1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   Canopen-over-EtherCAT functions.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#include <linux/module.h>

    42

    43

#include "canopen.h"

    45

    46

/*****************************************************************************/

    47

    48

ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);

    49

ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

    50

                                    char *);

    51

void ec_sdo_clear(struct kobject *);

    52

void ec_sdo_entry_clear(struct kobject *);

    53

    58

/*****************************************************************************/

    59

    60

/** \cond */

    61

    62

EC_SYSFS_READ_ATTR(info);

    64

    65

static struct attribute *sdo_def_attrs[] = {

    66

    &attr_info,

    67

    NULL,

    68

};

    69

    70

static struct sysfs_ops sdo_sysfs_ops = {

    71

    .show = &ec_show_sdo_attribute,

    72

    .store = NULL

    73

};

    74

    75

static struct kobj_type ktype_ec_sdo = {

    76

    .release = ec_sdo_clear,

    77

    .sysfs_ops = &sdo_sysfs_ops,

    78

    .default_attrs = sdo_def_attrs

    79

};

    80

    81

static struct attribute *sdo_entry_def_attrs[] = {

    82

    &attr_info,

    84

    NULL,

    85

};

    86

    87

static struct sysfs_ops sdo_entry_sysfs_ops = {

    88

    .show = &ec_show_sdo_entry_attribute,

    89

    .store = NULL

    90

};

    91

    92

static struct kobj_type ktype_ec_sdo_entry = {

    93

    .release = ec_sdo_entry_clear,

    94

    .sysfs_ops = &sdo_entry_sysfs_ops,

    95

    .default_attrs = sdo_entry_def_attrs

    96

};

    97

    98

/** \endcond */

    99

   100

/*****************************************************************************/

   101

   102

/**

   103

   SDO constructor.

   104

*/

   105

   106

int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

   107

                uint16_t index, /**< SDO index */

   108

                ec_slave_t *slave /**< parent slave */

   109

                )

   110

{

   112

    sdo->index = index;

   113

    sdo->object_code = 0x00;

   114

    sdo->name = NULL;

   115

    sdo->subindices = 0;

   116

    INIT_LIST_HEAD(&sdo->entries);

   117

   118

    // init kobject and add it to the hierarchy

   119

    memset(&sdo->kobj, 0x00, sizeof(struct kobject));

   120

    kobject_init(&sdo->kobj);

   121

    sdo->kobj.ktype = &ktype_ec_sdo;

   122

    sdo->kobj.parent = &slave->sdo_kobj;

   123

    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

   124

        EC_ERR("Failed to set kobj name.\n");

   125

        return -1;

   126

    }

   127

   128

    return 0;

   129

}

   130

   131

/*****************************************************************************/

   132

   133

/**

   134

   SDO destructor.

   135

*/

   136

   137

void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

   138

{

   139

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   140

    ec_sdo_entry_t *entry, *next;

   141

   142

    // free all entries

   143

    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

   144

        list_del(&entry->list);

   145

        kobject_del(&entry->kobj);

   146

        kobject_put(&entry->kobj);

   147

    }

   148

   149

    if (sdo->name) kfree(sdo->name);

   150

   151

    kfree(sdo);

   152

}

   153

   154

/*****************************************************************************/

   155

   156

ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

   157

                    char *buffer /**< target buffer */

   158

                    )

   159

{

   160

    off_t off = 0;

   161

   162

    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

   163

    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

   164

    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

   165

   166

    return off;

   167

}

   168

   169

/*****************************************************************************/

   170

   171

ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

   172

                              struct attribute *attr,

   173

                              char *buffer

   174

                              )

   175

{

   176

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   177

   178

    if (attr == &attr_info) {

   179

        return ec_sdo_info(sdo, buffer);

   180

    }

   181

   182

    return 0;

   183

}

   184

   185

/*****************************************************************************/

   186

   187

/**

   188

   SDO entry constructor.

   189

*/

   190

   191

int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

   192

                      uint8_t subindex, /**< SDO entry subindex */

   193

                      ec_sdo_t *sdo /**< parent SDO */

   194

                      )

   195

{

   197

    entry->subindex = subindex;

   198

    entry->data_type = 0x0000;

   199

    entry->bit_length = 0;

   200

    entry->description = NULL;

   201

   202

    // init kobject and add it to the hierarchy

   203

    memset(&entry->kobj, 0x00, sizeof(struct kobject));

   204

    kobject_init(&entry->kobj);

   205

    entry->kobj.ktype = &ktype_ec_sdo_entry;

   206

    entry->kobj.parent = &sdo->kobj;

   207

    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

   208

        EC_ERR("Failed to set kobj name.\n");

   209

        return -1;

   210

    }

   211

   212

    return 0;

   213

}

   214

   215

/*****************************************************************************/

   216

   217

/**

   218

   SDO destructor.

   219

*/

   220

   221

void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

   222

{

   223

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   224

   225

    if (entry->description) kfree(entry->description);

   226

   227

    kfree(entry);

   228

}

   229

   230

/*****************************************************************************/

   231

   232

ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

   233

                          char *buffer /**< target buffer */

   234

                          )

   235

{

   236

    off_t off = 0;

   237

   238

    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   239

    off += sprintf(buffer + off, "Description: %s\n",

   240

                   entry->description ? entry->description : "");

   241

    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   242

    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   243

   244

    return off;

   245

}

   246

   247

/*****************************************************************************/

   248

   319

ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

   320

                                    struct attribute *attr,

   321

                                    char *buffer

   322

                                    )

   323

{

   324

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   325

   326

    if (attr == &attr_info) {

   327

        return ec_sdo_entry_info(entry, buffer);

   328

    }

   332

   333

    return 0;

   334

}

   335

   336

/*****************************************************************************/

   337