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Diffstat (limited to 'drivers/staging/epl/EplFrame.h')
| -rw-r--r-- | drivers/staging/epl/EplFrame.h | 344 |
1 files changed, 344 insertions, 0 deletions
diff --git a/drivers/staging/epl/EplFrame.h b/drivers/staging/epl/EplFrame.h new file mode 100644 index 000000000000..9a7f8b9f594e --- /dev/null +++ b/drivers/staging/epl/EplFrame.h @@ -0,0 +1,344 @@ +/**************************************************************************** + + (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 + BYTE m_le_bRes1; // reserved + // Offset 18 + BYTE m_le_bFlag1; // Flags: MC, PS + // Offset 19 + BYTE m_le_bFlag2; // Flags: res + // Offset 20 + tEplNetTime m_le_NetTime; // supported if D_NMT_NetTimeIsRealTime_BOOL is set + // Offset 28 + QWORD m_le_RelativeTime; // in us (supported if D_NMT_RelativeTime_BOOL is set) + +} PACK_STRUCT tEplSocFrame; + +typedef struct { + // Offset 17 + BYTE m_le_bRes1; // reserved + // Offset 18 + BYTE m_le_bFlag1; // Flags: MS, EA, RD + // Offset 19 + BYTE m_le_bFlag2; // Flags: res + // Offset 20 + BYTE m_le_bPdoVersion; + // Offset 21 + BYTE m_le_bRes2; // reserved + // Offset 22 + WORD m_le_wSize; + // Offset 24 + BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 */ ]; + +} PACK_STRUCT tEplPreqFrame; + +typedef struct { + // Offset 17 + BYTE m_le_bNmtStatus; // NMT state + // Offset 18 + BYTE m_le_bFlag1; // Flags: MS, EN, RD + // Offset 19 + BYTE m_le_bFlag2; // Flags: PR, RS + // Offset 20 + BYTE m_le_bPdoVersion; + // Offset 21 + BYTE m_le_bRes2; // reserved + // Offset 22 + WORD m_le_wSize; + // Offset 24 + BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 + / D_NMT_IsochrTxMaxPayload_U16 */ ]; + +} PACK_STRUCT tEplPresFrame; + +typedef struct { + // Offset 17 + BYTE m_le_bNmtStatus; // NMT state + // Offset 18 + BYTE m_le_bFlag1; // Flags: EA, ER + // Offset 19 + BYTE m_le_bFlag2; // Flags: res + // Offset 20 + BYTE m_le_bReqServiceId; + // Offset 21 + BYTE m_le_bReqServiceTarget; + // Offset 22 + BYTE m_le_bEplVersion; + +} PACK_STRUCT tEplSoaFrame; + +typedef struct { + WORD m_wEntryType; + WORD m_wErrorCode; + tEplNetTime m_TimeStamp; + BYTE m_abAddInfo[8]; + +} PACK_STRUCT tEplErrHistoryEntry; + +typedef struct { + // Offset 18 + BYTE m_le_bFlag1; // Flags: EN, EC + BYTE m_le_bFlag2; // Flags: PR, RS + BYTE m_le_bNmtStatus; // NMT state + BYTE m_le_bRes1[3]; + QWORD m_le_qwStaticError; // static error bit field + tEplErrHistoryEntry m_le_aErrHistoryEntry[14]; + +} PACK_STRUCT tEplStatusResponse; + +typedef struct { + // Offset 18 + BYTE m_le_bFlag1; // Flags: res + BYTE m_le_bFlag2; // Flags: PR, RS + BYTE m_le_bNmtStatus; // NMT state + BYTE m_le_bIdentRespFlags; // Flags: FW + BYTE m_le_bEplProfileVersion; + BYTE m_le_bRes1; + DWORD m_le_dwFeatureFlags; // NMT_FeatureFlags_U32 + WORD m_le_wMtu; // NMT_CycleTiming_REC.AsyncMTU_U16: C_IP_MIN_MTU - C_IP_MAX_MTU + WORD m_le_wPollInSize; // NMT_CycleTiming_REC.PReqActPayload_U16 + WORD m_le_wPollOutSize; // NMT_CycleTiming_REC.PResActPayload_U16 + DWORD m_le_dwResponseTime; // NMT_CycleTiming_REC.PResMaxLatency_U32 + WORD m_le_wRes2; + DWORD m_le_dwDeviceType; // NMT_DeviceType_U32 + DWORD m_le_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32 + DWORD m_le_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32 + DWORD m_le_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32 + DWORD m_le_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32 + QWORD m_le_qwVendorSpecificExt1; + DWORD m_le_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32 + DWORD m_le_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32 + DWORD m_le_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device + DWORD m_le_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device + DWORD m_le_dwIpAddress; + DWORD m_le_dwSubnetMask; + DWORD m_le_dwDefaultGateway; + BYTE m_le_sHostname[32]; + BYTE m_le_abVendorSpecificExt2[48]; + +} PACK_STRUCT tEplIdentResponse; + +typedef struct { + // Offset 18 + BYTE m_le_bNmtCommandId; + BYTE m_le_bRes1; + BYTE m_le_abNmtCommandData[32]; + +} PACK_STRUCT tEplNmtCommandService; + +typedef struct { + BYTE m_le_bReserved; + BYTE m_le_bTransactionId; + BYTE m_le_bFlags; + BYTE m_le_bCommandId; + WORD m_le_wSegmentSize; + WORD m_le_wReserved; + BYTE m_le_abCommandData[8]; // just reserve a minimum number of bytes as a placeholder + +} PACK_STRUCT tEplAsySdoCom; + +// asynchronous SDO Sequence Header +typedef struct { + BYTE m_le_bRecSeqNumCon; + BYTE m_le_bSendSeqNumCon; + BYTE m_le_abReserved[2]; + tEplAsySdoCom m_le_abSdoSeqPayload; + +} PACK_STRUCT tEplAsySdoSeq; + +typedef struct { + // Offset 18 + BYTE m_le_bNmtCommandId; + BYTE m_le_bTargetNodeId; + BYTE 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; + BYTE m_le_abPayload[256 /*D_NMT_ASndTxMaxPayload_U16 + / D_NMT_ASndRxMaxPayload_U16 */ ]; + +} tEplAsndPayload; + +typedef struct { + // Offset 17 + BYTE 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 + BYTE m_be_abDstMac[6]; // MAC address of the addressed nodes + // Offset 6 + BYTE m_be_abSrcMac[6]; // MAC address of the transmitting node + // Offset 12 + WORD m_be_wEtherType; // Ethernet message type (big endian) + // Offset 14 + BYTE m_le_bMessageType; // EPL message type + // Offset 15 + BYTE m_le_bDstNodeId; // EPL node ID of the addressed nodes + // Offset 16 + BYTE 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_ |