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