author | Florian Pose <fp@igh-essen.com> |
Thu, 02 Oct 2008 07:14:00 +0000 | |
changeset 1243 | 13cb18b91627 |
parent 1183 | d77f634ab0b5 |
child 1326 | ef907b0b5125 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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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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/** \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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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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ec_direction_t dir, /**< Direction (overrides the control byte, |
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if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */ |
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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 and size is > 0. |
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uint16_t enable = sync->enable && data_size; |
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uint8_t control = sync->control_register; |
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if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) { |
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// override sync manager direction bits with dir parameter |
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EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0); |
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EC_WRITE_BIT(&control, 3, 0); |
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} |
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116 |
|
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if (sync->slave->master->debug_level) |
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EC_DBG("SM%u: Addr 0x%04X, Size %3u, Ctrl 0x%02X, En %u\n", |
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119 |
sync_index, sync->physical_start_address, |
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120 |
data_size, control, enable); |
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121 |
|
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122 |
EC_WRITE_U16(data, sync->physical_start_address); |
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EC_WRITE_U16(data + 2, data_size); |
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124 |
EC_WRITE_U8 (data + 4, control); |
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125 |
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) |
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126 |
EC_WRITE_U16(data + 6, enable); |
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127 |
} |
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128 |
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129 |
/*****************************************************************************/ |
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130 |
|
814 | 131 |
/** Adds a Pdo to the list of known mapped Pdos. |
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132 |
* |
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133 |
* \return 0 on success, else < 0 |
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134 |
*/ |
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135 |
int ec_sync_add_pdo( |
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136 |
ec_sync_t *sync, /**< EtherCAT sync manager. */ |
814 | 137 |
const ec_pdo_t *pdo /**< Pdo to map. */ |
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138 |
) |
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139 |
{ |
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140 |
return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo); |
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141 |
} |
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142 |
|
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143 |
/*****************************************************************************/ |
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144 |
|
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145 |
/** Determines the default direction from the control register. |
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146 |
*/ |
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147 |
ec_direction_t ec_sync_default_direction( |
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148 |
const ec_sync_t *sync /**< EtherCAT sync manager. */ |
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149 |
) |
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150 |
{ |
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151 |
switch ((sync->control_register & 0x0C) >> 2) { |
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152 |
case 0x0: return EC_DIR_INPUT; |
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153 |
case 0x1: return EC_DIR_OUTPUT; |
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154 |
default: return EC_DIR_INVALID; |
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155 |
} |
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156 |
} |
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157 |
|
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158 |
/*****************************************************************************/ |