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/******************************************************************************
*
* $Id$
*
* 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 "pdo.h"
#include "sync.h"
/*****************************************************************************/
/**
* Constructor.
*/
void ec_sync_init(
ec_sync_t *sync, /**< EtherCAT sync manager */
ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< sync manager index */
)
{
sync->slave = slave;
sync->index = index;
sync->est_length = 0;
INIT_LIST_HEAD(&sync->pdos);
sync->alt_mapping = 0;
sync->mapping_source = EC_SYNC_MAPPING_NONE;
}
/*****************************************************************************/
/**
* Destructor.
*/
void ec_sync_clear(
ec_sync_t *sync /**< EtherCAT sync manager */
)
{
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ec_sync_clear_pdos(sync);
}
/*****************************************************************************/
/**
* Calculates the size of a sync manager by evaluating PDO sizes.
* \return sync manager size
*/
uint16_t ec_sync_size(
const ec_sync_t *sync /**< sync manager */
)
{
const ec_pdo_t *pdo;
const ec_pdo_entry_t *pdo_entry;
unsigned int bit_size, byte_size;
if (sync->length) return sync->length;
if (sync->est_length) return sync->est_length;
bit_size = 0;
list_for_each_entry(pdo, &sync->pdos, list) {
list_for_each_entry(pdo_entry, &pdo->entries, list) {
bit_size += pdo_entry->bit_length;
}
}
if (bit_size % 8) // round up to full bytes
byte_size = bit_size / 8 + 1;
else
byte_size = bit_size / 8;
return byte_size;
}
/*****************************************************************************/
/**
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 = ec_sync_size(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
}
/*****************************************************************************/
* Adds a PDO to the list of known mapped PDOs.
* \return 0 on success, else < 0
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*/
int ec_sync_add_pdo(
ec_sync_t *sync, /**< EtherCAT sync manager */
const ec_pdo_t *pdo /**< PDO to map */
)
{
ec_pdo_t *mapped_pdo;
// PDO already mapped?
list_for_each_entry(mapped_pdo, &sync->pdos, list) {
if (mapped_pdo->index != pdo->index) continue;
EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
return -1;
}
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for PDO mapping.\n");
return -1;
}
ec_pdo_init(mapped_pdo);
if (ec_pdo_copy(mapped_pdo, pdo)) {
ec_pdo_clear(mapped_pdo);
kfree(mapped_pdo);
return -1;
}
// set appropriate sync manager index
mapped_pdo->sync_index = sync->index;
list_add_tail(&mapped_pdo->list, &sync->pdos);
return 0;
}
/*****************************************************************************/
/**
*/
void ec_sync_clear_pdos(
ec_sync_t *sync /**< EtherCAT sync manager */
)
{
ec_pdo_t *pdo, *next;
// free all mapped PDOs
list_for_each_entry_safe(pdo, next, &sync->pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
kfree(pdo);
}
}
/*****************************************************************************/
* \return Type of PDOs covered by the given sync manager.
*/
ec_pdo_type_t ec_sync_get_pdo_type(
const ec_sync_t *sync /**< EtherCAT sync manager */
)
{
int index = sync->index;
if (sync->slave && sync->slave->sii_mailbox_protocols) {
index -= 2;
}
if (index < 0 || index > 1) {
EC_WARN("ec_sync_get_pdo_type(): invalid sync manager index.\n");
return EC_RX_PDO;
}
return (ec_pdo_type_t) index;
}
/*****************************************************************************/