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

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extern char *ec_master_version_str;

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

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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 *);

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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