--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/pdo_list.c Thu Apr 03 13:34:13 2008 +0000
@@ -0,0 +1,280 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT Pdo list methods.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+
+#include "globals.h"
+#include "pdo.h"
+#include "slave_config.h"
+#include "master.h"
+
+#include "pdo_list.h"
+
+/*****************************************************************************/
+
+/** Pdo list constructor.
+ */
+void ec_pdo_list_init(
+ ec_pdo_list_t *pl /**< Pdo list. */
+ )
+{
+ INIT_LIST_HEAD(&pl->list);
+}
+
+/*****************************************************************************/
+
+/** Pdo list destructor.
+ */
+void ec_pdo_list_clear(ec_pdo_list_t *pl /**< Pdo list. */)
+{
+ ec_pdo_list_clear_pdos(pl);
+}
+
+/*****************************************************************************/
+
+/** Clears the list of mapped Pdos.
+ */
+void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
+{
+ ec_pdo_t *pdo, *next;
+
+ list_for_each_entry_safe(pdo, next, &pl->list, list) {
+ list_del_init(&pdo->list);
+ ec_pdo_clear(pdo);
+ kfree(pdo);
+ }
+}
+
+/*****************************************************************************/
+
+/** Calculates the total size of the mapped Pdo entries.
+ *
+ * \retval Data size in byte.
+ */
+uint16_t ec_pdo_list_total_size(
+ const ec_pdo_list_t *pl /**< Pdo list. */
+ )
+{
+ unsigned int bit_size;
+ const ec_pdo_t *pdo;
+ const ec_pdo_entry_t *pdo_entry;
+ uint16_t byte_size;
+
+ bit_size = 0;
+ list_for_each_entry(pdo, &pl->list, list) {
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
+ bit_size += pdo_entry->bit_length;
+ }
+ }
+
+ if (bit_size % 8) // round up to full bytes
+ byte_size = bit_size / 8 + 1;
+ else
+ byte_size = bit_size / 8;
+
+ return byte_size;
+}
+
+/*****************************************************************************/
+
+/** Add a new Pdo to the list.
+ *
+ * \retval >0 Pointer to new Pdo.
+ * \retval NULL No memory.
+ */
+ec_pdo_t *ec_pdo_list_add_pdo(
+ ec_pdo_list_t *pl, /**< Pdo list. */
+ ec_direction_t dir, /**< Direction. */
+ uint16_t index /**< Pdo index. */
+ )
+{
+ ec_pdo_t *pdo;
+
+ if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for Pdo.\n");
+ return NULL;
+ }
+
+ ec_pdo_init(pdo);
+ pdo->dir = dir;
+ pdo->index = index;
+ list_add_tail(&pdo->list, &pl->list);
+ return pdo;
+}
+
+/*****************************************************************************/
+
+/** Add the copy of an existing Pdo to the list.
+ *
+ * \return 0 on success, else < 0
+ */
+int ec_pdo_list_add_pdo_copy(
+ ec_pdo_list_t *pl, /**< Pdo list. */
+ const ec_pdo_t *pdo /**< Pdo to add. */
+ )
+{
+ ec_pdo_t *mapped_pdo;
+
+ // Pdo already mapped?
+ list_for_each_entry(mapped_pdo, &pl->list, list) {
+ if (mapped_pdo->index != pdo->index) continue;
+ EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
+ return -1;
+ }
+
+ if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate Pdo memory.\n");
+ return -1;
+ }
+
+ if (ec_pdo_init_copy(mapped_pdo, pdo)) {
+ kfree(mapped_pdo);
+ return -1;
+ }
+
+ list_add_tail(&mapped_pdo->list, &pl->list);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Makes a deep copy of another Pdo list.
+ *
+ * \return 0 on success, else < 0
+ */
+int ec_pdo_list_copy(
+ ec_pdo_list_t *pl, /**< Pdo list. */
+ const ec_pdo_list_t *other /**< Pdo list to copy from. */
+ )
+{
+ ec_pdo_t *other_pdo;
+
+ ec_pdo_list_clear_pdos(pl);
+
+ // Pdo already mapped?
+ list_for_each_entry(other_pdo, &other->list, list) {
+ if (ec_pdo_list_add_pdo_copy(pl, other_pdo))
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Compares two Pdo lists.
+ *
+ * Only the list is compared, not the Pdo entries (i. e. the Pdo
+ * configuration).
+ *
+ * \retval 1 The given Pdo lists are equal.
+ * \retval 0 The given Pdo lists differ.
+ */
+int ec_pdo_list_equal(
+ const ec_pdo_list_t *pl1, /**< First list. */
+ const ec_pdo_list_t *pl2 /**< Second list. */
+ )
+{
+ const struct list_head *h1, *h2, *l1, *l2;
+ const ec_pdo_t *p1, *p2;
+
+ h1 = l1 = &pl1->list;
+ h2 = l2 = &pl2->list;
+
+ while (1) {
+ l1 = l1->next;
+ l2 = l2->next;
+
+ if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
+ return 0;
+ if (l1 == h1) // both finished
+ break;
+
+ p1 = list_entry(l1, ec_pdo_t, list);
+ p2 = list_entry(l2, ec_pdo_t, list);
+
+ if (p1->index != p2->index)
+ return 0;
+ }
+
+ return 1;
+}
+
+/*****************************************************************************/
+
+/** Finds a Pdo with the given index.
+ */
+ec_pdo_t *ec_pdo_list_find_pdo(
+ const ec_pdo_list_t *pl, /**< Pdo list. */
+ uint16_t index /**< Pdo index. */
+ )
+{
+ ec_pdo_t *pdo;
+
+ list_for_each_entry(pdo, &pl->list, list) {
+ if (pdo->index != index)
+ continue;
+ return pdo;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/
+
+/** Finds a Pdo with the given index and returns a const pointer.
+ */
+const ec_pdo_t *ec_pdo_list_find_pdo_const(
+ const ec_pdo_list_t *pl, /**< Pdo list. */
+ uint16_t index /**< Pdo index. */
+ )
+{
+ const ec_pdo_t *pdo;
+
+ list_for_each_entry(pdo, &pl->list, list) {
+ if (pdo->index != index)
+ continue;
+ return pdo;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/