globals.h

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/******************************************************************************
 *
 *  $Id: globals.h 682 2006-11-07 12:13:30Z fp $
 *
 *  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.
 *
 *****************************************************************************/

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

#ifndef _EC_MASTER_GLOBALS_
#define _EC_MASTER_GLOBALS_

#include <linux/types.h>

#include "../globals.h"

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

#define EC_MAX_FMMUS 16

#define EC_EOE_TX_QUEUE_SIZE 100

#define EC_EOE_FREQUENCY 1000

#define EC_IO_TIMEOUT 500

#define EC_WAIT_SDO_DICT 3

#define EC_STATE_STRING_SIZE 32

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

#define EC_FRAME_HEADER_SIZE 2

#define EC_DATAGRAM_HEADER_SIZE 10

#define EC_DATAGRAM_FOOTER_SIZE 2

#define EC_SYNC_SIZE 8

#define EC_FMMU_SIZE 16

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_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_SYSFS_READ_ATTR(NAME) \
    static struct attribute attr_##NAME = { \
        .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \
    }

#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 *);

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

typedef struct
{
    uint32_t code; 
    const char *message; 
}
ec_code_msg_t;

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

#endif

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