equal
deleted
inserted
replaced
63 #define EC_WAIT_SDO_DICT 3 |
63 #define EC_WAIT_SDO_DICT 3 |
64 |
64 |
65 /** minimum size of a buffer used with ec_state_string() */ |
65 /** minimum size of a buffer used with ec_state_string() */ |
66 #define EC_STATE_STRING_SIZE 32 |
66 #define EC_STATE_STRING_SIZE 32 |
67 |
67 |
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68 /** maximum EEPROM size in words, to avoid infinite reading. */ |
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69 #define EC_MAX_EEPROM_SIZE 512 |
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70 |
68 /****************************************************************************** |
71 /****************************************************************************** |
69 * EtherCAT protocol |
72 * EtherCAT protocol |
70 *****************************************************************************/ |
73 *****************************************************************************/ |
71 |
74 |
72 /** size of an EtherCAT frame header */ |
75 /** size of an EtherCAT frame header */ |
79 #define EC_DATAGRAM_FOOTER_SIZE 2 |
82 #define EC_DATAGRAM_FOOTER_SIZE 2 |
80 |
83 |
81 /** resulting maximum data size of a single datagram in a frame */ |
84 /** resulting maximum data size of a single datagram in a frame */ |
82 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \ |
85 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \ |
83 - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE) |
86 - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE) |
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87 |
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88 /** word offset of first EEPROM category. */ |
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89 #define EC_FIRST_EEPROM_CATEGORY_OFFSET 0x40 |
84 |
90 |
85 /*****************************************************************************/ |
91 /*****************************************************************************/ |
86 |
92 |
87 /** |
93 /** |
88 Convenience macro for printing EtherCAT-specific information to syslog. |
94 Convenience macro for printing EtherCAT-specific information to syslog. |