equal
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inserted
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51 |
51 |
52 /****************************************************************************** |
52 /****************************************************************************** |
53 * EtherCAT protocol |
53 * EtherCAT protocol |
54 *****************************************************************************/ |
54 *****************************************************************************/ |
55 |
55 |
56 /** maximum size of an EtherCAT frame (without header and CRC) */ |
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57 #define EC_MAX_FRAME_SIZE 1500 |
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58 |
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59 /** minimum size of an EtherCAT frame (without header and CRC) */ |
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60 #define EC_MIN_FRAME_SIZE 46 |
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61 |
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62 /** size of an EtherCAT frame header */ |
56 /** size of an EtherCAT frame header */ |
63 #define EC_FRAME_HEADER_SIZE 2 |
57 #define EC_FRAME_HEADER_SIZE 2 |
64 |
58 |
65 /** size of an EtherCAT command header */ |
59 /** size of an EtherCAT command header */ |
66 #define EC_COMMAND_HEADER_SIZE 10 |
60 #define EC_COMMAND_HEADER_SIZE 10 |
73 |
67 |
74 /** size of an FMMU configuration page */ |
68 /** size of an FMMU configuration page */ |
75 #define EC_FMMU_SIZE 16 |
69 #define EC_FMMU_SIZE 16 |
76 |
70 |
77 /** resulting maximum data size of a single command in a frame */ |
71 /** resulting maximum data size of a single command in a frame */ |
78 #define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE - EC_FRAME_HEADER_SIZE \ |
72 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \ |
79 - EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE) |
73 - EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE) |
80 |
74 |
81 /*****************************************************************************/ |
75 /*****************************************************************************/ |
82 |
76 |
83 #define EC_INFO(fmt, args...) \ |
77 #define EC_INFO(fmt, args...) \ |