diff --git a/TODO b/TODO
index e10f080a0963884a6918c0c44071ea1f1856f467..3cdece4d0e24a312513a4caab9c48a4719663b35 100644
--- a/TODO
+++ b/TODO
@@ -23,7 +23,6 @@ $Id$
* Implement interface for alternative PDO mapping.
* Simplify FSMs with <state>_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 --git a/master/fsm_slave.c b/master/fsm_slave.c
index 0a49f1fa4420f16f517f5d742ceef24e54428927..242cfe7eeb9ce3ff511d3604718018c255d0d624 100644
--- a/master/fsm_slave.c
+++ b/master/fsm_slave.c
@@ -696,24 +696,24 @@ void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *fsm /**< slave state machine *
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 @@ void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *fsm /**< slave state machine
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 @@ void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
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 --git a/master/master.c b/master/master.c
index ab22eeb20a237060a5e8d53b570f90ca857a6ef1..91dd100de8c0734f241cb8f8577b2f7ad1b429c1 100644
--- a/master/master.c
+++ b/master/master.c
@@ -855,71 +855,6 @@ static int ec_master_thread(void *data)
/*****************************************************************************/
-/**
- 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 --git a/master/master.h b/master/master.h
index 6055cbd8206f0b83081865e29848c8cd0a03d87a..111dda97e21d2375f14bcd5a0a345b049b4081a3 100644
--- a/master/master.h
+++ b/master/master.h
@@ -172,10 +172,6 @@ void ec_master_output_stats(ec_master_t *);
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 --git a/master/slave.c b/master/slave.c
index 455c6a466f33926b9021f1bcd61ef309cd7c5cff..eb1e2486fd6ce43aed479f777cbe3bc51dbf8174 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -980,6 +980,71 @@ uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
/*****************************************************************************/
+/**
+ 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 --git a/master/slave.h b/master/slave.h
index a9d19c368e0760f48dfd5174196ce6dd0e09eb39..db24bc8ea8c2621a2245dc77a3e29c0b1357d565 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -278,8 +278,10 @@ int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t,
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 *);