1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   Global definitions and macros.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_GLOBALS_

    42

#define _EC_GLOBALS_

    43

    44

#include <linux/types.h>

    45

    46

#include "../config.h"

    47

    48

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

    49

 *  EtherCAT master

    50

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

    51

    52

/** master main version */

    53

#define EC_MASTER_VERSION_MAIN  1

    54

    55

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

    56

#define EC_MASTER_VERSION_SUB   1

    57

    58

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

    59

#define EC_MASTER_VERSION_EXTRA "trunk"

    60

    61

/** Compile version info. */

    62

    63

#define EC_MASTER_VERSION EC_STR(EC_MASTER_VERSION_MAIN) \

    64

                          "." EC_STR(EC_MASTER_VERSION_SUB) \

    65

                          " " EC_MASTER_VERSION_EXTRA \

    66

                          " r" EC_STR(SVNREV)

    67

    68

/** maximum number of FMMUs per slave */

    69

#define EC_MAX_FMMUS 16

    70

    71

/** size of the EoE tx queue */

    72

#define EC_EOE_TX_QUEUE_SIZE 100

    73

    74

/** clock frequency for the EoE state machines */

    75

#define EC_EOE_FREQUENCY 1000

    76

    77

/** datagram timeout in microseconds */

    78

#define EC_IO_TIMEOUT 500

    79

    80

/** Seconds to wait before fetching SDO dictionary

    81

    after slave entered PREOP state. */

    82

#define EC_WAIT_SDO_DICT 3

    83

    84

/** minimum size of a buffer used with ec_state_string() */

    85

#define EC_STATE_STRING_SIZE 30

    86

    87

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

    88

 *  EtherCAT protocol

    89

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

    90

    91

/** size of an EtherCAT frame header */

    92

#define EC_FRAME_HEADER_SIZE 2

    93

    94

/** size of an EtherCAT datagram header */

    95

#define EC_DATAGRAM_HEADER_SIZE 10

    96

    97

/** size of an EtherCAT datagram footer */

    98

#define EC_DATAGRAM_FOOTER_SIZE 2

    99

   100

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

   101

#define EC_SYNC_SIZE 8

   102

   103

/** size of an FMMU configuration page */

   104

#define EC_FMMU_SIZE 16

   105

   106

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

   107

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \

   108

                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

   109

   110

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

   111

   112

/**

   113

   Convenience macro for printing EtherCAT-specific information to syslog.

   114

   This will print the message in \a fmt with a prefixed "EtherCAT: ".

   115

   \param fmt format string (like in printf())

   116

   \param args arguments (optional)

   117

*/

   118

   119

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

   120

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

   121

   122

/**

   123

   Convenience macro for printing EtherCAT-specific errors to syslog.

   124

   This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".

   125

   \param fmt format string (like in printf())

   126

   \param args arguments (optional)

   127

*/

   128

   129

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

   130

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

   131

   132

/**

   133

   Convenience macro for printing EtherCAT-specific warnings to syslog.

   134

   This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".

   135

   \param fmt format string (like in printf())

   136

   \param args arguments (optional)

   137

*/

   138

   139

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

   140

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

   141

   142

/**

   143

   Convenience macro for printing EtherCAT debug messages to syslog.

   144

   This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".

   145

   \param fmt format string (like in printf())

   146

   \param args arguments (optional)

   147

*/

   148

   149

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

   150

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

   151

   152

/**

   153

   Helper macro for EC_STR(), literates a macro argument.

   154

   \param X argument to literate.

   155

*/

   156

   157

#define EC_LIT(X) #X

   158

   159

/**

   160

   Converts a macro argument to a string.

   161

   \param X argument to stringify.

   162

*/

   163

   164

#define EC_STR(X) EC_LIT(X)

   165

   166

/**

   167

   Convenience macro for defining read-only SysFS attributes.

   168

   This results in creating a static variable called attr_\a NAME. The SysFS

   169

   file will be world-readable.

   170

   \param NAME name of the attribute to create.

   171

*/

   172

   173

#define EC_SYSFS_READ_ATTR(NAME) \

   174

    static struct attribute attr_##NAME = { \

   175

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

   176

    }

   177

   178

/**

   179

   Convenience macro for defining read-write SysFS attributes.

   180

   This results in creating a static variable called attr_\a NAME. The SysFS

   181

   file will be word-readable plus owner-writable.

   182

   \param NAME name of the attribute to create.

   183

*/

   184

   185

#define EC_SYSFS_READ_WRITE_ATTR(NAME) \

   186

    static struct attribute attr_##NAME = { \

   187

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

   188

    }

   189

   190

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

   191

   192

void ec_print_data(const uint8_t *, size_t);

   193

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

   194

size_t ec_state_string(uint8_t, char *);

   195

   196

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

   197

   198

/**

   199

   Code - Message pair.

   200

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

   201

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

   202

*/

   203

   204

typedef struct

   205

{

   206

    uint32_t code; /**< code */

   207

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

   208

}

   209

ec_code_msg_t;

   210

   211

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

   212

   213

#endif