Layed out FMMU structure and methods to own files.
authorFlorian Pose <fp@igh-essen.com>
Wed, 07 Mar 2007 13:29:29 +0000
changeset 630 1b755b7342eb
parent 629 84a64efca00d
child 631 789a72f887d0
Layed out FMMU structure and methods to own files.
master/Kbuild
master/Makefile.am
master/fmmu.c
master/fmmu.h
master/fsm_slave.c
master/globals.h
master/slave.c
master/slave.h
--- a/master/Kbuild	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/Kbuild	Wed Mar 07 13:29:29 2007 +0000
@@ -35,9 +35,9 @@
 
 obj-m := ec_master.o
 
-ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o slave.o \
-    datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
-    fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
+ec_master-objs := module.o master.o device.o device_id.o pdo.o sync.o fmmu.o \
+    slave.o datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o \
+    fsm_change.o fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
 
 ifeq ($(EC_DBG_IF),1)
 	ec_master-objs += debug.o
--- a/master/Makefile.am	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/Makefile.am	Wed Mar 07 13:29:29 2007 +0000
@@ -40,6 +40,7 @@
 	device_id.c device_id.h \
 	pdo.c pdo.h \
 	sync.c sync.h \
+	fmmu.c fmmu.h \
 	domain.c domain.h \
 	doxygen.c \
 	ethernet.c ethernet.h \
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fmmu.c	Wed Mar 07 13:29:29 2007 +0000
@@ -0,0 +1,97 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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;
+
+    sync_size = ec_slave_calc_sync_size(fmmu->slave, 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
+}
+
+/*****************************************************************************/
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fmmu.h	Wed Mar 07 13:29:29 2007 +0000
@@ -0,0 +1,77 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef _EC_FMMU_H_
+#define _EC_FMMU_H_
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+/** size of an FMMU configuration page */
+#define EC_FMMU_SIZE 16
+
+/*****************************************************************************/
+
+/**
+ * FMMU configuration.
+ */
+
+typedef struct
+{
+    const ec_slave_t *slave; /**< EtherCAT slave, the FMMU belongs to */
+    unsigned int index; /**< FMMU index */
+    const ec_domain_t *domain; /**< domain */
+    const ec_sync_t *sync; /**< sync manager */
+    uint32_t logical_start_address; /**< logical start address */
+}
+ec_fmmu_t;
+
+/*****************************************************************************/
+
+void ec_fmmu_init(ec_fmmu_t *, ec_slave_t *, unsigned int);
+
+void ec_fmmu_config(const ec_fmmu_t *, uint8_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/fsm_slave.c	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/fsm_slave.c	Wed Mar 07 13:29:29 2007 +0000
@@ -879,8 +879,7 @@
                      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_slave_fmmu_config(slave, &slave->fmmus[j],
-                datagram->data + EC_FMMU_SIZE * j);
+        ec_fmmu_config(&slave->fmmus[j], datagram->data + EC_FMMU_SIZE * j);
     }
 
     ec_master_queue_datagram(master, datagram);
--- a/master/globals.h	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/globals.h	Wed Mar 07 13:29:29 2007 +0000
@@ -78,9 +78,6 @@
 /** size of an EtherCAT datagram footer */
 #define EC_DATAGRAM_FOOTER_SIZE 2
 
-/** size of an FMMU configuration page */
-#define EC_FMMU_SIZE 16
-
 /** resulting maximum data size of a single datagram in a frame */
 #define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
                           - EC_DATAGRAM_HEADER_SIZE - EC_DATAGRAM_FOOTER_SIZE)
--- a/master/slave.c	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/slave.c	Wed Mar 07 13:29:29 2007 +0000
@@ -591,21 +591,22 @@
 /*****************************************************************************/
 
 /**
-   Prepares an FMMU configuration.
-   Configuration data for the FMMU is saved in the slave structure and is
-   written to the slave in ecrt_master_activate().
-   The FMMU configuration is done in a way, that the complete data range
-   of the corresponding sync manager is covered. Seperate FMMUs are configured
-   for each domain.
-   If the FMMU configuration is already prepared, the function returns with
-   success.
-   \return 0 in case of success, else < 0
-*/
-
-int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
-                          const ec_domain_t *domain, /**< domain */
-                          const ec_sync_t *sync  /**< sync manager */
-                          )
+ * Prepares an FMMU configuration.
+ * Configuration data for the FMMU is saved in the slave structure and is
+ * written to the slave in ecrt_master_activate().
+ * The FMMU configuration is done in a way, that the complete data range
+ * of the corresponding sync manager is covered. Seperate FMMUs are configured
+ * for each domain.
+ * If the FMMU configuration is already prepared, the function returns with
+ * success.
+ * \return 0 in case of success, else < 0
+ */
+
+int ec_slave_prepare_fmmu(
+        ec_slave_t *slave, /**< EtherCAT slave */
+        const ec_domain_t *domain, /**< domain */
+        const ec_sync_t *sync  /**< sync manager */
+        )
 {
     unsigned int i;
     ec_fmmu_t *fmmu;
@@ -626,12 +627,11 @@
 
     fmmu = &slave->fmmus[slave->fmmu_count];
 
-    fmmu->index = slave->fmmu_count;
+    ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
     fmmu->domain = domain;
     fmmu->sync = sync;
     fmmu->logical_start_address = 0;
 
-    slave->fmmu_count++;
     slave->pdos_registered = 1;
     
     ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
@@ -1152,42 +1152,6 @@
 /*****************************************************************************/
 
 /**
-   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
 */
 
--- a/master/slave.h	Wed Mar 07 13:12:33 2007 +0000
+++ b/master/slave.h	Wed Mar 07 13:29:29 2007 +0000
@@ -50,6 +50,7 @@
 #include "datagram.h"
 #include "pdo.h"
 #include "sync.h"
+#include "fmmu.h"
 
 /*****************************************************************************/
 
@@ -109,21 +110,6 @@
 /*****************************************************************************/
 
 /**
-   FMMU configuration.
-*/
-
-typedef struct
-{
-    unsigned int index; /**< FMMU index */
-    const ec_domain_t *domain; /**< domain */
-    const ec_sync_t *sync; /**< sync manager */
-    uint32_t logical_start_address; /**< logical start address */
-}
-ec_fmmu_t;
-
-/*****************************************************************************/
-
-/**
    EtherCAT slave.
 */
 
@@ -218,7 +204,6 @@
 
 // misc.
 ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_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_sync_t *);
 
 int ec_slave_is_coupler(const ec_slave_t *);