--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sync.c	Fri Aug 10 15:27:08 2007 +0000
@@ -0,0 +1,200 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 sync manager methods.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "slave.h"
+#include "master.h"
+#include "pdo.h"
+#include "sync.h"
+
+/*****************************************************************************/
+
+/**
+ * Constructor.
+ */
+
+void ec_sync_init(
+        ec_sync_t *sync, /**< EtherCAT sync manager */
+        ec_slave_t *slave, /**< EtherCAT slave */
+        unsigned int index /**< sync manager index */
+        )
+{
+    sync->slave = slave;
+    sync->index = index;    
+
+    sync->est_length = 0;
+    INIT_LIST_HEAD(&sync->pdos);
+    sync->alt_mapping = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ * Destructor.
+ */
+
+void ec_sync_clear(
+        ec_sync_t *sync /**< EtherCAT sync manager */
+        )
+{
+    ec_sync_clear_pdos(sync);
+}
+
+/*****************************************************************************/
+
+/**
+ * Calculates the size of a sync manager by evaluating PDO sizes.
+ * \return sync manager size
+ */
+
+uint16_t ec_sync_size(
+        const ec_sync_t *sync /**< sync manager */
+        )
+{
+    const ec_pdo_t *pdo;
+    const ec_pdo_entry_t *pdo_entry;
+    unsigned int bit_size, byte_size;
+
+    if (sync->length) return sync->length;
+    if (sync->est_length) return sync->est_length;
+
+    bit_size = 0;
+    list_for_each_entry(pdo, &sync->pdos, list) {
+        list_for_each_entry(pdo_entry, &pdo->entries, list) {
+            bit_size += pdo_entry->bit_length;
+        }
+    }
+
+    if (bit_size % 8) // round up to full bytes
+        byte_size = bit_size / 8 + 1;
+    else
+        byte_size = bit_size / 8;
+
+    return byte_size;
+}
+
+/*****************************************************************************/
+
+/**
+   Initializes a sync manager configuration page with EEPROM data.
+   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
+*/
+
+void ec_sync_config(
+        const ec_sync_t *sync, /**< sync manager */
+        uint8_t *data /**> configuration memory */
+        )
+{
+    size_t sync_size = ec_sync_size(sync);
+
+    if (sync->slave->master->debug_level) {
+        EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
+               sync->index, sync->physical_start_address,
+               sync_size, sync->control_register, sync->enable);
+    }
+
+    EC_WRITE_U16(data,     sync->physical_start_address);
+    EC_WRITE_U16(data + 2, sync_size);
+    EC_WRITE_U8 (data + 4, sync->control_register);
+    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
+    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+int ec_sync_add_pdo(
+        ec_sync_t *sync, /**< EtherCAT sync manager */
+        const ec_pdo_t *pdo /**< PDO to map */
+        )
+{
+    ec_pdo_t *mapped_pdo;
+
+    // PDO already mapped?
+    list_for_each_entry(mapped_pdo, &sync->pdos, list) {
+        if (mapped_pdo->index != pdo->index) continue;
+        EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
+        return -1;
+    }
+    
+    if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+        EC_ERR("Failed to allocate memory for PDO mapping.\n");
+        return -1;
+    }
+
+    ec_pdo_init(mapped_pdo);
+    if (ec_pdo_copy(mapped_pdo, pdo)) {
+        ec_pdo_clear(mapped_pdo);
+        kfree(mapped_pdo);
+        return -1;
+    }
+
+    // set appropriate sync manager index
+    mapped_pdo->sync_index = sync->index;
+
+    list_add_tail(&mapped_pdo->list, &sync->pdos);
+    sync->alt_mapping = 1;
+    return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_sync_clear_pdos(
+        ec_sync_t *sync /**< EtherCAT sync manager */
+        )
+{
+    ec_pdo_t *pdo, *next;
+
+    // free all mapped PDOs
+    list_for_each_entry_safe(pdo, next, &sync->pdos, list) {
+        list_del(&pdo->list);
+        ec_pdo_clear(pdo);
+        kfree(pdo);
+    }
+
+    sync->alt_mapping = 1;
+}
+
+/*****************************************************************************/