|
1 /****************************************************************************** |
|
2 * |
|
3 * $Id$ |
|
4 * |
|
5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
|
6 * |
|
7 * This file is part of the IgH EtherCAT Master. |
|
8 * |
|
9 * The IgH EtherCAT Master is free software; you can redistribute it |
|
10 * and/or modify it under the terms of the GNU General Public License |
|
11 * as published by the Free Software Foundation; either version 2 of the |
|
12 * License, or (at your option) any later version. |
|
13 * |
|
14 * The IgH EtherCAT Master is distributed in the hope that it will be |
|
15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
17 * GNU General Public License for more details. |
|
18 * |
|
19 * You should have received a copy of the GNU General Public License |
|
20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
|
21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
22 * |
|
23 * The right to use EtherCAT Technology is granted and comes free of |
|
24 * charge under condition of compatibility of product made by |
|
25 * Licensee. People intending to distribute/sell products based on the |
|
26 * code, have to sign an agreement to guarantee that products using |
|
27 * software based on IgH EtherCAT master stay compatible with the actual |
|
28 * EtherCAT specification (which are released themselves as an open |
|
29 * standard) as the (only) precondition to have the right to use EtherCAT |
|
30 * Technology, IP and trade marks. |
|
31 * |
|
32 *****************************************************************************/ |
|
33 |
|
34 /** |
|
35 \file |
|
36 EtherCAT Pdo mapping methods. |
|
37 */ |
|
38 |
|
39 /*****************************************************************************/ |
|
40 |
|
41 #include <linux/module.h> |
|
42 |
|
43 #include "globals.h" |
|
44 #include "pdo.h" |
|
45 #include "slave_config.h" |
|
46 #include "master.h" |
|
47 |
|
48 #include "pdo_mapping.h" |
|
49 |
|
50 /*****************************************************************************/ |
|
51 |
|
52 /** Pdo mapping constructor. |
|
53 */ |
|
54 void ec_pdo_mapping_init( |
|
55 ec_pdo_mapping_t *pm /**< Pdo mapping. */ |
|
56 ) |
|
57 { |
|
58 INIT_LIST_HEAD(&pm->pdos); |
|
59 pm->default_mapping = 1; |
|
60 } |
|
61 |
|
62 /*****************************************************************************/ |
|
63 |
|
64 /** Pdo mapping destructor. |
|
65 */ |
|
66 void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */) |
|
67 { |
|
68 ec_pdo_mapping_clear_pdos(pm); |
|
69 } |
|
70 |
|
71 /*****************************************************************************/ |
|
72 |
|
73 /** Clears the list of mapped Pdos. |
|
74 */ |
|
75 void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */) |
|
76 { |
|
77 ec_pdo_t *pdo, *next; |
|
78 |
|
79 list_for_each_entry_safe(pdo, next, &pm->pdos, list) { |
|
80 list_del_init(&pdo->list); |
|
81 ec_pdo_clear(pdo); |
|
82 kfree(pdo); |
|
83 } |
|
84 } |
|
85 |
|
86 /*****************************************************************************/ |
|
87 |
|
88 /** Calculates the total size of the mapped PDO entries. |
|
89 * |
|
90 * \retval Data size in byte. |
|
91 */ |
|
92 uint16_t ec_pdo_mapping_total_size( |
|
93 const ec_pdo_mapping_t *pm /**< Pdo mapping. */ |
|
94 ) |
|
95 { |
|
96 unsigned int bit_size; |
|
97 const ec_pdo_t *pdo; |
|
98 const ec_pdo_entry_t *pdo_entry; |
|
99 uint16_t byte_size; |
|
100 |
|
101 bit_size = 0; |
|
102 list_for_each_entry(pdo, &pm->pdos, list) { |
|
103 list_for_each_entry(pdo_entry, &pdo->entries, list) { |
|
104 bit_size += pdo_entry->bit_length; |
|
105 } |
|
106 } |
|
107 |
|
108 if (bit_size % 8) // round up to full bytes |
|
109 byte_size = bit_size / 8 + 1; |
|
110 else |
|
111 byte_size = bit_size / 8; |
|
112 |
|
113 return byte_size; |
|
114 } |
|
115 |
|
116 /*****************************************************************************/ |
|
117 |
|
118 /** Adds a Pdo to the mapping. |
|
119 * |
|
120 * \return 0 on success, else < 0 |
|
121 */ |
|
122 int ec_pdo_mapping_add_pdo( |
|
123 ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
|
124 const ec_pdo_t *pdo /**< PDO to add. */ |
|
125 ) |
|
126 { |
|
127 ec_pdo_t *mapped_pdo; |
|
128 |
|
129 // PDO already mapped? |
|
130 list_for_each_entry(mapped_pdo, &pm->pdos, list) { |
|
131 if (mapped_pdo->index != pdo->index) continue; |
|
132 EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index); |
|
133 return -1; |
|
134 } |
|
135 |
|
136 if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
|
137 EC_ERR("Failed to allocate memory for PDO mapping.\n"); |
|
138 return -1; |
|
139 } |
|
140 |
|
141 if (ec_pdo_init_copy(mapped_pdo, pdo)) { |
|
142 kfree(mapped_pdo); |
|
143 return -1; |
|
144 } |
|
145 |
|
146 list_add_tail(&mapped_pdo->list, &pm->pdos); |
|
147 return 0; |
|
148 } |
|
149 |
|
150 /*****************************************************************************/ |
|
151 |
|
152 /** Add a Pdo to the mapping. |
|
153 * |
|
154 * The first call of this method will clear the default mapping. |
|
155 * |
|
156 * \retval 0 Success. |
|
157 * \retval -1 Error. |
|
158 */ |
|
159 int ec_pdo_mapping_add_pdo_info( |
|
160 ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
|
161 const ec_pdo_info_t *pdo_info, /**< Pdo information. */ |
|
162 const ec_slave_config_t *config /**< Slave configuration, to load |
|
163 default entries. */ |
|
164 ) |
|
165 { |
|
166 unsigned int i; |
|
167 ec_pdo_t *pdo; |
|
168 ec_pdo_entry_t *entry; |
|
169 const ec_pdo_entry_info_t *entry_info; |
|
170 |
|
171 if (pm->default_mapping) { |
|
172 pm->default_mapping = 0; |
|
173 ec_pdo_mapping_clear_pdos(pm); |
|
174 } |
|
175 |
|
176 if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
|
177 EC_ERR("Failed to allocate memory for Pdo.\n"); |
|
178 goto out_return; |
|
179 } |
|
180 |
|
181 ec_pdo_init(pdo); |
|
182 pdo->dir = pdo_info->dir; |
|
183 pdo->index = pdo_info->index; |
|
184 |
|
185 if (config->master->debug_level) |
|
186 EC_INFO("Adding Pdo 0x%04X to mapping.\n", pdo->index); |
|
187 |
|
188 if (pdo_info->n_entries) { // Pdo configuration provided |
|
189 if (config->master->debug_level) |
|
190 EC_INFO(" Pdo configuration provided.\n"); |
|
191 |
|
192 for (i = 0; i < pdo_info->n_entries; i++) { |
|
193 entry_info = &pdo_info->entries[i]; |
|
194 |
|
195 if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
|
196 EC_ERR("Failed to allocate memory for PDO entry.\n"); |
|
197 goto out_free; |
|
198 } |
|
199 |
|
200 ec_pdo_entry_init(entry); |
|
201 entry->index = entry_info->index; |
|
202 entry->subindex = entry_info->subindex; |
|
203 entry->bit_length = entry_info->bit_length; |
|
204 list_add_tail(&entry->list, &pdo->entries); |
|
205 } |
|
206 } else { // use default Pdo configuration |
|
207 if (config->master->debug_level) |
|
208 EC_INFO(" Using default Pdo configuration.\n"); |
|
209 |
|
210 if (config->slave) { |
|
211 ec_sync_t *sync; |
|
212 ec_pdo_t *default_pdo; |
|
213 |
|
214 if ((sync = ec_slave_get_pdo_sync(config->slave, pdo->dir))) { |
|
215 list_for_each_entry(default_pdo, &sync->mapping.pdos, list) { |
|
216 if (default_pdo->index != pdo->index) |
|
217 continue; |
|
218 if (config->master->debug_level) |
|
219 EC_INFO(" Found Pdo name \"%s\".\n", |
|
220 default_pdo->name); |
|
221 // try to take Pdo name from mapped one |
|
222 if (ec_pdo_set_name(pdo, default_pdo->name)) |
|
223 goto out_free; |
|
224 // copy entries (= default Pdo configuration) |
|
225 if (ec_pdo_copy_entries(pdo, default_pdo)) |
|
226 goto out_free; |
|
227 if (config->master->debug_level) { |
|
228 const ec_pdo_entry_t *entry; |
|
229 list_for_each_entry(entry, &pdo->entries, list) { |
|
230 EC_INFO(" Entry 0x%04X:%u.\n", |
|
231 entry->index, entry->subindex); |
|
232 } |
|
233 } |
|
234 } |
|
235 } else { |
|
236 EC_WARN("Slave %u does not provide a default Pdo" |
|
237 " configuration!\n", config->slave->ring_position); |
|
238 } |
|
239 } else { |
|
240 EC_WARN("Failed to load default Pdo configuration for %u:%u:" |
|
241 " Slave not found.\n", config->alias, config->position); |
|
242 } |
|
243 } |
|
244 |
|
245 list_add_tail(&pdo->list, &pm->pdos); |
|
246 return 0; |
|
247 |
|
248 out_free: |
|
249 ec_pdo_clear(pdo); |
|
250 kfree(pdo); |
|
251 out_return: |
|
252 return -1; |
|
253 } |
|
254 |
|
255 /*****************************************************************************/ |
|
256 |
|
257 /** Makes a deep copy of another Pdo mapping. |
|
258 * |
|
259 * \return 0 on success, else < 0 |
|
260 */ |
|
261 int ec_pdo_mapping_copy( |
|
262 ec_pdo_mapping_t *pm, /**< Pdo mapping. */ |
|
263 const ec_pdo_mapping_t *other /**< PDO mapping to copy from. */ |
|
264 ) |
|
265 { |
|
266 ec_pdo_t *other_pdo; |
|
267 |
|
268 ec_pdo_mapping_clear_pdos(pm); |
|
269 |
|
270 // PDO already mapped? |
|
271 list_for_each_entry(other_pdo, &other->pdos, list) { |
|
272 if (ec_pdo_mapping_add_pdo(pm, other_pdo)) |
|
273 return -1; |
|
274 } |
|
275 |
|
276 return 0; |
|
277 } |
|
278 |
|
279 /*****************************************************************************/ |
|
280 |
|
281 /** Compares two Pdo mappings. |
|
282 * |
|
283 * Only the mapping is compared, not the Pdo entries (i. e. the Pdo |
|
284 * configuration). |
|
285 * |
|
286 * \retval 1 The given Pdo mappings are equal. |
|
287 * \retval 0 The given Pdo mappings differ. |
|
288 */ |
|
289 int ec_pdo_mapping_equal( |
|
290 const ec_pdo_mapping_t *pm1, /**< First mapping. */ |
|
291 const ec_pdo_mapping_t *pm2 /**< Second mapping. */ |
|
292 ) |
|
293 { |
|
294 const struct list_head *h1, *h2, *l1, *l2; |
|
295 const ec_pdo_t *p1, *p2; |
|
296 |
|
297 h1 = l1 = &pm1->pdos; |
|
298 h2 = l2 = &pm2->pdos; |
|
299 |
|
300 while (1) { |
|
301 l1 = l1->next; |
|
302 l2 = l2->next; |
|
303 |
|
304 if ((l1 == h1) ^ (l2 == h2)) // unequal lengths |
|
305 return 0; |
|
306 if (l1 == h1 && l2 == h2) // both finished |
|
307 break; |
|
308 |
|
309 p1 = list_entry(l1, ec_pdo_t, list); |
|
310 p2 = list_entry(l2, ec_pdo_t, list); |
|
311 |
|
312 if (p1->index != p2->index) |
|
313 return 0; |
|
314 } |
|
315 |
|
316 return 1; |
|
317 } |
|
318 |
|
319 /*****************************************************************************/ |