00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #pragma once 00036 00037 #include <stdint.h> 00038 #include "ethercat_hardware/ethercat_com.h" 00039 #include "ethercat_hardware/ethercat_device.h" 00040 00041 namespace ethercat_hardware 00042 { 00043 00044 // Syncmanger control register 0x804+N*8 00045 struct SyncManControl { 00046 union { 00047 uint8_t raw; 00048 struct { 00049 uint8_t mode : 2; 00050 uint8_t direction : 2; 00051 uint8_t ecat_irq_enable : 1; 00052 uint8_t pdi_irq_enable : 1; 00053 uint8_t watchdog_enable : 1; 00054 uint8_t res1 : 1; 00055 } __attribute__ ((__packed__)); 00056 } __attribute__ ((__packed__)); 00057 //static const unsigned BASE_ADDR=0x804; 00058 //static unsigned base_addr(unsigned num); 00059 //void print(std::ostream &os=std::cout) const; 00060 } __attribute__ ((__packed__)); 00061 00062 // Syncmanger status register 0x805+N*8 00063 struct SyncManStatus { 00064 union { 00065 uint8_t raw; 00066 struct { 00067 uint8_t interrupt_write : 1; 00068 uint8_t interrupt_read : 1; 00069 uint8_t res1 : 1; 00070 uint8_t mailbox_status : 1; 00071 uint8_t buffer_status : 2; 00072 uint8_t res2 : 2; 00073 } __attribute__ ((__packed__)); 00074 } __attribute__ ((__packed__)); 00075 //static const unsigned BASE_ADDR=0x805; 00076 //static unsigned base_addr(unsigned num); 00077 //void print(std::ostream &os=std::cout) const; 00078 } __attribute__ ((__packed__)); 00079 00080 // Syncmanger activation register 0x806+N*8 00081 struct SyncManActivate { 00082 union { 00083 uint8_t raw; 00084 struct { 00085 uint8_t enable : 1; 00086 uint8_t repeat_request : 1; 00087 uint8_t res4 : 4; 00088 uint8_t ecat_latch_event : 1; 00089 uint8_t pdi_latch_event : 1; 00090 } __attribute__ ((__packed__)); 00091 } __attribute__ ((__packed__)); 00092 static const unsigned BASE_ADDR=0x806; 00093 static unsigned baseAddress(unsigned num); 00094 //void print(std::ostream &os=std::cout) const; 00095 bool writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num) const; 00096 } __attribute__ ((__packed__)); 00097 00098 // Syncmanger PDI control register 0x807+N*8 00099 struct SyncManPDIControl { 00100 union { 00101 uint8_t raw; 00102 struct { 00103 uint8_t deactivate : 1; 00104 uint8_t repeat_ack : 1; 00105 uint8_t res6 : 6; 00106 } __attribute__ ((__packed__)); 00107 } __attribute__ ((__packed__)); 00108 //static const unsigned BASE_ADDR=0x807; 00109 //static unsigned base_addr(unsigned num); 00110 //void print(std::ostream &os=std::cout) const; 00111 } __attribute__ ((__packed__)); 00112 00113 00114 // For SyncManager settings REG 0x800+8*N 00115 struct SyncMan { 00116 union { 00117 uint8_t raw[8]; 00118 struct { 00119 uint16_t start_addr; 00120 uint16_t length; 00121 SyncManControl control; 00122 SyncManStatus status; 00123 SyncManActivate activate; 00124 SyncManPDIControl pdi_control; 00125 } __attribute__ ((__packed__)); 00126 } __attribute__ ((__packed__)); 00127 00128 // Base address for first syncmanager 00129 static const unsigned BASE_ADDR=0x800; 00130 // Base address of Nth syncmanager for N=0-7 00131 static unsigned baseAddress(unsigned num); 00132 00133 bool readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num); 00134 //void print(unsigned num, std::ostream &os=std::cout) const; 00135 } __attribute__ ((__packed__)); 00136 00137 namespace wg_util 00138 { 00139 unsigned computeChecksum(void const *data, unsigned length); 00140 unsigned int rotateRight8(unsigned in); 00141 }; 00142 00143 }; // end namespace ethercat_hardware