master/globals.h
author Gavin Lambert <gavinl@compacsort.com>
Tue, 14 Apr 2015 09:35:15 -0400
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parent 2615 bc34e2303fd6
permissions -rwxr-xr-x
Abort requests started for slave_configs that don't have any actual slaves.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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_MASTER_GLOBALS_H__
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#define __EC_MASTER_GLOBALS_H__
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#include "../globals.h"
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#include "../include/ecrt.h"
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/******************************************************************************
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 * EtherCAT master
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 *****************************************************************************/
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/** Datagram timeout in microseconds. */
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#define EC_IO_TIMEOUT 500
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/** SDO injection timeout in microseconds. */
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#define EC_SDO_INJECTION_TIMEOUT 10000
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/** Time to send a byte in nanoseconds.
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 *
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 * t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte
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 */
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#define EC_BYTE_TRANSMISSION_TIME_NS 80
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/** Number of state machine retries on datagram timeout. */
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#define EC_FSM_RETRIES 3
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/** Seconds to wait before fetching SDO dictionary
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    after slave entered PREOP state. */
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#define EC_WAIT_SDO_DICT 3
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/** Minimum size of a buffer used with ec_state_string(). */
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#define EC_STATE_STRING_SIZE 32
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/** Maximum SII size in words, to avoid infinite reading. */
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#define EC_MAX_SII_SIZE 4096
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/** Number of statistic rate intervals to maintain. */
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#define EC_RATE_COUNT 3
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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 datagram header. */
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#define EC_DATAGRAM_HEADER_SIZE 10
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/** Size of an EtherCAT datagram footer. */
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#define EC_DATAGRAM_FOOTER_SIZE 2
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/** Size of the EtherCAT address field. */
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#define EC_ADDR_LEN 4
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/** Resulting maximum data size of a single datagram in a frame. */
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#ifdef DEBUG_DATAGRAM_OVERFLOW
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// Define a runt datagram which can be easily overflowed on 
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// available hardware for use when testing ec_domain_finish()
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#define EC_MAX_DATA_SIZE (128)
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#else
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#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
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                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
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#endif // DEBUG_DATAGRAM_OVERFLOW
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/** Mailbox header size.  */
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#define EC_MBOX_HEADER_SIZE 6
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/** Word offset of first SII category. */
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#define EC_FIRST_SII_CATEGORY_OFFSET 0x40
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/** Size of a sync manager configuration page. */
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#define EC_SYNC_PAGE_SIZE 8
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/** Maximum number of FMMUs per slave. */
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#define EC_MAX_FMMUS 16
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/** Size of an FMMU configuration page. */
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#define EC_FMMU_PAGE_SIZE 16
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/** Number of DC sync signals. */
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#define EC_SYNC_SIGNAL_COUNT 2
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/** Size of the datagram description string.
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 *
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 * This is also used as the maximum lenth of EoE device names.
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 **/
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#define EC_DATAGRAM_NAME_SIZE 20
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/** Maximum hostname size.
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 *
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 * Used inside the EoE set IP parameter request.
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 */
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#define EC_MAX_HOSTNAME_SIZE 32
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989
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/** Slave state mask.
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 *
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 * Apply this mask to a slave state byte to get the slave state without
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 * the error flag.
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 */
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#define EC_SLAVE_STATE_MASK 0x0F
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/** State of an EtherCAT slave.
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 */
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typedef enum {
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    EC_SLAVE_STATE_UNKNOWN = 0x00,
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    /**< unknown state */
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    EC_SLAVE_STATE_INIT = 0x01,
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    /**< INIT state (no mailbox communication, no IO) */
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    EC_SLAVE_STATE_PREOP = 0x02,
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    /**< PREOP state (mailbox communication, no IO) */
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    EC_SLAVE_STATE_BOOT = 0x03,
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    /**< Bootstrap state (mailbox communication, firmware update) */
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    EC_SLAVE_STATE_SAFEOP = 0x04,
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    /**< SAFEOP (mailbox communication and input update) */
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    EC_SLAVE_STATE_OP = 0x08,
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    /**< OP (mailbox communication and input/output update) */
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    EC_SLAVE_STATE_ACK_ERR = 0x10
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    /**< Acknowledge/Error bit (no actual state) */
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} ec_slave_state_t;
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/** Supported mailbox protocols.
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 *
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 * Not to mix up with the mailbox type field in the mailbox header defined in
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 * master/mailbox.h.
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 */
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enum {
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    EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
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    EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
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    EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
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    EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
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    EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
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    EC_MBOX_VOE = 0x20  /**< Vendor specific */
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};
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/** Slave information interface CANopen over EtherCAT details flags.
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 */
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typedef struct {
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    uint8_t enable_sdo : 1; /**< Enable SDO access. */
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    uint8_t enable_sdo_info : 1; /**< SDO information service available. */
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    uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
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    uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
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    uint8_t enable_upload_at_startup : 1; /**< ?. */
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    uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
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} ec_sii_coe_details_t;
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/** Slave information interface general flags.
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 */
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typedef struct {
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    uint8_t enable_safeop : 1; /**< ?. */
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    uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
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} ec_sii_general_flags_t;
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/** EtherCAT slave distributed clocks range.
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 */
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typedef enum {
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    EC_DC_32, /**< 32 bit. */
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    EC_DC_64 /*< 64 bit for system time, system time offset and
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               port 0 receive time. */
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} ec_slave_dc_range_t;
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/** EtherCAT slave sync signal configuration.
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 */
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typedef struct {
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    uint32_t cycle_time; /**< Cycle time [ns]. */
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    int32_t shift_time; /**< Shift time [ns]. */
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} ec_sync_signal_t;
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/** Access states for SDO entries.
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 *
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 * The access rights are managed per AL state.
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 */
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enum {
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    EC_SDO_ENTRY_ACCESS_PREOP, /**< Access rights in PREOP. */
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    EC_SDO_ENTRY_ACCESS_SAFEOP, /**< Access rights in SAFEOP. */
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    EC_SDO_ENTRY_ACCESS_OP, /**< Access rights in OP. */
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    EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
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};
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/** Master devices.
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 */
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typedef enum {
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    EC_DEVICE_MAIN, /**< Main device. */
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    EC_DEVICE_BACKUP /**< Backup device */
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} ec_device_index_t;
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extern const char *ec_device_names[2]; // only main and backup!
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/*****************************************************************************/
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/** Convenience macro for printing EtherCAT-specific information to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT: ".
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 *
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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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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/** Convenience macro for printing EtherCAT-specific errors to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
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 *
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_ERR(fmt, args...) \
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    printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
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/** Convenience macro for printing EtherCAT-specific warnings to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
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 *
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_WARN(fmt, args...) \
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    printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
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/** Convenience macro for printing EtherCAT debug messages to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
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 *
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_DBG(fmt, args...) \
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    printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
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41
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/*****************************************************************************/
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/** Absolute value.
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 */
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#define EC_ABS(X) ((X) >= 0 ? (X) : -(X))
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/*****************************************************************************/
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444
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extern char *ec_master_version_str;
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/*****************************************************************************/
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unsigned int ec_master_count(void);
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void ec_print_data(const uint8_t *, size_t);
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void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
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size_t ec_state_string(uint8_t, char *, uint8_t);
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ssize_t ec_mac_print(const uint8_t *, char *);
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int ec_mac_is_zero(const uint8_t *);
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ec_master_t *ecrt_request_master_err(unsigned int);
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/*****************************************************************************/
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/** Code/Message pair.
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 *
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 * Some EtherCAT datagrams 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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    uint32_t code; /**< Code. */
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    const char *message; /**< Message belonging to \a code. */
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} ec_code_msg_t;
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/*****************************************************************************/
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/** Generic request state.
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 *
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 * \attention If ever changing this, please be sure to adjust the \a
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 * state_table in master/sdo_request.c.
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 */
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typedef enum {
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    EC_INT_REQUEST_INIT,
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    EC_INT_REQUEST_QUEUED,
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    EC_INT_REQUEST_BUSY,
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    EC_INT_REQUEST_SUCCESS,
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    EC_INT_REQUEST_FAILURE
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} ec_internal_request_state_t;
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/*****************************************************************************/
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extern const ec_request_state_t ec_request_state_translation_table[];
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/*****************************************************************************/
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/** Origin type.
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 */
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typedef enum {
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    EC_ORIG_INTERNAL, /**< Internal. */
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    EC_ORIG_EXTERNAL /**< External. */
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} ec_origin_t;
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/*****************************************************************************/
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typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */
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/*****************************************************************************/
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#endif