etherlabmaster: master/fmmu.c@8fc23cb118be (annotated)

630 1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT FMMU methods.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "slave.h"
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master.h"
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "fmmu.h"
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/*****************************************************************************/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	/**
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	* FMMU Constructor.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	*/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	51
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fmmu_init(
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	ec_fmmu_t fmmu, /< EtherCAT FMMU /
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	ec_slave_t slave, /< EtherCAT slave /
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	unsigned int index /*< FMMU index /
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	)
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	{
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	fmmu->slave = slave;
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	fmmu->index = index;
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	}
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	61
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	/*****************************************************************************/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	63
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	/**
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	* Initializes an FMMU configuration page.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	* The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	*/
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	void ec_fmmu_config(
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	const ec_fmmu_t fmmu, /< EtherCAT FMMU /
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	uint8_t data /> configuration memory /
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	)
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	{
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 630 diff changeset	74	size_t sync_size = ec_sync_size(fmmu->sync);
630 1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	75
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	if (fmmu->slave->master->debug_level) {
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	fmmu->index, fmmu->logical_start_address,
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	sync_size, fmmu->sync->physical_start_address,
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	((fmmu->sync->control_register & 0x04) ? "out" : "in"));
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	}
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	EC_WRITE_U32(data, fmmu->logical_start_address);
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	EC_WRITE_U16(data + 4, sync_size); // size of fmmu
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	EC_WRITE_U8 (data + 6, 0x00); // logical start bit
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	EC_WRITE_U8 (data + 7, 0x07); // logical end bit
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	EC_WRITE_U8 (data + 10, 0x00); // physical start bit
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	? 0x02 : 0x01));
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	EC_WRITE_U16(data + 12, 0x0001); // enable
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	EC_WRITE_U16(data + 14, 0x0000); // reserved
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
1b755b7342eb Layed out FMMU structure and methods to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 10 Sep 2007 12:47:03 +0000
changeset 710	8fc23cb118be
parent 635	d304ef4af542
permissions	-rw-r--r--