36     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  37     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  38     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  39     POSSIBILITY OF SUCH DAMAGE.
  40
  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplFrame.h,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.5 $  $Date: 2008/06/23 14:56:33 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/05/22 d.k.:   start of the implementation, version 1.00
  68
  69 ****************************************************************************/
  70
  71 #ifndef _EPL_FRAME_H_
  72 #define _EPL_FRAME_H_
  73
  74 //---------------------------------------------------------------------------
  75 // const defines
  76 //---------------------------------------------------------------------------
  77
  78 // defines for EplFrame.m_wFlag
  79 #define EPL_FRAME_FLAG1_RD          0x01        // ready                                    (PReq, PRes)
  80 #define EPL_FRAME_FLAG1_ER          0x02        // exception reset (error signalling)       (SoA)
  81 #define EPL_FRAME_FLAG1_EA          0x04        // exception acknowledge (error signalling) (PReq, SoA)
  82 #define EPL_FRAME_FLAG1_EC          0x08        // exception clear (error signalling)       (StatusRes)
  83 #define EPL_FRAME_FLAG1_EN          0x10        // exception new (error signalling)         (PRes, StatusRes)
  84 #define EPL_FRAME_FLAG1_MS          0x20        // multiplexed slot                         (PReq)
  85 #define EPL_FRAME_FLAG1_PS          0x40        // prescaled slot                           (SoC)
  86 #define EPL_FRAME_FLAG1_MC          0x80        // multiplexed cycle completed              (SoC)
  87 #define EPL_FRAME_FLAG2_RS          0x07        // number of pending requests to send       (PRes, StatusRes, IdentRes)
  88 #define EPL_FRAME_FLAG2_PR          0x38        // priority of requested asynch. frame      (PRes, StatusRes, IdentRes)
  89 #define EPL_FRAME_FLAG2_PR_SHIFT    3   // shift of priority of requested asynch. frame
  90
  91 // error history/status entry types
  92 #define EPL_ERR_ENTRYTYPE_STATUS        0x8000
  93 #define EPL_ERR_ENTRYTYPE_HISTORY       0x0000
  94 #define EPL_ERR_ENTRYTYPE_EMCY          0x4000
  95 #define EPL_ERR_ENTRYTYPE_MODE_ACTIVE   0x1000
  96 #define EPL_ERR_ENTRYTYPE_MODE_CLEARED  0x2000
  97 #define EPL_ERR_ENTRYTYPE_MODE_OCCURRED 0x3000
  98 #define EPL_ERR_ENTRYTYPE_MODE_MASK     0x3000
  99 #define EPL_ERR_ENTRYTYPE_PROF_VENDOR   0x0001
 100 #define EPL_ERR_ENTRYTYPE_PROF_EPL      0x0002
 101 #define EPL_ERR_ENTRYTYPE_PROF_MASK     0x0FFF
 102
 103 // defines for EPL version / PDO version
 104 #define EPL_VERSION_SUB             0x0F        // sub version
 105 #define EPL_VERSION_MAIN            0xF0        // main version
 106
 107 //---------------------------------------------------------------------------
 108 // typedef
 109 //---------------------------------------------------------------------------
 110
 111 // $$$ d.k.: move this definition to global.h
 112 // byte-align structures
 113 #ifdef _MSC_VER
 114 #    pragma pack( push, packing )
 115 #    pragma pack( 1 )
 116 #    define PACK_STRUCT
 117 #elif defined( __GNUC__ )
 118 #    define PACK_STRUCT    __attribute__((packed))
 119 #else
 120 #    error you must byte-align these structures with the appropriate compiler directives
 121 #endif
 122
 123 typedef struct {
 124         // Offset 17
 125         BYTE m_le_bRes1;        // reserved
 126         // Offset 18
 127         BYTE m_le_bFlag1;       // Flags: MC, PS
 128         // Offset 19
 129         BYTE m_le_bFlag2;       // Flags: res
 130         // Offset 20
 131         tEplNetTime m_le_NetTime;       // supported if D_NMT_NetTimeIsRealTime_BOOL is set
 132         // Offset 28
 133         QWORD m_le_RelativeTime;        // in us (supported if D_NMT_RelativeTime_BOOL is set)
 134
 135 } PACK_STRUCT tEplSocFrame;
 136
 137 typedef struct {
 138         // Offset 17
 139         BYTE m_le_bRes1;        // reserved
 140         // Offset 18
 141         BYTE m_le_bFlag1;       // Flags: MS, EA, RD
 142         // Offset 19
 143         BYTE m_le_bFlag2;       // Flags: res
 144         // Offset 20
 145         BYTE m_le_bPdoVersion;
 146         // Offset 21
 147         BYTE m_le_bRes2;        // reserved
 148         // Offset 22
 149         WORD m_le_wSize;
 150         // Offset 24
 151         BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 */ ];
 152
 153 } PACK_STRUCT tEplPreqFrame;
 154
 155 typedef struct {
 156         // Offset 17
 157         BYTE m_le_bNmtStatus;   // NMT state
 158         // Offset 18
 159         BYTE m_le_bFlag1;       // Flags: MS, EN, RD
 160         // Offset 19
 161         BYTE m_le_bFlag2;       // Flags: PR, RS
 162         // Offset 20
 163         BYTE m_le_bPdoVersion;
 164         // Offset 21
 165         BYTE m_le_bRes2;        // reserved
 166         // Offset 22
 167         WORD m_le_wSize;
 168         // Offset 24
 169         BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16
 170                                    / D_NMT_IsochrTxMaxPayload_U16 */ ];
 171
 172 } PACK_STRUCT tEplPresFrame;
 173
 174 typedef struct {
 175         // Offset 17
 176         BYTE m_le_bNmtStatus;   // NMT state
 177         // Offset 18
 178         BYTE m_le_bFlag1;       // Flags: EA, ER
 179         // Offset 19
 180         BYTE m_le_bFlag2;       // Flags: res
 181         // Offset 20
 182         BYTE m_le_bReqServiceId;
 183         // Offset 21
 184         BYTE m_le_bReqServiceTarget;
 185         // Offset 22
 186         BYTE m_le_bEplVersion;
 187
 188 } PACK_STRUCT tEplSoaFrame;
 189
 190 typedef struct {
 191         WORD m_wEntryType;
 192         WORD m_wErrorCode;
 193         tEplNetTime m_TimeStamp;
 194         BYTE m_abAddInfo[8];
 195
 196 } PACK_STRUCT tEplErrHistoryEntry;
 197
 198 typedef struct {
 199         // Offset 18
 200         BYTE m_le_bFlag1;       // Flags: EN, EC
 201         BYTE m_le_bFlag2;       // Flags: PR, RS
 202         BYTE m_le_bNmtStatus;   // NMT state
 203         BYTE m_le_bRes1[3];
 204         QWORD m_le_qwStaticError;       // static error bit field
 205         tEplErrHistoryEntry m_le_aErrHistoryEntry[14];
 206
 207 } PACK_STRUCT tEplStatusResponse;
 208
 209 typedef struct {
 210         // Offset 18
 211         BYTE m_le_bFlag1;       // Flags: res
 212         BYTE m_le_bFlag2;       // Flags: PR, RS
 213         BYTE m_le_bNmtStatus;   // NMT state
 214         BYTE m_le_bIdentRespFlags;      // Flags: FW
 215         BYTE m_le_bEplProfileVersion;
 216         BYTE m_le_bRes1;
 217         DWORD m_le_dwFeatureFlags;      // NMT_FeatureFlags_U32
 218         WORD m_le_wMtu;         // NMT_CycleTiming_REC.AsyncMTU_U16: C_IP_MIN_MTU - C_IP_MAX_MTU
 219         WORD m_le_wPollInSize;  // NMT_CycleTiming_REC.PReqActPayload_U16
 220         WORD m_le_wPollOutSize; // NMT_CycleTiming_REC.PResActPayload_U16
 221         DWORD m_le_dwResponseTime;      // NMT_CycleTiming_REC.PResMaxLatency_U32
 222         WORD m_le_wRes2;
 223         DWORD m_le_dwDeviceType;        // NMT_DeviceType_U32
 224         DWORD m_le_dwVendorId;  // NMT_IdentityObject_REC.VendorId_U32
 225         DWORD m_le_dwProductCode;       // NMT_IdentityObject_REC.ProductCode_U32
 226         DWORD m_le_dwRevisionNumber;    // NMT_IdentityObject_REC.RevisionNo_U32
 227         DWORD m_le_dwSerialNumber;      // NMT_IdentityObject_REC.SerialNo_U32
 228         QWORD m_le_qwVendorSpecificExt1;
 229         DWORD m_le_dwVerifyConfigurationDate;   // CFM_VerifyConfiguration_REC.ConfDate_U32
 230         DWORD m_le_dwVerifyConfigurationTime;   // CFM_VerifyConfiguration_REC.ConfTime_U32
 231         DWORD m_le_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
 232         DWORD m_le_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
 233         DWORD m_le_dwIpAddress;
 234         DWORD m_le_dwSubnetMask;
 235         DWORD m_le_dwDefaultGateway;
 236         BYTE m_le_sHostname[32];
 237         BYTE m_le_abVendorSpecificExt2[48];
 238
 239 } PACK_STRUCT tEplIdentResponse;
 240
 241 typedef struct {
 242         // Offset 18
 243         BYTE m_le_bNmtCommandId;
 244         BYTE m_le_bRes1;
 245         BYTE m_le_abNmtCommandData[32];
 246
 247 } PACK_STRUCT tEplNmtCommandService;
 248
 249 typedef struct {
 250         BYTE m_le_bReserved;
 251         BYTE m_le_bTransactionId;
 252         BYTE m_le_bFlags;
 253         BYTE m_le_bCommandId;
 254         WORD m_le_wSegmentSize;
 255         WORD m_le_wReserved;
 256         BYTE m_le_abCommandData[8];     // just reserve a minimum number of bytes as a placeholder
 257
 258 } PACK_STRUCT tEplAsySdoCom;
 259
 260 // asynchronous SDO Sequence Header
 261 typedef struct {
 262         BYTE m_le_bRecSeqNumCon;
 263         BYTE m_le_bSendSeqNumCon;
 264         BYTE m_le_abReserved[2];
 265         tEplAsySdoCom m_le_abSdoSeqPayload;
 266
 267 } PACK_STRUCT tEplAsySdoSeq;
 268
 269 typedef struct {
 270         // Offset 18
 271         BYTE m_le_bNmtCommandId;
 272         BYTE m_le_bTargetNodeId;
 273         BYTE m_le_abNmtCommandData[32];
 274
 275 } PACK_STRUCT tEplNmtRequestService;
 276
 277 typedef union {
 278         // Offset 18
 279         tEplStatusResponse m_StatusResponse;
 280         tEplIdentResponse m_IdentResponse;
 281         tEplNmtCommandService m_NmtCommandService;
 282         tEplNmtRequestService m_NmtRequestService;
 283         tEplAsySdoSeq m_SdoSequenceFrame;
 284         BYTE m_le_abPayload[256 /*D_NMT_ASndTxMaxPayload_U16
 285                                    / D_NMT_ASndRxMaxPayload_U16 */ ];
 286
 287 } tEplAsndPayload;
 288
 289 typedef struct {
 290         // Offset 17
 291         BYTE m_le_bServiceId;
 292         // Offset 18
 293         tEplAsndPayload m_Payload;
 294
 295 } PACK_STRUCT tEplAsndFrame;
 296
 297 typedef union {
 298         // Offset 17
 299         tEplSocFrame m_Soc;
 300         tEplPreqFrame m_Preq;
 301         tEplPresFrame m_Pres;
 302         tEplSoaFrame m_Soa;
 303         tEplAsndFrame m_Asnd;
 304
 305 } tEplFrameData;
 306
 307 typedef struct {
 308         // Offset 0
 309         BYTE m_be_abDstMac[6];  // MAC address of the addressed nodes
 310         // Offset 6
 311         BYTE m_be_abSrcMac[6];  // MAC address of the transmitting node
 312         // Offset 12
 313         WORD m_be_wEtherType;   // Ethernet message type (big endian)
 314         // Offset 14
 315         BYTE m_le_bMessageType; // EPL message type
 316         // Offset 15
 317         BYTE m_le_bDstNodeId;   // EPL node ID of the addressed nodes
 318         // Offset 16
 319         BYTE m_le_bSrcNodeId;   // EPL node ID of the transmitting node
 320         // Offset 17
 321         tEplFrameData m_Data;
 322
 323 } PACK_STRUCT tEplFrame;
 324
 325 // un-byte-align structures
 326 #ifdef _MSC_VER
 327 #    pragma pack( pop, packing )
 328 #endif
 329
 330 typedef enum {
 331         kEplMsgTypeNonEpl = 0x00,
 332         kEplMsgTypeSoc = 0x01,
 333         kEplMsgTypePreq = 0x03,
 334         kEplMsgTypePres = 0x04,
 335         kEplMsgTypeSoa = 0x05,
 336         kEplMsgTypeAsnd = 0x06,
 337
 338 } tEplMsgType;
 339
 340 //---------------------------------------------------------------------------
 341 // function prototypes
 342 //---------------------------------------------------------------------------
 343
 344 #endif // #ifndef _EPL_FRAME_H_