author | Florian Pose <fp@igh-essen.com> |
Wed, 09 Nov 2011 12:58:09 +0100 | |
branch | redundancy |
changeset 2157 | 8fa0571f9996 |
parent 1823 | 2bf892fe8080 |
child 2421 | bc2d4bf9cbe5 |
child 2589 | 2b9c78543663 |
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) 2006-2008 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 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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111 |
/*****************************************************************************/ |
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112 |
|
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113 |
/** Add a new PDO to the list. |
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114 |
* |
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115 |
* \return Pointer to new PDO, otherwise an ERR_PTR() code. |
842
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116 |
*/ |
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117 |
ec_pdo_t *ec_pdo_list_add_pdo( |
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ec_pdo_list_t *pl, /**< PDO list. */ |
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119 |
uint16_t index /**< PDO index. */ |
842
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120 |
) |
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121 |
{ |
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122 |
ec_pdo_t *pdo; |
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123 |
|
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124 |
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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126 |
return ERR_PTR(-ENOMEM); |
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127 |
} |
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128 |
|
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129 |
ec_pdo_init(pdo); |
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pdo->index = index; |
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131 |
list_add_tail(&pdo->list, &pl->list); |
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return pdo; |
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133 |
} |
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134 |
|
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135 |
/*****************************************************************************/ |
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136 |
|
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137 |
/** Add the copy of an existing PDO to the list. |
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138 |
* |
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139 |
* \return 0 on success, else < 0 |
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140 |
*/ |
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141 |
int ec_pdo_list_add_pdo_copy( |
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ec_pdo_list_t *pl, /**< PDO list. */ |
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143 |
const ec_pdo_t *pdo /**< PDO to add. */ |
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144 |
) |
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145 |
{ |
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146 |
ec_pdo_t *mapped_pdo; |
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147 |
int ret; |
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148 |
|
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149 |
// PDO already mapped? |
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150 |
list_for_each_entry(mapped_pdo, &pl->list, list) { |
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151 |
if (mapped_pdo->index != pdo->index) continue; |
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152 |
EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index); |
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153 |
return -EEXIST; |
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154 |
} |
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155 |
|
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156 |
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
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157 |
EC_ERR("Failed to allocate PDO memory.\n"); |
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158 |
return -ENOMEM; |
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|
159 |
} |
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|
160 |
|
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161 |
ret = ec_pdo_init_copy(mapped_pdo, pdo); |
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162 |
if (ret < 0) { |
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|
163 |
kfree(mapped_pdo); |
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164 |
return ret; |
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|
165 |
} |
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|
166 |
|
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167 |
list_add_tail(&mapped_pdo->list, &pl->list); |
792
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|
168 |
return 0; |
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|
169 |
} |
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|
170 |
|
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|
171 |
/*****************************************************************************/ |
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|
172 |
|
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173 |
/** Makes a deep copy of another PDO list. |
792
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|
174 |
* |
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|
175 |
* \return 0 on success, else < 0 |
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|
176 |
*/ |
879
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177 |
int ec_pdo_list_copy( |
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178 |
ec_pdo_list_t *pl, /**< PDO list. */ |
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|
179 |
const ec_pdo_list_t *other /**< PDO list to copy from. */ |
792
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|
180 |
) |
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|
181 |
{ |
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|
182 |
ec_pdo_t *other_pdo; |
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|
183 |
int ret; |
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|
184 |
|
879
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|
185 |
ec_pdo_list_clear_pdos(pl); |
792
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|
186 |
|
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|
187 |
// PDO already mapped? |
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|
188 |
list_for_each_entry(other_pdo, &other->list, list) { |
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|
189 |
ret = ec_pdo_list_add_pdo_copy(pl, other_pdo); |
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|
190 |
if (ret) |
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191 |
return ret; |
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|
192 |
} |
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|
193 |
|
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|
194 |
return 0; |
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|
195 |
} |
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|
196 |
|
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|
197 |
/*****************************************************************************/ |
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|
198 |
|
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|
199 |
/** Compares two PDO lists. |
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200 |
* |
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|
201 |
* Only the list is compared, not the PDO entries (i. e. the PDO |
1049 | 202 |
* mapping). |
792
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|
203 |
* |
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|
204 |
* \retval 1 The given PDO lists are equal. |
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205 |
* \retval 0 The given PDO lists differ. |
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|
206 |
*/ |
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|
207 |
int ec_pdo_list_equal( |
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|
208 |
const ec_pdo_list_t *pl1, /**< First list. */ |
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|
209 |
const ec_pdo_list_t *pl2 /**< Second list. */ |
792
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|
210 |
) |
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|
211 |
{ |
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|
212 |
const struct list_head *h1, *h2, *l1, *l2; |
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|
213 |
const ec_pdo_t *p1, *p2; |
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|
214 |
|
879
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|
215 |
h1 = l1 = &pl1->list; |
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|
216 |
h2 = l2 = &pl2->list; |
792
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|
217 |
|
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|
218 |
while (1) { |
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|
219 |
l1 = l1->next; |
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|
220 |
l2 = l2->next; |
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Implemented most realtime interface changes for version 1.4, improved
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|
221 |
|
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Implemented most realtime interface changes for version 1.4, improved
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|
222 |
if ((l1 == h1) ^ (l2 == h2)) // unequal lengths |
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|
223 |
return 0; |
826 | 224 |
if (l1 == h1) // both finished |
792
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Implemented most realtime interface changes for version 1.4, improved
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|
225 |
break; |
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Implemented most realtime interface changes for version 1.4, improved
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changeset
|
226 |
|
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|
227 |
p1 = list_entry(l1, ec_pdo_t, list); |
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|
228 |
p2 = list_entry(l2, ec_pdo_t, list); |
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|
229 |
|
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|
230 |
if (p1->index != p2->index) |
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|
231 |
return 0; |
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|
232 |
} |
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|
233 |
|
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|
234 |
return 1; |
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diff
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|
235 |
} |
3778920f61e4
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|
236 |
|
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|
237 |
/*****************************************************************************/ |
799 | 238 |
|
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|
239 |
/** Finds a PDO with the given index. |
842
40e27e5a8dce
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|
240 |
*/ |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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|
241 |
ec_pdo_t *ec_pdo_list_find_pdo( |
1327
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|
242 |
const ec_pdo_list_t *pl, /**< PDO list. */ |
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|
243 |
uint16_t index /**< PDO index. */ |
799 | 244 |
) |
245 |
{ |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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|
246 |
ec_pdo_t *pdo; |
799 | 247 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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|
248 |
list_for_each_entry(pdo, &pl->list, list) { |
799 | 249 |
if (pdo->index != index) |
250 |
continue; |
|
251 |
return pdo; |
|
252 |
} |
|
253 |
||
254 |
return NULL; |
|
255 |
} |
|
256 |
||
257 |
/*****************************************************************************/ |
|
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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|
258 |
|
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|
259 |
/** Finds a PDO with the given index and returns a const pointer. |
842
40e27e5a8dce
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|
260 |
*/ |
879
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Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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|
261 |
const ec_pdo_t *ec_pdo_list_find_pdo_const( |
1327
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|
262 |
const ec_pdo_list_t *pl, /**< PDO list. */ |
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|
263 |
uint16_t index /**< PDO index. */ |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff
changeset
|
264 |
) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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|
265 |
{ |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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changeset
|
266 |
const ec_pdo_t *pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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changeset
|
267 |
|
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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|
268 |
list_for_each_entry(pdo, &pl->list, list) { |
842
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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changeset
|
269 |
if (pdo->index != index) |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff
changeset
|
270 |
continue; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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parents:
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diff
changeset
|
271 |
return pdo; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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diff
changeset
|
272 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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parents:
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diff
changeset
|
273 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
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parents:
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diff
changeset
|
274 |
return NULL; |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
275 |
} |
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
839
diff
changeset
|
276 |
|
40e27e5a8dce
Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
277 |
/*****************************************************************************/ |
931 | 278 |
|
1327
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
changeset
|
279 |
/** Finds a PDO via its position in the list. |
932
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
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parents:
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diff
changeset
|
280 |
* |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
281 |
* Const version. |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
282 |
*/ |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
283 |
const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
284 |
const ec_pdo_list_t *pl, /**< PDO list. */ |
932
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
285 |
unsigned int pos /**< Position in the list. */ |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
286 |
) |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
287 |
{ |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
288 |
const ec_pdo_t *pdo; |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
289 |
|
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
290 |
list_for_each_entry(pdo, &pl->list, list) { |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
291 |
if (pos--) |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
292 |
continue; |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
293 |
return pdo; |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
294 |
} |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
295 |
|
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
296 |
return NULL; |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
297 |
} |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
298 |
|
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
299 |
/*****************************************************************************/ |
dbcc06156a60
Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents:
931
diff
changeset
|
300 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
301 |
/** Get the number of PDOs in the list. |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
302 |
* |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
303 |
* \return Number of PDOs. |
931 | 304 |
*/ |
305 |
unsigned int ec_pdo_list_count( |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
306 |
const ec_pdo_list_t *pl /**< PDO list. */ |
931 | 307 |
) |
308 |
{ |
|
309 |
const ec_pdo_t *pdo; |
|
310 |
unsigned int num = 0; |
|
311 |
||
312 |
list_for_each_entry(pdo, &pl->list, list) { |
|
313 |
num++; |
|
314 |
} |
|
315 |
||
316 |
return num; |
|
317 |
} |
|
318 |
||
319 |
/*****************************************************************************/ |
|
1051
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
320 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
321 |
/** Outputs the PDOs in the list. |
1051
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
322 |
*/ |
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
323 |
void ec_pdo_list_print( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
324 |
const ec_pdo_list_t *pl /**< PDO list. */ |
1051
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
325 |
) |
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
326 |
{ |
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
327 |
const ec_pdo_t *pdo; |
40a4f31ec3b8
Added ec_pdo_list_print().
Florian Pose <fp@igh-essen.com>
parents:
1049
diff
changeset
|
328 |
|
1823
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
329 |
if (list_empty(&pl->list)) { |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
330 |
printk("(none)"); |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
331 |
} else { |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
332 |
list_for_each_entry(pdo, &pl->list, list) { |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
333 |
printk("0x%04X", pdo->index); |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
334 |
if (pdo->list.next != &pl->list) |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
335 |
printk(" "); |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
336 |
} |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
337 |
} |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
338 |
} |
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
339 |
|
2bf892fe8080
Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
340 |
/*****************************************************************************/ |