packet-ecatmb.h

/* packet-ecatmb.h
 *
 * Copyright (c) 2007 by Beckhoff Automation GmbH
 *
 * Wireshark - Network traffic analyzer
 * By Gerald Combs <[email protected]>
 * Copyright 1998 Gerald Combs
 *
 * SPDX-License-Identifier: GPL-2.0-or-later
 */
#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
{
    uint8_t b[6]; 
} ETHERNET_ADDRESS, *PETHERNET_ADDRESS;
 
#define ETHERNET_ADDRESS_LEN ((int) sizeof(ETHERNET_ADDRESS))
 
 
/* EtherCAT mailbox protocol type identifiers */
#define ETHERCAT_MBOX_TYPE_ADS  1  
#define ETHERCAT_MBOX_TYPE_EOE  2  
#define ETHERCAT_MBOX_TYPE_COE  3  
#define ETHERCAT_MBOX_TYPE_FOE  4  
#define ETHERCAT_MBOX_TYPE_SOE  5  
#define ETHERCAT_MBOX_TYPE_VOE  15 
typedef union tMbxHeaderControlUnion
{
    uint16_t Control; 
    struct
    {
        uint16_t Channel     : 6; 
        uint16_t Priority    : 2; 
        uint16_t Type        : 4; 
        uint16_t Counter     : 3; 
        uint16_t Unsupported : 1; 
    } v;                          
} MbxHeaderControlUnion;
 
 
typedef struct TETHERCAT_MBOX_HEADER
{
    uint16_t              Length;       
    uint16_t              Address;      
    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
{
   uint32_t         ContainsMacAddr        :1;
   uint32_t         ContainsIpAddr         :1;
   uint32_t         ContainsSubnetMask     :1;
   uint32_t         ContainsDefaultGateway :1;
   uint32_t         ContainsDnsServer      :1;
   uint32_t         ContainsDnsName        :1;
   uint32_t         Reserved               :26;
   ETHERNET_ADDRESS MacAddr;
   uint32_t         IpAddr;
   uint32_t         SubnetMask;
   uint32_t         DefaultGateway;
   uint32_t         DnsServer;
   char             DnsName[32];
} ETHERCAT_EOE_INIT, *PETHERCAT_EOE_INIT;*/
#define ETHERCAT_EOE_INIT_LEN 58 /*sizeof(ETHERCAT_EOE_INIT)*/
 
typedef union tEoeMacFilterOptionsUnion
{
    struct
    {
        uint16_t MacFilterCount     : 4; 
        uint16_t MacFilterMaskCount : 2; 
        uint16_t Reserved1          : 1; 
        uint16_t NoBroadcasts       : 1; 
        uint16_t Reserved2          : 8; 
    } v;                                 
    uint16_t 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
{
    uint32_t TimeStamp; 
} ETHERCAT_EOE_TIMESTAMP;
 
#define ETHERCAT_EOE_TIMESTAMP_LEN ((int) sizeof(ETHERCAT_EOE_TIMESTAMP))
 
 
typedef union tEoeHeaderDataUnion
{
    struct
    {                                
        uint16_t Fragment     : 6;   
        uint16_t OffsetBuffer : 6;   
        uint16_t FrameNo      : 4;   
    } v;                             
    uint16_t Result;                 
} EoeHeaderDataUnion;
 
 
typedef union tEoeHeaderInfoUnion
{
    struct
    {
        uint16_t Type               : 4; 
        uint16_t PortAssign         : 4; 
        uint16_t LastFragment       : 1; 
        uint16_t TimeStampAppended  : 1; 
        uint16_t TimeStampRequested : 1; 
        uint16_t Reserved           : 5; 
    } v;                                 
    uint16_t 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
    {
        uint16_t Number   : 9; 
        uint16_t Reserved : 3; 
        uint16_t Type     : 4; 
    } v;                       
    uint16_t header;           
} ETHERCAT_COE_HEADER, *PETHERCAT_COE_HEADER;
 
#define ETHERCAT_COE_HEADER_LEN ((int) sizeof(ETHERCAT_COE_HEADER))
 
 
typedef union tSdoHeaderUnion
{
    struct
    {   /* Initiate Download Request (Ccs = 1) */
        uint8_t SizeInd   : 1; 
        uint8_t Expedited : 1; 
        uint8_t Size      : 2; 
        uint8_t Complete  : 1; 
        uint8_t Ccs       : 3; 
    } Idq;
 
    struct
    {   /* Initiate Download Response (Scs = 3) */
        uint8_t Reserved : 5; 
        uint8_t Scs      : 3; 
    } Ids;
 
    struct
    {   /* Download Segment Request (Ccs = 0) */
        uint8_t LastSeg : 1; 
        uint8_t Size    : 3; 
        uint8_t Toggle  : 1; 
        uint8_t Ccs     : 3; 
    } Dsq;
 
    struct
    {   /* Download Segment Response (Scs = 1) */
        uint8_t Reserved : 4; 
        uint8_t Toggle   : 1; 
        uint8_t Scs      : 3; 
    } Dss;
 
    struct
    {   /* Initiate Upload Request (Ccs = 2) */
        uint8_t Reserved : 4; 
        uint8_t Complete : 1; 
        uint8_t Ccs      : 3; 
    } Iuq;
 
    struct
    {   /* Initiate Upload Response (Scs = 2) */
        uint8_t SizeInd   : 1; 
        uint8_t Expedited : 1; 
        uint8_t Size      : 2; 
        uint8_t Complete  : 1; 
        uint8_t Scs       : 3; 
    } Ius;
 
    struct
    {   /* Upload Segment Request (Ccs = 3) */
        uint8_t Reserved : 4; 
        uint8_t Toggle   : 1; 
        uint8_t Ccs      : 3; 
    } Usq;
 
    struct
    {   /* Upload Segment Response (Scs = 0) */
        uint8_t LastSeg : 1; 
        uint8_t Bytes   : 3; 
        uint8_t Toggle  : 1; 
        uint8_t Scs     : 3; 
    } Uss;
 
    struct
    {   /* Abort Transfer (Ccs = 4) */
        uint8_t Reserved : 5; 
        uint8_t Ccs      : 3; 
    } Abt;
 
    uint8_t CS; 
} SdoHeaderUnion;
 
 
typedef struct TETHERCAT_SDO_HEADER
{
    SdoHeaderUnion anSdoHeaderUnion; 
    uint16_t       Index;            
    uint8_t        SubIndex;         
    uint32_t       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
{
    uint16_t ListType;    
    struct
    {
        uint16_t Index[1]; 
    } Res;                 
} ETHERCAT_SDO_INFO_LIST;
 
 
typedef struct TETHERCAT_SDO_INFO_OBJ
{
    uint16_t Index; 
    struct
    {
        uint16_t DataType;    
        uint8_t  MaxSubIndex; 
        uint8_t  ObjCode;     
        char     Name[1];     
    } Res;                    
} ETHERCAT_SDO_INFO_OBJ;
 
 
typedef struct TETHERCAT_SDO_INFO_ENTRY
{
    uint16_t Index;     
    uint8_t  SubIdx;    
    uint8_t  ValueInfo; 
    struct
    {
        uint16_t DataType;  
        uint16_t BitLen;    
        uint16_t ObjAccess; 
    } Res;                  
} ETHERCAT_SDO_INFO_ENTRY;
 
 
typedef struct TETHERCAT_SDO_INFO_ERROR
{
    uint32_t ErrorCode;    
    char     ErrorText[1]; 
} 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;   
    uint8_t                 Data[1]; 
} SdoInfoUnion;
 
 
typedef union tSdoControlUnion
{
    struct
    {
        uint8_t OpCode     : 7; 
        uint8_t InComplete : 1; 
    } v;                        
    uint8_t Control;            
} SdoControlUnion;
 
 
typedef struct TETHERCAT_SDO_INFO_HEADER
{
    SdoControlUnion anSdoControlUnion; 
    uint8_t         Reserved;          
    uint16_t        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) — OpMode values */
#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 
/* FoE error codes */
#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
{
    uint32_t FileLength; 
    struct
    {
        uint16_t PacketNo;  
        uint16_t Reserved2; 
    } v;                    
    uint32_t ErrorCode;     
    struct
    {
        uint16_t Done;   
        uint16_t Entire; 
    } v2;                
} FoeHeaderDataUnion;
 
 
typedef struct TETHERCAT_FOE_HEADER
{
    uint8_t            OpMode;    
    uint8_t            Reserved1; 
    FoeHeaderDataUnion aFoeHeaderDataUnion; 
    /*   typedef union tMailBoxDataUnion
    {
    char      Name[]        (RRQ, WRQ)  rest of mailbox data
    uint8_t   Data[]        (DATA)      rest of mailbox data
    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
{
    uint16_t Cmd;       
    uint16_t Size;      
    uint16_t AddressLW; 
    uint16_t AddressHW; 
} TEFWUPDATE_HEADER;
 
/* SoE (Servo Drive Profile 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
    {
        uint8_t OpCode     : 3; 
        uint8_t InComplete : 1; 
        uint8_t Error      : 1; 
        uint8_t DriveNo    : 3; 
        uint8_t DataState  : 1; 
        uint8_t Name       : 1; 
        uint8_t Attribute  : 1; 
        uint8_t Unit       : 1; 
        uint8_t Min        : 1; 
        uint8_t Max        : 1; 
        uint8_t Value      : 1; 
        uint8_t Reserved   : 1; 
    } v;                        
    struct
    {
        uint8_t Control; 
        uint8_t Element; 
    } v2;                
} SoeHeaderControlUnion;
 
 
typedef union tSoeHeaderDataUnion
{
    uint16_t IDN;           
    uint16_t FragmentsLeft; 
} SoeHeaderDataUnion;
 
 
typedef struct TETHERCAT_SOE_HEADER
{
    SoeHeaderControlUnion anSoeHeaderControlUnion; 
    SoeHeaderDataUnion    anSoeHeaderDataUnion;    
    /* typedef union tMailBoxDataUnion
    {
    uint8_t   Data[]      rest of mailbox data  if (Error==0)
    uint16_t  ErrorCode                          if (Error==1)
    } MailBoxDataUnion; */
} ETHERCAT_SOE_HEADER, *PETHERCAT_SOE_HEADER;
 
#define ETHERCAT_SOE_HEADER_LEN ((int) sizeof(ETHERCAT_SOE_HEADER))
 
 
typedef struct TETHERCAT_VOE_HEADER
{
    uint32_t VendorID;   
    uint16_t VendorType; 
} ETHERCAT_VOE_HEADER, *PETHERCAT_VOE_HEADER;
 
#define ETHERCAT_VOE_HEADER_LEN 6 /*sizeof(ETHERCAT_VOE_HEADER)*/
 
extern void init_mbx_header(PETHERCAT_MBOX_HEADER pMbox, tvbuff_t *tvb, int offset);
 
DIAG_ON_PEDANTIC
#endif /* _PACKET_ECATMAILBOX_H_ */