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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *****************************************************************************/

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/**

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   \file

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   Global definitions and macros.

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*/

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/*****************************************************************************/

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#ifndef _EC_GLOBALS_

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#define _EC_GLOBALS_

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#include <linux/types.h>

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/******************************************************************************

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 *  EtherCAT master

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 *****************************************************************************/

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/** master main version */

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#define EC_MASTER_VERSION_MAIN  1

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/** master sub version (after the dot) */

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#define EC_MASTER_VERSION_SUB   0

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/** master extra version (just a string) */

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#define EC_MASTER_VERSION_EXTRA "stable"

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/** maximum number of FMMUs per slave */

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#define EC_MAX_FMMUS 16

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/******************************************************************************

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 *  EtherCAT protocol

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 *****************************************************************************/

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/** size of an EtherCAT frame header */

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#define EC_FRAME_HEADER_SIZE 2

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/** size of an EtherCAT command header */

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#define EC_COMMAND_HEADER_SIZE 10

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/** size of an EtherCAT command footer */

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#define EC_COMMAND_FOOTER_SIZE 2

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/** size of a sync manager configuration page */

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#define EC_SYNC_SIZE 8

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/** size of an FMMU configuration page */

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#define EC_FMMU_SIZE 16

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/** resulting maximum data size of a single command in a frame */

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                          - EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE)

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/*****************************************************************************/

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#define EC_INFO(fmt, args...) \

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    printk(KERN_INFO "EtherCAT: " fmt, ##args)

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#define EC_ERR(fmt, args...) \

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    printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)

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#define EC_WARN(fmt, args...) \

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    printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)

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#define EC_DBG(fmt, args...) \

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    printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)

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#define EC_LIT(X) #X

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#define EC_STR(X) EC_LIT(X)

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/**

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*/

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#define EC_SYSFS_READ_ATTR(NAME) \

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    static struct attribute attr_##NAME = { \

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        .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \

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    }

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/*****************************************************************************/

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extern void ec_print_data(const uint8_t *, size_t);

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extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);

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/*****************************************************************************/

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/**

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   Code - Message pair.

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   Some EtherCAT commands support reading a status code to display a certain

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   message. This type allows to map a code to a message string.

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*/

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typedef struct

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{

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    uint32_t code; /**< code */

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    const char *message; /**< message belonging to \a code */

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}

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ec_code_msg_t;

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/*****************************************************************************/

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#endif

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