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_ 345