SlaveRegisters.h

Go to the documentation of this file.

#pragma once
 
/*!
 * Copied from https://gitlab.com/h2t/student-projects/pse-ws2021/etherkitten/-/tree/master/reader/src/etherkitten/reader
 *
 * !!!
 * Needs correct license message!!!!
 * !!!
 */
 
#include <map>
#include <string>
#include <unordered_map>
 
#include "EtherCATDataTypes.h"
 
/**
 * @defgroup Namespace-datatypes datatypes
 * @ingroup Library-ethercat
 * @brief Brief description of Namespace datatypes.
 */
namespace armarx::control::ethercat::datatypes
{
    /*!
     * @enum RegisterEnum
     * @ingroup Namespace-datatypes
     *
     * \brief The RegisterEnum enum encodes the slave registers that every slave offers.
     *
     * Not all registers are in this enum; a subset has been selected based on the registers' value
     * in debugging.
     *
     * The low 16 bits of a register's value in this enum corresponds to its address in a slave's
     * memory. If multiple registers are located in the same byte, the next 3 bits encode the
     * register's offset in the byte.
     */
    enum class RegisterEnum
    {
        TYPE = 0x0,
        REVISION = 0x1,
        BUILD = 0x2,
        RAM_SIZE = 0x6,
        PORT0_DESCRIPTOR = 0x00007,
        PORT1_DESCRIPTOR = 0x20007,
        PORT2_DESCRIPTOR = 0x40007,
        PORT3_DESCRIPTOR = 0x60007,
        FMMU_BIT_NOT_SUPPORTED = 0x00008,
        NO_SUPPORT_RESERVED_REGISTER = 0x10008,
        DC_SUPPORTED = 0x20008,
        DC_RANGE = 0x30008,
        LOW_JITTER_EBUS = 0x40008,
        ENHANCED_LINK_DETECTION_EBUS = 0x50008,
        ENHANCED_LINK_DETECTION_MII = 0x60008,
        SEPARATE_FCS_ERROR_HANDLING = 0x70008,
        CONFIGURED_STATION_ADDRESS = 0x10,
        CONFIGURED_STATION_ALIAS = 0x12,
        DLS_USER_OPERATIONAL = 0x00110,
        LINK_STATUS_PORT_0 = 0x40110,
        LINK_STATUS_PORT_1 = 0x50110,
        LINK_STATUS_PORT_2 = 0x60110,
        LINK_STATUS_PORT_3 = 0x70110,
        LOOP_STATUS_PORT_0 = 0x00111,
        SIGNAL_DETECTION_PORT_0 = 0x10111,
        LOOP_STATUS_PORT_1 = 0x20111,
        SIGNAL_DETECTION_PORT_1 = 0x30111,
        LOOP_STATUS_PORT_2 = 0x40111,
        SIGNAL_DETECTION_PORT_2 = 0x50111,
        LOOP_STATUS_PORT_3 = 0x60111,
        SIGNAL_DETECTION_PORT_3 = 0x70111,
        STATUS_CONTROL = 0x120,
        DLS_USER_R2 = 0x121,
        STATUS = 0x130,
        DLS_USER_R4 = 0x131,
        DLS_USER_R5 = 0x132,
        DLS_USER_R6 = 0x134,
        DLS_USER_R7 = 0x140,
        DLS_USER_R8 = 0x150,
        DLS_USER_R9 = 0x141,
        FRAME_ERROR_COUNTER_PORT_0 = 0x300,
        PHYSICAL_ERROR_COUNTER_PORT_0 = 0x301,
        FRAME_ERROR_COUNTER_PORT_1 = 0x302,
        PHYSICAL_ERROR_COUNTER_PORT_1 = 0x303,
        FRAME_ERROR_COUNTER_PORT_2 = 0x304,
        PHYSICAL_ERROR_COUNTER_PORT_2 = 0x305,
        FRAME_ERROR_COUNTER_PORT_3 = 0x306,
        PHYSICAL_ERROR_COUNTER_PORT_3 = 0x307,
        PREVIOUS_ERROR_COUNTER_PORT_0 = 0x308,
        PREVIOUS_ERROR_COUNTER_PORT_1 = 0x309,
        PREVIOUS_ERROR_COUNTER_PORT_2 = 0x30A,
        PREVIOUS_ERROR_COUNTER_PORT_3 = 0x30B,
        MALFORMAT_FRAME_COUNTER = 0x30C,
        LOCAL_PROBLEM_COUNTER = 0x30D,
        LOST_LINK_COUNTER_PORT_0 = 0x310,
        LOST_LINK_COUNTER_PORT_1 = 0x311,
        LOST_LINK_COUNTER_PORT_2 = 0x312,
        LOST_LINK_COUNTER_PORT_3 = 0x313,
        SII_READ_OPERATION = 0x00503,
        SII_WRITE_OPERATION = 0x10503,
        SII_RELOAD_OPERATION = 0x20503,
        SII_CHECKSUM_ERROR = 0x30503,
        SII_DEVICE_INFO_ERROR = 0x40503,
        SII_COMMAND_ERROR = 0x50503,
        SII_WRITE_ERROR = 0x60503,
        SII_BUSY = 0x70503,
        SYSTEM_TIME = 0x910,
    };
 
    inline std::uint32_t
    getRegisterAddress(RegisterEnum e)
    {
        static constexpr std::uint32_t addressMask = 0xFFFF;
        return static_cast<std::uint32_t>(e) & addressMask;
    }
 
    inline std::uint8_t
    getRegisterSubAddress(RegisterEnum e)
    {
        static constexpr std::uint32_t subaddressMask = 0x70000;
        return static_cast<std::uint8_t>((static_cast<std::uint32_t>(e) & subaddressMask) >> 16);
    }
 
    // Comparison Operator for RegisterEnum
    inline bool
    operator<(RegisterEnum a, RegisterEnum b)
    {
        std::uint32_t a_address = getRegisterAddress(a);
        std::uint32_t b_address = getRegisterAddress(b);
        std::uint8_t a_subaddress = getRegisterSubAddress(a);
        std::uint8_t b_subaddress = getRegisterSubAddress(b);
 
        if (a_address < b_address)
        {
            return true;
        }
        else if (a_address > b_address)
        {
            return false;
        }
        else
        {
            if (a_subaddress < b_subaddress)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
    }
 
    using RegisterEnumTypeContainer = std::variant<EtherCATDataType::INTEGER8,
                                                   EtherCATDataType::INTEGER16,
                                                   EtherCATDataType::INTEGER32,
                                                   EtherCATDataType::INTEGER64,
                                                   EtherCATDataType::UNSIGNED8,
                                                   EtherCATDataType::UNSIGNED16,
                                                   EtherCATDataType::UNSIGNED32,
                                                   EtherCATDataType::UNSIGNED64>;
 
    /*!
     * \brief The RegisterInfo struct holds additional information on one register.
     */
    struct RegisterInfo
    {
        std::string name;
        EtherCATDataTypeEnum enumType;
        std::size_t bitLength;
    };
 
    template <EtherCATDataTypeEnum E>
    RegisterInfo
    makeInfo(const std::string& name)
    {
        return {name, E, EtherCATDataType::bitLength<typename TypeMap<E>::type>};
    }
 
    /*!
     * \brief Holds additional information on all defined registers.
     */
    const std::unordered_map<RegisterEnum, RegisterInfo> registerMap = {
        {RegisterEnum::TYPE, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Type")},
        {RegisterEnum::REVISION, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Revision")},
        {RegisterEnum::BUILD, makeInfo<EtherCATDataTypeEnum::UNSIGNED16>("Build")},
        {RegisterEnum::RAM_SIZE, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Ram size")},
        {RegisterEnum::PORT0_DESCRIPTOR, makeInfo<EtherCATDataTypeEnum::BIT2>("Port 0 descriptor")},
        {RegisterEnum::PORT1_DESCRIPTOR, makeInfo<EtherCATDataTypeEnum::BIT2>("Port 1 descriptor")},
        {RegisterEnum::PORT2_DESCRIPTOR, makeInfo<EtherCATDataTypeEnum::BIT2>("Port 2 descriptor")},
        {RegisterEnum::PORT3_DESCRIPTOR, makeInfo<EtherCATDataTypeEnum::BIT2>("Port 3 descriptor")},
        {RegisterEnum::FMMU_BIT_NOT_SUPPORTED,
         makeInfo<EtherCATDataTypeEnum::BIT1>("FMMU bit operation not supported")},
        {RegisterEnum::NO_SUPPORT_RESERVED_REGISTER,
         makeInfo<EtherCATDataTypeEnum::BIT1>("No support for reserved register")},
        {RegisterEnum::DC_SUPPORTED, makeInfo<EtherCATDataTypeEnum::BIT1>("DC supported")},
        {RegisterEnum::DC_RANGE, makeInfo<EtherCATDataTypeEnum::BIT1>("DC range")},
        {RegisterEnum::LOW_JITTER_EBUS, makeInfo<EtherCATDataTypeEnum::BIT1>("Low jitter EBUS")},
        {RegisterEnum::ENHANCED_LINK_DETECTION_EBUS,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Enhanced link detection EBUS")},
        {RegisterEnum::ENHANCED_LINK_DETECTION_MII,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Enhanced link detection MII")},
        {RegisterEnum::SEPARATE_FCS_ERROR_HANDLING,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Separate fcs error handling")},
        {RegisterEnum::CONFIGURED_STATION_ADDRESS,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED16>("Configured station address")},
        {RegisterEnum::CONFIGURED_STATION_ALIAS,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED16>("Configured station alias")},
        {RegisterEnum::DLS_USER_OPERATIONAL,
         makeInfo<EtherCATDataTypeEnum::BIT1>("DLS user operational")},
        {RegisterEnum::LINK_STATUS_PORT_0,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Link status port 0")},
        {RegisterEnum::LINK_STATUS_PORT_1,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Link status port 1")},
        {RegisterEnum::LINK_STATUS_PORT_2,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Link status port 2")},
        {RegisterEnum::LINK_STATUS_PORT_3,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Link status port 3")},
        {RegisterEnum::LOOP_STATUS_PORT_0,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Loop status port 0")},
        {RegisterEnum::SIGNAL_DETECTION_PORT_0,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Signal detection port 0")},
        {RegisterEnum::LOOP_STATUS_PORT_1,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Loop status port 1")},
        {RegisterEnum::SIGNAL_DETECTION_PORT_1,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Signal detection port 1")},
        {RegisterEnum::LOOP_STATUS_PORT_2,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Loop status port 2")},
        {RegisterEnum::SIGNAL_DETECTION_PORT_2,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Signal detection port 2")},
        {RegisterEnum::LOOP_STATUS_PORT_3,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Loop status port 3")},
        {RegisterEnum::SIGNAL_DETECTION_PORT_3,
         makeInfo<EtherCATDataTypeEnum::BIT1>("Signal detection port 3")},
        {RegisterEnum::STATUS_CONTROL, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Status control")},
        {RegisterEnum::DLS_USER_R2, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("DLS user R2")},
        {RegisterEnum::STATUS, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Status")},
        {RegisterEnum::DLS_USER_R4, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("DLS user R4")},
        {RegisterEnum::DLS_USER_R5, makeInfo<EtherCATDataTypeEnum::UNSIGNED16>("DLS user R5")},
        {RegisterEnum::DLS_USER_R6, makeInfo<EtherCATDataTypeEnum::UNSIGNED16>("DLS user R6")},
        {RegisterEnum::DLS_USER_R7, makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("DLS user R7")},
        {RegisterEnum::DLS_USER_R8, makeInfo<EtherCATDataTypeEnum::UNSIGNED32>("DLS user R8")},
        {RegisterEnum::DLS_USER_R9, makeInfo<EtherCATDataTypeEnum::BIT7>("DLS user R9")},
        {RegisterEnum::FRAME_ERROR_COUNTER_PORT_0,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Frame error counter port 0")},
        {RegisterEnum::PHYSICAL_ERROR_COUNTER_PORT_0,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Physical error counter port 0")},
        {RegisterEnum::FRAME_ERROR_COUNTER_PORT_1,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Frame error counter port 1")},
        {RegisterEnum::PHYSICAL_ERROR_COUNTER_PORT_1,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Physical error counter port 1")},
        {RegisterEnum::FRAME_ERROR_COUNTER_PORT_2,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Frame error counter port 2")},
        {RegisterEnum::PHYSICAL_ERROR_COUNTER_PORT_2,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Physical error counter port 2")},
        {RegisterEnum::FRAME_ERROR_COUNTER_PORT_3,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Frame error counter port 3")},
        {RegisterEnum::PHYSICAL_ERROR_COUNTER_PORT_3,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Physical error counter port 3")},
        {RegisterEnum::PREVIOUS_ERROR_COUNTER_PORT_0,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Previous error counter port 0")},
        {RegisterEnum::PREVIOUS_ERROR_COUNTER_PORT_1,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Previous error counter port 1")},
        {RegisterEnum::PREVIOUS_ERROR_COUNTER_PORT_2,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Previous error counter port 2")},
        {RegisterEnum::PREVIOUS_ERROR_COUNTER_PORT_3,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Previous error counter port 3")},
        {RegisterEnum::MALFORMAT_FRAME_COUNTER,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Malformat frame counter")},
        {RegisterEnum::LOCAL_PROBLEM_COUNTER,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Local problem counter")},
        {RegisterEnum::LOST_LINK_COUNTER_PORT_0,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Lost link counter port 0")},
        {RegisterEnum::LOST_LINK_COUNTER_PORT_1,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Lost link counter port 1")},
        {RegisterEnum::LOST_LINK_COUNTER_PORT_2,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Lost link counter port 2")},
        {RegisterEnum::LOST_LINK_COUNTER_PORT_3,
         makeInfo<EtherCATDataTypeEnum::UNSIGNED8>("Lost link counter port 3")},
        {RegisterEnum::SII_READ_OPERATION,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII read operation")},
        {RegisterEnum::SII_WRITE_OPERATION,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII write operation")},
        {RegisterEnum::SII_RELOAD_OPERATION,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII reload operation")},
        {RegisterEnum::SII_CHECKSUM_ERROR,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII checksum error")},
        {RegisterEnum::SII_DEVICE_INFO_ERROR,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII device info error")},
        {RegisterEnum::SII_COMMAND_ERROR,
         makeInfo<EtherCATDataTypeEnum::BIT1>("SII command error")},
        {RegisterEnum::SII_WRITE_ERROR, makeInfo<EtherCATDataTypeEnum::BIT1>("SII write error")},
        {RegisterEnum::SII_BUSY, makeInfo<EtherCATDataTypeEnum::BIT1>("SII busy")},
        {RegisterEnum::SYSTEM_TIME, makeInfo<EtherCATDataTypeEnum::UNSIGNED64>("System time")},
    };
 
} // namespace armarx::control::ethercat::datatypes
 
namespace armarx::control::ethercat
{
    /*!
     * \brief Get the length of a register in bytes, rounded up.
     * \param reg the register to get the length of
     * \return the length of the register
     */
    std::size_t getRegisterByteLength(datatypes::RegisterEnum reg);
 
    /**
     * @struct RegisterDataList
     * @ingroup Library-ethercat
     * @brief Brief description of struct RegisterDataList.
     *
     * Detailed description of struct RegisterDataList.
     */
    struct RegisterDataList
    {
        std::uint16_t slaveIndex;
        std::map<datatypes::RegisterEnum, datatypes::RegisterEnumTypeContainer> registerData;
    };
} // namespace armarx::control::ethercat