/******************************************************************************
*
* $Id$
*
* 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; either version 2 of the
* License, or (at your option) any later version.
*
* 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
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Global definitions and macros.
*/
/*****************************************************************************/
#ifndef _EC_MASTER_GLOBALS_
#define _EC_MASTER_GLOBALS_
#include <linux/types.h>
#include "../globals.h"
/******************************************************************************
* EtherCAT master
*****************************************************************************/
/** maximum number of FMMUs per slave */
#define EC_MAX_FMMUS 16
/** size of the EoE tx queue */
#define EC_EOE_TX_QUEUE_SIZE 100
/** clock frequency for the EoE state machines */
#define EC_EOE_FREQUENCY 1000
/** datagram timeout in microseconds */
#define EC_IO_TIMEOUT 500
/** number of state machine retries on datagram timeout */
#define EC_FSM_RETRIES 3
/** Seconds to wait before fetching SDO dictionary
after slave entered PREOP state. */
#define EC_WAIT_SDO_DICT 3
/** minimum size of a buffer used with ec_state_string() */
#define EC_STATE_STRING_SIZE 32
/******************************************************************************
* EtherCAT protocol
*****************************************************************************/
/** size of an EtherCAT frame header */
#define EC_FRAME_HEADER_SIZE 2
/** size of an EtherCAT datagram header */
#define EC_DATAGRAM_HEADER_SIZE 10
/** size of an EtherCAT datagram footer */
#define EC_DATAGRAM_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 datagram in a frame */
#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
- EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
/*****************************************************************************/
/**
Convenience macro for printing EtherCAT-specific information to syslog.
This will print the message in \a fmt with a prefixed "EtherCAT: ".
\param fmt format string (like in printf())
\param args arguments (optional)
*/
#define EC_INFO(fmt, args...) \
printk(KERN_INFO "EtherCAT: " fmt, ##args)
/**
Convenience macro for printing EtherCAT-specific errors to syslog.
This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
\param fmt format string (like in printf())
\param args arguments (optional)
*/
#define EC_ERR(fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
/**
Convenience macro for printing EtherCAT-specific warnings to syslog.
This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
\param fmt format string (like in printf())
\param args arguments (optional)
*/
#define EC_WARN(fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
/**
Convenience macro for printing EtherCAT debug messages to syslog.
This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
\param fmt format string (like in printf())
\param args arguments (optional)
*/
#define EC_DBG(fmt, args...) \
printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
/**
Convenience macro for defining read-only SysFS attributes.
This results in creating a static variable called attr_\a NAME. The SysFS
file will be world-readable.
\param NAME name of the attribute to create.
*/
#define EC_SYSFS_READ_ATTR(NAME) \
static struct attribute attr_##NAME = { \
.name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \
}
/**
Convenience macro for defining read-write SysFS attributes.
This results in creating a static variable called attr_\a NAME. The SysFS
file will be word-readable plus owner-writable.
\param NAME name of the attribute to create.
*/
#define EC_SYSFS_READ_WRITE_ATTR(NAME) \
static struct attribute attr_##NAME = { \
.name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO | S_IWUSR \
}
/*****************************************************************************/
extern char *ec_master_version_str;
/*****************************************************************************/
void ec_print_data(const uint8_t *, size_t);
void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
size_t ec_state_string(uint8_t, char *);
/*****************************************************************************/
/**
Code - Message pair.
Some EtherCAT datagrams 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