fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@409:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@409:  *  and/or modify it under the terms of the GNU General Public License
fp@409:  *  as published by the Free Software Foundation; either version 2 of the
fp@409:  *  License, or (at your option) any later version.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@409:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@409:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@409:  *  GNU General Public License for more details.
fp@409:  *
fp@409:  *  You should have received a copy of the GNU General Public License
fp@409:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@409:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@409:  *
fp@409:  *  The right to use EtherCAT Technology is granted and comes free of
fp@409:  *  charge under condition of compatibility of product made by
fp@409:  *  Licensee. People intending to distribute/sell products based on the
fp@409:  *  code, have to sign an agreement to guarantee that products using
fp@409:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@409:  *  EtherCAT specification (which are released themselves as an open
fp@409:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@409:  *  Technology, IP and trade marks.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    \file
fp@847:    CANopen Sdo functions.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #include <linux/module.h>
fp@409: 
fp@430: #include "master.h"
fp@409: 
fp@847: #include "sdo.h"
fp@847: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
fp@409: void ec_sdo_clear(struct kobject *);
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /** \cond */
fp@409: 
fp@409: EC_SYSFS_READ_ATTR(info);
fp@409: 
fp@409: static struct attribute *sdo_def_attrs[] = {
fp@409:     &attr_info,
fp@409:     NULL,
fp@409: };
fp@409: 
fp@409: static struct sysfs_ops sdo_sysfs_ops = {
fp@409:     .show = &ec_show_sdo_attribute,
fp@409:     .store = NULL
fp@409: };
fp@409: 
fp@409: static struct kobj_type ktype_ec_sdo = {
fp@409:     .release = ec_sdo_clear,
fp@409:     .sysfs_ops = &sdo_sysfs_ops,
fp@409:     .default_attrs = sdo_def_attrs
fp@409: };
fp@409: 
fp@409: /** \endcond */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Sdo constructor.
fp@847:  *
fp@847:  * \todo Turn parameters.
fp@847:  */
fp@847: int ec_sdo_init(
fp@847:         ec_sdo_t *sdo, /**< Sdo. */
fp@847:         uint16_t index, /**< Sdo index. */
fp@847:         ec_slave_t *slave /**< Parent slave. */
fp@847:         )
fp@409: {
fp@430:     sdo->slave = slave;
fp@409:     sdo->index = index;
fp@409:     sdo->object_code = 0x00;
fp@409:     sdo->name = NULL;
fp@409:     sdo->subindices = 0;
fp@409:     INIT_LIST_HEAD(&sdo->entries);
fp@409: 
fp@847:     // Init kobject and add it to the hierarchy
fp@409:     memset(&sdo->kobj, 0x00, sizeof(struct kobject));
fp@409:     kobject_init(&sdo->kobj);
fp@409:     sdo->kobj.ktype = &ktype_ec_sdo;
fp@419:     sdo->kobj.parent = &slave->sdo_kobj;
fp@419:     if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
fp@409:         EC_ERR("Failed to set kobj name.\n");
fp@484:         kobject_put(&sdo->kobj);
fp@484:         return -1;
fp@484:     }
fp@484:     if (kobject_add(&sdo->kobj)) {
fp@814:         EC_ERR("Failed to add Sdo kobject.\n");
fp@484:         kobject_put(&sdo->kobj);
fp@409:         return -1;
fp@409:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Sdo destructor.
fp@847:  *
fp@847:  * Clears and frees an Sdo object.
fp@847:  */
fp@847: void ec_sdo_destroy(
fp@847:         ec_sdo_t *sdo /**< Sdo. */
fp@847:         )
fp@448: {
fp@409:     ec_sdo_entry_t *entry, *next;
fp@409: 
fp@409:     // free all entries
fp@409:     list_for_each_entry_safe(entry, next, &sdo->entries, list) {
fp@409:         list_del(&entry->list);
fp@448:         ec_sdo_entry_destroy(entry);
fp@448:     }
fp@448: 
fp@448:     // destroy self
fp@448:     kobject_del(&sdo->kobj);
fp@448:     kobject_put(&sdo->kobj);
fp@448: }
fp@448: 
fp@448: /*****************************************************************************/
fp@448: 
fp@847: /** Clear and free Sdo.
fp@847:  *
fp@847:  * This method is called by the kobject,
fp@847:  * once there are no more references to it.
fp@847:  */
fp@847: void ec_sdo_clear(
fp@847:         struct kobject *kobj /**< Sdo's kobject. */
fp@847:         )
fp@448: {
fp@448:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@409: 
fp@409:     if (sdo->name) kfree(sdo->name);
fp@409: 
fp@409:     kfree(sdo);
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Get and Sdo entry from an Sdo via its subindex.
fp@847:  * 
fp@847:  * \retval >0 Pointer to the requested Sdo entry.
fp@847:  * \retval NULL Sdo entry not found.
fp@847:  */
fp@740: ec_sdo_entry_t *ec_sdo_get_entry(
fp@847:         ec_sdo_t *sdo, /**< Sdo. */
fp@847:         uint8_t subindex /**< Entry subindex. */
fp@740:         )
fp@740: {
fp@740:     ec_sdo_entry_t *entry;
fp@740: 
fp@740:     list_for_each_entry(entry, &sdo->entries, list) {
fp@740:         if (entry->subindex != subindex) continue;
fp@740:         return entry;
fp@740:     }
fp@740: 
fp@740:     return NULL;
fp@740: }
fp@740: 
fp@740: /*****************************************************************************/
fp@740: 
fp@847: /** Print Sdo information to a buffer.
fp@847:  * 
fp@758:  * /return size of bytes written to buffer.
fp@758:  */ 
fp@847: ssize_t ec_sdo_info(
fp@847:         ec_sdo_t *sdo, /**< Sdo. */
fp@847:         char *buffer /**< Target buffer. */
fp@847:         )
fp@409: {
fp@409:     off_t off = 0;
fp@409: 
fp@409:     off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
fp@409:     off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
fp@409:     off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
fp@409: 
fp@409:     return off;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Show a Sysfs attribute of an Sdo.
fp@847:  * 
fp@847:  * /return Number of bytes written to buffer.
fp@758:  */ 
fp@847: ssize_t ec_show_sdo_attribute(
fp@847:         struct kobject *kobj, /**< kobject */
fp@847:         struct attribute *attr, /**< Requested attribute. */
fp@847:         char *buffer /**< Buffer to write the data in. */
fp@847:         )
fp@409: {
fp@409:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@409: 
fp@409:     if (attr == &attr_info) {
fp@409:         return ec_sdo_info(sdo, buffer);
fp@409:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/