globals.h

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/*****************************************************************************
 *
 *  Copyright (C) 2006-2026  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT master.
 *
 *  The file is free software; you can redistribute it and/or modify it under
 *  the terms of the GNU Lesser General Public License as published by the
 *  Free Software Foundation; version 2.1 of the License.
 *
 *  This file 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 Lesser General Public
 *  License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with this file. If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************************/

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

#ifndef MASTER_GLOBALS_H_
#define MASTER_GLOBALS_H_

#include "../globals.h"
#include "../include/ecrt.h"

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

#define EC_IO_TIMEOUT 500

#define EC_BYTE_TRANSMISSION_TIME_NS 80

#define EC_FSM_RETRIES 3

#define EC_WAIT_SDO_DICT 3

#define EC_STATE_STRING_SIZE 32

#define EC_MAX_SII_SIZE 4096

#define EC_RATE_COUNT 3

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

#define EC_FRAME_HEADER_SIZE 2

#define EC_DATAGRAM_HEADER_SIZE 10

#define EC_DATAGRAM_FOOTER_SIZE 2

#define EC_ADDR_LEN 4

#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
                          - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)

#define EC_MBOX_HEADER_SIZE 6

#define EC_FIRST_SII_CATEGORY_OFFSET 0x40

#define EC_SII_WORD_OFFSET_ALIAS  (0x0004)

#define EC_SII_WORD_OFFSET_VENDOR (0x0008)

#define EC_SYNC_PAGE_SIZE 8

#define EC_MAX_FMMUS 16

#define EC_FMMU_PAGE_SIZE 16

#define EC_SYNC_SIGNAL_COUNT 2

#define EC_DATAGRAM_NAME_SIZE 20

#define EC_MAX_HOSTNAME_SIZE 32

#define EC_SLAVE_STATE_MASK 0x0F

typedef enum {
    EC_SLAVE_STATE_UNKNOWN = 0x00,
    EC_SLAVE_STATE_INIT = 0x01,
    EC_SLAVE_STATE_PREOP = 0x02,
    EC_SLAVE_STATE_BOOT = 0x03,
    EC_SLAVE_STATE_SAFEOP = 0x04,
    EC_SLAVE_STATE_OP = 0x08,
    EC_SLAVE_STATE_ACK_ERR = 0x10
} ec_slave_state_t;

enum {
    EC_MBOX_AOE = 0x01, 
    EC_MBOX_EOE = 0x02, 
    EC_MBOX_COE = 0x04, 
    EC_MBOX_FOE = 0x08, 
    EC_MBOX_SOE = 0x10, 
    EC_MBOX_VOE = 0x20  
};

typedef struct {
    uint8_t enable_sdo : 1; 
    uint8_t enable_sdo_info : 1; 
    uint8_t enable_pdo_assign : 1; 
    uint8_t enable_pdo_configuration : 1; 
    uint8_t enable_upload_at_startup : 1; 
    uint8_t enable_sdo_complete_access : 1; 
} ec_sii_coe_details_t;

typedef struct {
    uint8_t enable_safeop : 1; 
    uint8_t enable_not_lrw : 1; 
} ec_sii_general_flags_t;

typedef enum {
    EC_DC_32, 
    EC_DC_64 /*< 64 bit for system time, time offset and port receive time. */
} ec_slave_dc_range_t;

typedef struct {
    uint32_t cycle_time; 
    int32_t shift_time; 
} ec_sync_signal_t;

enum {
    EC_SDO_ENTRY_ACCESS_PREOP, 
    EC_SDO_ENTRY_ACCESS_SAFEOP, 
    EC_SDO_ENTRY_ACCESS_OP, 
    EC_SDO_ENTRY_ACCESS_COUNT 
};

typedef enum {
    EC_DEVICE_MAIN, 
    EC_DEVICE_BACKUP 
} ec_device_index_t;

extern const char *ec_device_names[2]; // only main and backup!

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

#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_ABS(X) ((X) >= 0 ? (X) : -(X))

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

extern char *ec_master_version_str;

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

unsigned int ec_master_count(void);
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 *, uint8_t);
ssize_t ec_mac_print(const uint8_t *, char *);
int ec_mac_is_zero(const uint8_t *);

ec_master_t *ecrt_request_master_err(unsigned int);

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

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

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

typedef enum {
    EC_INT_REQUEST_INIT,
    EC_INT_REQUEST_QUEUED,
    EC_INT_REQUEST_BUSY,
    EC_INT_REQUEST_SUCCESS,
    EC_INT_REQUEST_FAILURE
} ec_internal_request_state_t;

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

extern const ec_request_state_t ec_request_state_translation_table[];

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

typedef enum {
    EC_ORIG_INTERNAL, 
    EC_ORIG_EXTERNAL 
} ec_origin_t;

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

typedef struct ec_slave ec_slave_t; 
/****************************************************************************/

#endif  // MASTER_GLOBALS_H_