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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT FMMU methods. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #include "globals.h" |
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42 #include "slave.h" |
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43 #include "master.h" |
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44 #include "fmmu.h" |
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45 |
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46 /*****************************************************************************/ |
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47 |
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48 /** |
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49 * FMMU Constructor. |
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50 */ |
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51 |
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52 void ec_fmmu_init( |
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53 ec_fmmu_t *fmmu, /**< EtherCAT FMMU */ |
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54 ec_slave_t *slave, /**< EtherCAT slave */ |
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55 unsigned int index /**< FMMU index */ |
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56 ) |
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57 { |
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58 fmmu->slave = slave; |
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59 fmmu->index = index; |
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60 } |
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61 |
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62 /*****************************************************************************/ |
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63 |
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64 /** |
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65 * Initializes an FMMU configuration page. |
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66 * The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes. |
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67 */ |
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68 |
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69 void ec_fmmu_config( |
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70 const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */ |
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71 uint8_t *data /**> configuration memory */ |
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72 ) |
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73 { |
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74 size_t sync_size; |
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75 |
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76 sync_size = ec_slave_calc_sync_size(fmmu->slave, fmmu->sync); |
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77 |
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78 if (fmmu->slave->master->debug_level) { |
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79 EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n", |
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80 fmmu->index, fmmu->logical_start_address, |
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81 sync_size, fmmu->sync->physical_start_address, |
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82 ((fmmu->sync->control_register & 0x04) ? "out" : "in")); |
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83 } |
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84 |
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85 EC_WRITE_U32(data, fmmu->logical_start_address); |
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86 EC_WRITE_U16(data + 4, sync_size); // size of fmmu |
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87 EC_WRITE_U8 (data + 6, 0x00); // logical start bit |
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88 EC_WRITE_U8 (data + 7, 0x07); // logical end bit |
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89 EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address); |
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90 EC_WRITE_U8 (data + 10, 0x00); // physical start bit |
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91 EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04) |
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92 ? 0x02 : 0x01)); |
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93 EC_WRITE_U16(data + 12, 0x0001); // enable |
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94 EC_WRITE_U16(data + 14, 0x0000); // reserved |
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95 } |
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96 |
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97 /*****************************************************************************/ |