--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fmmu.c	Wed Mar 07 13:29:29 2007 +0000
@@ -0,0 +1,97 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT FMMU methods.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "slave.h"
+#include "master.h"
+#include "fmmu.h"
+
+/*****************************************************************************/
+
+/**
+ * FMMU Constructor.
+ */
+
+void ec_fmmu_init(
+        ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
+        ec_slave_t *slave, /**< EtherCAT slave */
+        unsigned int index /**< FMMU index */
+        )
+{
+    fmmu->slave = slave;
+    fmmu->index = index;
+}
+
+/*****************************************************************************/
+
+/**
+ * Initializes an FMMU configuration page.
+ * The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
+ */
+
+void ec_fmmu_config(
+        const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
+        uint8_t *data /**> configuration memory */
+        )
+{
+    size_t sync_size;
+
+    sync_size = ec_slave_calc_sync_size(fmmu->slave, fmmu->sync);
+
+    if (fmmu->slave->master->debug_level) {
+        EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
+               fmmu->index, fmmu->logical_start_address,
+               sync_size, fmmu->sync->physical_start_address,
+               ((fmmu->sync->control_register & 0x04) ? "out" : "in"));
+    }
+
+    EC_WRITE_U32(data,      fmmu->logical_start_address);
+    EC_WRITE_U16(data + 4,  sync_size); // size of fmmu
+    EC_WRITE_U8 (data + 6,  0x00); // logical start bit
+    EC_WRITE_U8 (data + 7,  0x07); // logical end bit
+    EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
+    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
+    EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
+                             ? 0x02 : 0x01));
+    EC_WRITE_U16(data + 12, 0x0001); // enable
+    EC_WRITE_U16(data + 14, 0x0000); // reserved
+}
+
+/*****************************************************************************/