fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@792:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@792:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /** \file
fp@792:  * EtherCAT FMMU configuration methods.
fp@792:  */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "slave_config.h"
fp@792: #include "master.h"
fp@792: 
fp@792: #include "fmmu_config.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** FMMU configuration constructor.
fp@792:  *
fp@2589:  * Inits an FMMU configuration, sets the logical start address and adds the
fp@2589:  * process data size for the mapped PDOs of the given direction to the domain
fp@2589:  * data size.
fp@792:  */
fp@792: void ec_fmmu_config_init(
fp@792:         ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
fp@792:         ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
fp@2589:         ec_domain_t *domain, /**< EtherCAT domain. */
fp@1055:         uint8_t sync_index, /**< Sync manager index to use. */
fp@1327:         ec_direction_t dir /**< PDO direction. */
fp@792:         )
fp@792: {
fp@950:     INIT_LIST_HEAD(&fmmu->list);
fp@792:     fmmu->sc = sc;
fp@1055:     fmmu->sync_index = sync_index;
fp@792:     fmmu->dir = dir;
fp@2589: 
dave@2611:     fmmu->logical_domain_offset = 0;
dave@2611:     fmmu->data_size = 0;
fp@818: 
fp@818:     ec_domain_add_fmmu_config(domain, fmmu);
fp@792: }
fp@792: 
dave@2611: void ec_fmmu_set_domain_offset_size(
dave@2611:         ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
dave@2611:         uint32_t logical_domain_offset, /**< Logical offset address
dave@2611:             relative to domain->logical_base_address. */
dave@2611:         unsigned data_size /**< Covered PDO size. */
dave@2611:         )
dave@2611: {
dave@2611:     fmmu->logical_domain_offset = logical_domain_offset;
dave@2611:     fmmu->data_size = data_size;
dave@2611: }
dave@2611: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Initializes an FMMU configuration page.
fp@792:  *
fp@792:  * The referenced memory (\a data) must be at least EC_FMMU_PAGE_SIZE bytes.
fp@792:  */
fp@792: void ec_fmmu_config_page(
fp@792:         const ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
fp@792:         const ec_sync_t *sync, /**< Sync manager. */
fp@792:         uint8_t *data /**> Configuration page memory. */
fp@792:         )
fp@792: {
dave@2610:     EC_CONFIG_DBG(fmmu->sc, 1, "FMMU: LogOff 0x%08X, Size %3u,"
fp@1921:             " PhysAddr 0x%04X, SM%u, Dir %s\n",
dave@2610:             fmmu->logical_domain_offset, fmmu->data_size,
fp@1921:             sync->physical_start_address, fmmu->sync_index,
fp@1921:             fmmu->dir == EC_DIR_INPUT ? "in" : "out");
fp@792: 
dave@2610:     EC_WRITE_U32(data,      fmmu->domain->logical_base_address +
dave@2610:         fmmu->logical_domain_offset);
fp@792:     EC_WRITE_U16(data + 4,  fmmu->data_size); // size of fmmu
fp@792:     EC_WRITE_U8 (data + 6,  0x00); // logical start bit
fp@792:     EC_WRITE_U8 (data + 7,  0x07); // logical end bit
fp@792:     EC_WRITE_U16(data + 8,  sync->physical_start_address);
fp@792:     EC_WRITE_U8 (data + 10, 0x00); // physical start bit
fp@1055:     EC_WRITE_U8 (data + 11, fmmu->dir == EC_DIR_INPUT ? 0x01 : 0x02);
fp@792:     EC_WRITE_U16(data + 12, 0x0001); // enable
fp@792:     EC_WRITE_U16(data + 14, 0x0000); // reserved
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/