41 |
41 |
42 /*****************************************************************************/ |
42 /*****************************************************************************/ |
43 |
43 |
44 /** FMMU configuration constructor. |
44 /** FMMU configuration constructor. |
45 * |
45 * |
46 * Inits an FMMU configuration, sets the logical start address and adds the |
46 * Inits an FMMU configuration and the process data size forthe mapped PDOs |
47 * process data size for the mapped PDOs of the given direction to the domain |
47 * of the given direction to the domain data size. |
48 * data size. |
|
49 */ |
48 */ |
50 void ec_fmmu_config_init( |
49 void ec_fmmu_config_init( |
51 ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */ |
50 ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */ |
52 ec_slave_config_t *sc, /**< EtherCAT slave configuration. */ |
51 ec_slave_config_t *sc, /**< EtherCAT slave configuration. */ |
53 ec_domain_t *domain, /**< EtherCAT domain. */ |
|
54 uint8_t sync_index, /**< Sync manager index to use. */ |
52 uint8_t sync_index, /**< Sync manager index to use. */ |
55 ec_direction_t dir /**< PDO direction. */ |
53 ec_direction_t dir /**< PDO direction. */ |
56 ) |
54 ) |
57 { |
55 { |
58 INIT_LIST_HEAD(&fmmu->list); |
56 INIT_LIST_HEAD(&fmmu->list); |
59 fmmu->sc = sc; |
57 fmmu->sc = sc; |
60 fmmu->sync_index = sync_index; |
58 fmmu->sync_index = sync_index; |
61 fmmu->dir = dir; |
59 fmmu->dir = dir; |
62 |
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63 fmmu->logical_start_address = domain->data_size; |
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64 fmmu->data_size = ec_pdo_list_total_size( |
60 fmmu->data_size = ec_pdo_list_total_size( |
65 &sc->sync_configs[sync_index].pdos); |
61 &sc->sync_configs[sync_index].pdos); |
|
62 } |
66 |
63 |
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64 |
|
65 /*****************************************************************************/ |
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66 |
|
67 /** Sets FMMU domain |
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68 * |
|
69 * Sets the logical start address and the size of the transmitted data |
|
70 */ |
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71 void ec_fmmu_config_domain( |
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72 ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */ |
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73 ec_domain_t *domain, /**< EtherCAT domain. */ |
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74 uint32_t logical_start_address, /**< FMMU logical start address. */ |
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75 size_t tx_size /**< Size of transmitted data */ |
|
76 ) |
|
77 { |
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78 fmmu->domain = domain; |
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79 fmmu->domain_address = domain->data_size; |
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80 fmmu->logical_start_address = logical_start_address; |
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81 fmmu->tx_size = tx_size; |
67 ec_domain_add_fmmu_config(domain, fmmu); |
82 ec_domain_add_fmmu_config(domain, fmmu); |
68 } |
83 } |
|
84 |
69 |
85 |
70 /*****************************************************************************/ |
86 /*****************************************************************************/ |
71 |
87 |
72 /** Initializes an FMMU configuration page. |
88 /** Initializes an FMMU configuration page. |
73 * |
89 * |
78 const ec_sync_t *sync, /**< Sync manager. */ |
94 const ec_sync_t *sync, /**< Sync manager. */ |
79 uint8_t *data /**> Configuration page memory. */ |
95 uint8_t *data /**> Configuration page memory. */ |
80 ) |
96 ) |
81 { |
97 { |
82 if (fmmu->sc->master->debug_level) { |
98 if (fmmu->sc->master->debug_level) { |
83 EC_DBG("FMMU: LogAddr 0x%08X, Size %3u, PhysAddr 0x%04X, SM%u, " |
99 EC_DBG("FMMU: LogAddr 0x%08X, DomAddr 0x%08X, Size %3u, Tx %3u, PhysAddr 0x%04X, SM%u, " |
84 "Dir %s\n", fmmu->logical_start_address, fmmu->data_size, |
100 "Dir %s\n", fmmu->logical_start_address, fmmu->domain_address, fmmu->data_size, |
85 sync->physical_start_address, fmmu->sync_index, |
101 fmmu->tx_size, sync->physical_start_address, fmmu->sync_index, |
86 fmmu->dir == EC_DIR_INPUT ? "in" : "out"); |
102 fmmu->dir == EC_DIR_INPUT ? "in" : "out"); |
87 } |
103 } |
88 |
104 |
89 EC_WRITE_U32(data, fmmu->logical_start_address); |
105 EC_WRITE_U32(data, fmmu->logical_start_address); |
90 EC_WRITE_U16(data + 4, fmmu->data_size); // size of fmmu |
106 EC_WRITE_U16(data + 4, fmmu->data_size); // size of fmmu |