plugins/ethercat/packet-ecatmb.h

   1 /* packet-ecatmb.h
   2  *
   3  * $Id$
   4  *
   5  * Copyright (c) 2007 by Beckhoff Automation GmbH
   6  *
   7  * Wireshark - Network traffic analyzer
   8  * By Gerald Combs <gerald@wireshark.org>
   9  * Copyright 1998 Gerald Combs
  10  *
  11  * This program is free software; you can redistribute it and/or
  12  * modify it under the terms of the GNU General Public License
  13  * as published by the Free Software Foundation; either version 2
  14  * of the License, or (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful,
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  19  * GNU General Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program; if not, write to the Free Software
  23  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  24  */
  25 #ifndef _PACKET_ECATMAILBOX_H_
  26 #define _PACKET_ECATMAILBOX_H_
  27
  28 /* Ensure the same data layout for all platforms */
  29
  30 typedef struct TETHERNET_ADDRESS
  31 {
  32    guint8 b[6];
  33 } ETHERNET_ADDRESS, *PETHERNET_ADDRESS;
  34 #define ETHERNET_ADDRESS_LEN ((int) sizeof(ETHERNET_ADDRESS))
  35
  36 /* Mailbox*/
  37 #define ETHERCAT_MBOX_TYPE_ADS 1 /* AMS/ADS header follows*/
  38 #define ETHERCAT_MBOX_TYPE_EOE 2 /* ETHERCAT_EOE_HEADER follows*/
  39 #define ETHERCAT_MBOX_TYPE_COE 3 /* ETHERCAT_COE_HEADER follows*/
  40 #define ETHERCAT_MBOX_TYPE_FOE 4 /* ETHERCAT_FOE_HEADER follows*/
  41 #define ETHERCAT_MBOX_TYPE_SOE 5 /* ETHERCAT_SOE_HEADER follows*/
  42
  43 typedef union tMbxHeaderControlUnion
  44 {
  45    guint16 Control;
  46    struct
  47    {
  48       guint16 Channel     : 6; /* optional communication channels (default = 0)*/
  49       guint16 Priority    : 2; /* optional communication priority (default = 0)*/
  50       guint16 Type        : 4; /* TETHERCAT_MBOX_TYPE_xxx*/
  51       guint16 Counter     : 3; /* 0 = counter not used (old version)*/
  52       guint16 Unsupported : 1; /* unsupported protocol detected*/
  53    } v;
  54 } MbxHeaderControlUnion;
  55
  56 typedef struct TETHERCAT_MBOX_HEADER
  57 {
  58    guint16 Length;          /* following bytes*/
  59    guint16 Address;         /* S->M: phys addr of destination; M->S: phys addr of source; 0 = master*/
  60    MbxHeaderControlUnion aControlUnion;
  61 } ETHERCAT_MBOX_HEADER, *PETHERCAT_MBOX_HEADER;
  62
  63 #define ETHERCAT_MBOX_HEADER_LEN ((int) sizeof(ETHERCAT_MBOX_HEADER))
  64
  65 /*/////////////////////////////////////////////////////////////////////////////*/
  66 /* EoE*/
  67 #define ETHERNET_FRAMENO_MASK         0x0000000F
  68
  69 #define EOE_TYPE_FRAME_FRAG    0 /* ETHERCAT_EOE_HEADER followed by frame fragment (ETHERCAT_EOE_TIMESTAMP may included) */
  70 #define EOE_TYPE_TIMESTAMP_RES 1 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_TIMESTAMP */
  71 #define EOE_TYPE_INIT_REQ      2 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_INIT */
  72 #define EOE_TYPE_INIT_RES      3 /* ETHERCAT_EOE_HEADER */
  73 #define EOE_TYPE_MACFILTER_REQ 4 /* ETHERCAT_EOE_HEADER followed by ETHERCAT_EOE_MACFILTER */
  74 #define EOE_TYPE_MACFILTER_RES 5 /* ETHERCAT_EOE_HEADER */
  75
  76 #define EOE_RESULT_NOERROR                  0x0000
  77 #define EOE_RESULT_UNSPECIFIED_ERROR        0x0001
  78 #define EOE_RESULT_UNSUPPORTED_TYPE         0x0002
  79 #define EOE_RESULT_NO_IP_SUPPORT            0x0201
  80 #define EOE_RESULT_NO_MACFILTERMASK_SUPPORT 0x0401
  81
  82
  83 /*typedef struct TETHERCAT_EOE_INIT
  84 {
  85    guint32          ContainsMacAddr        :1;
  86    guint32          ContainsIpAddr         :1;
  87    guint32          ContainsSubnetMask     :1;
  88    guint32          ContainsDefaultGateway :1;
  89    guint32          ContainsDnsServer      :1;
  90    guint32          ContainsDnsName        :1;
  91    guint32          Reserved               :26;
  92    ETHERNET_ADDRESS MacAddr;
  93    guint32          IpAddr;
  94    guint32          SubnetMask;
  95    guint32          DefaultGateway;
  96    guint32          DnsServer;
  97    char             DnsName[32];
  98 } ETHERCAT_EOE_INIT, *PETHERCAT_EOE_INIT;*/
  99 #define ETHERCAT_EOE_INIT_LEN 58 /*sizeof(ETHERCAT_EOE_INIT)*/
 100
 101 typedef union tEoeMacFilterOptionsUnion
 102 {
 103    struct
 104    {
 105       guint16          MacFilterCount     :4;
 106       guint16          MacFilterMaskCount :2;
 107       guint16          Reserved1          :1;
 108       guint16          NoBroadcasts       :1;
 109       guint16          Reserved2          :8;
 110    } v;
 111    guint16 Options;
 112 } EoeMacFilterOptionsUnion;
 113
 114
 115 typedef struct TETHERCAT_EOE_MACFILTER
 116 {
 117    EoeMacFilterOptionsUnion anEoeMacFilterOptionsUnion;
 118    ETHERNET_ADDRESS MacFilter[16];
 119    ETHERNET_ADDRESS MacFilterMask[4];
 120 } ETHERCAT_EOE_MACFILTER;
 121 #define ETHERCAT_EOE_MACFILTER_LEN ((int) sizeof(ETHERCAT_EOE_MACFILTER))
 122
 123 typedef struct TETHERCAT_EOE_TIMESTAMP
 124 {
 125    guint32 TimeStamp; /* 32 bit time stamp */
 126 } ETHERCAT_EOE_TIMESTAMP;
 127 #define ETHERCAT_EOE_TIMESTAMP_LEN ((int) sizeof(ETHERCAT_EOE_TIMESTAMP))
 128
 129 typedef union tEoeHeaderDataUnion
 130 {
 131    struct
 132    {                            /* EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only */
 133       guint16 Fragment     : 6; /* fragment number (EOE_TYPE_FRAME_FRAG only) */
 134       guint16 OffsetBuffer : 6; /* byte offset multiplied by 32 (if Fragment != 0)  (EOE_TYPE_FRAME_FRAG only) */
 135                                 /* buffer size multiplied by 32 (if Fragment == 0) (EOE_TYPE_FRAME_FRAG only)  */
 136       guint16 FrameNo      : 4; /* frame number (EOE_TYPE_FRAME_FRAG and EOE_TYPE_TIMESTAMP_RES only) */
 137    } v;
 138    guint16 Result;              /* EOE_TYPE_INIT_RES and EOE_TYPE_MACFILTER_RES only */
 139 } EoeHeaderDataUnion;
 140
 141 typedef union tEoeHeaderInfoUnion
 142 {
 143    struct
 144    {
 145       guint16 Type               : 4; /* specifies following data */
 146       guint16 PortAssign         : 4; /* 0 = unspecified, 1 = port 1 */
 147       guint16 LastFragment       : 1; /* TRUE if last fragment (EOE_TYPE_FRAME_FRAG only) */
 148       guint16 TimeStampAppended  : 1; /* 32 bit time stamp appended  (EOE_TYPE_FRAME_FRAG with LastFragment=1 only) */
 149       guint16 TimeStampRequested : 1; /* time stamp response requested (EOE_TYPE_FRAME_FRAG only) */
 150       guint16 Reserved           : 5;
 151    } v;
 152    guint16 Info;
 153 } EoeHeaderInfoUnion;
 154
 155 typedef struct TETHERCAT_EOE_HEADER
 156 {
 157    EoeHeaderInfoUnion anEoeHeaderInfoUnion;
 158    EoeHeaderDataUnion anEoeHeaderDataUnion;
 159 } ETHERCAT_EOE_HEADER, *PETHERCAT_EOE_HEADER;
 160 #define ETHERCAT_EOE_HEADER_LEN ((int) sizeof(ETHERCAT_EOE_HEADER))
 161
 162 /*/////////////////////////////////////////////////////////////////////////////*/
 163 /* CANopen*/
 164 #define ETHERCAT_COE_TYPE_EMERGENCY 1
 165 #define ETHERCAT_COE_TYPE_SDOREQ    2
 166 #define ETHERCAT_COE_TYPE_SDORES    3
 167 #define ETHERCAT_COE_TYPE_TXPDO     4
 168 #define ETHERCAT_COE_TYPE_RXPDO     5
 169 #define ETHERCAT_COE_TYPE_TXPDO_RTR 6 /* Remote transmission request of TXPDO (master requested)*/
 170 #define ETHERCAT_COE_TYPE_RXPDO_RTR 7 /* Remote transmission request of RXPDO (slave requested) */
 171 #define ETHERCAT_COE_TYPE_SDOINFO   8
 172
 173 typedef union TETHERCAT_COE_HEADER
 174 {
 175    struct
 176    {
 177       guint16 Number   : 9; /* e.g. PDO number*/
 178       guint16 Reserved : 3; /* = 0*/
 179       guint16 Type     : 4; /* CANopen type*/
 180    } v;
 181    guint16 header;
 182 } ETHERCAT_COE_HEADER, *PETHERCAT_COE_HEADER;
 183 #define ETHERCAT_COE_HEADER_LEN ((int) sizeof(ETHERCAT_COE_HEADER))
 184
 185
 186 typedef union tSdoHeaderUnion
 187 {
 188    struct
 189    {   /* Initiate Download Request*/
 190       guint8 SizeInd   : 1;
 191       guint8 Expedited : 1;
 192       guint8 Size      : 2;
 193       guint8 Complete  : 1;
 194       guint8 Ccs       : 3; /* = 1*/
 195    } Idq;
 196    struct
 197    {   /* Initiate Download Response*/
 198       guint8 Reserved : 5;
 199       guint8 Scs      : 3; /* = 3*/
 200    } Ids;
 201    struct
 202    {   /* Download Segment Request*/
 203       guint8 LastSeg : 1;
 204       guint8 Size    : 3;
 205       guint8 Toggle  : 1;
 206       guint8 Ccs     : 3; /* = 0*/
 207    } Dsq;
 208    struct
 209    {   /* Download Segment Response*/
 210       guint8 Reserved : 4;
 211       guint8 Toggle   : 1;
 212       guint8 Scs      : 3; /* = 1*/
 213    } Dss;
 214    struct
 215    {   /* Initiate Upload Request*/
 216       guint8 Reserved : 4;
 217       guint8 Complete : 1;
 218       guint8 Ccs      : 3; /* = 2*/
 219    } Iuq;
 220    struct
 221    {   /* Initiate Upload Response*/
 222       guint8 SizeInd   : 1;
 223       guint8 Expedited : 1;
 224       guint8 Size      : 2;
 225       guint8 Complete  : 1;
 226       guint8 Scs       : 3; /* = 2*/
 227    } Ius;
 228    struct
 229    {   /* Upload Segment Request*/
 230       guint8 Reserved : 4;
 231       guint8 Toggle   : 1;
 232       guint8 Ccs      : 3; /* = 3*/
 233    } Usq;
 234    struct
 235    {   /* Upload Segment Response*/
 236       guint8 LastSeg : 1;
 237       guint8 Bytes   : 3;
 238       guint8 Toggle  : 1;
 239       guint8 Scs     : 3; /* = 0*/
 240    } Uss;
 241    struct
 242    {   /* Abort Transfer*/
 243       guint8 Reserved : 5;
 244       guint8 Ccs      : 3; /* = 4*/
 245    } Abt;
 246    guint8 CS;
 247 } SdoHeaderUnion;
 248
 249 typedef struct TETHERCAT_SDO_HEADER
 250 {
 251    SdoHeaderUnion anSdoHeaderUnion;
 252
 253    guint16 Index;
 254    guint8  SubIndex;
 255    guint32 Data;
 256 } ETHERCAT_SDO_HEADER, *PETHERCAT_SDO_HEADER;
 257
 258 #define ETHERCAT_SDO_HEADER_LEN  8 /* sizeof(ETHERCAT_SDO_HEADER)*/
 259
 260 #define SDO_CCS_DOWNLOAD_SEGMENT  0
 261 #define SDO_CCS_INITIATE_DOWNLOAD 1
 262 #define SDO_CCS_INITIATE_UPLOAD   2
 263 #define SDO_CCS_UPLOAD_SEGMENT    3
 264 #define SDO_CCS_ABORT_TRANSFER    4
 265
 266 #define SDO_SCS_UPLOAD_SEGMENT    0
 267 #define SDO_SCS_DOWNLOAD_SEGMENT  1
 268 #define SDO_SCS_INITIATE_UPLOAD   2
 269 #define SDO_SCS_INITIATE_DOWNLOAD 3
 270
 271 /* CoE SDO Information */
 272 #define ECAT_COE_INFO_OPCODE_LIST_Q  1
 273 #define ECAT_COE_INFO_OPCODE_LIST_S  2
 274 #define ECAT_COE_INFO_OPCODE_OBJ_Q   3
 275 #define ECAT_COE_INFO_OPCODE_OBJ_S   4
 276 #define ECAT_COE_INFO_OPCODE_ENTRY_Q 5
 277 #define ECAT_COE_INFO_OPCODE_ENTRY_S 6
 278 #define ECAT_COE_INFO_OPCODE_ERROR_S 7
 279
 280 #define ECAT_COE_INFO_LIST_TYPE_LENGTH 0
 281 #define ECAT_COE_INFO_LIST_TYPE_ALL    1
 282 #define ECAT_COE_INFO_LIST_TYPE_PDOMAP 2
 283 #define ECAT_COE_INFO_LIST_TYPE_BACKUP 3
 284
 285 #define ECAT_COE_INFO_OBJCODE_NULL      0
 286 #define ECAT_COE_INFO_OBJCODE_DOMAIN    2
 287 #define ECAT_COE_INFO_OBJCODE_DEFTYPE   5
 288 #define ECAT_COE_INFO_OBJCODE_DEFSTRUCT 6
 289 #define ECAT_COE_INFO_OBJCODE_VAR       7
 290 #define ECAT_COE_INFO_OBJCODE_ARRAY     8
 291 #define ECAT_COE_INFO_OBJCODE_RECORD    9
 292
 293 #define ECAT_COE_INFO_OBJCAT_OPTIONAL  0
 294 #define ECAT_COE_INFO_OBJCAT_MANDATORY 1
 295
 296 #define ECAT_COE_INFO_OBJACCESS_RO 0x07
 297 #define ECAT_COE_INFO_OBJACCESS_RW 0x3f
 298
 299 typedef struct TETHERCAT_SDO_INFO_LIST
 300 {
 301    guint16 ListType; /* == SDO_INFO_LIST_TYPE_XXX */
 302    struct
 303    {
 304       guint16 Index[1];
 305    } Res;
 306 } ETHERCAT_SDO_INFO_LIST;
 307
 308 typedef struct TETHERCAT_SDO_INFO_OBJ
 309 {
 310    guint16 Index;
 311    struct
 312    {
 313       guint16 DataType;    /* refer to data type index */
 314       guint8  MaxSubIndex; /* max subIndex */
 315       guint8  ObjCode;     /* defined in DS 301 (Table 37)*/
 316       char    Name[1];     /* rest of mailbox data*/
 317    } Res;
 318 } ETHERCAT_SDO_INFO_OBJ;
 319
 320 typedef struct TETHERCAT_SDO_INFO_ENTRY
 321 {
 322    guint16 Index;
 323    guint8  SubIdx;
 324    guint8  ValueInfo; /* bit0 = ObjAccess, bit1 = ObjCategory, bit2 = PdoMapping, bit3 = UnitType
 325                       bit4 = DefaultValue, bit5 = MinValue, bit6 = MaxValue*/
 326    struct
 327    {
 328       guint16 DataType;  /* refer to data type index */
 329       guint16 BitLen;
 330       guint16 ObjAccess; /* bit0 = read; bit1 = write; bit2 = const. bit3 = 'PRE-OP'; bit4 = 'SAFE-OP'; bit5 = 'OP'.*/
 331    } Res;
 332 } ETHERCAT_SDO_INFO_ENTRY;
 333
 334 typedef struct TETHERCAT_SDO_INFO_ERROR
 335 {
 336    guint32 ErrorCode;
 337    char    ErrorText[1]; /* rest of mailbox data */
 338 } ETHERCAT_SDO_INFO_ERROR;
 339
 340 typedef union tSdoInfoUnion
 341 {
 342    ETHERCAT_SDO_INFO_LIST  List;
 343    ETHERCAT_SDO_INFO_OBJ   Obj;
 344    ETHERCAT_SDO_INFO_ENTRY Entry;
 345    ETHERCAT_SDO_INFO_ERROR Error;
 346    guint8                  Data[1];
 347 } SdoInfoUnion;
 348
 349 typedef union tSdoControlUnion
 350 {
 351    struct
 352    {
 353       guint8  OpCode     : 7; /* == SDO_INFO_TYPE_XXX */
 354       guint8  InComplete : 1;
 355    } v;
 356    guint8 Control;
 357 } SdoControlUnion;
 358
 359 typedef struct TETHERCAT_SDO_INFO_HEADER
 360 {
 361    SdoControlUnion anSdoControlUnion;
 362    guint8  Reserved; /* == 0 */
 363    guint16 FragmentsLeft;
 364    SdoInfoUnion anSdoInfoUnion;
 365 } ETHERCAT_SDO_INFO_HEADER, *PETHERCAT_SDO_INFO_HEADER;
 366
 367 #define ETHERCAT_SDO_INFO_LISTREQ_LEN 6 /*offsetof(ETHERCAT_SDO_INFO_HEADER, anSdoInfoUnion.List.Res)*/
 368
 369 /* FoE (File Access over EtherCAT)*/
 370 #define ECAT_FOE_OPMODE_RRQ  1
 371 #define ECAT_FOE_OPMODE_WRQ  2
 372 #define ECAT_FOE_OPMODE_DATA 3
 373 #define ECAT_FOE_OPMODE_ACK  4
 374 #define ECAT_FOE_OPMODE_ERR  5
 375 #define ECAT_FOE_OPMODE_BUSY 6
 376
 377 #define ECAT_FOE_ERRCODE_NOTDEFINED     0
 378 #define ECAT_FOE_ERRCODE_NOTFOUND       1
 379 #define ECAT_FOE_ERRCODE_ACCESS         2
 380 #define ECAT_FOE_ERRCODE_DISKFULL       3
 381 #define ECAT_FOE_ERRCODE_ILLEAGAL       4
 382 #define ECAT_FOE_ERRCODE_PACKENO        5
 383 #define ECAT_FOE_ERRCODE_EXISTS         6
 384 #define ECAT_FOE_ERRCODE_NOUSER         7
 385 #define ECAT_FOE_ERRCODE_BOOTSTRAPONLY  8
 386 #define ECAT_FOE_ERRCODE_NOTINBOOTSTRAP 9
 387
 388 typedef union tFoeHeaderDataUnion
 389 {
 390    guint32 FileLength; /*  (RRQ, WRQ) = 0 if unknown */
 391    struct
 392    {
 393       guint16 PacketNo;  /* (DATA, ACK)*/
 394       guint16 Reserved2; /* (DATA, ACK)*/
 395    } v;
 396    guint32 ErrorCode; /* (ERR)*/
 397    struct
 398    {
 399       guint16 Done;   /* (BUSY)*/
 400       guint16 Entire; /* (BUSY)*/
 401    } v2;
 402 } FoeHeaderDataUnion;
 403
 404 typedef struct TETHERCAT_FOE_HEADER
 405 {
 406    guint8 OpMode;    /* = 1 (RRQ), = 2 (WRQ), = 3 (DATA), = 4 (ACK), = 5 (ERR), = 6 (BUSY) */
 407    guint8 Reserved1; /* = 0 */
 408
 409    FoeHeaderDataUnion aFoeHeaderDataUnion;
 410    /*   typedef union tMailBoxDataUnion
 411    {
 412    char      Name[]          (RRQ, WRQ)   rest of mailbox data
 413    guint8    Data[]          (DATA)      rest of mailbox data (if OpMode = 3)
 414    char      ErrorText[]       (ERR)         rest of mailbox data
 415    } MailBoxDataUnion;*/
 416 } ETHERCAT_FOE_HEADER, *PETHERCAT_FOE_HEADER;
 417 #define ETHERCAT_FOE_HEADER_LEN 6 /*sizeof(ETHERCAT_FOE_HEADER)*/
 418
 419 typedef struct
 420 {
 421    guint16  Cmd;
 422    guint16  Size;
 423    guint16  AddressLW;
 424    guint16  AddressHW;
 425 } TEFWUPDATE_HEADER;
 426
 427
 428 /* SoE (SOE over EtherCAT)*/
 429 #define ECAT_SOE_OPCODE_RRQ 1
 430 #define ECAT_SOE_OPCODE_RRS 2
 431 #define ECAT_SOE_OPCODE_WRQ 3
 432 #define ECAT_SOE_OPCODE_WRS 4
 433 #define ECAT_SOE_OPCODE_NFC 5
 434
 435
 436 typedef union tSoeHeaderControlUnion
 437 {
 438    struct
 439    {
 440       guint8 OpCode     : 3; /* 0 = unused, 1 = readReq, 2 = readRes, 3 = writeReq, 4 = writeRes
 441                              5 = notification (command changed notification)*/
 442       guint8 InComplete : 1; /* more follows*/
 443       guint8 Error      : 1; /* an error word follows */
 444       guint8 DriveNo    : 3; /* drive number */
 445
 446       guint8 DataState  : 1; /* follows or requested */
 447       guint8 Name       : 1; /* follows or requested */
 448       guint8 Attribute  : 1; /* follows or requested */
 449       guint8 Unit       : 1; /* follows or requested */
 450       guint8 Min        : 1; /* follows or requested */
 451       guint8 Max        : 1; /* follows or requested */
 452       guint8 Value      : 1; /* follows or requested */
 453       guint8 Reserved   : 1;
 454    } v;
 455    struct
 456    {
 457       guint8 Control;
 458       guint8 Element;
 459    } v2;
 460 } SoeHeaderControlUnion;
 461
 462 typedef union tSoeHeaderDataUnion
 463 {
 464    guint16 IDN;           /* SOE IDN            if (InComplete==0) */
 465    guint16 FragmentsLeft; /* Pending fragments  if (InComplete==1)  */
 466 } SoeHeaderDataUnion;
 467
 468 typedef struct TETHERCAT_SOE_HEADER
 469 {
 470    SoeHeaderControlUnion anSoeHeaderControlUnion;
 471    SoeHeaderDataUnion anSoeHeaderDataUnion;
 472    /* typedef union tMailBoxDataUnion
 473    {
 474    guint8    Data[]   rest of mailbox data  if (Error==0)
 475    guint16 ErrorCode                        if (Error==1)
 476    } MailBoxDataUnion;*/
 477 } ETHERCAT_SOE_HEADER, *PETHERCAT_SOE_HEADER;
 478 #define ETHERCAT_SOE_HEADER_LEN ((int) sizeof(ETHERCAT_SOE_HEADER))
 479
 480 extern void init_mbx_header(PETHERCAT_MBOX_HEADER pMbox, tvbuff_t *tvb, gint offset);
 481
 482 #endif