fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1618:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1618:  *
fp@1618:  *  This file is part of the IgH EtherCAT Master.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1618:  *  and/or modify it under the terms of the GNU General Public License
fp@1619:  *  as published by the Free Software Foundation; either version 2 of the
fp@1619:  *  License, or (at your option) any later version.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1618:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1618:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1618:  *  GNU General Public License for more details.
fp@1618:  *
fp@1618:  *  You should have received a copy of the GNU General Public License
fp@1618:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1618:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1618:  *
fp@1619:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1619:  *  charge under condition of compatibility of product made by
fp@1619:  *  Licensee. People intending to distribute/sell products based on the
fp@1619:  *  code, have to sign an agreement to guarantee that products using
fp@1619:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1619:  *  EtherCAT specification (which are released themselves as an open
fp@1619:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1619:  *  Technology, IP and trade marks.
fp@1619:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@1618: /**
fp@1618:    \file
fp@1618:    Global definitions and macros.
fp@1618: */
fp@1618: 
fp@1618: /*****************************************************************************/
fp@1618: 
fp@0: #ifndef _EC_GLOBALS_
fp@0: #define _EC_GLOBALS_
fp@0: 
fp@152: #include <linux/types.h>
fp@152: 
fp@1617: /******************************************************************************
fp@1617:  *  EtherCAT master
fp@1617:  *****************************************************************************/
fp@41: 
fp@1618: /** master main version */
fp@1617: #define EC_MASTER_VERSION_MAIN  1
fp@1618: 
fp@1618: /** master sub version (after the dot) */
fp@1617: #define EC_MASTER_VERSION_SUB   0
fp@1618: 
fp@1618: /** master extra version (just a string) */
fp@1617: #define EC_MASTER_VERSION_EXTRA "stable"
fp@1617: 
fp@1617: /** maximum number of FMMUs per slave */
fp@1617: #define EC_MAX_FMMUS 16
fp@1617: 
fp@1619: /** size of the EoE tx queue */
fp@1619: #define EC_EOE_TX_QUEUE_SIZE 100
fp@1619: 
fp@1619: /** clock frequency for the EoE state machines */
fp@1619: #define EC_EOE_FREQUENCY 1000
fp@1619: 
fp@1617: /******************************************************************************
fp@1617:  *  EtherCAT protocol
fp@1617:  *****************************************************************************/
fp@1617: 
fp@1617: /** size of an EtherCAT frame header */
fp@1617: #define EC_FRAME_HEADER_SIZE 2
fp@1617: 
fp@1624: /** size of an EtherCAT datagram header */
fp@1624: #define EC_DATAGRAM_HEADER_SIZE 10
fp@1617: 
fp@1624: /** size of an EtherCAT datagram footer */
fp@1624: #define EC_DATAGRAM_FOOTER_SIZE 2
fp@1617: 
fp@1617: /** size of a sync manager configuration page */
fp@1617: #define EC_SYNC_SIZE 8
fp@1617: 
fp@1617: /** size of an FMMU configuration page */
fp@1617: #define EC_FMMU_SIZE 16
fp@1617: 
fp@1624: /** resulting maximum data size of a single datagram in a frame */
fp@1619: #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
fp@1624:                           - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
fp@0: 
fp@152: /*****************************************************************************/
fp@152: 
fp@1619: /**
fp@1619:    Convenience macro for printing EtherCAT-specific information to syslog.
fp@1619:    This will print the message in \a fmt with a prefixed "EtherCAT: ".
fp@1619:    \param fmt format string (like in printf())
fp@1619:    \param args arguments (optional)
fp@1619: */
fp@1619: 
fp@84: #define EC_INFO(fmt, args...) \
fp@84:     printk(KERN_INFO "EtherCAT: " fmt, ##args)
fp@1619: 
fp@1619: /**
fp@1619:    Convenience macro for printing EtherCAT-specific errors to syslog.
fp@1619:    This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
fp@1619:    \param fmt format string (like in printf())
fp@1619:    \param args arguments (optional)
fp@1619: */
fp@1619: 
fp@84: #define EC_ERR(fmt, args...) \
fp@84:     printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
fp@1619: 
fp@1619: /**
fp@1619:    Convenience macro for printing EtherCAT-specific warnings to syslog.
fp@1619:    This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
fp@1619:    \param fmt format string (like in printf())
fp@1619:    \param args arguments (optional)
fp@1619: */
fp@1619: 
fp@84: #define EC_WARN(fmt, args...) \
fp@84:     printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
fp@1619: 
fp@1619: /**
fp@1619:    Convenience macro for printing EtherCAT debug messages to syslog.
fp@1619:    This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
fp@1619:    \param fmt format string (like in printf())
fp@1619:    \param args arguments (optional)
fp@1619: */
fp@1619: 
fp@84: #define EC_DBG(fmt, args...) \
fp@84:     printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
fp@84: 
fp@1619: /**
fp@1619:    Helper macro for EC_STR(), literates a macro argument.
fp@1619:    \param X argument to literate.
fp@1619: */
fp@1619: 
fp@184: #define EC_LIT(X) #X
fp@1619: 
fp@1619: /**
fp@1619:    Converts a macro argument to a string.
fp@1619:    \param X argument to stringify.
fp@1619: */
fp@1619: 
fp@184: #define EC_STR(X) EC_LIT(X)
fp@184: 
fp@1618: /**
fp@1619:    Convenience macro for defining read-only SysFS attributes.
fp@1619:    This results in creating a static variable called attr_\a NAME. The SysFS
fp@1619:    file will be world-readable.
fp@1619:    \param NAME name of the attribute to create.
fp@1618: */
fp@1618: 
fp@184: #define EC_SYSFS_READ_ATTR(NAME) \
fp@184:     static struct attribute attr_##NAME = { \
fp@184:         .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \
fp@184:     }
fp@184: 
fp@1619: /**
fp@1619:    Convenience macro for defining read-write SysFS attributes.
fp@1619:    This results in creating a static variable called attr_\a NAME. The SysFS
fp@1619:    file will be word-readable plus owner-writable.
fp@1619:    \param NAME name of the attribute to create.
fp@1619: */
fp@1619: 
fp@1619: #define EC_SYSFS_READ_WRITE_ATTR(NAME) \
fp@1619:     static struct attribute attr_##NAME = { \
fp@1619:         .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO | S_IWUSR \
fp@1619:     }
fp@1619: 
fp@41: /*****************************************************************************/
fp@41: 
fp@152: extern void ec_print_data(const uint8_t *, size_t);
fp@152: extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
fp@1619: extern void ec_print_states(uint8_t);
fp@152: 
fp@152: /*****************************************************************************/
fp@152: 
fp@164: /**
fp@195:    Code - Message pair.
fp@1624:    Some EtherCAT datagrams support reading a status code to display a certain
fp@164:    message. This type allows to map a code to a message string.
fp@164: */
fp@164: 
fp@164: typedef struct
fp@164: {
fp@195:     uint32_t code; /**< code */
fp@195:     const char *message; /**< message belonging to \a code */
fp@164: }
fp@164: ec_code_msg_t;
fp@164: 
fp@164: /*****************************************************************************/
fp@164: 
fp@0: #endif
fp@73: