171 lines
5.3 KiB
C
171 lines
5.3 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 sync manager methods.
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*/
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/****************************************************************************/
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#include "globals.h"
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#include "slave.h"
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#include "master.h"
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#include "pdo.h"
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#include "sync.h"
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/****************************************************************************/
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/** Constructor.
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*/
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void ec_sync_init(
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ec_sync_t *sync, /**< EtherCAT sync manager. */
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ec_slave_t *slave /**< EtherCAT slave. */
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)
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{
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sync->slave = slave;
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sync->physical_start_address = 0x0000;
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sync->default_length = 0x0000;
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sync->control_register = 0x00;
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sync->enable = 0x00;
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ec_pdo_list_init(&sync->pdos);
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}
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/****************************************************************************/
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/** Copy constructor.
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*/
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void ec_sync_init_copy(
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ec_sync_t *sync, /**< EtherCAT sync manager. */
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const ec_sync_t *other /**< Sync manager to copy from. */
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)
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{
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sync->slave = other->slave;
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sync->physical_start_address = other->physical_start_address;
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sync->default_length = other->default_length;
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sync->control_register = other->control_register;
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sync->enable = other->enable;
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ec_pdo_list_init(&sync->pdos);
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ec_pdo_list_copy(&sync->pdos, &other->pdos);
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}
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/****************************************************************************/
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/** Destructor.
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*/
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void ec_sync_clear(
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ec_sync_t *sync /**< EtherCAT sync manager. */
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)
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{
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ec_pdo_list_clear(&sync->pdos);
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}
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/****************************************************************************/
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/** Initializes a sync manager configuration page.
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*
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* The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes.
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*/
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void ec_sync_page(
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const ec_sync_t *sync, /**< Sync manager. */
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uint8_t sync_index, /**< Index of the sync manager. */
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uint16_t data_size, /**< Data size. */
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const ec_sync_config_t *sync_config, /**< Configuration. */
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uint8_t pdo_xfer, /**< Non-zero, if PDOs will be transferred via this
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sync manager. */
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uint8_t *data /**> Configuration memory. */
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)
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{
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// enable only if (SII enable is set or PDO xfer)
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// and size is > 0 and SM is not virtual
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uint16_t enable = ((sync->enable & 0x01) || pdo_xfer)
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&& data_size
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&& ((sync->enable & 0x04) == 0);
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uint8_t control = sync->control_register;
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if (sync_config) {
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switch (sync_config->dir) {
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case EC_DIR_OUTPUT:
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case EC_DIR_INPUT:
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EC_WRITE_BIT(&control, 2,
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sync_config->dir == EC_DIR_OUTPUT ? 1 : 0);
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EC_WRITE_BIT(&control, 3, 0);
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break;
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default:
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break;
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}
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switch (sync_config->watchdog_mode) {
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case EC_WD_ENABLE:
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case EC_WD_DISABLE:
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EC_WRITE_BIT(&control, 6,
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sync_config->watchdog_mode == EC_WD_ENABLE);
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break;
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default:
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break;
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}
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}
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EC_SLAVE_DBG(sync->slave, 1, "SM%u: Addr 0x%04X, Size %3u,"
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" Ctrl 0x%02X, En %u\n",
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sync_index, sync->physical_start_address,
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data_size, control, enable);
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EC_WRITE_U16(data, sync->physical_start_address);
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EC_WRITE_U16(data + 2, data_size);
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EC_WRITE_U8 (data + 4, control);
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EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
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EC_WRITE_U16(data + 6, enable);
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}
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/****************************************************************************/
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/** Adds a PDO to the list of known mapped PDOs.
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*
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* \return 0 on success, else < 0
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*/
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int ec_sync_add_pdo(
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ec_sync_t *sync, /**< EtherCAT sync manager. */
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const ec_pdo_t *pdo /**< PDO to map. */
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)
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{
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return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
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}
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/****************************************************************************/
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/** Determines the default direction from the control register.
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*
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* \return Direction.
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*/
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ec_direction_t ec_sync_default_direction(
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const ec_sync_t *sync /**< EtherCAT sync manager. */
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)
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{
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switch ((sync->control_register & 0x0C) >> 2) {
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case 0x0: return EC_DIR_INPUT;
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case 0x1: return EC_DIR_OUTPUT;
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default: return EC_DIR_INVALID;
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}
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}
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/****************************************************************************/
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