master/globals.h
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 07:14:00 +0000
changeset 1243 13cb18b91627
parent 1217 e8a9785e63c3
child 1312 74853e018898
permissions -rw-r--r--
Added changes since 1.4.0-rc2.
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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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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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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 <linux/types.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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/** Clock frequency for the EoE state machines. */
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#define EC_EOE_FREQUENCY 1000
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/** Datagram timeout in microseconds. */
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#define EC_IO_TIMEOUT 500
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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 1024
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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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#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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/** 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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/** Maximum number of slave ports. */
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#define EC_MAX_PORTS 4
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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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/** 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_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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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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/*****************************************************************************/
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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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/** Convenience macro for defining read-only SysFS attributes.
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 *
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 * This results in creating a static variable called attr_\a NAME. The SysFS
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 * file will be world-readable.
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 *
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 * \param NAME name of the attribute to create.
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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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/** Convenience macro for defining read-write SysFS attributes.
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 *
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 * This results in creating a static variable called attr_\a NAME. The SysFS
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 * file will be word-readable plus owner-writable.
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 *
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 * \param NAME name of the attribute to create.
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 */
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#define EC_SYSFS_READ_WRITE_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 | S_IWUSR \
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    }
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41
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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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325
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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 *);
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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 *);
152
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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;
164
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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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809
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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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0
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#endif