author | Florian Pose <fp@igh-essen.com> |
Wed, 12 Sep 2007 14:07:28 +0000 | |
changeset 720 | 9664a19978dd |
parent 635 | d304ef4af542 |
child 745 | 3f4e5a50733e |
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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/** |
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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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/** |
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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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unsigned int index /**< sync manager index */ |
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) |
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{ |
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sync->slave = slave; |
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sync->index = index; |
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sync->est_length = 0; |
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INIT_LIST_HEAD(&sync->pdos); |
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sync->alt_mapping = 0; |
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} |
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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_sync_clear_pdos(sync); |
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} |
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/*****************************************************************************/ |
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/** |
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* Calculates the size of a sync manager by evaluating PDO sizes. |
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* \return sync manager size |
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*/ |
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uint16_t ec_sync_size( |
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const ec_sync_t *sync /**< sync manager */ |
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) |
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{ |
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const ec_pdo_t *pdo; |
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const ec_pdo_entry_t *pdo_entry; |
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unsigned int bit_size, byte_size; |
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if (sync->length) return sync->length; |
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if (sync->est_length) return sync->est_length; |
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bit_size = 0; |
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list_for_each_entry(pdo, &sync->pdos, list) { |
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list_for_each_entry(pdo_entry, &pdo->entries, list) { |
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bit_size += pdo_entry->bit_length; |
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} |
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} |
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if (bit_size % 8) // round up to full bytes |
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byte_size = bit_size / 8 + 1; |
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else |
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byte_size = bit_size / 8; |
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return byte_size; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes a sync manager configuration page with EEPROM data. |
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The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes. |
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*/ |
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void ec_sync_config( |
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const ec_sync_t *sync, /**< sync manager */ |
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uint8_t *data /**> configuration memory */ |
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) |
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{ |
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125 |
size_t sync_size = ec_sync_size(sync); |
628
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126 |
|
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127 |
if (sync->slave->master->debug_level) { |
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128 |
EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n", |
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129 |
sync->index, sync->physical_start_address, |
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130 |
sync_size, sync->control_register, sync->enable); |
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131 |
} |
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132 |
|
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133 |
EC_WRITE_U16(data, sync->physical_start_address); |
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134 |
EC_WRITE_U16(data + 2, sync_size); |
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135 |
EC_WRITE_U8 (data + 4, sync->control_register); |
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136 |
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) |
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137 |
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable |
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138 |
} |
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139 |
|
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140 |
/*****************************************************************************/ |
635
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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 |
int ec_sync_add_pdo( |
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146 |
ec_sync_t *sync, /**< EtherCAT sync manager */ |
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147 |
const ec_pdo_t *pdo /**< PDO to map */ |
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148 |
) |
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149 |
{ |
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150 |
ec_pdo_t *mapped_pdo; |
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151 |
|
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152 |
// PDO already mapped? |
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153 |
list_for_each_entry(mapped_pdo, &sync->pdos, list) { |
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154 |
if (mapped_pdo->index != pdo->index) continue; |
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155 |
EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index); |
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156 |
return -1; |
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157 |
} |
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158 |
|
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159 |
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
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160 |
EC_ERR("Failed to allocate memory for PDO mapping.\n"); |
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161 |
return -1; |
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|
162 |
} |
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163 |
|
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|
164 |
ec_pdo_init(mapped_pdo); |
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165 |
if (ec_pdo_copy(mapped_pdo, pdo)) { |
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|
166 |
ec_pdo_clear(mapped_pdo); |
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|
167 |
kfree(mapped_pdo); |
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|
168 |
return -1; |
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|
169 |
} |
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|
170 |
|
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|
171 |
// set appropriate sync manager index |
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|
172 |
mapped_pdo->sync_index = sync->index; |
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|
173 |
|
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|
174 |
list_add_tail(&mapped_pdo->list, &sync->pdos); |
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|
175 |
sync->alt_mapping = 1; |
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|
176 |
return 0; |
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|
177 |
} |
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|
178 |
|
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|
179 |
/*****************************************************************************/ |
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|
180 |
|
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|
181 |
/** |
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|
182 |
*/ |
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|
183 |
|
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|
184 |
void ec_sync_clear_pdos( |
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|
185 |
ec_sync_t *sync /**< EtherCAT sync manager */ |
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|
186 |
) |
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|
187 |
{ |
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|
188 |
ec_pdo_t *pdo, *next; |
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|
189 |
|
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|
190 |
// free all mapped PDOs |
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|
191 |
list_for_each_entry_safe(pdo, next, &sync->pdos, list) { |
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|
192 |
list_del(&pdo->list); |
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|
193 |
ec_pdo_clear(pdo); |
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|
194 |
kfree(pdo); |
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|
195 |
} |
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|
196 |
|
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|
197 |
sync->alt_mapping = 1; |
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|
198 |
} |
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|
199 |
|
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|
200 |
/*****************************************************************************/ |