/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it
 *  and/or modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; version 2 of the License.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *****************************************************************************/

/**
   \file
   Global definitions and macros.
*/

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

#ifndef _EC_GLOBALS_
#define _EC_GLOBALS_

#include <linux/types.h>

/******************************************************************************
 *  EtherCAT master
 *****************************************************************************/

/** master main version */
#define EC_MASTER_VERSION_MAIN  1

/** master sub version (after the dot) */
#define EC_MASTER_VERSION_SUB   0

/** master extra version (just a string) */
#define EC_MASTER_VERSION_EXTRA "stable"

/** maximum number of FMMUs per slave */
#define EC_MAX_FMMUS 16

/******************************************************************************
 *  EtherCAT protocol
 *****************************************************************************/

/** maximum size of an EtherCAT frame (without header and CRC) */
#define EC_MAX_FRAME_SIZE 1500

/** minimum size of an EtherCAT frame (without header and CRC) */
#define EC_MIN_FRAME_SIZE 46

/** size of an EtherCAT frame header */
#define EC_FRAME_HEADER_SIZE 2

/** size of an EtherCAT command header */
#define EC_COMMAND_HEADER_SIZE 10

/** size of an EtherCAT command footer */
#define EC_COMMAND_FOOTER_SIZE 2

/** size of a sync manager configuration page */
#define EC_SYNC_SIZE 8

/** size of an FMMU configuration page */
#define EC_FMMU_SIZE 16

/** resulting maximum data size of a single command in a frame */
#define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE - EC_FRAME_HEADER_SIZE \
                          - EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE)

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

#define EC_INFO(fmt, args...) \
    printk(KERN_INFO "EtherCAT: " fmt, ##args)
#define EC_ERR(fmt, args...) \
    printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
#define EC_WARN(fmt, args...) \
    printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
#define EC_DBG(fmt, args...) \
    printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)

#define EC_LIT(X) #X
#define EC_STR(X) EC_LIT(X)

/**
   Convenience macro for defining SysFS attributes.
*/

#define EC_SYSFS_READ_ATTR(NAME) \
    static struct attribute attr_##NAME = { \
        .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \
    }

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

extern void ec_print_data(const uint8_t *, size_t);
extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);

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

/**
   Code - Message pair.
   Some EtherCAT commands support reading a status code to display a certain
   message. This type allows to map a code to a message string.
*/

typedef struct
{
    uint32_t code; /**< code */
    const char *message; /**< message belonging to \a code */
}
ec_code_msg_t;

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

#endif