fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@792:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@792:  *  and/or modify it under the terms of the GNU General Public License
fp@792:  *  as published by the Free Software Foundation; either version 2 of the
fp@792:  *  License, or (at your option) any later version.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@792:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@792:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@792:  *  GNU General Public License for more details.
fp@792:  *
fp@792:  *  You should have received a copy of the GNU General Public License
fp@792:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
fp@792:  *  The right to use EtherCAT Technology is granted and comes free of
fp@792:  *  charge under condition of compatibility of product made by
fp@792:  *  Licensee. People intending to distribute/sell products based on the
fp@792:  *  code, have to sign an agreement to guarantee that products using
fp@792:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@792:  *  EtherCAT specification (which are released themselves as an open
fp@792:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@792:  *  Technology, IP and trade marks.
fp@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@792:    EtherCAT Pdo mapping methods.
fp@792: */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #include <linux/module.h>
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "pdo.h"
fp@792: #include "slave_config.h"
fp@792: #include "master.h"
fp@792: 
fp@792: #include "pdo_mapping.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Pdo mapping constructor.
fp@792:  */
fp@792: void ec_pdo_mapping_init(
fp@792:         ec_pdo_mapping_t *pm /**< Pdo mapping. */
fp@792:         )
fp@792: {
fp@792:     INIT_LIST_HEAD(&pm->pdos);
fp@792:     pm->default_mapping = 1;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Pdo mapping destructor.
fp@792:  */
fp@792: void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
fp@792: {
fp@792:     ec_pdo_mapping_clear_pdos(pm);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Clears the list of mapped Pdos.
fp@792:  */
fp@792: void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
fp@792: {
fp@792:     ec_pdo_t *pdo, *next;
fp@792: 
fp@792:     list_for_each_entry_safe(pdo, next, &pm->pdos, list) {
fp@792:         list_del_init(&pdo->list);
fp@792:         ec_pdo_clear(pdo);
fp@792:         kfree(pdo);
fp@792:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Calculates the total size of the mapped PDO entries.
fp@792:  *
fp@792:  * \retval Data size in byte.
fp@792:  */
fp@792: uint16_t ec_pdo_mapping_total_size(
fp@792:         const ec_pdo_mapping_t *pm /**< Pdo mapping. */
fp@792:         )
fp@792: {
fp@792:     unsigned int bit_size;
fp@792:     const ec_pdo_t *pdo;
fp@792:     const ec_pdo_entry_t *pdo_entry;
fp@792:     uint16_t byte_size;
fp@792: 
fp@792:     bit_size = 0;
fp@792:     list_for_each_entry(pdo, &pm->pdos, list) {
fp@792:         list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@792:             bit_size += pdo_entry->bit_length;
fp@792:         }
fp@792:     }
fp@792: 
fp@792:     if (bit_size % 8) // round up to full bytes
fp@792:         byte_size = bit_size / 8 + 1;
fp@792:     else
fp@792:         byte_size = bit_size / 8;
fp@792: 
fp@792:     return byte_size;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Adds a Pdo to the mapping.
fp@792:  *
fp@792:  * \return 0 on success, else < 0
fp@792:  */
fp@792: int ec_pdo_mapping_add_pdo(
fp@792:         ec_pdo_mapping_t *pm, /**< Pdo mapping. */
fp@792:         const ec_pdo_t *pdo /**< PDO to add. */
fp@792:         )
fp@792: {
fp@792:     ec_pdo_t *mapped_pdo;
fp@792: 
fp@792:     // PDO already mapped?
fp@792:     list_for_each_entry(mapped_pdo, &pm->pdos, list) {
fp@792:         if (mapped_pdo->index != pdo->index) continue;
fp@792:         EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
fp@792:         return -1;
fp@792:     }
fp@792:     
fp@792:     if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@792:         EC_ERR("Failed to allocate memory for PDO mapping.\n");
fp@792:         return -1;
fp@792:     }
fp@792: 
fp@792:     if (ec_pdo_init_copy(mapped_pdo, pdo)) {
fp@792:         kfree(mapped_pdo);
fp@792:         return -1;
fp@792:     }
fp@792: 
fp@792:     list_add_tail(&mapped_pdo->list, &pm->pdos);
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Add a Pdo to the mapping.
fp@792:  *
fp@792:  * The first call of this method will clear the default mapping.
fp@792:  *
fp@792:  * \retval 0 Success.
fp@792:  * \retval -1 Error.
fp@792:  */
fp@792: int ec_pdo_mapping_add_pdo_info(
fp@792:         ec_pdo_mapping_t *pm, /**< Pdo mapping. */
fp@792:         const ec_pdo_info_t *pdo_info, /**< Pdo information. */
fp@792:         const ec_slave_config_t *config /**< Slave configuration, to load
fp@792:                                           default entries. */
fp@792:         )
fp@792: {
fp@792:     unsigned int i;
fp@792:     ec_pdo_t *pdo;
fp@792:     ec_pdo_entry_t *entry;
fp@792:     const ec_pdo_entry_info_t *entry_info;
fp@792: 
fp@792:     if (pm->default_mapping) {
fp@792:         pm->default_mapping = 0;
fp@792:         ec_pdo_mapping_clear_pdos(pm);
fp@792:     }
fp@792: 
fp@792:     if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@792:         EC_ERR("Failed to allocate memory for Pdo.\n");
fp@792:         goto out_return;
fp@792:     }
fp@792: 
fp@792:     ec_pdo_init(pdo);
fp@792:     pdo->dir = pdo_info->dir;
fp@792:     pdo->index = pdo_info->index;
fp@792: 
fp@792:     if (config->master->debug_level)
fp@792:         EC_INFO("Adding Pdo 0x%04X to mapping.\n", pdo->index);
fp@792: 
fp@793:     if (pdo_info->n_entries && pdo_info->entries) { // configuration provided
fp@792:         if (config->master->debug_level)
fp@792:             EC_INFO("  Pdo configuration provided.\n");
fp@792: 
fp@792:         for (i = 0; i < pdo_info->n_entries; i++) {
fp@792:             entry_info = &pdo_info->entries[i];
fp@792: 
fp@792:             if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
fp@792:                 EC_ERR("Failed to allocate memory for PDO entry.\n");
fp@792:                 goto out_free;
fp@792:             }
fp@792: 
fp@792:             ec_pdo_entry_init(entry);
fp@792:             entry->index = entry_info->index;
fp@792:             entry->subindex = entry_info->subindex;
fp@792:             entry->bit_length = entry_info->bit_length;
fp@792:             list_add_tail(&entry->list, &pdo->entries);
fp@792:         }
fp@792:     } else { // use default Pdo configuration
fp@792:         if (config->master->debug_level)
fp@792:             EC_INFO("  Using default Pdo configuration.\n");
fp@792: 
fp@792:         if (config->slave) {
fp@792:             ec_sync_t *sync;
fp@792:             ec_pdo_t *default_pdo;
fp@792: 
fp@792:             if ((sync = ec_slave_get_pdo_sync(config->slave, pdo->dir))) {
fp@792:                 list_for_each_entry(default_pdo, &sync->mapping.pdos, list) {
fp@792:                     if (default_pdo->index != pdo->index)
fp@792:                         continue;
fp@792:                     if (config->master->debug_level)
fp@792:                         EC_INFO("  Found Pdo name \"%s\".\n",
fp@792:                                 default_pdo->name);
fp@792:                     // try to take Pdo name from mapped one
fp@792:                     if (ec_pdo_set_name(pdo, default_pdo->name))
fp@792:                         goto out_free;
fp@792:                     // copy entries (= default Pdo configuration)
fp@792:                     if (ec_pdo_copy_entries(pdo, default_pdo))
fp@792:                         goto out_free;
fp@792:                     if (config->master->debug_level) {
fp@792:                         const ec_pdo_entry_t *entry;
fp@792:                         list_for_each_entry(entry, &pdo->entries, list) {
fp@792:                             EC_INFO("    Entry 0x%04X:%u.\n",
fp@792:                                     entry->index, entry->subindex);
fp@792:                         }
fp@792:                     }
fp@792:                 }
fp@792:             } else {
fp@792:                 EC_WARN("Slave %u does not provide a default Pdo"
fp@792:                         " configuration!\n", config->slave->ring_position);
fp@792:             }
fp@792:         } else {
fp@792:             EC_WARN("Failed to load default Pdo configuration for %u:%u:"
fp@792:                     " Slave not found.\n", config->alias, config->position);
fp@792:         }
fp@792:     }
fp@792: 
fp@792:     list_add_tail(&pdo->list, &pm->pdos);
fp@792:     return 0;
fp@792: 
fp@792: out_free:
fp@792:     ec_pdo_clear(pdo);
fp@792:     kfree(pdo);
fp@792: out_return:
fp@792:     return -1;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Makes a deep copy of another Pdo mapping.
fp@792:  *
fp@792:  * \return 0 on success, else < 0
fp@792:  */
fp@792: int ec_pdo_mapping_copy(
fp@792:         ec_pdo_mapping_t *pm, /**< Pdo mapping. */
fp@792:         const ec_pdo_mapping_t *other /**< PDO mapping to copy from. */
fp@792:         )
fp@792: {
fp@792:     ec_pdo_t *other_pdo;
fp@792: 
fp@792:     ec_pdo_mapping_clear_pdos(pm);
fp@792: 
fp@792:     // PDO already mapped?
fp@792:     list_for_each_entry(other_pdo, &other->pdos, list) {
fp@792:         if (ec_pdo_mapping_add_pdo(pm, other_pdo))
fp@792:             return -1;
fp@792:     }
fp@792:     
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Compares two Pdo mappings.
fp@792:  *
fp@792:  * Only the mapping is compared, not the Pdo entries (i. e. the Pdo
fp@792:  * configuration).
fp@792:  *
fp@792:  * \retval 1 The given Pdo mappings are equal.
fp@792:  * \retval 0 The given Pdo mappings differ.
fp@792:  */
fp@792: int ec_pdo_mapping_equal(
fp@792:         const ec_pdo_mapping_t *pm1, /**< First mapping. */
fp@792:         const ec_pdo_mapping_t *pm2 /**< Second mapping. */
fp@792:         )
fp@792: {
fp@792:     const struct list_head *h1, *h2, *l1, *l2;
fp@792:     const ec_pdo_t *p1, *p2;
fp@792: 
fp@792:     h1 = l1 = &pm1->pdos;
fp@792:     h2 = l2 = &pm2->pdos;
fp@792: 
fp@792:     while (1) {
fp@792:         l1 = l1->next;
fp@792:         l2 = l2->next;
fp@792: 
fp@792:         if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
fp@792:             return 0;
fp@792:         if (l1 == h1 && l2 == h2) // both finished
fp@792:             break;
fp@792: 
fp@792:         p1 = list_entry(l1, ec_pdo_t, list);
fp@792:         p2 = list_entry(l2, ec_pdo_t, list);
fp@792: 
fp@792:         if (p1->index != p2->index)
fp@792:             return 0;
fp@792:     }
fp@792: 
fp@792:     return 1;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@799: 
fp@799: /** Finds a Pdo with the given index.
fp@799:  */
fp@799: const ec_pdo_t *ec_pdo_mapping_find_pdo(
fp@799:         const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
fp@799:         uint16_t index /**< Pdo index. */
fp@799:         )
fp@799: {
fp@799:     ec_pdo_t *pdo;
fp@799: 
fp@799:     list_for_each_entry(pdo, &pm->pdos, list) {
fp@799:         if (pdo->index != index)
fp@799:             continue;
fp@799:         return pdo;
fp@799:     }
fp@799: 
fp@799:     return NULL;
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/