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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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        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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    ec_pdo_mapping_init(&sync->mapping);

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    sync->mapping_source = EC_SYNC_MAPPING_NONE;

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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->index = other->index;

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   sync->physical_start_address = other->physical_start_address;

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   sync->length = other->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_mapping_init(&sync->mapping);

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   ec_pdo_mapping_copy(&sync->mapping, &other->mapping);

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   sync->mapping_source = other->mapping_source;

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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_mapping_clear(&sync->mapping);

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}

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

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/** Initializes a sync manager configuration page with SII data.

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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_config(

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

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

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

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        )

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{

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

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

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               sync->index, sync->physical_start_address,

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               data_size, sync->control_register, sync->enable);

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    }

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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, sync->control_register);

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

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    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // 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_mapping_add_pdo_copy(&sync->mapping, pdo);

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}

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

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/** Get direction covered by sync manager.

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 *

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 * \return Direction covered by the given sync manager.

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 */

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ec_direction_t ec_sync_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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    int index = sync->index;

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    if (sync->slave && sync->slave->sii.mailbox_protocols) {

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        index -= 2;

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    }

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    if (index < 0 || index > 1) {

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        EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");

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        return EC_DIR_OUTPUT;

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    }

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    return (ec_direction_t) index;

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}

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