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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 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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/** 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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        )

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{

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    sync->slave = slave;

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    sync->physical_start_address = 0x0000;

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    sync->default_length = 0x0000;

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    sync->control_register = 0x00;

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    sync->enable = 0x00;

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    ec_pdo_list_init(&sync->pdos);

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}

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

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/** Copy constructor.

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 */

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void ec_sync_init_copy(

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        ec_sync_t *sync, /**< EtherCAT sync manager. */

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        const ec_sync_t *other /**< Sync manager to copy from. */

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        )

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{

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   sync->slave = other->slave;

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   sync->physical_start_address = other->physical_start_address;

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   sync->default_length = other->default_length;

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   sync->control_register = other->control_register;

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   sync->enable = other->enable;

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   ec_pdo_list_init(&sync->pdos);

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   ec_pdo_list_copy(&sync->pdos, &other->pdos);

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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_pdo_list_clear(&sync->pdos);

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}

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

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/** Initializes a sync manager configuration page.

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 *

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

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 */

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void ec_sync_page(

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

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        uint8_t sync_index, /**< Index of the sync manager. */

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        uint16_t data_size, /**< Data size. */

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        ec_direction_t dir, /**< Direction (overrides the control byte,

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                              if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */

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

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        )

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{

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    // enable only if SII enable is set and size is > 0.

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    uint16_t enable = sync->enable && data_size;

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    uint8_t control = sync->control_register;

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    if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) {

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        // override sync manager direction bits with dir parameter

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        EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0);

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        EC_WRITE_BIT(&control, 3, 0);

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    }

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    if (sync->slave->master->debug_level)

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        EC_DBG("SM%u: Addr 0x%04X, Size %3u, Ctrl 0x%02X, En %u\n",

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               sync_index, sync->physical_start_address,

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               data_size, control, enable);

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    EC_WRITE_U16(data,     sync->physical_start_address);

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    EC_WRITE_U16(data + 2, data_size);

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    EC_WRITE_U8 (data + 4, control);

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    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)

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    EC_WRITE_U16(data + 6, enable);

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}

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

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/** Adds a Pdo to the list of known mapped Pdos.

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 *

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 * \return 0 on success, else < 0

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 */

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int ec_sync_add_pdo(

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        ec_sync_t *sync, /**< EtherCAT sync manager. */

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        const ec_pdo_t *pdo /**< Pdo to map. */

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        )

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{

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    return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);

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}

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

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/** Determines the default direction from the control register.

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 */

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ec_direction_t ec_sync_default_direction(

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        const ec_sync_t *sync /**< EtherCAT sync manager. */

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        )

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{

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    switch ((sync->control_register & 0x0C) >> 2) {

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        case 0x0: return EC_DIR_INPUT;

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        case 0x1: return EC_DIR_OUTPUT;

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        default: return EC_DIR_INVALID;

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    }

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}

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