plugins/epan/ethercat/packet-ecatmb.h

   1 /* packet-ecatmb.h
   2  *
   3  * Copyright (c) 2007 by Beckhoff Automation GmbH
   4  *
   5  * Wireshark - Network traffic analyzer
   6  * By Gerald Combs <gerald@wireshark.org>
   7  * Copyright 1998 Gerald Combs
   8  *
   9  * SPDX-License-Identifier: GPL-2.0-or-later
  10  */
  11 #ifndef _PACKET_ECATMAILBOX_H_
  12 #define _PACKET_ECATMAILBOX_H_
  13
  14 #include <ws_diag_control.h>
  15 DIAG_OFF_PEDANTIC
  16
  17 /* Ensure the same data layout for all platforms */
  18
  19 typedef struct TETHERNET_ADDRESS
  20 {
  21    uint8_t b[6];
  22 } ETHERNET_ADDRESS, *PETHERNET_ADDRESS;
  23 #define ETHERNET_ADDRESS_LEN ((int) sizeof(ETHERNET_ADDRESS))
  24
  25 /* Mailbox*/
  26 #define ETHERCAT_MBOX_TYPE_ADS 1 /* AMS/ADS header follows*/
  27 #define ETHERCAT_MBOX_TYPE_EOE 2 /* ETHERCAT_EOE_HEADER follows*/
  28 #define ETHERCAT_MBOX_TYPE_COE 3 /* ETHERCAT_COE_HEADER follows*/
  29 #define ETHERCAT_MBOX_TYPE_FOE 4 /* ETHERCAT_FOE_HEADER follows*/
  30 #define ETHERCAT_MBOX_TYPE_SOE 5 /* ETHERCAT_SOE_HEADER follows*/
  31
  32 typedef union tMbxHeaderControlUnion
  33 {
  34    uint16_t Control;
  35    struct
  36    {
  37       uint16_t Channel     : 6; /* optional communication channels (default = 0)*/
  38       uint16_t Priority    : 2; /* optional communication priority (default = 0)*/
  39       uint16_t Type        : 4; /* TETHERCAT_MBOX_TYPE_xxx*/
  40       uint16_t Counter     : 3; /* 0 = counter not used (old version)*/
  41       uint16_t Unsupported : 1; /* unsupported protocol detected*/
  42    } v;
  43 } MbxHeaderControlUnion;
  44
  45 typedef struct TETHERCAT_MBOX_HEADER
  46 {
  47    uint16_t Length;          /* following bytes*/
  48    uint16_t Address;         /* S->M: phys addr of destination; M->S: phys addr of source; 0 = master*/
  49    MbxHeaderControlUnion aControlUnion;
  50 } ETHERCAT_MBOX_HEADER, *PETHERCAT_MBOX_HEADER;
  51
  52 #define ETHERCAT_MBOX_HEADER_LEN ((int) sizeof(ETHERCAT_MBOX_HEADER))
  53
  54 /* EoE*/
  55 #define ETHERNET_FRAMENO_MASK         0x0000000F
  56
  57 #define EOE_TYPE_FRAME_FRAG    0 /* ETHERCAT_EOE_HEADER followed by frame fragment (ETHERCAT_EOE_TIMESTAMP may included) */
  58 #define EOE_TYPE_TIMESTAMP_RES 1 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_TIMESTAMP */
  59 #define EOE_TYPE_INIT_REQ      2 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_INIT */
  60 #define EOE_TYPE_INIT_RES      3 /* ETHERCAT_EOE_HEADER */
  61 #define EOE_TYPE_MACFILTER_REQ 4 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_MACFILTER */
  62 #define EOE_TYPE_MACFILTER_RES 5 /* ETHERCAT_EOE_HEADER */
  63
  64 #define EOE_RESULT_NOERROR                  0x0000
  65 #define EOE_RESULT_UNSPECIFIED_ERROR        0x0001
  66 #define EOE_RESULT_UNSUPPORTED_TYPE         0x0002
  67 #define EOE_RESULT_NO_IP_SUPPORT            0x0201
  68 #define EOE_RESULT_NO_MACFILTERMASK_SUPPORT 0x0401
  69
  70
  71 /*typedef struct TETHERCAT_EOE_INIT
  72 {
  73    uint32_t         ContainsMacAddr        :1;
  74    uint32_t         ContainsIpAddr         :1;
  75    uint32_t         ContainsSubnetMask     :1;
  76    uint32_t         ContainsDefaultGateway :1;
  77    uint32_t         ContainsDnsServer      :1;
  78    uint32_t         ContainsDnsName        :1;
  79    uint32_t         Reserved               :26;
  80    ETHERNET_ADDRESS MacAddr;
  81    uint32_t         IpAddr;
  82    uint32_t         SubnetMask;
  83    uint32_t         DefaultGateway;
  84    uint32_t         DnsServer;
  85    char             DnsName[32];
  86 } ETHERCAT_EOE_INIT, *PETHERCAT_EOE_INIT;*/
  87 #define ETHERCAT_EOE_INIT_LEN 58 /*sizeof(ETHERCAT_EOE_INIT)*/
  88
  89 typedef union tEoeMacFilterOptionsUnion
  90 {
  91    struct
  92    {
  93       uint16_t         MacFilterCount     :4;
  94       uint16_t         MacFilterMaskCount :2;
  95       uint16_t         Reserved1          :1;
  96       uint16_t         NoBroadcasts       :1;
  97       uint16_t         Reserved2          :8;
  98    } v;
  99    uint16_t Options;
 100 } EoeMacFilterOptionsUnion;
 101
 102 typedef struct TETHERCAT_EOE_MACFILTER
 103 {
 104    EoeMacFilterOptionsUnion anEoeMacFilterOptionsUnion;
 105    ETHERNET_ADDRESS MacFilter[16];
 106    ETHERNET_ADDRESS MacFilterMask[4];
 107 } ETHERCAT_EOE_MACFILTER;
 108 #define ETHERCAT_EOE_MACFILTER_LEN ((int) sizeof(ETHERCAT_EOE_MACFILTER))
 109
 110 typedef struct TETHERCAT_EOE_TIMESTAMP
 111 {
 112    uint32_t TimeStamp; /* 32 bit time stamp */
 113 } ETHERCAT_EOE_TIMESTAMP;
 114 #define ETHERCAT_EOE_TIMESTAMP_LEN ((int) sizeof(ETHERCAT_EOE_TIMESTAMP))
 115
 116 typedef union tEoeHeaderDataUnion
 117 {
 118    struct
 119    {                            /* EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only */
 120       uint16_t Fragment     : 6; /* fragment number (EOE_TYPE_FRAME_FRAG only) */
 121       uint16_t OffsetBuffer : 6; /* byte offset multiplied by 32 (if Fragment != 0)  (EOE_TYPE_FRAME_FRAG only) */
 122                                 /* buffer size multiplied by 32 (if Fragment == 0) (EOE_TYPE_FRAME_FRAG only)  */
 123       uint16_t FrameNo      : 4; /* frame number (EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only) */
 124    } v;
 125    uint16_t Result;              /* EOE_TYPE_INIT_RES and EOE_TYPE_MACFILTER_RES only */
 126 } EoeHeaderDataUnion;
 127
 128 typedef union tEoeHeaderInfoUnion
 129 {
 130    struct
 131    {
 132       uint16_t Type               : 4; /* specifies following data */
 133       uint16_t PortAssign         : 4; /* 0 = unspecified, 1 = port 1 */
 134       uint16_t LastFragment       : 1; /* true if last fragment (EOE_TYPE_FRAME_FRAG only) */
 135       uint16_t TimeStampAppended  : 1; /* 32 bit time stamp appended  (EOE_TYPE_FRAME_FRAG with LastFragment=1 only) */
 136       uint16_t TimeStampRequested : 1; /* time stamp response requested (EOE_TYPE_FRAME_FRAG only) */
 137       uint16_t Reserved           : 5;
 138    } v;
 139    uint16_t Info;
 140 } EoeHeaderInfoUnion;
 141
 142 typedef struct TETHERCAT_EOE_HEADER
 143 {
 144    EoeHeaderInfoUnion anEoeHeaderInfoUnion;
 145    EoeHeaderDataUnion anEoeHeaderDataUnion;
 146 } ETHERCAT_EOE_HEADER, *PETHERCAT_EOE_HEADER;
 147 #define ETHERCAT_EOE_HEADER_LEN ((int) sizeof(ETHERCAT_EOE_HEADER))
 148
 149 /* CANopen*/
 150 #define ETHERCAT_COE_TYPE_EMERGENCY 1
 151 #define ETHERCAT_COE_TYPE_SDOREQ    2
 152 #define ETHERCAT_COE_TYPE_SDORES    3
 153 #define ETHERCAT_COE_TYPE_TXPDO     4
 154 #define ETHERCAT_COE_TYPE_RXPDO     5
 155 #define ETHERCAT_COE_TYPE_TXPDO_RTR 6 /* Remote transmission request of TXPDO (master requested)*/
 156 #define ETHERCAT_COE_TYPE_RXPDO_RTR 7 /* Remote transmission request of RXPDO (slave requested) */
 157 #define ETHERCAT_COE_TYPE_SDOINFO   8
 158
 159 typedef union TETHERCAT_COE_HEADER
 160 {
 161    struct
 162    {
 163       uint16_t Number   : 9; /* e.g. PDO number*/
 164       uint16_t Reserved : 3; /* = 0*/
 165       uint16_t Type     : 4; /* CANopen type*/
 166    } v;
 167    uint16_t header;
 168 } ETHERCAT_COE_HEADER, *PETHERCAT_COE_HEADER;
 169 #define ETHERCAT_COE_HEADER_LEN ((int) sizeof(ETHERCAT_COE_HEADER))
 170
 171
 172 typedef union tSdoHeaderUnion
 173 {
 174    struct
 175    {   /* Initiate Download Request*/
 176       uint8_t SizeInd   : 1;
 177       uint8_t Expedited : 1;
 178       uint8_t Size      : 2;
 179       uint8_t Complete  : 1;
 180       uint8_t Ccs       : 3; /* = 1*/
 181    } Idq;
 182    struct
 183    {   /* Initiate Download Response*/
 184       uint8_t Reserved : 5;
 185       uint8_t Scs      : 3; /* = 3*/
 186    } Ids;
 187    struct
 188    {   /* Download Segment Request*/
 189       uint8_t LastSeg : 1;
 190       uint8_t Size    : 3;
 191       uint8_t Toggle  : 1;
 192       uint8_t Ccs     : 3; /* = 0*/
 193    } Dsq;
 194    struct
 195    {   /* Download Segment Response*/
 196       uint8_t Reserved : 4;
 197       uint8_t Toggle   : 1;
 198       uint8_t Scs      : 3; /* = 1*/
 199    } Dss;
 200    struct
 201    {   /* Initiate Upload Request*/
 202       uint8_t Reserved : 4;
 203       uint8_t Complete : 1;
 204       uint8_t Ccs      : 3; /* = 2*/
 205    } Iuq;
 206    struct
 207    {   /* Initiate Upload Response*/
 208       uint8_t SizeInd   : 1;
 209       uint8_t Expedited : 1;
 210       uint8_t Size      : 2;
 211       uint8_t Complete  : 1;
 212       uint8_t Scs       : 3; /* = 2*/
 213    } Ius;
 214    struct
 215    {   /* Upload Segment Request*/
 216       uint8_t Reserved : 4;
 217       uint8_t Toggle   : 1;
 218       uint8_t Ccs      : 3; /* = 3*/
 219    } Usq;
 220    struct
 221    {   /* Upload Segment Response*/
 222       uint8_t LastSeg : 1;
 223       uint8_t Bytes   : 3;
 224       uint8_t Toggle  : 1;
 225       uint8_t Scs     : 3; /* = 0*/
 226    } Uss;
 227    struct
 228    {   /* Abort Transfer*/
 229       uint8_t Reserved : 5;
 230       uint8_t Ccs      : 3; /* = 4*/
 231    } Abt;
 232    uint8_t CS;
 233 } SdoHeaderUnion;
 234
 235 typedef struct TETHERCAT_SDO_HEADER
 236 {
 237    SdoHeaderUnion anSdoHeaderUnion;
 238
 239    uint16_t Index;
 240    uint8_t SubIndex;
 241    uint32_t Data;
 242 } ETHERCAT_SDO_HEADER, *PETHERCAT_SDO_HEADER;
 243
 244 #define ETHERCAT_SDO_HEADER_LEN  8 /* sizeof(ETHERCAT_SDO_HEADER)*/
 245
 246 #define SDO_CCS_DOWNLOAD_SEGMENT  0
 247 #define SDO_CCS_INITIATE_DOWNLOAD 1
 248 #define SDO_CCS_INITIATE_UPLOAD   2
 249 #define SDO_CCS_UPLOAD_SEGMENT    3
 250 #define SDO_CCS_ABORT_TRANSFER    4
 251
 252 #define SDO_SCS_UPLOAD_SEGMENT    0
 253 #define SDO_SCS_DOWNLOAD_SEGMENT  1
 254 #define SDO_SCS_INITIATE_UPLOAD   2
 255 #define SDO_SCS_INITIATE_DOWNLOAD 3
 256
 257 /* CoE SDO Information */
 258 #define ECAT_COE_INFO_OPCODE_LIST_Q  1
 259 #define ECAT_COE_INFO_OPCODE_LIST_S  2
 260 #define ECAT_COE_INFO_OPCODE_OBJ_Q   3
 261 #define ECAT_COE_INFO_OPCODE_OBJ_S   4
 262 #define ECAT_COE_INFO_OPCODE_ENTRY_Q 5
 263 #define ECAT_COE_INFO_OPCODE_ENTRY_S 6
 264 #define ECAT_COE_INFO_OPCODE_ERROR_S 7
 265
 266 #define ECAT_COE_INFO_LIST_TYPE_LENGTH 0
 267 #define ECAT_COE_INFO_LIST_TYPE_ALL    1
 268 #define ECAT_COE_INFO_LIST_TYPE_PDOMAP 2
 269 #define ECAT_COE_INFO_LIST_TYPE_BACKUP 3
 270
 271 #define ECAT_COE_INFO_OBJCODE_NULL      0
 272 #define ECAT_COE_INFO_OBJCODE_DOMAIN    2
 273 #define ECAT_COE_INFO_OBJCODE_DEFTYPE   5
 274 #define ECAT_COE_INFO_OBJCODE_DEFSTRUCT 6
 275 #define ECAT_COE_INFO_OBJCODE_VAR       7
 276 #define ECAT_COE_INFO_OBJCODE_ARRAY     8
 277 #define ECAT_COE_INFO_OBJCODE_RECORD    9
 278
 279 #define ECAT_COE_INFO_OBJCAT_OPTIONAL  0
 280 #define ECAT_COE_INFO_OBJCAT_MANDATORY 1
 281
 282 #define ECAT_COE_INFO_OBJACCESS_RO 0x07
 283 #define ECAT_COE_INFO_OBJACCESS_RW 0x3f
 284
 285 typedef struct TETHERCAT_SDO_INFO_LIST
 286 {
 287    uint16_t ListType; /* == SDO_INFO_LIST_TYPE_XXX */
 288    struct
 289    {
 290       uint16_t Index[1];
 291    } Res;
 292 } ETHERCAT_SDO_INFO_LIST;
 293
 294 typedef struct TETHERCAT_SDO_INFO_OBJ
 295 {
 296    uint16_t Index;
 297    struct
 298    {
 299       uint16_t DataType;    /* refer to data type index */
 300       uint8_t MaxSubIndex; /* max subIndex */
 301       uint8_t ObjCode;     /* defined in DS 301 (Table 37)*/
 302       char    Name[1];     /* rest of mailbox data*/
 303    } Res;
 304 } ETHERCAT_SDO_INFO_OBJ;
 305
 306 typedef struct TETHERCAT_SDO_INFO_ENTRY
 307 {
 308    uint16_t Index;
 309    uint8_t SubIdx;
 310    uint8_t ValueInfo; /* bit0 = ObjAccess, bit1 = ObjCategory, bit2 = PdoMapping, bit3 = UnitType
 311                       bit4 = DefaultValue, bit5 = MinValue, bit6 = MaxValue*/
 312    struct
 313    {
 314       uint16_t DataType;  /* refer to data type index */
 315       uint16_t BitLen;
 316       uint16_t ObjAccess; /* bit0 = read; bit1 = write; bit2 = const. bit3 = 'PRE-OP'; bit4 = 'SAFE-OP'; bit5 = 'OP'.*/
 317    } Res;
 318 } ETHERCAT_SDO_INFO_ENTRY;
 319
 320 typedef struct TETHERCAT_SDO_INFO_ERROR
 321 {
 322    uint32_t ErrorCode;
 323    char    ErrorText[1]; /* rest of mailbox data */
 324 } ETHERCAT_SDO_INFO_ERROR;
 325
 326 typedef union tSdoInfoUnion
 327 {
 328    ETHERCAT_SDO_INFO_LIST  List;
 329    ETHERCAT_SDO_INFO_OBJ   Obj;
 330    ETHERCAT_SDO_INFO_ENTRY Entry;
 331    ETHERCAT_SDO_INFO_ERROR Error;
 332    uint8_t                 Data[1];
 333 } SdoInfoUnion;
 334
 335 typedef union tSdoControlUnion
 336 {
 337    struct
 338    {
 339       uint8_t OpCode     : 7; /* == SDO_INFO_TYPE_XXX */
 340       uint8_t InComplete : 1;
 341    } v;
 342    uint8_t Control;
 343 } SdoControlUnion;
 344
 345 typedef struct TETHERCAT_SDO_INFO_HEADER
 346 {
 347    SdoControlUnion anSdoControlUnion;
 348    uint8_t Reserved; /* == 0 */
 349    uint16_t FragmentsLeft;
 350    SdoInfoUnion anSdoInfoUnion;
 351 } ETHERCAT_SDO_INFO_HEADER, *PETHERCAT_SDO_INFO_HEADER;
 352
 353 #define ETHERCAT_SDO_INFO_LISTREQ_LEN 6 /*offsetof(ETHERCAT_SDO_INFO_HEADER, anSdoInfoUnion.List.Res)*/
 354
 355 /* FoE (File Access over EtherCAT)*/
 356 #define ECAT_FOE_OPMODE_RRQ  1
 357 #define ECAT_FOE_OPMODE_WRQ  2
 358 #define ECAT_FOE_OPMODE_DATA 3
 359 #define ECAT_FOE_OPMODE_ACK  4
 360 #define ECAT_FOE_OPMODE_ERR  5
 361 #define ECAT_FOE_OPMODE_BUSY 6
 362
 363 #define ECAT_FOE_ERRCODE_NOTDEFINED     0
 364 #define ECAT_FOE_ERRCODE_NOTFOUND       1
 365 #define ECAT_FOE_ERRCODE_ACCESS         2
 366 #define ECAT_FOE_ERRCODE_DISKFULL       3
 367 #define ECAT_FOE_ERRCODE_ILLEAGAL       4
 368 #define ECAT_FOE_ERRCODE_PACKENO        5
 369 #define ECAT_FOE_ERRCODE_EXISTS         6
 370 #define ECAT_FOE_ERRCODE_NOUSER         7
 371 #define ECAT_FOE_ERRCODE_BOOTSTRAPONLY  8
 372 #define ECAT_FOE_ERRCODE_NOTINBOOTSTRAP 9
 373
 374 typedef union tFoeHeaderDataUnion
 375 {
 376    uint32_t FileLength; /*  (RRQ, WRQ) = 0 if unknown */
 377    struct
 378    {
 379       uint16_t PacketNo;  /* (DATA, ACK)*/
 380       uint16_t Reserved2; /* (DATA, ACK)*/
 381    } v;
 382    uint32_t ErrorCode; /* (ERR)*/
 383    struct
 384    {
 385       uint16_t Done;   /* (BUSY)*/
 386       uint16_t Entire; /* (BUSY)*/
 387    } v2;
 388 } FoeHeaderDataUnion;
 389
 390 typedef struct TETHERCAT_FOE_HEADER
 391 {
 392    uint8_t OpMode;    /* = 1 (RRQ), = 2 (WRQ), = 3 (DATA), = 4 (ACK), = 5 (ERR), = 6 (BUSY) */
 393    uint8_t Reserved1; /* = 0 */
 394
 395    FoeHeaderDataUnion aFoeHeaderDataUnion;
 396    /*   typedef union tMailBoxDataUnion
 397    {
 398    char      Name[]          (RRQ, WRQ)   rest of mailbox data
 399    uint8_t   Data[]          (DATA)      rest of mailbox data (if OpMode = 3)
 400    char      ErrorText[]       (ERR)         rest of mailbox data
 401    } MailBoxDataUnion;*/
 402 } ETHERCAT_FOE_HEADER, *PETHERCAT_FOE_HEADER;
 403 #define ETHERCAT_FOE_HEADER_LEN 6 /*sizeof(ETHERCAT_FOE_HEADER)*/
 404
 405 typedef struct
 406 {
 407    uint16_t Cmd;
 408    uint16_t Size;
 409    uint16_t AddressLW;
 410    uint16_t AddressHW;
 411 } TEFWUPDATE_HEADER;
 412
 413
 414 /* SoE (SOE over EtherCAT)*/
 415 #define ECAT_SOE_OPCODE_RRQ 1
 416 #define ECAT_SOE_OPCODE_RRS 2
 417 #define ECAT_SOE_OPCODE_WRQ 3
 418 #define ECAT_SOE_OPCODE_WRS 4
 419 #define ECAT_SOE_OPCODE_NFC 5
 420
 421
 422 typedef union tSoeHeaderControlUnion
 423 {
 424    struct
 425    {
 426       uint8_t OpCode     : 3; /* 0 = unused, 1 = readReq, 2 = readRes, 3 = writeReq, 4 = writeRes
 427                              5 = notification (command changed notification)*/
 428       uint8_t InComplete : 1; /* more follows*/
 429       uint8_t Error      : 1; /* an error word follows */
 430       uint8_t DriveNo    : 3; /* drive number */
 431
 432       uint8_t DataState  : 1; /* follows or requested */
 433       uint8_t Name       : 1; /* follows or requested */
 434       uint8_t Attribute  : 1; /* follows or requested */
 435       uint8_t Unit       : 1; /* follows or requested */
 436       uint8_t Min        : 1; /* follows or requested */
 437       uint8_t Max        : 1; /* follows or requested */
 438       uint8_t Value      : 1; /* follows or requested */
 439       uint8_t Reserved   : 1;
 440    } v;
 441    struct
 442    {
 443       uint8_t Control;
 444       uint8_t Element;
 445    } v2;
 446 } SoeHeaderControlUnion;
 447
 448 typedef union tSoeHeaderDataUnion
 449 {
 450    uint16_t IDN;           /* SOE IDN            if (InComplete==0) */
 451    uint16_t FragmentsLeft; /* Pending fragments  if (InComplete==1)  */
 452 } SoeHeaderDataUnion;
 453
 454 typedef struct TETHERCAT_SOE_HEADER
 455 {
 456    SoeHeaderControlUnion anSoeHeaderControlUnion;
 457    SoeHeaderDataUnion anSoeHeaderDataUnion;
 458    /* typedef union tMailBoxDataUnion
 459    {
 460    uint8_t   Data[]   rest of mailbox data  if (Error==0)
 461    uint16_t ErrorCode                        if (Error==1)
 462    } MailBoxDataUnion;*/
 463 } ETHERCAT_SOE_HEADER, *PETHERCAT_SOE_HEADER;
 464 #define ETHERCAT_SOE_HEADER_LEN ((int) sizeof(ETHERCAT_SOE_HEADER))
 465
 466 extern void init_mbx_header(PETHERCAT_MBOX_HEADER pMbox, tvbuff_t *tvb, int offset);
 467
 468 DIAG_ON_PEDANTIC
 469 #endif /* _PACKET_ECATMAILBOX_H_ */