fp@628: /******************************************************************************
fp@628:  *
fp@628:  *  $Id$
fp@628:  *
fp@628:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@628:  *
fp@628:  *  This file is part of the IgH EtherCAT Master.
fp@628:  *
fp@628:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@628:  *  and/or modify it under the terms of the GNU General Public License
fp@628:  *  as published by the Free Software Foundation; either version 2 of the
fp@628:  *  License, or (at your option) any later version.
fp@628:  *
fp@628:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@628:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@628:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@628:  *  GNU General Public License for more details.
fp@628:  *
fp@628:  *  You should have received a copy of the GNU General Public License
fp@628:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@628:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@628:  *
fp@628:  *  The right to use EtherCAT Technology is granted and comes free of
fp@628:  *  charge under condition of compatibility of product made by
fp@628:  *  Licensee. People intending to distribute/sell products based on the
fp@628:  *  code, have to sign an agreement to guarantee that products using
fp@628:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@628:  *  EtherCAT specification (which are released themselves as an open
fp@628:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@628:  *  Technology, IP and trade marks.
fp@628:  *
fp@628:  *****************************************************************************/
fp@628: 
fp@628: /**
fp@628:    \file
fp@628:    EtherCAT sync manager methods.
fp@628: */
fp@628: 
fp@628: /*****************************************************************************/
fp@628: 
fp@628: #include "globals.h"
fp@628: #include "slave.h"
fp@628: #include "master.h"
fp@635: #include "pdo.h"
fp@628: #include "sync.h"
fp@628: 
fp@628: /*****************************************************************************/
fp@628: 
fp@628: /**
fp@628:  * Constructor.
fp@628:  */
fp@628: 
fp@628: void ec_sync_init(
fp@628:         ec_sync_t *sync, /**< EtherCAT sync manager */
fp@635:         ec_slave_t *slave, /**< EtherCAT slave */
fp@628:         unsigned int index /**< sync manager index */
fp@628:         )
fp@628: {
fp@628:     sync->slave = slave;
fp@628:     sync->index = index;    
fp@628: 
fp@628:     sync->est_length = 0;
fp@635:     INIT_LIST_HEAD(&sync->pdos);
fp@635:     sync->alt_mapping = 0;
fp@628: }
fp@628: 
fp@628: /*****************************************************************************/
fp@628: 
fp@628: /**
fp@628:  * Destructor.
fp@628:  */
fp@628: 
fp@628: void ec_sync_clear(
fp@628:         ec_sync_t *sync /**< EtherCAT sync manager */
fp@628:         )
fp@628: {
fp@635:     ec_sync_clear_pdos(sync);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: /**
fp@635:  * Calculates the size of a sync manager by evaluating PDO sizes.
fp@635:  * \return sync manager size
fp@635:  */
fp@635: 
fp@635: uint16_t ec_sync_size(
fp@635:         const ec_sync_t *sync /**< sync manager */
fp@635:         )
fp@635: {
fp@635:     const ec_pdo_t *pdo;
fp@635:     const ec_pdo_entry_t *pdo_entry;
fp@635:     unsigned int bit_size, byte_size;
fp@635: 
fp@635:     if (sync->length) return sync->length;
fp@635:     if (sync->est_length) return sync->est_length;
fp@635: 
fp@635:     bit_size = 0;
fp@635:     list_for_each_entry(pdo, &sync->pdos, list) {
fp@635:         list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@635:             bit_size += pdo_entry->bit_length;
fp@635:         }
fp@635:     }
fp@635: 
fp@635:     if (bit_size % 8) // round up to full bytes
fp@635:         byte_size = bit_size / 8 + 1;
fp@635:     else
fp@635:         byte_size = bit_size / 8;
fp@635: 
fp@635:     return byte_size;
fp@628: }
fp@628: 
fp@628: /*****************************************************************************/
fp@628: 
fp@628: /**
fp@628:    Initializes a sync manager configuration page with EEPROM data.
fp@628:    The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
fp@628: */
fp@628: 
fp@628: void ec_sync_config(
fp@628:         const ec_sync_t *sync, /**< sync manager */
fp@628:         uint8_t *data /**> configuration memory */
fp@628:         )
fp@628: {
fp@635:     size_t sync_size = ec_sync_size(sync);
fp@628: 
fp@628:     if (sync->slave->master->debug_level) {
fp@628:         EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
fp@628:                sync->index, sync->physical_start_address,
fp@628:                sync_size, sync->control_register, sync->enable);
fp@628:     }
fp@628: 
fp@628:     EC_WRITE_U16(data,     sync->physical_start_address);
fp@628:     EC_WRITE_U16(data + 2, sync_size);
fp@628:     EC_WRITE_U8 (data + 4, sync->control_register);
fp@628:     EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
fp@628:     EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
fp@628: }
fp@628: 
fp@628: /*****************************************************************************/
fp@635: 
fp@635: /**
fp@758:  * Adds a PDO to the list of known mapped PDOs.
fp@758:  * \return 0 on success, else < 0
fp@635:  */
fp@635: 
fp@635: int ec_sync_add_pdo(
fp@635:         ec_sync_t *sync, /**< EtherCAT sync manager */
fp@635:         const ec_pdo_t *pdo /**< PDO to map */
fp@635:         )
fp@635: {
fp@635:     ec_pdo_t *mapped_pdo;
fp@635: 
fp@635:     // PDO already mapped?
fp@635:     list_for_each_entry(mapped_pdo, &sync->pdos, list) {
fp@635:         if (mapped_pdo->index != pdo->index) continue;
fp@635:         EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
fp@635:         return -1;
fp@635:     }
fp@635:     
fp@635:     if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@635:         EC_ERR("Failed to allocate memory for PDO mapping.\n");
fp@635:         return -1;
fp@635:     }
fp@635: 
fp@635:     ec_pdo_init(mapped_pdo);
fp@635:     if (ec_pdo_copy(mapped_pdo, pdo)) {
fp@635:         ec_pdo_clear(mapped_pdo);
fp@635:         kfree(mapped_pdo);
fp@635:         return -1;
fp@635:     }
fp@635: 
fp@635:     // set appropriate sync manager index
fp@635:     mapped_pdo->sync_index = sync->index;
fp@635: 
fp@635:     list_add_tail(&mapped_pdo->list, &sync->pdos);
fp@635:     return 0;
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: /**
fp@758:  * Clears the list of known mapped PDOs.
fp@635:  */
fp@635: 
fp@635: void ec_sync_clear_pdos(
fp@635:         ec_sync_t *sync /**< EtherCAT sync manager */
fp@635:         )
fp@635: {
fp@635:     ec_pdo_t *pdo, *next;
fp@635: 
fp@635:     // free all mapped PDOs
fp@635:     list_for_each_entry_safe(pdo, next, &sync->pdos, list) {
fp@635:         list_del(&pdo->list);
fp@635:         ec_pdo_clear(pdo);
fp@635:         kfree(pdo);
fp@635:     }
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@748: 
fp@748: /**
fp@758:  * \return Type of PDOs covered by the given sync manager.
fp@748:  */
fp@748: 
fp@748: ec_pdo_type_t ec_sync_get_pdo_type(
fp@748:         const ec_sync_t *sync /**< EtherCAT sync manager */
fp@748:         )
fp@748: {
fp@748:     int index = sync->index;
fp@748: 
fp@748:     if (sync->slave && sync->slave->sii_mailbox_protocols) {
fp@748:         index -= 2;
fp@748:     }
fp@748: 
fp@748:     if (index < 0 || index > 1) {
fp@748:         EC_WARN("ec_sync_get_pdo_type(): invalid sync manager index.\n");
fp@748:         return EC_RX_PDO;
fp@748:     }
fp@748: 
fp@748:     return (ec_pdo_type_t) index;
fp@748: }
fp@748: 
fp@748: /*****************************************************************************/