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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
123typedef struct {
124 // Offset 17
125 u8 m_le_bRes1; // reserved
126 // Offset 18
127 u8 m_le_bFlag1; // Flags: MC, PS
128 // Offset 19
129 u8 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 u64 m_le_RelativeTime; // in us (supported if D_NMT_RelativeTime_BOOL is set)
134
135} PACK_STRUCT tEplSocFrame;
136
137typedef struct {
138 // Offset 17
139 u8 m_le_bRes1; // reserved
140 // Offset 18
141 u8 m_le_bFlag1; // Flags: MS, EA, RD
142 // Offset 19
143 u8 m_le_bFlag2; // Flags: res
144 // Offset 20
145 u8 m_le_bPdoVersion;
146 // Offset 21
147 u8 m_le_bRes2; // reserved
148 // Offset 22
149 u16 m_le_wSize;
150 // Offset 24
151 u8 m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16 */ ];
152
153} PACK_STRUCT tEplPreqFrame;
154
155typedef struct {
156 // Offset 17
157 u8 m_le_bNmtStatus; // NMT state
158 // Offset 18
159 u8 m_le_bFlag1; // Flags: MS, EN, RD
160 // Offset 19
161 u8 m_le_bFlag2; // Flags: PR, RS
162 // Offset 20
163 u8 m_le_bPdoVersion;
164 // Offset 21
165 u8 m_le_bRes2; // reserved
166 // Offset 22
167 u16 m_le_wSize;
168 // Offset 24
169 u8 m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16
170 / D_NMT_IsochrTxMaxPayload_U16 */ ];
171
172} PACK_STRUCT tEplPresFrame;
173
174typedef struct {
175 // Offset 17
176 u8 m_le_bNmtStatus; // NMT state
177 // Offset 18
178 u8 m_le_bFlag1; // Flags: EA, ER
179 // Offset 19
180 u8 m_le_bFlag2; // Flags: res
181 // Offset 20
182 u8 m_le_bReqServiceId;
183 // Offset 21
184 u8 m_le_bReqServiceTarget;
185 // Offset 22
186 u8 m_le_bEplVersion;
187
188} PACK_STRUCT tEplSoaFrame;
189
190typedef struct {
191 u16 m_wEntryType;
192 u16 m_wErrorCode;
193 tEplNetTime m_TimeStamp;
194 u8 m_abAddInfo[8];
195
196} PACK_STRUCT tEplErrHistoryEntry;
197
198typedef struct {
199 // Offset 18
200 u8 m_le_bFlag1; // Flags: EN, EC
201 u8 m_le_bFlag2; // Flags: PR, RS
202 u8 m_le_bNmtStatus; // NMT state
203 u8 m_le_bRes1[3];
204 u64 m_le_qwStaticError; // static error bit field
205 tEplErrHistoryEntry m_le_aErrHistoryEntry[14];
206
207} PACK_STRUCT tEplStatusResponse;
208
209typedef struct {
210 // Offset 18
211 u8 m_le_bFlag1; // Flags: res
212 u8 m_le_bFlag2; // Flags: PR, RS
213 u8 m_le_bNmtStatus; // NMT state
214 u8 m_le_bIdentRespFlags; // Flags: FW
215 u8 m_le_bEplProfileVersion;
216 u8 m_le_bRes1;
217 u32 m_le_dwFeatureFlags; // NMT_FeatureFlags_U32
218 u16 m_le_wMtu; // NMT_CycleTiming_REC.AsyncMTU_U16: C_IP_MIN_MTU - C_IP_MAX_MTU
219 u16 m_le_wPollInSize; // NMT_CycleTiming_REC.PReqActPayload_U16
220 u16 m_le_wPollOutSize; // NMT_CycleTiming_REC.PResActPayload_U16
221 u32 m_le_dwResponseTime; // NMT_CycleTiming_REC.PResMaxLatency_U32
222 u16 m_le_wRes2;
223 u32 m_le_dwDeviceType; // NMT_DeviceType_U32
224 u32 m_le_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
225 u32 m_le_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
226 u32 m_le_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
227 u32 m_le_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
228 u64 m_le_qwVendorSpecificExt1;
229 u32 m_le_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
230 u32 m_le_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
231 u32 m_le_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
232 u32 m_le_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
233 u32 m_le_dwIpAddress;
234 u32 m_le_dwSubnetMask;
235 u32 m_le_dwDefaultGateway;
236 u8 m_le_sHostname[32];
237 u8 m_le_abVendorSpecificExt2[48];
238
239} PACK_STRUCT tEplIdentResponse;
240
241typedef struct {
242 // Offset 18
243 u8 m_le_bNmtCommandId;
244 u8 m_le_bRes1;
245 u8 m_le_abNmtCommandData[32];
246
247} PACK_STRUCT tEplNmtCommandService;
248
249typedef struct {
250 u8 m_le_bReserved;
251 u8 m_le_bTransactionId;
252 u8 m_le_bFlags;
253 u8 m_le_bCommandId;
254 u16 m_le_wSegmentSize;
255 u16 m_le_wReserved;
256 u8 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
261typedef struct {
262 u8 m_le_bRecSeqNumCon;
263 u8 m_le_bSendSeqNumCon;
264 u8 m_le_abReserved[2];
265 tEplAsySdoCom m_le_abSdoSeqPayload;
266
267} PACK_STRUCT tEplAsySdoSeq;
268
269typedef struct {
270 // Offset 18
271 u8 m_le_bNmtCommandId;
272 u8 m_le_bTargetNodeId;
273 u8 m_le_abNmtCommandData[32];
274
275} PACK_STRUCT tEplNmtRequestService;
276
277typedef 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 u8 m_le_abPayload[256 /*D_NMT_ASndTxMaxPayload_U16
285 / D_NMT_ASndRxMaxPayload_U16 */ ];
286
287} tEplAsndPayload;
288
289typedef struct {
290 // Offset 17
291 u8 m_le_bServiceId;
292 // Offset 18
293 tEplAsndPayload m_Payload;
294
295} PACK_STRUCT tEplAsndFrame;
296
297typedef 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
307typedef struct {
308 // Offset 0
309 u8 m_be_abDstMac[6]; // MAC address of the addressed nodes
310 // Offset 6
311 u8 m_be_abSrcMac[6]; // MAC address of the transmitting node
312 // Offset 12
313 u16 m_be_wEtherType; // Ethernet message type (big endian)
314 // Offset 14
315 u8 m_le_bMessageType; // EPL message type
316 // Offset 15
317 u8 m_le_bDstNodeId; // EPL node ID of the addressed nodes
318 // Offset 16
319 u8 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
330typedef 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_