etherlabmaster: master/pdo.c@880b556a6efc (annotated)

627 4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT process data object methods.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include <linux/slab.h>
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "pdo.h"
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/**
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	* PDO constructor.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	*/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_pdo_init(ec_pdo_t pdo /< EtherCAT PDO /)
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	{
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	pdo->name = NULL;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	INIT_LIST_HEAD(&pdo->entries);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	56
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/*****************************************************************************/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/**
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	* PDO destructor.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_pdo_clear(ec_pdo_t pdo /< EtherCAT PDO /)
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	{
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	ec_pdo_entry_t entry, next;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	66
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	// free all PDO entries
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	list_for_each_entry_safe(entry, next, &pdo->entries, list) {
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	list_del(&entry->list);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	kfree(entry);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	/*****************************************************************************/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	75
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	/**
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	* Makes a deep copy of a PDO.
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	*/
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	int ec_pdo_copy(ec_pdo_t pdo, const ec_pdo_t other_pdo)
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	{
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	ec_pdo_entry_t entry, other_entry, *next;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	// make flat copy
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	pdo = other_pdo;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	INIT_LIST_HEAD(&pdo->entries);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	list_for_each_entry(other_entry, &other_pdo->entries, list) {
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	if (!(entry = (ec_pdo_entry_t *)
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	EC_ERR("Failed to allocate memory for PDO entry copy.\n");
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	goto out_free;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	entry = other_entry; // flat copy is sufficient
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	list_add_tail(&entry->list, &pdo->entries);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	return 0;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	100
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	out_free:
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	list_for_each_entry_safe(entry, next, &pdo->entries, list) {
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	list_del(&entry->list);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	kfree(entry);
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	return -1;
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	}
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	108
4793ca94f082 Layed out PDO structures to own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 09 Aug 2007 14:38:18 +0000
changeset 689	880b556a6efc
parent 627	4793ca94f082
child 792	3778920f61e4
permissions	-rw-r--r--