fp@1744: /******************************************************************************
fp@1744:  *
fp@1744:  *  $Id$
fp@1744:  *
fp@1744:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1744:  *
fp@1744:  *  This file is part of the IgH EtherCAT Master.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1744:  *  and/or modify it under the terms of the GNU General Public License
fp@1744:  *  as published by the Free Software Foundation; either version 2 of the
fp@1744:  *  License, or (at your option) any later version.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1744:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1744:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1744:  *  GNU General Public License for more details.
fp@1744:  *
fp@1744:  *  You should have received a copy of the GNU General Public License
fp@1744:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1744:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1744:  *
fp@1744:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1744:  *  charge under condition of compatibility of product made by
fp@1744:  *  Licensee. People intending to distribute/sell products based on the
fp@1744:  *  code, have to sign an agreement to guarantee that products using
fp@1744:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1744:  *  EtherCAT specification (which are released themselves as an open
fp@1744:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1744:  *  Technology, IP and trade marks.
fp@1744:  *
fp@1744:  *****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    \file
fp@1744:    EtherCAT FMMU methods.
fp@1744: */
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: #include "globals.h"
fp@1744: #include "slave.h"
fp@1744: #include "master.h"
fp@1744: #include "fmmu.h"
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * FMMU Constructor.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fmmu_init(
fp@1744:         ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
fp@1744:         ec_slave_t *slave, /**< EtherCAT slave */
fp@1744:         unsigned int index /**< FMMU index */
fp@1744:         )
fp@1744: {
fp@1744:     fmmu->slave = slave;
fp@1744:     fmmu->index = index;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * Initializes an FMMU configuration page.
fp@1744:  * The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fmmu_config(
fp@1744:         const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */
fp@1744:         uint8_t *data /**> configuration memory */
fp@1744:         )
fp@1744: {
fp@1744:     size_t sync_size = ec_sync_size(fmmu->sync);
fp@1744: 
fp@1744:     if (fmmu->slave->master->debug_level) {
fp@1744:         EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
fp@1744:                fmmu->index, fmmu->logical_start_address,
fp@1744:                sync_size, fmmu->sync->physical_start_address,
fp@1744:                ((fmmu->sync->control_register & 0x04) ? "out" : "in"));
fp@1744:     }
fp@1744: 
fp@1744:     EC_WRITE_U32(data,      fmmu->logical_start_address);
fp@1744:     EC_WRITE_U16(data + 4,  sync_size); // size of fmmu
fp@1744:     EC_WRITE_U8 (data + 6,  0x00); // logical start bit
fp@1744:     EC_WRITE_U8 (data + 7,  0x07); // logical end bit
fp@1744:     EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
fp@1744:     EC_WRITE_U8 (data + 10, 0x00); // physical start bit
fp@1744:     EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
fp@1744:                              ? 0x02 : 0x01));
fp@1744:     EC_WRITE_U16(data + 12, 0x0001); // enable
fp@1744:     EC_WRITE_U16(data + 14, 0x0000); // reserved
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/