mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-06 03:41:52 +08:00
6189092aed
ec_pdo_t and ec_pdo_entry_t classes, added fmmu_config_t, adjusted minimal example, etc...
138 lines
4.4 KiB
C
138 lines
4.4 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/** \file
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* EtherCAT sync manager methods.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "slave.h"
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#include "master.h"
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#include "pdo.h"
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#include "sync.h"
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/*****************************************************************************/
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/** Constructor.
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*/
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void ec_sync_init(
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ec_sync_t *sync, /**< EtherCAT sync manager. */
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ec_slave_t *slave, /**< EtherCAT slave. */
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unsigned int index /**< Sync manager index. */
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)
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{
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sync->slave = slave;
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sync->index = index;
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ec_pdo_mapping_init(&sync->mapping);
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sync->mapping_source = EC_SYNC_MAPPING_NONE;
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}
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/*****************************************************************************/
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/** Destructor.
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*/
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void ec_sync_clear(
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ec_sync_t *sync /**< EtherCAT sync manager. */
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)
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{
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ec_pdo_mapping_clear(&sync->mapping);
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}
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/*****************************************************************************/
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/** Initializes a sync manager configuration page with EEPROM data.
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*
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* The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes.
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*/
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void ec_sync_config(
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const ec_sync_t *sync, /**< Sync manager. */
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uint16_t data_size, /**< Data size. */
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uint8_t *data /**> Configuration memory. */
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)
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{
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if (sync->slave->master->debug_level) {
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EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
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sync->index, sync->physical_start_address,
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data_size, sync->control_register, sync->enable);
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}
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EC_WRITE_U16(data, sync->physical_start_address);
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EC_WRITE_U16(data + 2, data_size);
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EC_WRITE_U8 (data + 4, sync->control_register);
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EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
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EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
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}
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/*****************************************************************************/
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/** Adds a PDO to the list of known mapped PDOs.
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*
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* \return 0 on success, else < 0
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*/
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int ec_sync_add_pdo(
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ec_sync_t *sync, /**< EtherCAT sync manager. */
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const ec_pdo_t *pdo /**< PDO to map. */
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)
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{
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return ec_pdo_mapping_add_pdo(&sync->mapping, pdo);
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}
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/*****************************************************************************/
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/** Get direction covered by sync manager.
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*
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* \return Direction covered by the given sync manager.
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*/
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ec_direction_t ec_sync_direction(
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const ec_sync_t *sync /**< EtherCAT sync manager. */
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)
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{
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int index = sync->index;
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if (sync->slave && sync->slave->sii_mailbox_protocols) {
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index -= 2;
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}
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if (index < 0 || index > 1) {
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EC_WARN("ec_sync_get_direction(): invalid sync manager index.\n");
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return EC_DIR_OUTPUT;
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}
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return (ec_direction_t) index;
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}
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/*****************************************************************************/
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