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/****************************************************************************
(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_
|
