support software-defined ethercat

2022-02-28 10:27:30 +08:00
parent 287cd1bd89
commit 392591e50d
14 changed files with 889 additions and 22 deletions
@@ -0,0 +1,103 @@
+#ifndef ETHERCAT_H
+#define ETHERCAT_H
+
+#include <stdint.h>
+
+#define BIG_ENDIAN_PACK __attribute__((packed, scalar_storage_order("big-endian")))
+#define LITTLE_ENDIAN_PACK __attribute__((packed, scalar_storage_order("little-endian")))
+#define ETHERCAT_PORT "34980" // 0x88A4
+#define MAX_FRAME_LEN 1500
+#define MIN_FRAME_LEN 14
+
+typedef union BIG_ENDIAN_PACK
+{
+    struct BIG_ENDIAN_PACK
+    {
+        uint16_t length : 11;
+        uint16_t res : 1;
+        uint16_t type : 4;
+    };
+    uint16_t header;
+} EcatHeader, *EcatHeaderPtr;
+
+#define ECAT_HEADER_LENGTH 2
+
+typedef union BIG_ENDIAN_PACK
+{
+    struct BIG_ENDIAN_PACK
+    {
+        uint16_t position;
+        uint16_t pos_offset;
+    }; // Position Addressing
+    struct BIG_ENDIAN_PACK
+    {
+        uint16_t address;
+        uint16_t addr_offset;
+    }; // Node Addressing
+    uint32_t logical;
+} EcatAddress, *EcatAddressPtr;
+
+#define ECAT_ADDRESS_LENGTH 4
+
+typedef struct
+{
+    uint8_t cmd;
+    uint8_t idx;
+    EcatAddress address;
+    union BIG_ENDIAN_PACK
+    {
+        struct BIG_ENDIAN_PACK
+        {
+            uint16_t length : 11;
+            uint16_t r : 3;
+            uint16_t c : 1;
+            uint16_t m : 1; // followed by more datagrams or not
+        };
+        uint16_t suffix; // for easy parse
+    };
+    uint16_t irq : 16;
+} EcatDataHeader, *EcatDataHeaderPtr;
+
+#define ECAT_DATA_HEADER_LENGTH 10
+
+typedef struct
+{
+    // frame data
+    EcatDataHeader header; // 10 bytes
+    uint8_t *data;         // 0-1486 bytes
+    uint16_t work_counter; // 2bytes
+    // utilities
+    uint8_t self; // indicating this datagram is mine
+    void *next;   // EcatDatagramPtr
+} EcatDatagram, *EcatDatagramPtr;
+
+typedef struct
+{
+    EcatHeader header;        // 2 bytes
+    EcatDatagramPtr datagram; // 12-1470 bytes
+} EcatFrame, *EcatFramePtr;
+
+extern EcatFrame ecat_data;
+
+void EcatClear(EcatFramePtr frame);
+int EcatAppend(EcatFramePtr frame, EcatAddress address, uint8_t *data, uint16_t data_len);
+int EcatUpdate(EcatFramePtr frame, uint8_t *data, uint16_t data_len);
+
+#define READ8(buffer, offset) (((uint8_t *)buffer)[offset++])
+#define READ16(buffer, offset) ((uint16_t)((uint8_t *)buffer)[offset++] << 8 | (uint16_t)((uint8_t *)buffer)[offset++])
+#define READ32(buffer, offset) (uint32_t)((uint8_t *)buffer)[offset++] << 24 |     \
+                                   (uint32_t)((uint8_t *)buffer)[offset++] << 16 | \
+                                   (uint32_t)((uint8_t *)buffer)[offset++] << 8 |  \
+                                   (uint32_t)((uint8_t *)buffer)[offset++]
+
+#define WRITE8(buffer, offset, value) ((uint8_t *)buffer)[offset++] = (uint8_t)(value & 0xFF);
+#define WRITE16(buffer, offset, value)                            \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value >> 8 & 0xFF); \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value & 0xFF);
+#define WRITE32(buffer, offset, value)                             \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value >> 24 & 0xFF); \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value >> 16 & 0xFF); \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value >> 8 & 0xFF);  \
+    ((uint8_t *)buffer)[offset++] = (uint8_t)(value & 0xFF);
+
+#endif