92 lines
3.4 KiB
C
92 lines
3.4 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 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 and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* 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 along
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* 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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****************************************************************************/
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/** \file
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* EtherCAT FMMU configuration methods.
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*/
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/****************************************************************************/
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#include "globals.h"
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#include "slave_config.h"
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#include "master.h"
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#include "fmmu_config.h"
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/****************************************************************************/
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/** FMMU configuration constructor.
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*
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* Inits an FMMU configuration, sets the logical start address and adds the
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* process data size for the mapped PDOs of the given direction to the domain
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* data size.
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*/
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void ec_fmmu_config_init(
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ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
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ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
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ec_domain_t *domain, /**< EtherCAT domain. */
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uint8_t sync_index, /**< Sync manager index to use. */
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ec_direction_t dir /**< PDO direction. */
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)
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{
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INIT_LIST_HEAD(&fmmu->list);
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fmmu->sc = sc;
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fmmu->sync_index = sync_index;
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fmmu->dir = dir;
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fmmu->logical_start_address = domain->data_size;
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fmmu->data_size = ec_pdo_list_total_size(
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&sc->sync_configs[sync_index].pdos);
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ec_domain_add_fmmu_config(domain, fmmu);
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}
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/****************************************************************************/
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/** Initializes an FMMU configuration page.
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*
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* The referenced memory (\a data) must be at least EC_FMMU_PAGE_SIZE bytes.
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*/
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void ec_fmmu_config_page(
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const ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
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const ec_sync_t *sync, /**< Sync manager. */
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uint8_t *data /**> Configuration page memory. */
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)
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{
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EC_CONFIG_DBG(fmmu->sc, 1, "FMMU: LogAddr 0x%08X, Size %3u,"
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" PhysAddr 0x%04X, SM%u, Dir %s\n",
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fmmu->logical_start_address, fmmu->data_size,
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sync->physical_start_address, fmmu->sync_index,
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fmmu->dir == EC_DIR_INPUT ? "in" : "out");
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EC_WRITE_U32(data, fmmu->logical_start_address);
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EC_WRITE_U16(data + 4, fmmu->data_size); // size of fmmu
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EC_WRITE_U8 (data + 6, 0x00); // logical start bit
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EC_WRITE_U8 (data + 7, 0x07); // logical end bit
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EC_WRITE_U16(data + 8, sync->physical_start_address);
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EC_WRITE_U8 (data + 10, 0x00); // physical start bit
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EC_WRITE_U8 (data + 11, fmmu->dir == EC_DIR_INPUT ? 0x01 : 0x02);
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EC_WRITE_U16(data + 12, 0x0001); // enable
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EC_WRITE_U16(data + 14, 0x0000); // reserved
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}
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/****************************************************************************/
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