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/* packet-ecatmb.h
*
* Copyright (c) 2007 by Beckhoff Automation GmbH
*
* Wireshark - Network traffic analyzer
* By Gerald Combs <gerald@wireshark.org>
* Copyright 1998 Gerald Combs
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#ifndef _PACKET_ECATMAILBOX_H_
#define _PACKET_ECATMAILBOX_H_
#include <ws_diag_control.h>
DIAG_OFF(pedantic)
/* Ensure the same data layout for all platforms */
typedef struct TETHERNET_ADDRESS
{
guint8 b[6];
} ETHERNET_ADDRESS, *PETHERNET_ADDRESS;
#define ETHERNET_ADDRESS_LEN ((int) sizeof(ETHERNET_ADDRESS))
/* Mailbox*/
#define ETHERCAT_MBOX_TYPE_ADS 1 /* AMS/ADS header follows*/
#define ETHERCAT_MBOX_TYPE_EOE 2 /* ETHERCAT_EOE_HEADER follows*/
#define ETHERCAT_MBOX_TYPE_COE 3 /* ETHERCAT_COE_HEADER follows*/
#define ETHERCAT_MBOX_TYPE_FOE 4 /* ETHERCAT_FOE_HEADER follows*/
#define ETHERCAT_MBOX_TYPE_SOE 5 /* ETHERCAT_SOE_HEADER follows*/
typedef union tMbxHeaderControlUnion
{
guint16 Control;
struct
{
guint16 Channel : 6; /* optional communication channels (default = 0)*/
guint16 Priority : 2; /* optional communication priority (default = 0)*/
guint16 Type : 4; /* TETHERCAT_MBOX_TYPE_xxx*/
guint16 Counter : 3; /* 0 = counter not used (old version)*/
guint16 Unsupported : 1; /* unsupported protocol detected*/
} v;
} MbxHeaderControlUnion;
typedef struct TETHERCAT_MBOX_HEADER
{
guint16 Length; /* following bytes*/
guint16 Address; /* S->M: phys addr of destination; M->S: phys addr of source; 0 = master*/
MbxHeaderControlUnion aControlUnion;
} ETHERCAT_MBOX_HEADER, *PETHERCAT_MBOX_HEADER;
#define ETHERCAT_MBOX_HEADER_LEN ((int) sizeof(ETHERCAT_MBOX_HEADER))
/*/////////////////////////////////////////////////////////////////////////////*/
/* EoE*/
#define ETHERNET_FRAMENO_MASK 0x0000000F
#define EOE_TYPE_FRAME_FRAG 0 /* ETHERCAT_EOE_HEADER followed by frame fragment (ETHERCAT_EOE_TIMESTAMP may included) */
#define EOE_TYPE_TIMESTAMP_RES 1 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_TIMESTAMP */
#define EOE_TYPE_INIT_REQ 2 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_INIT */
#define EOE_TYPE_INIT_RES 3 /* ETHERCAT_EOE_HEADER */
#define EOE_TYPE_MACFILTER_REQ 4 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_MACFILTER */
#define EOE_TYPE_MACFILTER_RES 5 /* ETHERCAT_EOE_HEADER */
#define EOE_RESULT_NOERROR 0x0000
#define EOE_RESULT_UNSPECIFIED_ERROR 0x0001
#define EOE_RESULT_UNSUPPORTED_TYPE 0x0002
#define EOE_RESULT_NO_IP_SUPPORT 0x0201
#define EOE_RESULT_NO_MACFILTERMASK_SUPPORT 0x0401
/*typedef struct TETHERCAT_EOE_INIT
{
guint32 ContainsMacAddr :1;
guint32 ContainsIpAddr :1;
guint32 ContainsSubnetMask :1;
guint32 ContainsDefaultGateway :1;
guint32 ContainsDnsServer :1;
guint32 ContainsDnsName :1;
guint32 Reserved :26;
ETHERNET_ADDRESS MacAddr;
guint32 IpAddr;
guint32 SubnetMask;
guint32 DefaultGateway;
guint32 DnsServer;
char DnsName[32];
} ETHERCAT_EOE_INIT, *PETHERCAT_EOE_INIT;*/
#define ETHERCAT_EOE_INIT_LEN 58 /*sizeof(ETHERCAT_EOE_INIT)*/
typedef union tEoeMacFilterOptionsUnion
{
struct
{
guint16 MacFilterCount :4;
guint16 MacFilterMaskCount :2;
guint16 Reserved1 :1;
guint16 NoBroadcasts :1;
guint16 Reserved2 :8;
} v;
guint16 Options;
} EoeMacFilterOptionsUnion;
typedef struct TETHERCAT_EOE_MACFILTER
{
EoeMacFilterOptionsUnion anEoeMacFilterOptionsUnion;
ETHERNET_ADDRESS MacFilter[16];
ETHERNET_ADDRESS MacFilterMask[4];
} ETHERCAT_EOE_MACFILTER;
#define ETHERCAT_EOE_MACFILTER_LEN ((int) sizeof(ETHERCAT_EOE_MACFILTER))
typedef struct TETHERCAT_EOE_TIMESTAMP
{
guint32 TimeStamp; /* 32 bit time stamp */
} ETHERCAT_EOE_TIMESTAMP;
#define ETHERCAT_EOE_TIMESTAMP_LEN ((int) sizeof(ETHERCAT_EOE_TIMESTAMP))
typedef union tEoeHeaderDataUnion
{
struct
{ /* EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only */
guint16 Fragment : 6; /* fragment number (EOE_TYPE_FRAME_FRAG only) */
guint16 OffsetBuffer : 6; /* byte offset multiplied by 32 (if Fragment != 0) (EOE_TYPE_FRAME_FRAG only) */
/* buffer size multiplied by 32 (if Fragment == 0) (EOE_TYPE_FRAME_FRAG only) */
guint16 FrameNo : 4; /* frame number (EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only) */
} v;
guint16 Result; /* EOE_TYPE_INIT_RES and EOE_TYPE_MACFILTER_RES only */
} EoeHeaderDataUnion;
typedef union tEoeHeaderInfoUnion
{
struct
{
guint16 Type : 4; /* specifies following data */
guint16 PortAssign : 4; /* 0 = unspecified, 1 = port 1 */
guint16 LastFragment : 1; /* TRUE if last fragment (EOE_TYPE_FRAME_FRAG only) */
guint16 TimeStampAppended : 1; /* 32 bit time stamp appended (EOE_TYPE_FRAME_FRAG with LastFragment=1 only) */
guint16 TimeStampRequested : 1; /* time stamp response requested (EOE_TYPE_FRAME_FRAG only) */
guint16 Reserved : 5;
} v;
guint16 Info;
} EoeHeaderInfoUnion;
typedef struct TETHERCAT_EOE_HEADER
{
EoeHeaderInfoUnion anEoeHeaderInfoUnion;
EoeHeaderDataUnion anEoeHeaderDataUnion;
} ETHERCAT_EOE_HEADER, *PETHERCAT_EOE_HEADER;
#define ETHERCAT_EOE_HEADER_LEN ((int) sizeof(ETHERCAT_EOE_HEADER))
/*/////////////////////////////////////////////////////////////////////////////*/
/* CANopen*/
#define ETHERCAT_COE_TYPE_EMERGENCY 1
#define ETHERCAT_COE_TYPE_SDOREQ 2
#define ETHERCAT_COE_TYPE_SDORES 3
#define ETHERCAT_COE_TYPE_TXPDO 4
#define ETHERCAT_COE_TYPE_RXPDO 5
#define ETHERCAT_COE_TYPE_TXPDO_RTR 6 /* Remote transmission request of TXPDO (master requested)*/
#define ETHERCAT_COE_TYPE_RXPDO_RTR 7 /* Remote transmission request of RXPDO (slave requested) */
#define ETHERCAT_COE_TYPE_SDOINFO 8
typedef union TETHERCAT_COE_HEADER
{
struct
{
guint16 Number : 9; /* e.g. PDO number*/
guint16 Reserved : 3; /* = 0*/
guint16 Type : 4; /* CANopen type*/
} v;
guint16 header;
} ETHERCAT_COE_HEADER, *PETHERCAT_COE_HEADER;
#define ETHERCAT_COE_HEADER_LEN ((int) sizeof(ETHERCAT_COE_HEADER))
typedef union tSdoHeaderUnion
{
struct
{ /* Initiate Download Request*/
guint8 SizeInd : 1;
guint8 Expedited : 1;
guint8 Size : 2;
guint8 Complete : 1;
guint8 Ccs : 3; /* = 1*/
} Idq;
struct
{ /* Initiate Download Response*/
guint8 Reserved : 5;
guint8 Scs : 3; /* = 3*/
} Ids;
struct
{ /* Download Segment Request*/
guint8 LastSeg : 1;
guint8 Size : 3;
guint8 Toggle : 1;
guint8 Ccs : 3; /* = 0*/
} Dsq;
struct
{ /* Download Segment Response*/
guint8 Reserved : 4;
guint8 Toggle : 1;
guint8 Scs : 3; /* = 1*/
} Dss;
struct
{ /* Initiate Upload Request*/
guint8 Reserved : 4;
guint8 Complete : 1;
guint8 Ccs : 3; /* = 2*/
} Iuq;
struct
{ /* Initiate Upload Response*/
guint8 SizeInd : 1;
guint8 Expedited : 1;
guint8 Size : 2;
guint8 Complete : 1;
guint8 Scs : 3; /* = 2*/
} Ius;
struct
{ /* Upload Segment Request*/
guint8 Reserved : 4;
guint8 Toggle : 1;
guint8 Ccs : 3; /* = 3*/
} Usq;
struct
{ /* Upload Segment Response*/
guint8 LastSeg : 1;
guint8 Bytes : 3;
guint8 Toggle : 1;
guint8 Scs : 3; /* = 0*/
} Uss;
struct
{ /* Abort Transfer*/
guint8 Reserved : 5;
guint8 Ccs : 3; /* = 4*/
} Abt;
guint8 CS;
} SdoHeaderUnion;
typedef struct TETHERCAT_SDO_HEADER
{
SdoHeaderUnion anSdoHeaderUnion;
guint16 Index;
guint8 SubIndex;
guint32 Data;
} ETHERCAT_SDO_HEADER, *PETHERCAT_SDO_HEADER;
#define ETHERCAT_SDO_HEADER_LEN 8 /* sizeof(ETHERCAT_SDO_HEADER)*/
#define SDO_CCS_DOWNLOAD_SEGMENT 0
#define SDO_CCS_INITIATE_DOWNLOAD 1
#define SDO_CCS_INITIATE_UPLOAD 2
#define SDO_CCS_UPLOAD_SEGMENT 3
#define SDO_CCS_ABORT_TRANSFER 4
#define SDO_SCS_UPLOAD_SEGMENT 0
#define SDO_SCS_DOWNLOAD_SEGMENT 1
#define SDO_SCS_INITIATE_UPLOAD 2
#define SDO_SCS_INITIATE_DOWNLOAD 3
/* CoE SDO Information */
#define ECAT_COE_INFO_OPCODE_LIST_Q 1
#define ECAT_COE_INFO_OPCODE_LIST_S 2
#define ECAT_COE_INFO_OPCODE_OBJ_Q 3
#define ECAT_COE_INFO_OPCODE_OBJ_S 4
#define ECAT_COE_INFO_OPCODE_ENTRY_Q 5
#define ECAT_COE_INFO_OPCODE_ENTRY_S 6
#define ECAT_COE_INFO_OPCODE_ERROR_S 7
#define ECAT_COE_INFO_LIST_TYPE_LENGTH 0
#define ECAT_COE_INFO_LIST_TYPE_ALL 1
#define ECAT_COE_INFO_LIST_TYPE_PDOMAP 2
#define ECAT_COE_INFO_LIST_TYPE_BACKUP 3
#define ECAT_COE_INFO_OBJCODE_NULL 0
#define ECAT_COE_INFO_OBJCODE_DOMAIN 2
#define ECAT_COE_INFO_OBJCODE_DEFTYPE 5
#define ECAT_COE_INFO_OBJCODE_DEFSTRUCT 6
#define ECAT_COE_INFO_OBJCODE_VAR 7
#define ECAT_COE_INFO_OBJCODE_ARRAY 8
#define ECAT_COE_INFO_OBJCODE_RECORD 9
#define ECAT_COE_INFO_OBJCAT_OPTIONAL 0
#define ECAT_COE_INFO_OBJCAT_MANDATORY 1
#define ECAT_COE_INFO_OBJACCESS_RO 0x07
#define ECAT_COE_INFO_OBJACCESS_RW 0x3f
typedef struct TETHERCAT_SDO_INFO_LIST
{
guint16 ListType; /* == SDO_INFO_LIST_TYPE_XXX */
struct
{
guint16 Index[1];
} Res;
} ETHERCAT_SDO_INFO_LIST;
typedef struct TETHERCAT_SDO_INFO_OBJ
{
guint16 Index;
struct
{
guint16 DataType; /* refer to data type index */
guint8 MaxSubIndex; /* max subIndex */
guint8 ObjCode; /* defined in DS 301 (Table 37)*/
char Name[1]; /* rest of mailbox data*/
} Res;
} ETHERCAT_SDO_INFO_OBJ;
typedef struct TETHERCAT_SDO_INFO_ENTRY
{
guint16 Index;
guint8 SubIdx;
guint8 ValueInfo; /* bit0 = ObjAccess, bit1 = ObjCategory, bit2 = PdoMapping, bit3 = UnitType
bit4 = DefaultValue, bit5 = MinValue, bit6 = MaxValue*/
struct
{
guint16 DataType; /* refer to data type index */
guint16 BitLen;
guint16 ObjAccess; /* bit0 = read; bit1 = write; bit2 = const. bit3 = 'PRE-OP'; bit4 = 'SAFE-OP'; bit5 = 'OP'.*/
} Res;
} ETHERCAT_SDO_INFO_ENTRY;
typedef struct TETHERCAT_SDO_INFO_ERROR
{
guint32 ErrorCode;
char ErrorText[1]; /* rest of mailbox data */
} ETHERCAT_SDO_INFO_ERROR;
typedef union tSdoInfoUnion
{
ETHERCAT_SDO_INFO_LIST List;
ETHERCAT_SDO_INFO_OBJ Obj;
ETHERCAT_SDO_INFO_ENTRY Entry;
ETHERCAT_SDO_INFO_ERROR Error;
guint8 Data[1];
} SdoInfoUnion;
typedef union tSdoControlUnion
{
struct
{
guint8 OpCode : 7; /* == SDO_INFO_TYPE_XXX */
guint8 InComplete : 1;
} v;
guint8 Control;
} SdoControlUnion;
typedef struct TETHERCAT_SDO_INFO_HEADER
{
SdoControlUnion anSdoControlUnion;
guint8 Reserved; /* == 0 */
guint16 FragmentsLeft;
SdoInfoUnion anSdoInfoUnion;
} ETHERCAT_SDO_INFO_HEADER, *PETHERCAT_SDO_INFO_HEADER;
#define ETHERCAT_SDO_INFO_LISTREQ_LEN 6 /*offsetof(ETHERCAT_SDO_INFO_HEADER, anSdoInfoUnion.List.Res)*/
/* FoE (File Access over EtherCAT)*/
#define ECAT_FOE_OPMODE_RRQ 1
#define ECAT_FOE_OPMODE_WRQ 2
#define ECAT_FOE_OPMODE_DATA 3
#define ECAT_FOE_OPMODE_ACK 4
#define ECAT_FOE_OPMODE_ERR 5
#define ECAT_FOE_OPMODE_BUSY 6
#define ECAT_FOE_ERRCODE_NOTDEFINED 0
#define ECAT_FOE_ERRCODE_NOTFOUND 1
#define ECAT_FOE_ERRCODE_ACCESS 2
#define ECAT_FOE_ERRCODE_DISKFULL 3
#define ECAT_FOE_ERRCODE_ILLEAGAL 4
#define ECAT_FOE_ERRCODE_PACKENO 5
#define ECAT_FOE_ERRCODE_EXISTS 6
#define ECAT_FOE_ERRCODE_NOUSER 7
#define ECAT_FOE_ERRCODE_BOOTSTRAPONLY 8
#define ECAT_FOE_ERRCODE_NOTINBOOTSTRAP 9
typedef union tFoeHeaderDataUnion
{
guint32 FileLength; /* (RRQ, WRQ) = 0 if unknown */
struct
{
guint16 PacketNo; /* (DATA, ACK)*/
guint16 Reserved2; /* (DATA, ACK)*/
} v;
guint32 ErrorCode; /* (ERR)*/
struct
{
guint16 Done; /* (BUSY)*/
guint16 Entire; /* (BUSY)*/
} v2;
} FoeHeaderDataUnion;
typedef struct TETHERCAT_FOE_HEADER
{
guint8 OpMode; /* = 1 (RRQ), = 2 (WRQ), = 3 (DATA), = 4 (ACK), = 5 (ERR), = 6 (BUSY) */
guint8 Reserved1; /* = 0 */
FoeHeaderDataUnion aFoeHeaderDataUnion;
/* typedef union tMailBoxDataUnion
{
char Name[] (RRQ, WRQ) rest of mailbox data
guint8 Data[] (DATA) rest of mailbox data (if OpMode = 3)
char ErrorText[] (ERR) rest of mailbox data
} MailBoxDataUnion;*/
} ETHERCAT_FOE_HEADER, *PETHERCAT_FOE_HEADER;
#define ETHERCAT_FOE_HEADER_LEN 6 /*sizeof(ETHERCAT_FOE_HEADER)*/
typedef struct
{
guint16 Cmd;
guint16 Size;
guint16 AddressLW;
guint16 AddressHW;
} TEFWUPDATE_HEADER;
/* SoE (SOE over EtherCAT)*/
#define ECAT_SOE_OPCODE_RRQ 1
#define ECAT_SOE_OPCODE_RRS 2
#define ECAT_SOE_OPCODE_WRQ 3
#define ECAT_SOE_OPCODE_WRS 4
#define ECAT_SOE_OPCODE_NFC 5
typedef union tSoeHeaderControlUnion
{
struct
{
guint8 OpCode : 3; /* 0 = unused, 1 = readReq, 2 = readRes, 3 = writeReq, 4 = writeRes
5 = notification (command changed notification)*/
guint8 InComplete : 1; /* more follows*/
guint8 Error : 1; /* an error word follows */
guint8 DriveNo : 3; /* drive number */
guint8 DataState : 1; /* follows or requested */
guint8 Name : 1; /* follows or requested */
guint8 Attribute : 1; /* follows or requested */
guint8 Unit : 1; /* follows or requested */
guint8 Min : 1; /* follows or requested */
guint8 Max : 1; /* follows or requested */
guint8 Value : 1; /* follows or requested */
guint8 Reserved : 1;
} v;
struct
{
guint8 Control;
guint8 Element;
} v2;
} SoeHeaderControlUnion;
typedef union tSoeHeaderDataUnion
{
guint16 IDN; /* SOE IDN if (InComplete==0) */
guint16 FragmentsLeft; /* Pending fragments if (InComplete==1) */
} SoeHeaderDataUnion;
typedef struct TETHERCAT_SOE_HEADER
{
SoeHeaderControlUnion anSoeHeaderControlUnion;
SoeHeaderDataUnion anSoeHeaderDataUnion;
/* typedef union tMailBoxDataUnion
{
guint8 Data[] rest of mailbox data if (Error==0)
guint16 ErrorCode if (Error==1)
} MailBoxDataUnion;*/
} ETHERCAT_SOE_HEADER, *PETHERCAT_SOE_HEADER;
#define ETHERCAT_SOE_HEADER_LEN ((int) sizeof(ETHERCAT_SOE_HEADER))
extern void init_mbx_header(PETHERCAT_MBOX_HEADER pMbox, tvbuff_t *tvb, gint offset);
DIAG_ON(pedantic)
#endif /* _PACKET_ECATMAILBOX_H_ */