| author | Florian Pose <fp@igh-essen.com> |
| Fri, 16 Mar 2007 14:00:12 +0000 | |
| changeset 661 | bc1de1362efb |
| parent 630 | 1b755b7342eb |
| permissions | -rw-r--r-- |
|
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 structure. |
|
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 |
#ifndef _EC_FMMU_H_ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
42 |
#define _EC_FMMU_H_ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
43 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
44 |
#include "../include/ecrt.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 |
#include "globals.h" |
|
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 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
50 |
/** size of an FMMU configuration page */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
51 |
#define EC_FMMU_SIZE 16 |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
52 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
53 |
/*****************************************************************************/ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
54 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
55 |
/** |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
56 |
* FMMU configuration. |
|
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 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
59 |
typedef struct |
|
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 |
const ec_slave_t *slave; /**< EtherCAT slave, the FMMU belongs to */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
62 |
unsigned int index; /**< FMMU index */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
63 |
const ec_domain_t *domain; /**< domain */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
64 |
const ec_sync_t *sync; /**< sync manager */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
65 |
uint32_t logical_start_address; /**< logical start address */ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
66 |
} |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
67 |
ec_fmmu_t; |
|
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 |
/*****************************************************************************/ |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
70 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
71 |
void ec_fmmu_init(ec_fmmu_t *, ec_slave_t *, unsigned int); |
|
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 |
void ec_fmmu_config(const ec_fmmu_t *, uint8_t *); |
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
74 |
|
|
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 |
|
|
1b755b7342eb
Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
77 |
#endif |