70 *****************************************************************************/ |
70 *****************************************************************************/ |
71 |
71 |
72 /** size of an EtherCAT frame header */ |
72 /** size of an EtherCAT frame header */ |
73 #define EC_FRAME_HEADER_SIZE 2 |
73 #define EC_FRAME_HEADER_SIZE 2 |
74 |
74 |
75 /** size of an EtherCAT command header */ |
75 /** size of an EtherCAT datagram header */ |
76 #define EC_COMMAND_HEADER_SIZE 10 |
76 #define EC_DATAGRAM_HEADER_SIZE 10 |
77 |
77 |
78 /** size of an EtherCAT command footer */ |
78 /** size of an EtherCAT datagram footer */ |
79 #define EC_COMMAND_FOOTER_SIZE 2 |
79 #define EC_DATAGRAM_FOOTER_SIZE 2 |
80 |
80 |
81 /** size of a sync manager configuration page */ |
81 /** size of a sync manager configuration page */ |
82 #define EC_SYNC_SIZE 8 |
82 #define EC_SYNC_SIZE 8 |
83 |
83 |
84 /** size of an FMMU configuration page */ |
84 /** size of an FMMU configuration page */ |
85 #define EC_FMMU_SIZE 16 |
85 #define EC_FMMU_SIZE 16 |
86 |
86 |
87 /** resulting maximum data size of a single command in a frame */ |
87 /** resulting maximum data size of a single datagram in a frame */ |
88 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \ |
88 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \ |
89 - EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE) |
89 - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE) |
90 |
90 |
91 /*****************************************************************************/ |
91 /*****************************************************************************/ |
92 |
92 |
93 /** |
93 /** |
94 Convenience macro for printing EtherCAT-specific information to syslog. |
94 Convenience macro for printing EtherCAT-specific information to syslog. |