master/pdo.c
author Florian Pose <fp@igh-essen.com>
Wed, 09 Nov 2011 12:58:09 +0100
branchredundancy
changeset 2157 8fa0571f9996
parent 1823 2bf892fe8080
child 2421 bc2d4bf9cbe5
child 2589 2b9c78543663
permissions -rw-r--r--
Poll both devices.
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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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  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 process data object methods.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include <linux/err.h>
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#include "pdo.h"
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/*****************************************************************************/
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/** PDO constructor.
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 */
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void ec_pdo_init(
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        ec_pdo_t *pdo /**< EtherCAT PDO */
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        )
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{
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    pdo->sync_index = -1; // not assigned 
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    pdo->name = NULL;
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    INIT_LIST_HEAD(&pdo->entries);
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}
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/*****************************************************************************/
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/** PDO copy constructor.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_pdo_init_copy(
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        ec_pdo_t *pdo, /**< PDO to create. */
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        const ec_pdo_t *other_pdo /**< PDO to copy from. */
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        )
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{
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    int ret = 0;
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    pdo->index = other_pdo->index;
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    pdo->sync_index = other_pdo->sync_index;
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    pdo->name = NULL;
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    INIT_LIST_HEAD(&pdo->entries);
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    ret = ec_pdo_set_name(pdo, other_pdo->name);
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    if (ret < 0)
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        goto out_return;
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    ret = ec_pdo_copy_entries(pdo, other_pdo);
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    if (ret < 0)
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        goto out_clear;
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    return 0;
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out_clear:
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    ec_pdo_clear(pdo);
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out_return:
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    return ret;
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}
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/*****************************************************************************/
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/** PDO destructor.
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 */
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void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT PDO. */)
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{
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    if (pdo->name)
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        kfree(pdo->name);
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    ec_pdo_clear_entries(pdo);
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}
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/*****************************************************************************/
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/** Clear PDO entry list.
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 */
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void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT PDO. */)
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{
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    ec_pdo_entry_t *entry, *next;
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    // free all PDO entries
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    list_for_each_entry_safe(entry, next, &pdo->entries, list) {
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        list_del(&entry->list);
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        ec_pdo_entry_clear(entry);
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        kfree(entry);
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    }
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}
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/*****************************************************************************/
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/** Set PDO name.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_pdo_set_name(
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        ec_pdo_t *pdo, /**< PDO. */
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        const char *name /**< New name. */
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        )
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{
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    unsigned int len;
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    if (pdo->name && name && !strcmp(pdo->name, name))
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        return 0;
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    if (pdo->name)
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        kfree(pdo->name);
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    if (name && (len = strlen(name))) {
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        if (!(pdo->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
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            EC_ERR("Failed to allocate PDO name.\n");
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            return -ENOMEM;
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        }
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        memcpy(pdo->name, name, len + 1);
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    } else {
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        pdo->name = NULL;
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   146
    }
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    return 0;
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}
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/*****************************************************************************/
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/** Add a new PDO entry to the configuration.
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 *
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 * \retval Pointer to the added entry, otherwise a ERR_PTR() code.
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 */
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ec_pdo_entry_t *ec_pdo_add_entry(
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        ec_pdo_t *pdo, /**< PDO. */
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        uint16_t index, /**< New entry's index. */
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        uint8_t subindex, /**< New entry's subindex. */
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        uint8_t bit_length /**< New entry's bit length. */
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   162
        )
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{
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   164
    ec_pdo_entry_t *entry;
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    if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate memory for PDO entry.\n");
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        return ERR_PTR(-ENOMEM);
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   169
    }
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    ec_pdo_entry_init(entry);
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    entry->index = index;
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   173
    entry->subindex = subindex;
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   174
    entry->bit_length = bit_length;
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    list_add_tail(&entry->list, &pdo->entries);
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   176
    return entry;
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   177
}
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/*****************************************************************************/
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   180
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/** Copy PDO entries from another PDO.
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   182
 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_pdo_copy_entries(
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        ec_pdo_t *pdo, /**< PDO whos entries shall be replaced. */
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   188
        const ec_pdo_t *other /**< Pdo with entries to copy. */
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   189
        )
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{
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   191
    ec_pdo_entry_t *entry, *other_entry;
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    int ret;
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   193
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   194
    ec_pdo_clear_entries(pdo);
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   195
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   196
    list_for_each_entry(other_entry, &other->entries, list) {
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   197
        if (!(entry = (ec_pdo_entry_t *)
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   198
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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   199
            EC_ERR("Failed to allocate memory for PDO entry copy.\n");
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   200
            return -ENOMEM;
792
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   201
        }
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   202
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   203
        ret = ec_pdo_entry_init_copy(entry, other_entry);
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   204
        if (ret < 0) {
792
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   205
            kfree(entry);
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   206
            return ret;
792
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   207
        }
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   208
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   209
        list_add_tail(&entry->list, &pdo->entries);
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diff changeset
   210
    }
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   211
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   212
    return 0;
792
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   213
}
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   214
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   215
/*****************************************************************************/
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   216
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   217
/** Compares the entries of two PDOs.
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   218
 *
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   219
 * \retval 1 The entries of the given PDOs are equal.
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   220
 * \retval 0 The entries of the given PDOs differ.
799
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   221
 */
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diff changeset
   222
int ec_pdo_equal_entries(
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   223
        const ec_pdo_t *pdo1, /**< First PDO. */
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   224
        const ec_pdo_t *pdo2 /**< Second PDO. */
799
068a58b96965 Pdo configuration.
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   225
        )
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   226
{
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   227
    const struct list_head *head1, *head2, *item1, *item2;
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   228
    const ec_pdo_entry_t *entry1, *entry2;
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   229
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   230
    head1 = item1 = &pdo1->entries;
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   231
    head2 = item2 = &pdo2->entries;
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   232
068a58b96965 Pdo configuration.
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   233
    while (1) {
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   234
        item1 = item1->next;
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   235
        item2 = item2->next;
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   236
068a58b96965 Pdo configuration.
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   237
        if ((item1 == head1) ^ (item2 == head2)) // unequal lengths
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   238
            return 0;
826
70aeae0de217 Minor changes.
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diff changeset
   239
        if (item1 == head1) // both finished
799
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   240
            break;
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   241
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   242
        entry1 = list_entry(item1, ec_pdo_entry_t, list);
068a58b96965 Pdo configuration.
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   243
        entry2 = list_entry(item2, ec_pdo_entry_t, list);
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diff changeset
   244
        if (!ec_pdo_entry_equal(entry1, entry2))
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   245
            return 0;
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diff changeset
   246
    }
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   247
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   248
    return 1;
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   249
}
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   250
068a58b96965 Pdo configuration.
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   251
/*****************************************************************************/
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   252
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   253
/** Get the number of PDO entries.
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   254
 *
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   255
 * \return Number of PDO entries.
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96241b092fac Added entry access functions.
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   256
 */
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   257
unsigned int ec_pdo_entry_count(
1327
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   258
        const ec_pdo_t *pdo /**< PDO. */
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96241b092fac Added entry access functions.
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   259
        )
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   260
{
96241b092fac Added entry access functions.
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    const ec_pdo_entry_t *entry;
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    unsigned int num = 0;
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    list_for_each_entry(entry, &pdo->entries, 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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/** Finds a PDO entry 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_entry_t *ec_pdo_find_entry_by_pos_const(
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        const ec_pdo_t *pdo, /**< PDO. */
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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_entry_t *entry;
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    list_for_each_entry(entry, &pdo->entries, list) {
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        if (pos--)
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            continue;
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        return entry;
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    }
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    return NULL;
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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_print_entries(
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        const ec_pdo_t *pdo /**< PDO. */
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        )
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{
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    const ec_pdo_entry_t *entry;
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    if (list_empty(&pdo->entries)) {
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        printk("(none)");
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    } else {
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        list_for_each_entry(entry, &pdo->entries, list) {
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            printk("0x%04X:%02X/%u",
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                    entry->index, entry->subindex, entry->bit_length);
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            if (entry->list.next != &pdo->entries)
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                printk(" ");
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        }
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    }
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}
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/*****************************************************************************/