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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 FMMU configuration methods.

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 */

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

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#include "globals.h"

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#include "slave_config.h"

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#include "master.h"

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#include "fmmu_config.h"

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

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/** FMMU configuration constructor.

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 *

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 * Inits an FMMU configuration, sets the logical start address and adds the

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 * process data size for the mapped PDOs of the given direction to the domain

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 * data size.

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 */

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void ec_fmmu_config_init(

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        ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */

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        ec_slave_config_t *sc, /**< EtherCAT slave configuration. */

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    fmmu->sc = sc;

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    fmmu->domain = domain;

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    fmmu->dir = dir;

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    fmmu->logical_start_address = domain->data_size;

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    fmmu->data_size = ec_pdo_mapping_total_size(&sc->mapping[dir]);

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    domain->data_size += fmmu->data_size;

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}

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

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/** Initializes an FMMU configuration page.

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 *

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

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 */

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void ec_fmmu_config_page(

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        const ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */

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

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

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        )

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{

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    if (fmmu->sc->master->debug_level) {

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        EC_DBG("FMMU: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",

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               fmmu->logical_start_address, fmmu->data_size,

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               sync->physical_start_address,

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               (sync->control_register & 0x04) ? "out" : "in");

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    }

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    EC_WRITE_U32(data,      fmmu->logical_start_address);

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    EC_WRITE_U16(data + 4,  fmmu->data_size); // size of fmmu

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    EC_WRITE_U8 (data + 6,  0x00); // logical start bit

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    EC_WRITE_U8 (data + 7,  0x07); // logical end bit

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    EC_WRITE_U16(data + 8,  sync->physical_start_address);

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    EC_WRITE_U8 (data + 10, 0x00); // physical start bit

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    EC_WRITE_U8 (data + 11, (sync->control_register & 0x04) ? 0x02 : 0x01);

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    EC_WRITE_U16(data + 12, 0x0001); // enable

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    EC_WRITE_U16(data + 14, 0x0000); // reserved

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}

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