Added a few docs.
/******************************************************************************
*
* $Id$
*
* 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;
ec_pdo_list_init(&sync->pdos);
sync->assign_source = EC_ASSIGN_NONE;
}
/*****************************************************************************/
/** Copy constructor.
*/
void ec_sync_init_copy(
ec_sync_t *sync, /**< EtherCAT sync manager. */
const ec_sync_t *other /**< Sync manager to copy from. */
)
{
sync->slave = other->slave;
sync->index = other->index;
sync->physical_start_address = other->physical_start_address;
sync->length = other->length;
sync->control_register = other->control_register;
sync->enable = other->enable;
ec_pdo_list_init(&sync->pdos);
ec_pdo_list_copy(&sync->pdos, &other->pdos);
sync->assign_source = other->assign_source;
}
/*****************************************************************************/
/** Destructor.
*/
void ec_sync_clear(
ec_sync_t *sync /**< EtherCAT sync manager. */
)
{
ec_pdo_list_clear(&sync->pdos);
}
/*****************************************************************************/
/** Initializes a sync manager configuration page with SII data.
*
* The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes.
*/
void ec_sync_config(
const ec_sync_t *sync, /**< Sync manager. */
uint16_t data_size, /**< Data size. */
uint8_t *data /**> Configuration memory. */
)
{
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,
data_size, sync->control_register, sync->enable);
}
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, data_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
}
/*****************************************************************************/
/** Adds a Pdo to the list of known mapped Pdos.
*
* \return 0 on success, else < 0
*/
int ec_sync_add_pdo(
ec_sync_t *sync, /**< EtherCAT sync manager. */
const ec_pdo_t *pdo /**< Pdo to map. */
)
{
return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
}
/*****************************************************************************/
/** Get direction covered by sync manager.
*
* \return Direction covered by the given sync manager.
*/
ec_direction_t ec_sync_direction(
const ec_sync_t *sync /**< EtherCAT sync manager. */
)
{
int index = sync->index;
if (sync->slave && sync->slave->sii.mailbox_protocols) {
index -= 2;
}
if (index < 0 || index > 1) {
EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
return EC_DIR_OUTPUT;
}
return (ec_direction_t) index;
}
/*****************************************************************************/