1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/** \file

    31

 * EtherCAT FMMU configuration methods.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#include "globals.h"

    37

#include "slave_config.h"

    38

#include "master.h"

    39

    40

#include "fmmu_config.h"

    41

    42

/*****************************************************************************/

    43

    44

/** FMMU configuration constructor.

    45

 *

    46

 * Inits an FMMU configuration and the process data size for the mapped PDOs

    47

 * of the given direction to the domain data size.

    48

 */

    49

void ec_fmmu_config_init(

    50

        ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */

    51

        ec_slave_config_t *sc, /**< EtherCAT slave configuration. */

    52

        uint8_t sync_index, /**< Sync manager index to use. */

    53

        ec_direction_t dir /**< PDO direction. */

    54

        )

    55

{

    56

    INIT_LIST_HEAD(&fmmu->list);

    57

    fmmu->sc = sc;

    58

    fmmu->sync_index = sync_index;

    59

    fmmu->dir = dir;

    60

    fmmu->data_size = ec_pdo_list_total_size(

    61

            &sc->sync_configs[sync_index].pdos);

    62

}

    63

    64

/*****************************************************************************/

    65

    66

/** Sets FMMU domain

    67

 *

    68

 * Sets the logical start address and the size of the transmitted data

    69

 */

    70

void ec_fmmu_config_domain(

    71

        ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */

    72

        ec_domain_t *domain, /**< EtherCAT domain. */

    73

        uint32_t logical_start_address, /**< FMMU logical start address. */

    74

        size_t tx_size /**< Size of transmitted data */

    75

        )

    76

{

    77

    fmmu->domain = domain;

    78

    fmmu->domain_address = domain->data_size;

    79

    fmmu->logical_start_address = logical_start_address;

    80

    fmmu->tx_size = tx_size;

    81

    ec_domain_add_fmmu_config(domain, fmmu);

    82

}

    83

    84

/*****************************************************************************/

    85

    86

/** Initializes an FMMU configuration page.

    87

 *

    88

 * The referenced memory (\a data) must be at least EC_FMMU_PAGE_SIZE bytes.

    89

 */

    90

void ec_fmmu_config_page(

    91

        const ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */

    92

        const ec_sync_t *sync, /**< Sync manager. */

    93

        uint8_t *data /**> Configuration page memory. */

    94

        )

    95

{

    96

    EC_CONFIG_DBG(fmmu->sc, 1, "FMMU: LogAddr 0x%08X, DomAddr 0x%08X,"

    97

            " Size %3u, Tx %3u"

    98

            " PhysAddr 0x%04X, SM%u, Dir %s\n",

    99

            fmmu->logical_start_address, fmmu->domain_address,

   100

            fmmu->data_size, fmmu->data_size,

   101

            sync->physical_start_address, fmmu->sync_index,

   102

            fmmu->dir == EC_DIR_INPUT ? "in" : "out");

   103

   104

    EC_WRITE_U32(data,      fmmu->logical_start_address);

   105

    EC_WRITE_U16(data + 4,  fmmu->data_size); // size of fmmu

   106

    EC_WRITE_U8 (data + 6,  0x00); // logical start bit

   107

    EC_WRITE_U8 (data + 7,  0x07); // logical end bit

   108

    EC_WRITE_U16(data + 8,  sync->physical_start_address);

   109

    EC_WRITE_U8 (data + 10, 0x00); // physical start bit

   110

    EC_WRITE_U8 (data + 11, fmmu->dir == EC_DIR_INPUT ? 0x01 : 0x02);

   111

    EC_WRITE_U16(data + 12, 0x0001); // enable

   112

    EC_WRITE_U16(data + 14, 0x0000); // reserved

   113

}

   114

   115

/*****************************************************************************/