diff -r 3b81d074735c -r 3778920f61e4 master/fmmu.c --- a/master/fmmu.c Thu Feb 14 09:18:55 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,95 +0,0 @@ -/****************************************************************************** - * - * $Id$ - * - * 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 FMMU methods. -*/ - -/*****************************************************************************/ - -#include "globals.h" -#include "slave.h" -#include "master.h" -#include "fmmu.h" - -/*****************************************************************************/ - -/** - * FMMU Constructor. - */ - -void ec_fmmu_init( - ec_fmmu_t *fmmu, /**< EtherCAT FMMU */ - ec_slave_t *slave, /**< EtherCAT slave */ - unsigned int index /**< FMMU index */ - ) -{ - fmmu->slave = slave; - fmmu->index = index; -} - -/*****************************************************************************/ - -/** - * Initializes an FMMU configuration page. - * The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes. - */ - -void ec_fmmu_config( - const ec_fmmu_t *fmmu, /**< EtherCAT FMMU */ - uint8_t *data /**> configuration memory */ - ) -{ - size_t sync_size = ec_sync_size(fmmu->sync); - - if (fmmu->slave->master->debug_level) { - EC_DBG("FMMU%u: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n", - fmmu->index, fmmu->logical_start_address, - sync_size, fmmu->sync->physical_start_address, - ((fmmu->sync->control_register & 0x04) ? "out" : "in")); - } - - EC_WRITE_U32(data, fmmu->logical_start_address); - EC_WRITE_U16(data + 4, sync_size); // size of fmmu - EC_WRITE_U8 (data + 6, 0x00); // logical start bit - EC_WRITE_U8 (data + 7, 0x07); // logical end bit - EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address); - EC_WRITE_U8 (data + 10, 0x00); // physical start bit - EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04) - ? 0x02 : 0x01)); - EC_WRITE_U16(data + 12, 0x0001); // enable - EC_WRITE_U16(data + 14, 0x0000); // reserved -} - -/*****************************************************************************/