| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: include file for EPL frames |
| |
| License: |
| |
| Redistribution and use in source and binary forms, with or without |
| modification, are permitted provided that the following conditions |
| are met: |
| |
| 1. Redistributions of source code must retain the above copyright |
| notice, this list of conditions and the following disclaimer. |
| |
| 2. Redistributions in binary form must reproduce the above copyright |
| notice, this list of conditions and the following disclaimer in the |
| documentation and/or other materials provided with the distribution. |
| |
| 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| contributors may be used to endorse or promote products derived |
| from this software without prior written permission. For written |
| permission, please contact info@systec-electronic.com. |
| |
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| POSSIBILITY OF SUCH DAMAGE. |
| |
| Severability Clause: |
| |
| If a provision of this License is or becomes illegal, invalid or |
| unenforceable in any jurisdiction, that shall not affect: |
| 1. the validity or enforceability in that jurisdiction of any other |
| provision of this License; or |
| 2. the validity or enforceability in other jurisdictions of that or |
| any other provision of this License. |
| |
| ------------------------------------------------------------------------- |
| |
| $RCSfile: EplFrame.h,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.5 $ $Date: 2008/06/23 14:56:33 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GCC V3.4 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/05/22 d.k.: start of the implementation, version 1.00 |
| |
| ****************************************************************************/ |
| |
| #ifndef _EPL_FRAME_H_ |
| #define _EPL_FRAME_H_ |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| // defines for EplFrame.m_wFlag |
| #define EPL_FRAME_FLAG1_RD 0x01 // ready (PReq, PRes) |
| #define EPL_FRAME_FLAG1_ER 0x02 // exception reset (error signalling) (SoA) |
| #define EPL_FRAME_FLAG1_EA 0x04 // exception acknowledge (error signalling) (PReq, SoA) |
| #define EPL_FRAME_FLAG1_EC 0x08 // exception clear (error signalling) (StatusRes) |
| #define EPL_FRAME_FLAG1_EN 0x10 // exception new (error signalling) (PRes, StatusRes) |
| #define EPL_FRAME_FLAG1_MS 0x20 // multiplexed slot (PReq) |
| #define EPL_FRAME_FLAG1_PS 0x40 // prescaled slot (SoC) |
| #define EPL_FRAME_FLAG1_MC 0x80 // multiplexed cycle completed (SoC) |
| #define EPL_FRAME_FLAG2_RS 0x07 // number of pending requests to send (PRes, StatusRes, IdentRes) |
| #define EPL_FRAME_FLAG2_PR 0x38 // priority of requested asynch. frame (PRes, StatusRes, IdentRes) |
| #define EPL_FRAME_FLAG2_PR_SHIFT 3 // shift of priority of requested asynch. frame |
| |
| // error history/status entry types |
| #define EPL_ERR_ENTRYTYPE_STATUS 0x8000 |
| #define EPL_ERR_ENTRYTYPE_HISTORY 0x0000 |
| #define EPL_ERR_ENTRYTYPE_EMCY 0x4000 |
| #define EPL_ERR_ENTRYTYPE_MODE_ACTIVE 0x1000 |
| #define EPL_ERR_ENTRYTYPE_MODE_CLEARED 0x2000 |
| #define EPL_ERR_ENTRYTYPE_MODE_OCCURRED 0x3000 |
| #define EPL_ERR_ENTRYTYPE_MODE_MASK 0x3000 |
| #define EPL_ERR_ENTRYTYPE_PROF_VENDOR 0x0001 |
| #define EPL_ERR_ENTRYTYPE_PROF_EPL 0x0002 |
| #define EPL_ERR_ENTRYTYPE_PROF_MASK 0x0FFF |
| |
| // defines for EPL version / PDO version |
| #define EPL_VERSION_SUB 0x0F // sub version |
| #define EPL_VERSION_MAIN 0xF0 // main version |
| |
| //--------------------------------------------------------------------------- |
| // typedef |
| //--------------------------------------------------------------------------- |
| |
| // $$$ d.k.: move this definition to global.h |
| // byte-align structures |
| #ifdef _MSC_VER |
| # pragma pack( push, packing ) |
| # pragma pack( 1 ) |
| # define PACK_STRUCT |
| #elif defined( __GNUC__ ) |
| # define PACK_STRUCT __attribute__((packed)) |
| #else |
| # error you must byte-align these structures with the appropriate compiler directives |
| #endif |
| |
| typedef struct { |
| // Offset 17 |
| u8 m_le_bRes1; // reserved |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: MC, PS |
| // Offset 19 |
| u8 m_le_bFlag2; // Flags: res |
| // Offset 20 |
| tEplNetTime m_le_NetTime; // supported if D_NMT_NetTimeIsRealTime_BOOL is set |
| // Offset 28 |
| u64 m_le_RelativeTime; // in us (supported if D_NMT_RelativeTime_BOOL is set) |
| |
| } PACK_STRUCT tEplSocFrame; |
| |
| typedef struct { |
| // Offset 17 |
| u8 m_le_bRes1; // reserved |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: MS, EA, RD |
| // Offset 19 |
| u8 m_le_bFlag2; // Flags: res |
| // Offset 20 |
| u8 m_le_bPdoVersion; |
| // Offset 21 |
| u8 m_le_bRes2; // reserved |
| // Offset 22 |
| u16 m_le_wSize; |
| // Offset 24 |
| u8 m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 */ ]; |
| |
| } PACK_STRUCT tEplPreqFrame; |
| |
| typedef struct { |
| // Offset 17 |
| u8 m_le_bNmtStatus; // NMT state |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: MS, EN, RD |
| // Offset 19 |
| u8 m_le_bFlag2; // Flags: PR, RS |
| // Offset 20 |
| u8 m_le_bPdoVersion; |
| // Offset 21 |
| u8 m_le_bRes2; // reserved |
| // Offset 22 |
| u16 m_le_wSize; |
| // Offset 24 |
| u8 m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 |
| / D_NMT_IsochrTxMaxPayload_U16 */ ]; |
| |
| } PACK_STRUCT tEplPresFrame; |
| |
| typedef struct { |
| // Offset 17 |
| u8 m_le_bNmtStatus; // NMT state |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: EA, ER |
| // Offset 19 |
| u8 m_le_bFlag2; // Flags: res |
| // Offset 20 |
| u8 m_le_bReqServiceId; |
| // Offset 21 |
| u8 m_le_bReqServiceTarget; |
| // Offset 22 |
| u8 m_le_bEplVersion; |
| |
| } PACK_STRUCT tEplSoaFrame; |
| |
| typedef struct { |
| u16 m_wEntryType; |
| u16 m_wErrorCode; |
| tEplNetTime m_TimeStamp; |
| u8 m_abAddInfo[8]; |
| |
| } PACK_STRUCT tEplErrHistoryEntry; |
| |
| typedef struct { |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: EN, EC |
| u8 m_le_bFlag2; // Flags: PR, RS |
| u8 m_le_bNmtStatus; // NMT state |
| u8 m_le_bRes1[3]; |
| u64 m_le_qwStaticError; // static error bit field |
| tEplErrHistoryEntry m_le_aErrHistoryEntry[14]; |
| |
| } PACK_STRUCT tEplStatusResponse; |
| |
| typedef struct { |
| // Offset 18 |
| u8 m_le_bFlag1; // Flags: res |
| u8 m_le_bFlag2; // Flags: PR, RS |
| u8 m_le_bNmtStatus; // NMT state |
| u8 m_le_bIdentRespFlags; // Flags: FW |
| u8 m_le_bEplProfileVersion; |
| u8 m_le_bRes1; |
| u32 m_le_dwFeatureFlags; // NMT_FeatureFlags_U32 |
| u16 m_le_wMtu; // NMT_CycleTiming_REC.AsyncMTU_U16: C_IP_MIN_MTU - C_IP_MAX_MTU |
| u16 m_le_wPollInSize; // NMT_CycleTiming_REC.PReqActPayload_U16 |
| u16 m_le_wPollOutSize; // NMT_CycleTiming_REC.PResActPayload_U16 |
| u32 m_le_dwResponseTime; // NMT_CycleTiming_REC.PResMaxLatency_U32 |
| u16 m_le_wRes2; |
| u32 m_le_dwDeviceType; // NMT_DeviceType_U32 |
| u32 m_le_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32 |
| u32 m_le_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32 |
| u32 m_le_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32 |
| u32 m_le_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32 |
| u64 m_le_qwVendorSpecificExt1; |
| u32 m_le_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32 |
| u32 m_le_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32 |
| u32 m_le_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device |
| u32 m_le_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device |
| u32 m_le_dwIpAddress; |
| u32 m_le_dwSubnetMask; |
| u32 m_le_dwDefaultGateway; |
| u8 m_le_sHostname[32]; |
| u8 m_le_abVendorSpecificExt2[48]; |
| |
| } PACK_STRUCT tEplIdentResponse; |
| |
| typedef struct { |
| // Offset 18 |
| u8 m_le_bNmtCommandId; |
| u8 m_le_bRes1; |
| u8 m_le_abNmtCommandData[32]; |
| |
| } PACK_STRUCT tEplNmtCommandService; |
| |
| typedef struct { |
| u8 m_le_bReserved; |
| u8 m_le_bTransactionId; |
| u8 m_le_bFlags; |
| u8 m_le_bCommandId; |
| u16 m_le_wSegmentSize; |
| u16 m_le_wReserved; |
| u8 m_le_abCommandData[8]; // just reserve a minimum number of bytes as a placeholder |
| |
| } PACK_STRUCT tEplAsySdoCom; |
| |
| // asynchronous SDO Sequence Header |
| typedef struct { |
| u8 m_le_bRecSeqNumCon; |
| u8 m_le_bSendSeqNumCon; |
| u8 m_le_abReserved[2]; |
| tEplAsySdoCom m_le_abSdoSeqPayload; |
| |
| } PACK_STRUCT tEplAsySdoSeq; |
| |
| typedef struct { |
| // Offset 18 |
| u8 m_le_bNmtCommandId; |
| u8 m_le_bTargetNodeId; |
| u8 m_le_abNmtCommandData[32]; |
| |
| } PACK_STRUCT tEplNmtRequestService; |
| |
| typedef union { |
| // Offset 18 |
| tEplStatusResponse m_StatusResponse; |
| tEplIdentResponse m_IdentResponse; |
| tEplNmtCommandService m_NmtCommandService; |
| tEplNmtRequestService m_NmtRequestService; |
| tEplAsySdoSeq m_SdoSequenceFrame; |
| u8 m_le_abPayload[256 /*D_NMT_ASndTxMaxPayload_U16 |
| / D_NMT_ASndRxMaxPayload_U16 */ ]; |
| |
| } tEplAsndPayload; |
| |
| typedef struct { |
| // Offset 17 |
| u8 m_le_bServiceId; |
| // Offset 18 |
| tEplAsndPayload m_Payload; |
| |
| } PACK_STRUCT tEplAsndFrame; |
| |
| typedef union { |
| // Offset 17 |
| tEplSocFrame m_Soc; |
| tEplPreqFrame m_Preq; |
| tEplPresFrame m_Pres; |
| tEplSoaFrame m_Soa; |
| tEplAsndFrame m_Asnd; |
| |
| } tEplFrameData; |
| |
| typedef struct { |
| // Offset 0 |
| u8 m_be_abDstMac[6]; // MAC address of the addressed nodes |
| // Offset 6 |
| u8 m_be_abSrcMac[6]; // MAC address of the transmitting node |
| // Offset 12 |
| u16 m_be_wEtherType; // Ethernet message type (big endian) |
| // Offset 14 |
| u8 m_le_bMessageType; // EPL message type |
| // Offset 15 |
| u8 m_le_bDstNodeId; // EPL node ID of the addressed nodes |
| // Offset 16 |
| u8 m_le_bSrcNodeId; // EPL node ID of the transmitting node |
| // Offset 17 |
| tEplFrameData m_Data; |
| |
| } PACK_STRUCT tEplFrame; |
| |
| // un-byte-align structures |
| #ifdef _MSC_VER |
| # pragma pack( pop, packing ) |
| #endif |
| |
| typedef enum { |
| kEplMsgTypeNonEpl = 0x00, |
| kEplMsgTypeSoc = 0x01, |
| kEplMsgTypePreq = 0x03, |
| kEplMsgTypePres = 0x04, |
| kEplMsgTypeSoa = 0x05, |
| kEplMsgTypeAsnd = 0x06, |
| |
| } tEplMsgType; |
| |
| //--------------------------------------------------------------------------- |
| // function prototypes |
| //--------------------------------------------------------------------------- |
| |
| #endif // #ifndef _EPL_FRAME_H_ |
