master/pdo_list.c
author Florian Pose <fp@igh-essen.com>
Mon, 26 Jan 2009 14:13:50 +0000
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parent 1327 4d179b06dd3c
child 1363 11c0b2caa253
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merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT PDO list methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "pdo.h"
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#include "slave_config.h"
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#include "master.h"
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#include "pdo_list.h"
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/*****************************************************************************/
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/** PDO list constructor.
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 */
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void ec_pdo_list_init(
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        ec_pdo_list_t *pl /**< PDO list. */
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        )
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{
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    INIT_LIST_HEAD(&pl->list);
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}
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/*****************************************************************************/
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/** PDO list destructor.
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 */
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void ec_pdo_list_clear(ec_pdo_list_t *pl /**< PDO list. */)
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{
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    ec_pdo_list_clear_pdos(pl);
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}
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/*****************************************************************************/
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/** Clears the list of mapped PDOs.
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 */
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void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< PDO list. */)
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{
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    ec_pdo_t *pdo, *next;
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    list_for_each_entry_safe(pdo, next, &pl->list, list) {
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        list_del_init(&pdo->list);
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        ec_pdo_clear(pdo);
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        kfree(pdo);
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    }
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}
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/*****************************************************************************/
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/** Calculates the total size of the mapped PDO entries.
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 *
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 * \retval Data size in byte.
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 */
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uint16_t ec_pdo_list_total_size(
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        const ec_pdo_list_t *pl /**< PDO list. */
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        )
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{
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    unsigned int bit_size;
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    const ec_pdo_t *pdo;
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    const ec_pdo_entry_t *pdo_entry;
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    uint16_t byte_size;
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    bit_size = 0;
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    list_for_each_entry(pdo, &pl->list, list) {
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        list_for_each_entry(pdo_entry, &pdo->entries, list) {
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            bit_size += pdo_entry->bit_length;
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        }
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    }
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    if (bit_size % 8) // round up to full bytes
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        byte_size = bit_size / 8 + 1;
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    else
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        byte_size = bit_size / 8;
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    return byte_size;
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}
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/*****************************************************************************/
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/** Add a new PDO to the list.
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 *
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 * \return Pointer to new PDO, otherwise an ERR_PTR() code.
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 */
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ec_pdo_t *ec_pdo_list_add_pdo(
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        ec_pdo_list_t *pl, /**< PDO list. */
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        uint16_t index /**< PDO index. */
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        )
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{
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    ec_pdo_t *pdo;
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    if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate memory for PDO.\n");
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        return ERR_PTR(-ENOMEM);
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    }
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    ec_pdo_init(pdo);
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    pdo->index = index;
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    list_add_tail(&pdo->list, &pl->list);
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    return pdo;
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}
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/*****************************************************************************/
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   133
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/** Add the copy of an existing PDO to the list.
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 *
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 * \return 0 on success, else < 0
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 */
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int ec_pdo_list_add_pdo_copy(
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        ec_pdo_list_t *pl, /**< PDO list. */
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        const ec_pdo_t *pdo /**< PDO to add. */
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        )
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{
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    ec_pdo_t *mapped_pdo;
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    int ret;
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    // PDO already mapped?
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    list_for_each_entry(mapped_pdo, &pl->list, list) {
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        if (mapped_pdo->index != pdo->index) continue;
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        EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
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        return -EEXIST;
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    }
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    if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate PDO memory.\n");
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        return -ENOMEM;
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    }
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    ret = ec_pdo_init_copy(mapped_pdo, pdo);
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    if (ret < 0) {
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        kfree(mapped_pdo);
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        return ret;
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    }
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    list_add_tail(&mapped_pdo->list, &pl->list);
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    return 0;
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}
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/*****************************************************************************/
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/** Makes a deep copy of another PDO list.
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 *
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 * \return 0 on success, else < 0
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 */
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int ec_pdo_list_copy(
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        ec_pdo_list_t *pl, /**< PDO list. */
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        const ec_pdo_list_t *other /**< PDO list to copy from. */
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        )
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{
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    ec_pdo_t *other_pdo;
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    int ret;
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    ec_pdo_list_clear_pdos(pl);
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    // PDO already mapped?
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    list_for_each_entry(other_pdo, &other->list, list) {
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        ret = ec_pdo_list_add_pdo_copy(pl, other_pdo);
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        if (ret)
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            return ret;
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   189
    }
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    return 0;
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}
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/*****************************************************************************/
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   195
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/** Compares two PDO lists.
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   197
 *
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 * Only the list is compared, not the PDO entries (i. e. the PDO
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   199
 * mapping).
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 *
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 * \retval 1 The given PDO lists are equal.
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 * \retval 0 The given PDO lists differ.
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 */
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int ec_pdo_list_equal(
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        const ec_pdo_list_t *pl1, /**< First list. */
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        const ec_pdo_list_t *pl2 /**< Second list. */
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        )
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{
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    const struct list_head *h1, *h2, *l1, *l2;
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    const ec_pdo_t *p1, *p2;
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   211
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   212
    h1 = l1 = &pl1->list;
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   213
    h2 = l2 = &pl2->list;
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   214
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   215
    while (1) {
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   216
        l1 = l1->next;
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        l2 = l2->next;
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   218
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   219
        if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
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   220
            return 0;
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   221
        if (l1 == h1) // both finished
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   222
            break;
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   223
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   224
        p1 = list_entry(l1, ec_pdo_t, list);
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   225
        p2 = list_entry(l2, ec_pdo_t, list);
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   226
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   227
        if (p1->index != p2->index)
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   228
            return 0;
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   229
    }
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   230
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   231
    return 1;
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   232
}
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   233
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   234
/*****************************************************************************/
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   235
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   236
/** Finds a PDO with the given index.
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   237
 */
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   238
ec_pdo_t *ec_pdo_list_find_pdo(
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   239
        const ec_pdo_list_t *pl, /**< PDO list. */
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   240
        uint16_t index /**< PDO index. */
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   241
        )
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   242
{
842
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   243
    ec_pdo_t *pdo;
799
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   244
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   245
    list_for_each_entry(pdo, &pl->list, list) {
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   246
        if (pdo->index != index)
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   247
            continue;
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        return pdo;
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    }
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    return NULL;
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}
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/*****************************************************************************/
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/** Finds a PDO with the given index and returns a const pointer.
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 */
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const ec_pdo_t *ec_pdo_list_find_pdo_const(
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        const ec_pdo_list_t *pl, /**< PDO list. */
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        uint16_t index /**< PDO index. */
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        )
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{
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    const ec_pdo_t *pdo;
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    list_for_each_entry(pdo, &pl->list, list) {
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        if (pdo->index != index)
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            continue;
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        return pdo;
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    }
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    return NULL;
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}
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/*****************************************************************************/
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/** Finds a PDO via its position in the list.
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 *
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 * Const version.
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 */
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const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
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        const ec_pdo_list_t *pl, /**< PDO list. */
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        unsigned int pos /**< Position in the list. */
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        )
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{
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    const ec_pdo_t *pdo;
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    list_for_each_entry(pdo, &pl->list, list) {
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        if (pos--)
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            continue;
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        return pdo;
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    }
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    return NULL;
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}
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/*****************************************************************************/
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/** Get the number of PDOs in the list.
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 *
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 * \return Number of PDOs.
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 */
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unsigned int ec_pdo_list_count(
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        const ec_pdo_list_t *pl /**< PDO list. */
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        )
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{
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    const ec_pdo_t *pdo;
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    unsigned int num = 0;
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    list_for_each_entry(pdo, &pl->list, list) {
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        num++;
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    }
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    return num;
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}
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/*****************************************************************************/
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/** Outputs the PDOs in the list.
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 */
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void ec_pdo_list_print(
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        const ec_pdo_list_t *pl /**< PDO list. */
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        )
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{
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    const ec_pdo_t *pdo;
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    list_for_each_entry(pdo, &pl->list, list) {
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        printk("0x%04X", pdo->index);
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        if (pdo->list.next != &pl->list)
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            printk(" ");
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    }
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}
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/*****************************************************************************/