diff -r 3b81d074735c -r 3778920f61e4 master/fmmu_config.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fmmu_config.c	Tue Feb 19 08:22:20 2008 +0000
@@ -0,0 +1,100 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 configuration methods.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "slave_config.h"
+#include "master.h"
+
+#include "fmmu_config.h"
+
+/*****************************************************************************/
+
+/** FMMU configuration constructor.
+ *
+ * Inits an FMMU configuration, sets the logical start address and adds the
+ * process data size for the mapped PDOs of the given direction to the domain
+ * data size.
+ */
+void ec_fmmu_config_init(
+        ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
+        ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
+        ec_domain_t *domain, /**< EtherCAT domain. */
+        ec_direction_t dir /**< PDO direction. */
+        )
+{
+    fmmu->sc = sc;
+    fmmu->domain = domain;
+    fmmu->dir = dir;
+
+    fmmu->logical_start_address = domain->data_size;
+    fmmu->data_size = ec_pdo_mapping_total_size(&sc->mapping[dir]);
+    domain->data_size += fmmu->data_size;
+}
+
+/*****************************************************************************/
+
+/** Initializes an FMMU configuration page.
+ *
+ * The referenced memory (\a data) must be at least EC_FMMU_PAGE_SIZE bytes.
+ */
+void ec_fmmu_config_page(
+        const ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
+        const ec_sync_t *sync, /**< Sync manager. */
+        uint8_t *data /**> Configuration page memory. */
+        )
+{
+    if (fmmu->sc->master->debug_level) {
+        EC_DBG("FMMU: LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
+               fmmu->logical_start_address, fmmu->data_size,
+               sync->physical_start_address,
+               (sync->control_register & 0x04) ? "out" : "in");
+    }
+
+    EC_WRITE_U32(data,      fmmu->logical_start_address);
+    EC_WRITE_U16(data + 4,  fmmu->data_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,  sync->physical_start_address);
+    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
+    EC_WRITE_U8 (data + 11, (sync->control_register & 0x04) ? 0x02 : 0x01);
+    EC_WRITE_U16(data + 12, 0x0001); // enable
+    EC_WRITE_U16(data + 14, 0x0000); // reserved
+}
+
+/*****************************************************************************/