/******************************************************************************
*
* $Id$
*
* 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
CANopen Sdo functions.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "master.h"
#include "sdo.h"
/*****************************************************************************/
ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
void ec_sdo_clear(struct kobject *);
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(info);
static struct attribute *sdo_def_attrs[] = {
&attr_info,
NULL,
};
static struct sysfs_ops sdo_sysfs_ops = {
.show = &ec_show_sdo_attribute,
.store = NULL
};
static struct kobj_type ktype_ec_sdo = {
.release = ec_sdo_clear,
.sysfs_ops = &sdo_sysfs_ops,
.default_attrs = sdo_def_attrs
};
/** \endcond */
/*****************************************************************************/
/** Sdo constructor.
*
* \todo Turn parameters.
*/
int ec_sdo_init(
ec_sdo_t *sdo, /**< Sdo. */
uint16_t index, /**< Sdo index. */
ec_slave_t *slave /**< Parent slave. */
)
{
sdo->slave = slave;
sdo->index = index;
sdo->object_code = 0x00;
sdo->name = NULL;
sdo->max_subindex = 0;
INIT_LIST_HEAD(&sdo->entries);
// Init kobject and add it to the hierarchy
memset(&sdo->kobj, 0x00, sizeof(struct kobject));
kobject_init(&sdo->kobj);
sdo->kobj.ktype = &ktype_ec_sdo;
sdo->kobj.parent = &slave->sdo_kobj;
if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
EC_ERR("Failed to set kobj name.\n");
kobject_put(&sdo->kobj);
return -1;
}
if (kobject_add(&sdo->kobj)) {
EC_ERR("Failed to add Sdo kobject.\n");
kobject_put(&sdo->kobj);
return -1;
}
return 0;
}
/*****************************************************************************/
/** Sdo destructor.
*
* Clears and frees an Sdo object.
*/
void ec_sdo_destroy(
ec_sdo_t *sdo /**< Sdo. */
)
{
ec_sdo_entry_t *entry, *next;
// free all entries
list_for_each_entry_safe(entry, next, &sdo->entries, list) {
list_del(&entry->list);
ec_sdo_entry_destroy(entry);
}
// destroy self
kobject_del(&sdo->kobj);
kobject_put(&sdo->kobj);
}
/*****************************************************************************/
/** Clear and free Sdo.
*
* This method is called by the kobject,
* once there are no more references to it.
*/
void ec_sdo_clear(
struct kobject *kobj /**< Sdo's kobject. */
)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
if (sdo->name) kfree(sdo->name);
kfree(sdo);
}
/*****************************************************************************/
/** Get an Sdo entry from an Sdo via its subindex.
*
* \retval >0 Pointer to the requested Sdo entry.
* \retval NULL Sdo entry not found.
*/
ec_sdo_entry_t *ec_sdo_get_entry(
ec_sdo_t *sdo, /**< Sdo. */
uint8_t subindex /**< Entry subindex. */
)
{
ec_sdo_entry_t *entry;
list_for_each_entry(entry, &sdo->entries, list) {
if (entry->subindex != subindex)
continue;
return entry;
}
return NULL;
}
/*****************************************************************************/
/** Get an Sdo entry from an Sdo via its subindex.
*
* const version.
*
* \retval >0 Pointer to the requested Sdo entry.
* \retval NULL Sdo entry not found.
*/
const ec_sdo_entry_t *ec_sdo_get_entry_const(
const ec_sdo_t *sdo, /**< Sdo. */
uint8_t subindex /**< Entry subindex. */
)
{
const ec_sdo_entry_t *entry;
list_for_each_entry(entry, &sdo->entries, list) {
if (entry->subindex != subindex)
continue;
return entry;
}
return NULL;
}
/*****************************************************************************/
/** Print Sdo information to a buffer.
*
* /return size of bytes written to buffer.
*/
ssize_t ec_sdo_info(
ec_sdo_t *sdo, /**< Sdo. */
char *buffer /**< Target buffer. */
)
{
off_t off = 0;
off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
off += sprintf(buffer + off, "Max subindex: %u\n", sdo->max_subindex);
return off;
}
/*****************************************************************************/
/** Show a Sysfs attribute of an Sdo.
*
* /return Number of bytes written to buffer.
*/
ssize_t ec_show_sdo_attribute(
struct kobject *kobj, /**< kobject */
struct attribute *attr, /**< Requested attribute. */
char *buffer /**< Buffer to write the data in. */
)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
if (attr == &attr_info) {
return ec_sdo_info(sdo, buffer);
}
return 0;
}
/*****************************************************************************/