diff -r 40c379697ebf -r 9b395c5646ab master/pdo_list.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/pdo_list.c	Thu Apr 03 13:34:13 2008 +0000
@@ -0,0 +1,280 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 list methods.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+
+#include "globals.h"
+#include "pdo.h"
+#include "slave_config.h"
+#include "master.h"
+
+#include "pdo_list.h"
+
+/*****************************************************************************/
+
+/** Pdo list constructor.
+ */
+void ec_pdo_list_init(
+        ec_pdo_list_t *pl /**< Pdo list. */
+        )
+{
+    INIT_LIST_HEAD(&pl->list);
+}
+
+/*****************************************************************************/
+
+/** Pdo list destructor.
+ */
+void ec_pdo_list_clear(ec_pdo_list_t *pl /**< Pdo list. */)
+{
+    ec_pdo_list_clear_pdos(pl);
+}
+
+/*****************************************************************************/
+
+/** Clears the list of mapped Pdos.
+ */
+void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
+{
+    ec_pdo_t *pdo, *next;
+
+    list_for_each_entry_safe(pdo, next, &pl->list, 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_list_total_size(
+        const ec_pdo_list_t *pl /**< Pdo list. */
+        )
+{
+    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, &pl->list, 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 list.
+ *
+ * \retval >0 Pointer to new Pdo.
+ * \retval NULL No memory.
+ */
+ec_pdo_t *ec_pdo_list_add_pdo(
+        ec_pdo_list_t *pl, /**< Pdo list. */
+        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, &pl->list);
+    return pdo;
+}
+
+/*****************************************************************************/
+
+/** Add the copy of an existing Pdo to the list.
+ *
+ * \return 0 on success, else < 0
+ */
+int ec_pdo_list_add_pdo_copy(
+        ec_pdo_list_t *pl, /**< Pdo list. */
+        const ec_pdo_t *pdo /**< Pdo to add. */
+        )
+{
+    ec_pdo_t *mapped_pdo;
+
+    // Pdo already mapped?
+    list_for_each_entry(mapped_pdo, &pl->list, 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, &pl->list);
+    return 0;
+}
+
+/*****************************************************************************/
+
+/** Makes a deep copy of another Pdo list.
+ *
+ * \return 0 on success, else < 0
+ */
+int ec_pdo_list_copy(
+        ec_pdo_list_t *pl, /**< Pdo list. */
+        const ec_pdo_list_t *other /**< Pdo list to copy from. */
+        )
+{
+    ec_pdo_t *other_pdo;
+
+    ec_pdo_list_clear_pdos(pl);
+
+    // Pdo already mapped?
+    list_for_each_entry(other_pdo, &other->list, list) {
+        if (ec_pdo_list_add_pdo_copy(pl, other_pdo))
+            return -1;
+    }
+    
+    return 0;
+}
+
+/*****************************************************************************/
+
+/** Compares two Pdo lists.
+ *
+ * Only the list is compared, not the Pdo entries (i. e. the Pdo
+ * configuration).
+ *
+ * \retval 1 The given Pdo lists are equal.
+ * \retval 0 The given Pdo lists differ.
+ */
+int ec_pdo_list_equal(
+        const ec_pdo_list_t *pl1, /**< First list. */
+        const ec_pdo_list_t *pl2 /**< Second list. */
+        )
+{
+    const struct list_head *h1, *h2, *l1, *l2;
+    const ec_pdo_t *p1, *p2;
+
+    h1 = l1 = &pl1->list;
+    h2 = l2 = &pl2->list;
+
+    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_list_find_pdo(
+        const ec_pdo_list_t *pl, /**< Pdo list. */
+        uint16_t index /**< Pdo index. */
+        )
+{
+    ec_pdo_t *pdo;
+
+    list_for_each_entry(pdo, &pl->list, 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_list_find_pdo_const(
+        const ec_pdo_list_t *pl, /**< Pdo list. */
+        uint16_t index /**< Pdo index. */
+        )
+{
+    const ec_pdo_t *pdo;
+
+    list_for_each_entry(pdo, &pl->list, list) {
+        if (pdo->index != index)
+            continue;
+        return pdo;
+    }
+
+    return NULL;
+}
+
+/*****************************************************************************/