author | Florian Pose <fp@igh-essen.com> |
Wed, 19 Jul 2006 13:18:35 +0000 | |
changeset 307 | ffec9aae50a5 |
parent 293 | 14aeb79aa992 |
child 325 | 7833cf70c4f2 |
permissions | -rw-r--r-- |
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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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/** |
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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_GLOBALS_ |
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#define _EC_GLOBALS_ |
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#include <linux/types.h> |
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/****************************************************************************** |
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* EtherCAT master |
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*****************************************************************************/ |
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/** master main version */ |
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#define EC_MASTER_VERSION_MAIN 1 |
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|
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/** master sub version (after the dot) */ |
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#define EC_MASTER_VERSION_SUB 0 |
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/** master extra version (just a string) */ |
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#define EC_MASTER_VERSION_EXTRA "trunk" |
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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 the EoE tx queue */ |
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#define EC_EOE_TX_QUEUE_SIZE 100 |
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/** clock frequency for the EoE state machines */ |
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#define EC_EOE_FREQUENCY 1000 |
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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 a sync manager configuration page */ |
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#define EC_SYNC_SIZE 8 |
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/** size of an FMMU configuration page */ |
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#define EC_FMMU_SIZE 16 |
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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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/*****************************************************************************/ |
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/** |
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Convenience macro for printing EtherCAT-specific information to syslog. |
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This will print the message in \a fmt with a prefixed "EtherCAT: ". |
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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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/** |
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Convenience macro for printing EtherCAT-specific errors to syslog. |
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This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ". |
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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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/** |
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Convenience macro for printing EtherCAT-specific warnings to syslog. |
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This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ". |
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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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/** |
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Convenience macro for printing EtherCAT debug messages to syslog. |
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This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ". |
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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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Helper macro for EC_STR(), literates a macro argument. |
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\param X argument to literate. |
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*/ |
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#define EC_LIT(X) #X |
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/** |
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Converts a macro argument to a string. |
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\param X argument to stringify. |
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*/ |
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#define EC_STR(X) EC_LIT(X) |
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/** |
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Convenience macro for defining read-only SysFS attributes. |
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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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\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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/** |
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Convenience macro for defining read-write SysFS attributes. |
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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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\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 | 171 |
/*****************************************************************************/ |
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extern void ec_print_data(const uint8_t *, size_t); |
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extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t); |
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extern void ec_print_states(uint8_t); |
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|
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/*****************************************************************************/ |
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|
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/** |
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Code - Message pair. |
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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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|
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typedef struct |
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{ |
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uint32_t code; /**< code */ |
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const char *message; /**< message belonging to \a code */ |
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} |
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ec_code_msg_t; |
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|
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/*****************************************************************************/ |
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0 | 194 |
#endif |
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195 |