fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  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@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@1327:    EtherCAT PDO list 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@879: #include "pdo_list.h"
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@1327: /** PDO list constructor.
fp@879:  */
fp@879: void ec_pdo_list_init(
fp@1327:         ec_pdo_list_t *pl /**< PDO list. */
fp@879:         )
fp@879: {
fp@879:     INIT_LIST_HEAD(&pl->list);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@1327: /** PDO list destructor.
fp@1327:  */
fp@1327: void ec_pdo_list_clear(ec_pdo_list_t *pl /**< PDO list. */)
fp@879: {
fp@879:     ec_pdo_list_clear_pdos(pl);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1327: /** Clears the list of mapped PDOs.
fp@1327:  */
fp@1327: void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< PDO list. */)
fp@792: {
fp@792:     ec_pdo_t *pdo, *next;
fp@792: 
fp@879:     list_for_each_entry_safe(pdo, next, &pl->list, 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@1327: /** Calculates the total size of the mapped PDO entries.
fp@792:  *
fp@792:  * \retval Data size in byte.
fp@792:  */
fp@879: uint16_t ec_pdo_list_total_size(
fp@1327:         const ec_pdo_list_t *pl /**< PDO list. */
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@879:     list_for_each_entry(pdo, &pl->list, 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@1327: /** Add a new PDO to the list.
fp@1327:  *
fp@1327:  * \return Pointer to new PDO, otherwise an ERR_PTR() code.
fp@842:  */
fp@879: ec_pdo_t *ec_pdo_list_add_pdo(
fp@1327:         ec_pdo_list_t *pl, /**< PDO list. */
fp@1327:         uint16_t index /**< PDO index. */
fp@842:         )
fp@842: {
fp@842:     ec_pdo_t *pdo;
fp@842: 
fp@842:     if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@1327:         EC_ERR("Failed to allocate memory for PDO.\n");
fp@1313:         return ERR_PTR(-ENOMEM);
fp@842:     }
fp@842: 
fp@842:     ec_pdo_init(pdo);
fp@842:     pdo->index = index;
fp@879:     list_add_tail(&pdo->list, &pl->list);
fp@842:     return pdo;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@1327: /** Add the copy of an existing PDO to the list.
fp@792:  *
fp@792:  * \return 0 on success, else < 0
fp@792:  */
fp@879: int ec_pdo_list_add_pdo_copy(
fp@1327:         ec_pdo_list_t *pl, /**< PDO list. */
fp@1327:         const ec_pdo_t *pdo /**< PDO to add. */
fp@792:         )
fp@792: {
fp@792:     ec_pdo_t *mapped_pdo;
fp@1313:     int ret;
fp@792: 
fp@1327:     // PDO already mapped?
fp@879:     list_for_each_entry(mapped_pdo, &pl->list, list) {
fp@792:         if (mapped_pdo->index != pdo->index) continue;
fp@1327:         EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
fp@1313:         return -EEXIST;
fp@792:     }
fp@2421: 
fp@792:     if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@1327:         EC_ERR("Failed to allocate PDO memory.\n");
fp@1313:         return -ENOMEM;
fp@1313:     }
fp@1313: 
fp@1313:     ret = ec_pdo_init_copy(mapped_pdo, pdo);
fp@1313:     if (ret < 0) {
fp@792:         kfree(mapped_pdo);
fp@1313:         return ret;
fp@792:     }
fp@792: 
fp@879:     list_add_tail(&mapped_pdo->list, &pl->list);
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1327: /** Makes a deep copy of another PDO list.
fp@792:  *
fp@792:  * \return 0 on success, else < 0
fp@792:  */
fp@879: int ec_pdo_list_copy(
fp@1327:         ec_pdo_list_t *pl, /**< PDO list. */
fp@1327:         const ec_pdo_list_t *other /**< PDO list to copy from. */
fp@792:         )
fp@792: {
fp@792:     ec_pdo_t *other_pdo;
fp@1313:     int ret;
fp@792: 
fp@879:     ec_pdo_list_clear_pdos(pl);
fp@792: 
fp@1327:     // PDO already mapped?
fp@879:     list_for_each_entry(other_pdo, &other->list, list) {
fp@1313:         ret = ec_pdo_list_add_pdo_copy(pl, other_pdo);
fp@1313:         if (ret)
fp@1313:             return ret;
fp@792:     }
fp@2421: 
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1327: /** Compares two PDO lists.
fp@1327:  *
fp@1327:  * Only the list is compared, not the PDO entries (i. e. the PDO
fp@1049:  * mapping).
fp@792:  *
fp@1327:  * \retval 1 The given PDO lists are equal.
fp@1327:  * \retval 0 The given PDO lists differ.
fp@879:  */
fp@879: int ec_pdo_list_equal(
fp@879:         const ec_pdo_list_t *pl1, /**< First list. */
fp@879:         const ec_pdo_list_t *pl2 /**< Second list. */
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@879:     h1 = l1 = &pl1->list;
fp@879:     h2 = l2 = &pl2->list;
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@826:         if (l1 == h1) // 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@1327: /** Finds a PDO with the given index.
fp@2522:  *
fp@2522:  * \return Search result, or NULL.
fp@842:  */
fp@879: ec_pdo_t *ec_pdo_list_find_pdo(
fp@1327:         const ec_pdo_list_t *pl, /**< PDO list. */
fp@1327:         uint16_t index /**< PDO index. */
fp@799:         )
fp@799: {
fp@842:     ec_pdo_t *pdo;
fp@799: 
fp@879:     list_for_each_entry(pdo, &pl->list, 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: /*****************************************************************************/
fp@842: 
fp@1327: /** Finds a PDO with the given index and returns a const pointer.
fp@2522:  *
fp@2522:  * \return Search result, or NULL.
fp@842:  */
fp@879: const ec_pdo_t *ec_pdo_list_find_pdo_const(
fp@1327:         const ec_pdo_list_t *pl, /**< PDO list. */
fp@1327:         uint16_t index /**< PDO index. */
fp@842:         )
fp@842: {
fp@842:     const ec_pdo_t *pdo;
fp@842: 
fp@879:     list_for_each_entry(pdo, &pl->list, list) {
fp@842:         if (pdo->index != index)
fp@842:             continue;
fp@842:         return pdo;
fp@842:     }
fp@842: 
fp@842:     return NULL;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@931: 
fp@1327: /** Finds a PDO via its position in the list.
fp@932:  *
fp@932:  * Const version.
fp@2522:  *
fp@2522:  * \return Zero on success, otherwise a negative error code.
fp@932:  */
fp@932: const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
fp@1327:         const ec_pdo_list_t *pl, /**< PDO list. */
fp@932:         unsigned int pos /**< Position in the list. */
fp@932:         )
fp@932: {
fp@932:     const ec_pdo_t *pdo;
fp@932: 
fp@932:     list_for_each_entry(pdo, &pl->list, list) {
fp@932:         if (pos--)
fp@932:             continue;
fp@932:         return pdo;
fp@932:     }
fp@932: 
fp@932:     return NULL;
fp@932: }
fp@932: 
fp@932: /*****************************************************************************/
fp@932: 
fp@1327: /** Get the number of PDOs in the list.
fp@1327:  *
fp@1327:  * \return Number of PDOs.
fp@931:  */
fp@931: unsigned int ec_pdo_list_count(
fp@1327:         const ec_pdo_list_t *pl /**< PDO list. */
fp@931:         )
fp@931: {
fp@931:     const ec_pdo_t *pdo;
fp@931:     unsigned int num = 0;
fp@931: 
fp@931:     list_for_each_entry(pdo, &pl->list, list) {
fp@931:         num++;
fp@931:     }
fp@931: 
fp@931:     return num;
fp@931: }
fp@931: 
fp@931: /*****************************************************************************/
fp@1051: 
fp@1327: /** Outputs the PDOs in the list.
fp@1051:  */
fp@1051: void ec_pdo_list_print(
fp@1327:         const ec_pdo_list_t *pl /**< PDO list. */
fp@1051:         )
fp@1051: {
fp@1051:     const ec_pdo_t *pdo;
fp@1051: 
fp@1823:     if (list_empty(&pl->list)) {
fp@1823:         printk("(none)");
fp@1823:     } else {
fp@1823:         list_for_each_entry(pdo, &pl->list, list) {
fp@1823:             printk("0x%04X", pdo->index);
fp@1823:             if (pdo->list.next != &pl->list)
fp@1823:                 printk(" ");
fp@1823:         }
fp@1823:     }
fp@1823: }
fp@1823: 
fp@1823: /*****************************************************************************/