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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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#ifdef __KERNEL__

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#include <linux/version.h>

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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,24)

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#include <linux/rtmutex.h>

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#endif  // KERNEL_VERSION(2,6,24)

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#endif // __KERNEL__

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#ifdef CONFIG_TRACING

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//#define USE_TRACE_PRINTK

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#endif

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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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/** FSM injection timeout in microseconds. */

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#define EC_FSM_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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#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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/** 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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/** 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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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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    uint32_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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/*****************************************************************************/

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

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

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#ifdef __KERNEL__

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/** Mutual exclusion helpers.

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 *

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 */

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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,24)

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#define ec_mutex_t rt_mutex

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static inline void ec_mutex_init(struct ec_mutex_t *mutex)

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{

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    rt_mutex_init(mutex);

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}

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static inline void ec_mutex_lock(struct ec_mutex_t *mutex)

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{

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    rt_mutex_lock(mutex);

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}

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static inline int ec_mutex_trylock(struct ec_mutex_t *mutex)

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{

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    return rt_mutex_trylock(mutex);

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}

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static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *mutex)

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{

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    return rt_mutex_lock_interruptible(mutex,0);

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}

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static inline void ec_mutex_unlock(struct ec_mutex_t *mutex)

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{

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    rt_mutex_unlock(mutex);

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}

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#else   // < KERNEL_VERSION(2,6,24)

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#define ec_mutex_t semaphore

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static inline void ec_mutex_init(struct ec_mutex_t *sem)

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{

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    sema_init(sem, 1);

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}

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static inline void ec_mutex_lock(struct ec_mutex_t *sem)

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{

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    down(sem);

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}

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static inline int ec_mutex_trylock(struct ec_mutex_t *sem)

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{

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    down(sem);

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    return 1;

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}

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static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *sem)

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{

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    return down_interruptible(sem);

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}

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static inline void ec_mutex_unlock(struct ec_mutex_t *sem)

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{

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    up(sem);

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}

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#endif // KERNEL_VERSION(2,6,24)

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#endif // __KERNEL__

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#endif