author | Florian Pose <fp@igh-essen.com> |
Thu, 21 Feb 2008 15:54:10 +0000 | |
changeset 810 | 7d7c59e1427e |
parent 799 | 068a58b96965 |
child 814 | a51f857b1b2d |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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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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/** |
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\file |
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EtherCAT Pdo mapping 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_mapping.h" |
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/*****************************************************************************/ |
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/** Pdo mapping constructor. |
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*/ |
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void ec_pdo_mapping_init( |
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ec_pdo_mapping_t *pm /**< Pdo mapping. */ |
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) |
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{ |
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INIT_LIST_HEAD(&pm->pdos); |
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pm->default_mapping = 1; |
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} |
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/*****************************************************************************/ |
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/** Pdo mapping destructor. |
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*/ |
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void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */) |
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{ |
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ec_pdo_mapping_clear_pdos(pm); |
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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_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */) |
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{ |
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ec_pdo_t *pdo, *next; |
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list_for_each_entry_safe(pdo, next, &pm->pdos, 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_mapping_total_size( |
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const ec_pdo_mapping_t *pm /**< Pdo mapping. */ |
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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, &pm->pdos, 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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/** Adds a Pdo to the mapping. |
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* |
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|
120 |
* \return 0 on success, else < 0 |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
121 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
122 |
int ec_pdo_mapping_add_pdo( |
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parents:
diff
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|
123 |
ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
3778920f61e4
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parents:
diff
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|
124 |
const ec_pdo_t *pdo /**< PDO to add. */ |
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parents:
diff
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|
125 |
) |
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Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
126 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
127 |
ec_pdo_t *mapped_pdo; |
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parents:
diff
changeset
|
128 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
129 |
// PDO already mapped? |
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diff
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|
130 |
list_for_each_entry(mapped_pdo, &pm->pdos, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
131 |
if (mapped_pdo->index != pdo->index) continue; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
132 |
EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
133 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
134 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
135 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
137 |
EC_ERR("Failed to allocate memory for PDO mapping.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
140 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
if (ec_pdo_init_copy(mapped_pdo, pdo)) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
142 |
kfree(mapped_pdo); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
143 |
return -1; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
list_add_tail(&mapped_pdo->list, &pm->pdos); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
147 |
return 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
150 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
151 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
152 |
/** Add a Pdo to the mapping. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
153 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
154 |
* The first call of this method will clear the default mapping. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
155 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
156 |
* \retval 0 Success. |
3778920f61e4
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parents:
diff
changeset
|
157 |
* \retval -1 Error. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
158 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
int ec_pdo_mapping_add_pdo_info( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
160 |
ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
3778920f61e4
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parents:
diff
changeset
|
161 |
const ec_pdo_info_t *pdo_info, /**< Pdo information. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
162 |
const ec_slave_config_t *config /**< Slave configuration, to load |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
163 |
default entries. */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
164 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
unsigned int i; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
diff
changeset
|
167 |
ec_pdo_t *pdo; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
ec_pdo_entry_t *entry; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
const ec_pdo_entry_info_t *entry_info; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
if (pm->default_mapping) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
pm->default_mapping = 0; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
ec_pdo_mapping_clear_pdos(pm); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
EC_ERR("Failed to allocate memory for Pdo.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
goto out_return; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
ec_pdo_init(pdo); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
pdo->dir = pdo_info->dir; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
pdo->index = pdo_info->index; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
if (config->master->debug_level) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
EC_INFO("Adding Pdo 0x%04X to mapping.\n", pdo->index); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
|
793
3b297ff8284f
Fixed Pdo configuration information providing.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
188 |
if (pdo_info->n_entries && pdo_info->entries) { // configuration provided |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
if (config->master->debug_level) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
EC_INFO(" Pdo configuration provided.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
for (i = 0; i < pdo_info->n_entries; i++) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
entry_info = &pdo_info->entries[i]; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
EC_ERR("Failed to allocate memory for PDO entry.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
goto out_free; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
ec_pdo_entry_init(entry); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
entry->index = entry_info->index; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
entry->subindex = entry_info->subindex; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
entry->bit_length = entry_info->bit_length; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
list_add_tail(&entry->list, &pdo->entries); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
} else { // use default Pdo configuration |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
if (config->master->debug_level) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
EC_INFO(" Using default Pdo configuration.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
if (config->slave) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
ec_sync_t *sync; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
ec_pdo_t *default_pdo; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
if ((sync = ec_slave_get_pdo_sync(config->slave, pdo->dir))) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
list_for_each_entry(default_pdo, &sync->mapping.pdos, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
if (default_pdo->index != pdo->index) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
continue; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
if (config->master->debug_level) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
EC_INFO(" Found Pdo name \"%s\".\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
default_pdo->name); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
// try to take Pdo name from mapped one |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
if (ec_pdo_set_name(pdo, default_pdo->name)) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
goto out_free; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
// copy entries (= default Pdo configuration) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
if (ec_pdo_copy_entries(pdo, default_pdo)) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
goto out_free; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
if (config->master->debug_level) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
const ec_pdo_entry_t *entry; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
list_for_each_entry(entry, &pdo->entries, list) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
EC_INFO(" Entry 0x%04X:%u.\n", |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
entry->index, entry->subindex); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
} else { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
EC_WARN("Slave %u does not provide a default Pdo" |
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" configuration!\n", config->slave->ring_position); |
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} |
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} else { |
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EC_WARN("Failed to load default Pdo configuration for %u:%u:" |
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" Slave not found.\n", config->alias, config->position); |
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} |
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} |
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|
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list_add_tail(&pdo->list, &pm->pdos); |
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return 0; |
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|
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out_free: |
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ec_pdo_clear(pdo); |
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kfree(pdo); |
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out_return: |
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return -1; |
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253 |
} |
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254 |
|
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255 |
/*****************************************************************************/ |
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256 |
|
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257 |
/** Makes a deep copy of another Pdo mapping. |
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258 |
* |
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* \return 0 on success, else < 0 |
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260 |
*/ |
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261 |
int ec_pdo_mapping_copy( |
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ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
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263 |
const ec_pdo_mapping_t *other /**< PDO mapping to copy from. */ |
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264 |
) |
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265 |
{ |
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ec_pdo_t *other_pdo; |
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|
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ec_pdo_mapping_clear_pdos(pm); |
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|
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// PDO already mapped? |
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list_for_each_entry(other_pdo, &other->pdos, list) { |
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if (ec_pdo_mapping_add_pdo(pm, other_pdo)) |
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return -1; |
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274 |
} |
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275 |
|
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276 |
return 0; |
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277 |
} |
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278 |
|
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279 |
/*****************************************************************************/ |
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280 |
|
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281 |
/** Compares two Pdo mappings. |
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282 |
* |
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283 |
* Only the mapping is compared, not the Pdo entries (i. e. the Pdo |
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|
284 |
* configuration). |
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|
285 |
* |
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286 |
* \retval 1 The given Pdo mappings are equal. |
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287 |
* \retval 0 The given Pdo mappings differ. |
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288 |
*/ |
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|
289 |
int ec_pdo_mapping_equal( |
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290 |
const ec_pdo_mapping_t *pm1, /**< First mapping. */ |
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291 |
const ec_pdo_mapping_t *pm2 /**< Second mapping. */ |
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|
292 |
) |
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|
293 |
{ |
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294 |
const struct list_head *h1, *h2, *l1, *l2; |
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295 |
const ec_pdo_t *p1, *p2; |
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|
296 |
|
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297 |
h1 = l1 = &pm1->pdos; |
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|
298 |
h2 = l2 = &pm2->pdos; |
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|
299 |
|
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|
300 |
while (1) { |
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|
301 |
l1 = l1->next; |
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|
302 |
l2 = l2->next; |
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|
303 |
|
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|
304 |
if ((l1 == h1) ^ (l2 == h2)) // unequal lengths |
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|
305 |
return 0; |
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|
306 |
if (l1 == h1 && l2 == h2) // both finished |
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|
307 |
break; |
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parents:
diff
changeset
|
308 |
|
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|
309 |
p1 = list_entry(l1, ec_pdo_t, list); |
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|
310 |
p2 = list_entry(l2, ec_pdo_t, list); |
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|
311 |
|
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|
312 |
if (p1->index != p2->index) |
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|
313 |
return 0; |
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diff
changeset
|
314 |
} |
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parents:
diff
changeset
|
315 |
|
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|
316 |
return 1; |
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diff
changeset
|
317 |
} |
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changeset
|
318 |
|
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|
319 |
/*****************************************************************************/ |
799 | 320 |
|
321 |
/** Finds a Pdo with the given index. |
|
322 |
*/ |
|
323 |
const ec_pdo_t *ec_pdo_mapping_find_pdo( |
|
324 |
const ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
|
325 |
uint16_t index /**< Pdo index. */ |
|
326 |
) |
|
327 |
{ |
|
328 |
ec_pdo_t *pdo; |
|
329 |
||
330 |
list_for_each_entry(pdo, &pm->pdos, list) { |
|
331 |
if (pdo->index != index) |
|
332 |
continue; |
|
333 |
return pdo; |
|
334 |
} |
|
335 |
||
336 |
return NULL; |
|
337 |
} |
|
338 |
||
339 |
/*****************************************************************************/ |