author | Florian Pose <fp@igh-essen.com> |
Mon, 09 Jan 2012 17:42:12 +0100 | |
branch | stable-1.5 |
changeset 2234 | 18f9c69d9590 |
parent 1921 | d9cf40facbc4 |
child 1989 | 6aa393418fb3 |
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) 2006-2008 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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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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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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/*****************************************************************************/ |