# HG changeset patch # User Florian Pose # Date 1171367326 0 # Node ID dc5829af044d41d543724aed462cc6713a4785e9 # Parent f4bdb21a6a06e1979521f90bebce92c6747c955c Made ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t. diff -r f4bdb21a6a06 -r dc5829af044d TODO --- a/TODO Tue Feb 13 11:32:17 2007 +0000 +++ b/TODO Tue Feb 13 11:48:46 2007 +0000 @@ -23,7 +23,6 @@ * Implement interface for alternative PDO mapping. * Simplify FSMs with _enter() functions. -* Make ec_sync_config() and ec_fmmu_config() to methods of ec_slave_t. * Rename "sysconfig" file to "sysconfig/ethercat". * Dynamic creation of EoE handlers. * Output intermediate results during lsec. diff -r f4bdb21a6a06 -r dc5829af044d master/fsm_slave.c --- a/master/fsm_slave.c Tue Feb 13 11:32:17 2007 +0000 +++ b/master/fsm_slave.c Tue Feb 13 11:48:46 2007 +0000 @@ -696,24 +696,24 @@ mbox_sync.control_register = 0x26; mbox_sync.enable = 0x01; mbox_sync.est_length = 0; - ec_sync_config(&mbox_sync, slave, - datagram->data + EC_SYNC_SIZE * mbox_sync.index); + ec_slave_sync_config(slave, &mbox_sync, + datagram->data + EC_SYNC_SIZE * mbox_sync.index); mbox_sync.index = 1; mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset; mbox_sync.length = slave->sii_rx_mailbox_size; mbox_sync.control_register = 0x22; mbox_sync.enable = 0x01; mbox_sync.est_length = 0; - ec_sync_config(&mbox_sync, slave, - datagram->data + EC_SYNC_SIZE * mbox_sync.index); + ec_slave_sync_config(slave, &mbox_sync, + datagram->data + EC_SYNC_SIZE * mbox_sync.index); } } else if (slave->sii_mailbox_protocols) { // mailboxes present list_for_each_entry(sync, &slave->sii_syncs, list) { // only configure mailbox sync-managers if (sync->index != 0 && sync->index != 1) continue; - ec_sync_config(sync, slave, - datagram->data + EC_SYNC_SIZE * sync->index); + ec_slave_sync_config(slave, sync, + datagram->data + EC_SYNC_SIZE * sync->index); } } @@ -828,8 +828,8 @@ memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count); list_for_each_entry(sync, &slave->sii_syncs, list) { - ec_sync_config(sync, slave, - datagram->data + EC_SYNC_SIZE * sync->index); + ec_slave_sync_config(slave, sync, + datagram->data + EC_SYNC_SIZE * sync->index); } ec_master_queue_datagram(fsm->slave->master, datagram); @@ -894,8 +894,8 @@ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); for (j = 0; j < slave->fmmu_count; j++) { - ec_fmmu_config(&slave->fmmus[j], slave, - datagram->data + EC_FMMU_SIZE * j); + ec_slave_fmmu_config(slave, &slave->fmmus[j], + datagram->data + EC_FMMU_SIZE * j); } ec_master_queue_datagram(master, datagram); diff -r f4bdb21a6a06 -r dc5829af044d master/master.c --- a/master/master.c Tue Feb 13 11:32:17 2007 +0000 +++ b/master/master.c Tue Feb 13 11:48:46 2007 +0000 @@ -856,71 +856,6 @@ /*****************************************************************************/ /** - Initializes a sync manager configuration page with EEPROM data. - The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes. -*/ - -void ec_sync_config(const ec_sii_sync_t *sync, /**< sync manager */ - const ec_slave_t *slave, /**< EtherCAT slave */ - uint8_t *data /**> configuration memory */ - ) -{ - size_t sync_size; - - sync_size = ec_slave_calc_sync_size(slave, sync); - - if (slave->master->debug_level) { - EC_DBG("Slave %3i, SM %i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n", - slave->ring_position, sync->index, sync->physical_start_address, - sync_size, sync->control_register, sync->enable); - } - - EC_WRITE_U16(data, sync->physical_start_address); - EC_WRITE_U16(data + 2, sync_size); - EC_WRITE_U8 (data + 4, sync->control_register); - EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) - EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable -} - -/*****************************************************************************/ - -/** - 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, /**< FMMU */ - const ec_slave_t *slave, /**< EtherCAT slave */ - uint8_t *data /**> configuration memory */ - ) -{ - size_t sync_size; - - sync_size = ec_slave_calc_sync_size(slave, fmmu->sync); - - if (slave->master->debug_level) { - EC_DBG("Slave %3i, FMMU %2i:" - " LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n", - slave->ring_position, 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 -} - -/*****************************************************************************/ - -/** Formats master information for SysFS read access. \return number of bytes written */ diff -r f4bdb21a6a06 -r dc5829af044d master/master.h --- a/master/master.h Tue Feb 13 11:32:17 2007 +0000 +++ b/master/master.h Tue Feb 13 11:48:46 2007 +0000 @@ -172,10 +172,6 @@ void ec_master_destroy_slaves(ec_master_t *); void ec_master_calc_addressing(ec_master_t *); -// helper functions -void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *); -void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *); - /*****************************************************************************/ #endif diff -r f4bdb21a6a06 -r dc5829af044d master/slave.c --- a/master/slave.c Tue Feb 13 11:32:17 2007 +0000 +++ b/master/slave.c Tue Feb 13 11:48:46 2007 +0000 @@ -981,6 +981,71 @@ /*****************************************************************************/ /** + Initializes a sync manager configuration page with EEPROM data. + The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes. +*/ + +void ec_slave_sync_config(const ec_slave_t *slave, /**< EtherCAT slave */ + const ec_sii_sync_t *sync, /**< sync manager */ + uint8_t *data /**> configuration memory */ + ) +{ + size_t sync_size; + + sync_size = ec_slave_calc_sync_size(slave, sync); + + if (slave->master->debug_level) { + EC_DBG("Slave %3i, SM %i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n", + slave->ring_position, sync->index, sync->physical_start_address, + sync_size, sync->control_register, sync->enable); + } + + EC_WRITE_U16(data, sync->physical_start_address); + EC_WRITE_U16(data + 2, sync_size); + EC_WRITE_U8 (data + 4, sync->control_register); + EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) + EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable +} + +/*****************************************************************************/ + +/** + Initializes an FMMU configuration page. + The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes. +*/ + +void ec_slave_fmmu_config(const ec_slave_t *slave, /**< EtherCAT slave */ + const ec_fmmu_t *fmmu, /**< FMMU */ + uint8_t *data /**> configuration memory */ + ) +{ + size_t sync_size; + + sync_size = ec_slave_calc_sync_size(slave, fmmu->sync); + + if (slave->master->debug_level) { + EC_DBG("Slave %3i, FMMU %2i:" + " LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n", + slave->ring_position, 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 +} + +/*****************************************************************************/ + +/** \return non-zero if slave is a bus coupler */ diff -r f4bdb21a6a06 -r dc5829af044d master/slave.h --- a/master/slave.h Tue Feb 13 11:32:17 2007 +0000 +++ b/master/slave.h Tue Feb 13 11:48:46 2007 +0000 @@ -278,8 +278,10 @@ int ec_slave_locate_string(ec_slave_t *, unsigned int, char **); // misc. -uint16_t ec_slave_calc_sync_size(const ec_slave_t *, - const ec_sii_sync_t *); +void ec_slave_sync_config(const ec_slave_t *, const ec_sii_sync_t *, + uint8_t *); +void ec_slave_fmmu_config(const ec_slave_t *, const ec_fmmu_t *, uint8_t *); +uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sii_sync_t *); int ec_slave_is_coupler(const ec_slave_t *); int ec_slave_has_subbus(const ec_slave_t *);