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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 FMMU 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 "fmmu.h"

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

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/**

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 * FMMU Constructor.

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 */

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void ec_fmmu_init(

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        ec_fmmu_t *fmmu, /**< EtherCAT FMMU */

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        ec_slave_t *slave, /**< EtherCAT slave */

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        unsigned int index /**< FMMU index */

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        )

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{

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    fmmu->slave = slave;

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    fmmu->index = index;

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}

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

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/**

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 * Initializes an FMMU configuration page.

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

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 */

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void ec_fmmu_config(

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        const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */

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        uint8_t *data /**> configuration memory */

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        )

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{

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    size_t sync_size = ec_sync_size(fmmu->sync);

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

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

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               fmmu->index, fmmu->logical_start_address,

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               sync_size, fmmu->sync->physical_start_address,

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               ((fmmu->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,  sync_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,  fmmu->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, ((fmmu->sync->control_register & 0x04)

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                             ? 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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/*****************************************************************************/