Layed out sync manager structures and methods into own files.

2026-09-22 18:13:46 +08:00 · 2007-03-07 13:06:40 +00:00
parent ff176f5542
commit 89dd4e09b6
8 changed files with 221 additions and 48 deletions
@@ -0,0 +1,105 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 sync manager methods.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "slave.h"
+#include "master.h"
+#include "sync.h"
+
+/*****************************************************************************/
+
+/**
+ * Constructor.
+ */
+
+void ec_sync_init(
+        ec_sync_t *sync, /**< EtherCAT sync manager */
+        const ec_slave_t *slave, /**< EtherCAT slave */
+        unsigned int index /**< sync manager index */
+        )
+{
+    sync->slave = slave;
+    sync->index = index;    
+
+    sync->est_length = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ * Destructor.
+ */
+
+void ec_sync_clear(
+        ec_sync_t *sync /**< EtherCAT sync manager */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/**
+   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_sync_t *sync, /**< sync manager */
+        uint8_t *data /**> configuration memory */
+        )
+{
+    size_t sync_size;
+
+    sync_size = ec_slave_calc_sync_size(sync->slave, sync);
+
+    if (sync->slave->master->debug_level) {
+        EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
+               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
+}
+
+/*****************************************************************************/