master/pdo_list.c
author Florian Pose <fp@igh-essen.com>
Mon, 09 Jan 2012 12:01:22 +0100
branchstable-1.5
changeset 2214 f55fe046b22b
parent 1823 2bf892fe8080
child 2421 bc2d4bf9cbe5
child 2589 2b9c78543663
permissions -rw-r--r--
Avoided enabling timer.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    11
 *  published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    12
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    16
 *  Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    17
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
/**
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
   \file
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    32
   EtherCAT PDO list methods.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
*/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include <linux/module.h>
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
#include "globals.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#include "pdo.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#include "master.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    44
#include "pdo_list.h"
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    45
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    46
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    47
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    48
/** PDO list constructor.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    49
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    50
void ec_pdo_list_init(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    51
        ec_pdo_list_t *pl /**< PDO list. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    52
        )
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    53
{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    54
    INIT_LIST_HEAD(&pl->list);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    55
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    56
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    57
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    58
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    59
/** PDO list destructor.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    60
 */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    61
void ec_pdo_list_clear(ec_pdo_list_t *pl /**< PDO list. */)
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    62
{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    63
    ec_pdo_list_clear_pdos(pl);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    68
/** Clears the list of mapped PDOs.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    69
 */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    70
void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< PDO list. */)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
    ec_pdo_t *pdo, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    74
    list_for_each_entry_safe(pdo, next, &pl->list, list) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
        list_del_init(&pdo->list);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
        ec_pdo_clear(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
        kfree(pdo);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    83
/** Calculates the total size of the mapped PDO entries.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
 * \retval Data size in byte.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    87
uint16_t ec_pdo_list_total_size(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    88
        const ec_pdo_list_t *pl /**< PDO list. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    90
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
    unsigned int bit_size;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    92
    const ec_pdo_t *pdo;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
    const ec_pdo_entry_t *pdo_entry;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
    uint16_t byte_size;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
    bit_size = 0;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
    97
    list_for_each_entry(pdo, &pl->list, list) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
        list_for_each_entry(pdo_entry, &pdo->entries, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
            bit_size += pdo_entry->bit_length;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   102
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   103
    if (bit_size % 8) // round up to full bytes
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
        byte_size = bit_size / 8 + 1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
    else
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
        byte_size = bit_size / 8;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   108
    return byte_size;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   109
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   110
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   111
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   112
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   113
/** Add a new PDO to the list.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   114
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   115
 * \return Pointer to new PDO, otherwise an ERR_PTR() code.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   116
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   117
ec_pdo_t *ec_pdo_list_add_pdo(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   118
        ec_pdo_list_t *pl, /**< PDO list. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   119
        uint16_t index /**< PDO index. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   120
        )
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   121
{
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   122
    ec_pdo_t *pdo;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   123
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   124
    if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   125
        EC_ERR("Failed to allocate memory for PDO.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   126
        return ERR_PTR(-ENOMEM);
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   127
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   128
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   129
    ec_pdo_init(pdo);
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   130
    pdo->index = index;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   131
    list_add_tail(&pdo->list, &pl->list);
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   132
    return pdo;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   133
}
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   134
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   135
/*****************************************************************************/
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   136
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   137
/** Add the copy of an existing PDO to the list.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   139
 * \return 0 on success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   140
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   141
int ec_pdo_list_add_pdo_copy(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   142
        ec_pdo_list_t *pl, /**< PDO list. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   143
        const ec_pdo_t *pdo /**< PDO to add. */
792
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
    ec_pdo_t *mapped_pdo;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   147
    int ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   148
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   149
    // PDO already mapped?
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   150
    list_for_each_entry(mapped_pdo, &pl->list, list) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   151
        if (mapped_pdo->index != pdo->index) continue;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   152
        EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   153
        return -EEXIST;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
    
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
    if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   157
        EC_ERR("Failed to allocate PDO memory.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   158
        return -ENOMEM;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   159
    }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   160
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   161
    ret = ec_pdo_init_copy(mapped_pdo, pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   162
    if (ret < 0) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
        kfree(mapped_pdo);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   164
        return ret;
792
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
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   167
    list_add_tail(&mapped_pdo->list, &pl->list);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
}
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
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   173
/** Makes a deep copy of another PDO list.
792
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
 * \return 0 on success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   177
int ec_pdo_list_copy(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   178
        ec_pdo_list_t *pl, /**< PDO list. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   179
        const ec_pdo_list_t *other /**< PDO list to copy from. */
792
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
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   182
    ec_pdo_t *other_pdo;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   183
    int ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   185
    ec_pdo_list_clear_pdos(pl);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   187
    // PDO already mapped?
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   188
    list_for_each_entry(other_pdo, &other->list, list) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   189
        ret = ec_pdo_list_add_pdo_copy(pl, other_pdo);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   190
        if (ret)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   191
            return ret;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
    
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   199
/** Compares two PDO lists.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   200
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   201
 * Only the list is compared, not the PDO entries (i. e. the PDO
1049
91a0d7226e0b Minor change.
Florian Pose <fp@igh-essen.com>
parents: 932
diff changeset
   202
 * mapping).
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   204
 * \retval 1 The given PDO lists are equal.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   205
 * \retval 0 The given PDO lists differ.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   206
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   207
int ec_pdo_list_equal(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   208
        const ec_pdo_list_t *pl1, /**< First list. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   209
        const ec_pdo_list_t *pl2 /**< Second list. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
    const struct list_head *h1, *h2, *l1, *l2;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
    const ec_pdo_t *p1, *p2;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   215
    h1 = l1 = &pl1->list;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   216
    h2 = l2 = &pl2->list;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
    while (1) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   219
        l1 = l1->next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   220
        l2 = l2->next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
        if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
            return 0;
826
70aeae0de217 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   224
        if (l1 == h1) // both finished
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
            break;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
        p1 = list_entry(l1, ec_pdo_t, list);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
        p2 = list_entry(l2, ec_pdo_t, list);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
        if (p1->index != p2->index)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
            return 0;
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
    return 1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   238
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   239
/** Finds a PDO with the given index.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   240
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   241
ec_pdo_t *ec_pdo_list_find_pdo(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   242
        const ec_pdo_list_t *pl, /**< PDO list. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   243
        uint16_t index /**< PDO index. */
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   244
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   245
{
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   246
    ec_pdo_t *pdo;
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   247
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   248
    list_for_each_entry(pdo, &pl->list, list) {
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   249
        if (pdo->index != index)
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   250
            continue;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   251
        return pdo;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   252
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   253
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   254
    return NULL;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   255
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   256
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   257
/*****************************************************************************/
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   258
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   259
/** Finds a PDO with the given index and returns a const pointer.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   260
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   261
const ec_pdo_t *ec_pdo_list_find_pdo_const(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   262
        const ec_pdo_list_t *pl, /**< PDO list. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   263
        uint16_t index /**< PDO index. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   264
        )
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   265
{
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   266
    const ec_pdo_t *pdo;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   267
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 844
diff changeset
   268
    list_for_each_entry(pdo, &pl->list, list) {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   269
        if (pdo->index != index)
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   270
            continue;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   271
        return pdo;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   272
    }
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   273
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
diff changeset
   274
    return NULL;
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 839
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: 839
diff changeset
   277
/*****************************************************************************/
931
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   278
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   279
/** Finds a PDO via its position in the list.
932
dbcc06156a60 Added ec_pdo_list_find_by_pos_const().
Florian Pose <fp@igh-essen.com>
parents: 931
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: 931
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: 1326
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
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   304
 */
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   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
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   307
        )
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   308
{
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   309
    const ec_pdo_t *pdo;
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   310
    unsigned int num = 0;
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   311
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   312
    list_for_each_entry(pdo, &pl->list, list) {
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   313
        num++;
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   314
    }
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   315
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   316
    return num;
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   317
}
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   318
482bbaf3e76b Added ec_pdo_list_count().
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   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
/*****************************************************************************/