mlpiEthercatLib.h

Go to the documentation of this file.

#ifndef __MLPIETHERCATLIB_H__
#define __MLPIETHERCATLIB_H__

// -----------------------------------------------------------------------
// MLPI - <mlpiEthercatLib.h>
// -----------------------------------------------------------------------
// Copyright (c) 2017 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------














// -----------------------------------------------------------------------
// GLOBAL INCLUDES
// -----------------------------------------------------------------------
#include "mlpiGlobal.h"



// -----------------------------------------------------------------------
// GLOBAL CONSTANTS
// -----------------------------------------------------------------------
#define MLPI_ETHERCAT_MAX_ESC_PORTS               ( 4 )

#define MLPI_ETHERCAT_MAX_SLAVE_NAME_LEN          ( 128 )

#define MLPI_ETHERCAT_MAX_VENDOR_DATA_STRING_LEN  ( 128 )

#define MLPI_ETHERCAT_MAX_PROCESS_DATA_SECTIONS   ( 4 )


// -----------------------------------------------------------------------
// GLOBAL ENUMERATIONS
// -----------------------------------------------------------------------

typedef enum MlpiEthercatAddressType
{
  MLPI_ETHERCAT_AUTO_INCREMENT  = 0,     
  MLPI_ETHERCAT_FIXED_PHYSICAL  = 1      
} MlpiEthercatAddressType;

typedef enum MlpiEthercatTopologyStatus
{
  MLPI_ETHERCAT_TOPOLOGY_STATUS_UNKNOWN             = 0,    
  MLPI_ETHERCAT_TOPOLOGY_STATUS_VALID               = 1,    
  MLPI_ETHERCAT_TOPOLOGY_STATUS_PENDING             = 2     
} MlpiEthercatTopologyStatus;

typedef enum MlpiEthercatState
{
  MLPI_ETHERCAT_STATE_UNKNOWN   = 0,     
  MLPI_ETHERCAT_STATE_INIT      = 1,     
  MLPI_ETHERCAT_STATE_PREOP     = 2,     
  MLPI_ETHERCAT_STATE_BOOTSTRAP = 3,     
  MLPI_ETHERCAT_STATE_SAFEOP    = 4,     
  MLPI_ETHERCAT_STATE_OP        = 8      
} MlpiEthercatState;

typedef enum MlpiEthercatOdListType
{
  MLPI_ETHERCAT_OD_LIST_TYPE_LENGTHS                = 0,     
  MLPI_ETHERCAT_OD_LIST_TYPE_ALL                    = 1,     
  MLPI_ETHERCAT_OD_LIST_TYPE_RXPDOMAP               = 2,     
  MLPI_ETHERCAT_OD_LIST_TYPE_TXPDOMAP               = 3,     
  MLPI_ETHERCAT_OD_LIST_TYPE_STORED_FOR_REPLACEMENT = 4,     
  MLPI_ETHERCAT_OD_LIST_TYPE_STARTUP_PARAM          = 5      
} MlpiEthercatOdListType;

typedef enum MlpiEthercatProcessDataType
{
  MLPI_ETHERCAT_PD_TYPE_INPUTS                = 0,    
  MLPI_ETHERCAT_PD_TYPE_OUTPUTS               = 1     
} MlpiEthercatProcessDataType;



// -----------------------------------------------------------------------
// GLOBAL TYPEDEFS
// -----------------------------------------------------------------------

// message packing follows 8 byte natural alignment
#if !defined(TARGET_OS_VXWORKS)
#pragma pack(push,8)
#endif

typedef struct MlpiEthercatIdentityInfo
{
  ULONG     vendorId;                       
  ULONG     productCode;                    
  ULONG     revisionNumber;                 
  ULONG     serialNumber;                   
}MlpiEthercatIdentityInfo;

typedef struct MlpiEthercatMailboxInfo
{
  ULONG     sizeIn;                         
  ULONG     sizeOut;                        
}MlpiEthercatMailboxInfo;

typedef struct MlpiEthercatMemoryInfo
{
  ULONG     offset;                         
  ULONG     size;                           
}MlpiEthercatMemoryInfo;

typedef struct MlpiEthercatSlaveOnlineInfo
{
  USHORT                    autoIncAddr;                                      
  USHORT                    ethercatAddr;                                     
  USHORT                    stationAlias;                                     
  USHORT                    identifyValue;                                    
  ULONG                     slaveHandle;                                      
  ULONG                     portSlaveHandles[MLPI_ETHERCAT_MAX_ESC_PORTS];    
  MlpiEthercatIdentityInfo  slaveIdentity;                                    
  UCHAR                     escType;                                          
  UCHAR                     escRevision;                                      
  USHORT                    escBuild;                                         
  USHORT                    escFeatures;                                      
  UCHAR                     portDescriptor;                                   
  UCHAR                     reserved01;                                       
  USHORT                    alStatus;                                         
  USHORT                    alStatusCode;                                     
  USHORT                    mbxProtocols;                                     
  USHORT                    dlStatus;                                         
  USHORT                    portState;                                        
  USHORT                    previousPort;                                     
  ULONG                     systemTimeDifference;                             
  ULONG                     slaveDelay;                                       
  ULONG                     propagationDelay;                                 
  ULONG                     reserved02[4];                                    
  BOOL8                     dcSupport;                                        
  BOOL8                     dc64Support;                                      
  BOOL8                     isRefClock;                                       
  BOOL8                     lineCrossed;                                      
}MlpiEthercatSlaveOnlineInfo;

typedef struct MlpiEthercatSlaveConfigInfo
{
  USHORT                    autoIncAddr;                                                    
  USHORT                    ethercatAddr;                                                   
  USHORT                    identifyAdo;                                                    
  USHORT                    identifyValue;                                                  
  ULONG                     slaveHandle;                                                    
  ULONG                     hcGroupIdx;                                                     
  USHORT                    previousEthercatAddr;                                           
  USHORT                    previousPort;                                                   
  MlpiEthercatIdentityInfo  slaveIdentity;                                                  
  WCHAR16                   slaveName[MLPI_ETHERCAT_MAX_SLAVE_NAME_LEN];                    
  ULONG                     mbxProtocols;                                                   
  MlpiEthercatMailboxInfo   mbxStandard;                                                    
  MlpiEthercatMailboxInfo   mbxBootstrap;                                                   
  MlpiEthercatMemoryInfo    processDataIn[MLPI_ETHERCAT_MAX_PROCESS_DATA_SECTIONS];         
  MlpiEthercatMemoryInfo    processDataOut[MLPI_ETHERCAT_MAX_PROCESS_DATA_SECTIONS];        
  USHORT                    numProcessVarsIn;                                               
  USHORT                    numProcessVarsOut;                                              
  UCHAR                     portDescriptor;                                                 
  UCHAR                     reserved01[3];                                                  
  USHORT                    wkcStateDiagOffsIn[MLPI_ETHERCAT_MAX_PROCESS_DATA_SECTIONS];    
  USHORT                    wkcStateDiagOffsOut[MLPI_ETHERCAT_MAX_PROCESS_DATA_SECTIONS];   
  ULONG                     reserved02[3];                                                  
  BOOL8                     isPresent;                                                      
  BOOL8                     isHcGroupPresent;                                               
  BOOL8                     dcSupport;                                                      
}MlpiEthercatSlaveConfigInfo;

typedef struct MlpiEthercatSoeElementFlags
{
  BOOL8       dataState;              
  BOOL8       name;                   
  BOOL8       attribute;              
  BOOL8       unit;                   
  BOOL8       minValue;               
  BOOL8       maxValue;               
  BOOL8       value;                  
  BOOL8       defaultValue;           
}MlpiEthercatSoeElementFlags;

typedef struct MlpiEthercatVendorData
{
  WCHAR16     name[MLPI_ETHERCAT_MAX_VENDOR_DATA_STRING_LEN];            
  WCHAR16     department[MLPI_ETHERCAT_MAX_VENDOR_DATA_STRING_LEN];      
  WCHAR16     url[MLPI_ETHERCAT_MAX_VENDOR_DATA_STRING_LEN];             
}MlpiEthercatVendorData;

typedef struct MlpiEthercatVendorInfo
{
  MlpiEthercatVendorData  member;           
  MlpiEthercatVendorData  predecessor;      
}MlpiEthercatVendorInfo;

typedef struct MlpiEthercatSlaveStatistics
{
  USHORT    rxErrorCounter[MLPI_ETHERCAT_MAX_ESC_PORTS];        
  UCHAR     fwdRxErrorCounter[MLPI_ETHERCAT_MAX_ESC_PORTS];     
  UCHAR     ecatProcUnitErrorCounter;                           
  UCHAR     pdiErrorCounter;                                    
  USHORT    alStatusCode;                                       
  UCHAR     lostLinkCounter[MLPI_ETHERCAT_MAX_ESC_PORTS];       
}MlpiEthercatSlaveStatistics;

typedef struct MlpiEthercatSlaveBusScanInfo
{
  ULONG                     busScanStatus;                
  MlpiEthercatIdentityInfo  slaveIdentity;                
}MlpiEthercatSlaveBusScanInfo;


#if !defined(TARGET_OS_VXWORKS)
#pragma pack(pop)
#endif




// -----------------------------------------------------------------------
// GLOBAL EXPORTS
// -----------------------------------------------------------------------
#ifdef MLPI_API
  #undef MLPI_API
#endif

#if defined(TARGET_OS_WINNT)
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __declspec(dllexport)
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API __declspec(dllimport)
  #else
    #define MLPI_API
  #endif
#else
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __attribute__ ((visibility("default")))
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API
  #else
    #define MLPI_API
  #endif
#endif


#ifdef __cplusplus
extern "C" {
#endif

  MLPI_API MLPIRESULT mlpiEthercatGetTopologyStatus(const MLPIHANDLE connection, const ULONG interfaceNumber, MlpiEthercatTopologyStatus *topologyStatus, ULONG *numChanges);

MLPI_API MLPIRESULT mlpiEthercatGetConfigFiles(const MLPIHANDLE connection, const ULONG interfaceNumber, const WCHAR16 *iniPathFileName, const WCHAR16 *eniPathFileName);

MLPI_API MLPIRESULT mlpiEthercatSetConfigFiles(const MLPIHANDLE connection, const ULONG interfaceNumber, const WCHAR16 *iniPathFileName, const WCHAR16 *eniPathFileName);

MLPI_API MLPIRESULT mlpiEthercatControl(const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG command, UCHAR *dataIn, const ULONG dataSizeIn, UCHAR *dataOut, const ULONG dataSizeOut, ULONG *dataSizeOutRet);

MLPI_API MLPIRESULT mlpiEthercatGetMasterState(const MLPIHANDLE connection, const ULONG interfaceNumber, MlpiEthercatState *state);

MLPI_API MLPIRESULT mlpiEthercatSetMasterState(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatState state);

MLPI_API MLPIRESULT mlpiEthercatGetMasterStatus(const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *status);

MLPI_API MLPIRESULT mlpiEthercatGetNumConfiguredSlaves(const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *numSlaves);

MLPI_API MLPIRESULT mlpiEthercatGetNumConnectedSlaves(const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *numSlaves);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveState(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, USHORT *currentState, USHORT *requestedState);

MLPI_API MLPIRESULT mlpiEthercatSetSlaveState(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const MlpiEthercatState slaveState);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveStatus(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, ULONG *status);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveOnlineInfo(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveOnlineInfo *slaveOnlineInfo);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveConfigInfo(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveConfigInfo *slaveConfigInfo);

MLPI_API MLPIRESULT mlpiEthercatGetSlavePortState(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, USHORT *portState);

MLPI_API MLPIRESULT mlpiEthercatReadSlaveRegister(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT registerOffset, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatWriteSlaveRegister(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT registerOffset, UCHAR *data, const ULONG dataSize);

MLPI_API MLPIRESULT mlpiEthercatResetSlaveController(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address);

MLPI_API MLPIRESULT mlpiEthercatReadSlaveEeprom(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT eepromOffset, USHORT *data, const ULONG numElements, ULONG *numElementsRet);

MLPI_API MLPIRESULT mlpiEthercatWriteSlaveEeprom(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT eepromOffset, USHORT *data, const ULONG numElements);

MLPI_API MLPIRESULT mlpiEthercatReloadSlaveEeprom(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address);

MLPI_API MLPIRESULT mlpiEthercatAssignSlaveEeprom(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const BOOL8 slavePdiAccessEnable, const BOOL8 forceAssign);

MLPI_API MLPIRESULT mlpiEthercatCheckSlaveEeprom(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, BOOL8 *slavePdiAccessActive);

MLPI_API MLPIRESULT mlpiEthercatReadSlaveIdentification(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT ado, USHORT *value);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveStatistics(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveStatistics *slaveStatistics);

MLPI_API MLPIRESULT mlpiEthercatResetSlaveStatistics(const MLPIHANDLE connection, const ULONG interfaceNumber);

MLPI_API MLPIRESULT mlpiEthercatSetSlaveStatisticsPeriod(const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG periodMs);

MLPI_API MLPIRESULT mlpiEthercatGetSlaveStatisticsPeriod(const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *periodMs);

MLPI_API MLPIRESULT mlpiEthercatCoeGetOdList(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const MlpiEthercatOdListType listType, USHORT *indicies, const ULONG numElements, ULONG *numElementsRet);

MLPI_API MLPIRESULT mlpiEthercatCoeGetObjectDescription(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatCoeGetEntryDescription(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const UCHAR valueInfo, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatCoeSdoUpload(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const ULONG flags, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatCoeSdoDownload(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const ULONG flags, UCHAR *data, const ULONG dataSize);

MLPI_API MLPIRESULT mlpiEthercatSoeRead(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const UCHAR driveNumber, MlpiEthercatSoeElementFlags *elementFlags, const USHORT idn, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatSoeWrite(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const UCHAR driveNumber, MlpiEthercatSoeElementFlags *elementFlags, const USHORT idn, UCHAR *data, const ULONG dataSize);

MLPI_API MLPIRESULT mlpiEthercatGetVendorInfo(const MLPIHANDLE connection, const ULONG vendorId, MlpiEthercatVendorInfo *vendorInfo);

MLPI_API MLPIRESULT mlpiEthercatGenerateEsi(const MLPIHANDLE connection, const WCHAR16 *eepromPathFileName, const WCHAR16 *esiPathFileName, const ULONG flags);

MLPI_API MLPIRESULT mlpiEthercatStartBusScan(const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG flags);

MLPI_API MLPIRESULT mlpiEthercatGetBusScanStatus(const MLPIHANDLE connection, const ULONG interfaceNumber, MLPIRESULT *status, ULONG *slaveCount);

MLPI_API MLPIRESULT mlpiEthercatGetBusScanSlaveInfo(const MLPIHANDLE connection, const ULONG interfaceNumber, const USHORT autoIncAddr, MlpiEthercatSlaveBusScanInfo *slaveBusScanInfo, const ULONG numElements, ULONG *numElementsRet);

MLPI_API MLPIRESULT mlpiEthercatGetProcessData(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatProcessDataType pdType, const ULONG offset, UCHAR *data, const ULONG dataSize, ULONG *dataSizeRet);

MLPI_API MLPIRESULT mlpiEthercatSetProcessData(const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatProcessDataType pdType, const ULONG offset, UCHAR *data, const ULONG dataSize);

MLPI_API MLPIRESULT mlpiEthercatGetProcessDataSize(const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *numOutputBytes, ULONG *numInputBytes);


#ifdef __cplusplus
}
#endif



#endif // endof: #ifndef __MLPIETHERCATLIB_H__