master/fmmu_config.c
author Florian Pose <fp@igh-essen.com>
Thu, 31 Jul 2008 16:13:29 +0000
changeset 1174 235f34ca50e2
parent 1055 2be8918682fa
child 1326 ef907b0b5125
permissions -rw-r--r--
Major Pdo configuration change: Read mapping of unknown Pdos during
configuration.
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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 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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    if (fmmu->sc->master->debug_level) {
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        EC_DBG("FMMU: LogAddr 0x%08X, Size %3u, PhysAddr 0x%04X, SM%u, "
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                "Dir %s\n", 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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    }
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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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/*****************************************************************************/