--- a/master/pdo_mapping.c Mon Mar 31 09:42:37 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,281 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 mapping methods.
-*/
-
-/*****************************************************************************/
-
-#include <linux/module.h>
-
-#include "globals.h"
-#include "pdo.h"
-#include "slave_config.h"
-#include "master.h"
-
-#include "pdo_mapping.h"
-
-/*****************************************************************************/
-
-/** Pdo mapping constructor.
- */
-void ec_pdo_mapping_init(
- ec_pdo_mapping_t *pm /**< Pdo mapping. */
- )
-{
- INIT_LIST_HEAD(&pm->pdos);
- pm->default_mapping = 1;
-}
-
-/*****************************************************************************/
-
-/** Pdo mapping destructor.
- */
-void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
-{
- ec_pdo_mapping_clear_pdos(pm);
-}
-
-/*****************************************************************************/
-
-/** Clears the list of mapped Pdos.
- */
-void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
-{
- ec_pdo_t *pdo, *next;
-
- list_for_each_entry_safe(pdo, next, &pm->pdos, 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_mapping_total_size(
- const ec_pdo_mapping_t *pm /**< Pdo mapping. */
- )
-{
- 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, &pm->pdos, 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 mapping.
- *
- * \retval >0 Pointer to new Pdo.
- * \retval NULL No memory.
- */
-ec_pdo_t *ec_pdo_mapping_add_pdo(
- ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- 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, &pm->pdos);
- return pdo;
-}
-
-/*****************************************************************************/
-
-/** Add the copy of an existing Pdo to the mapping.
- *
- * \return 0 on success, else < 0
- */
-int ec_pdo_mapping_add_pdo_copy(
- ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- const ec_pdo_t *pdo /**< Pdo to add. */
- )
-{
- ec_pdo_t *mapped_pdo;
-
- // Pdo already mapped?
- list_for_each_entry(mapped_pdo, &pm->pdos, 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, &pm->pdos);
- return 0;
-}
-
-/*****************************************************************************/
-
-/** Makes a deep copy of another Pdo mapping.
- *
- * \return 0 on success, else < 0
- */
-int ec_pdo_mapping_copy(
- ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- const ec_pdo_mapping_t *other /**< Pdo mapping to copy from. */
- )
-{
- ec_pdo_t *other_pdo;
-
- ec_pdo_mapping_clear_pdos(pm);
-
- // Pdo already mapped?
- list_for_each_entry(other_pdo, &other->pdos, list) {
- if (ec_pdo_mapping_add_pdo_copy(pm, other_pdo))
- return -1;
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/** Compares two Pdo mappings.
- *
- * Only the mapping is compared, not the Pdo entries (i. e. the Pdo
- * configuration).
- *
- * \retval 1 The given Pdo mappings are equal.
- * \retval 0 The given Pdo mappings differ.
- */
-int ec_pdo_mapping_equal(
- const ec_pdo_mapping_t *pm1, /**< First mapping. */
- const ec_pdo_mapping_t *pm2 /**< Second mapping. */
- )
-{
- const struct list_head *h1, *h2, *l1, *l2;
- const ec_pdo_t *p1, *p2;
-
- h1 = l1 = &pm1->pdos;
- h2 = l2 = &pm2->pdos;
-
- 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_mapping_find_pdo(
- const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- uint16_t index /**< Pdo index. */
- )
-{
- ec_pdo_t *pdo;
-
- list_for_each_entry(pdo, &pm->pdos, 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_mapping_find_pdo_const(
- const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- uint16_t index /**< Pdo index. */
- )
-{
- const ec_pdo_t *pdo;
-
- list_for_each_entry(pdo, &pm->pdos, list) {
- if (pdo->index != index)
- continue;
- return pdo;
- }
-
- return NULL;
-}
-
-/*****************************************************************************/