--- a/master/sdo_entry.c Wed Jun 11 15:29:47 2008 +0000
+++ b/master/sdo_entry.c Wed Jun 11 15:37:38 2008 +0000
@@ -38,56 +38,18 @@
/*****************************************************************************/
-#include <linux/module.h>
-
-#include "sdo.h"
-#include "sdo_request.h"
-#include "master.h"
+#include <linux/slab.h>
#include "sdo_entry.h"
/*****************************************************************************/
-ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
- char *);
-void ec_sdo_entry_clear(struct kobject *);
-
-/*****************************************************************************/
-
-/** \cond */
-
-EC_SYSFS_READ_ATTR(info);
-EC_SYSFS_READ_ATTR(value);
-
-static struct attribute *sdo_entry_def_attrs[] = {
- &attr_info,
- &attr_value,
- NULL,
-};
-
-static struct sysfs_ops sdo_entry_sysfs_ops = {
- .show = &ec_show_sdo_entry_attribute,
- .store = NULL
-};
-
-static struct kobj_type ktype_ec_sdo_entry = {
- .release = ec_sdo_entry_clear,
- .sysfs_ops = &sdo_entry_sysfs_ops,
- .default_attrs = sdo_entry_def_attrs
-};
-
-/** \endcond */
-
-/*****************************************************************************/
-
-/** Sdo entry constructor.
- *
- * \todo Turn parameters.
+/** Constructor.
*/
-int ec_sdo_entry_init(
+void ec_sdo_entry_init(
ec_sdo_entry_t *entry, /**< Sdo entry. */
- uint8_t subindex, /**< Subindex. */
- ec_sdo_t *sdo /**< Parent Sdo. */
+ ec_sdo_t *sdo, /**< Parent Sdo. */
+ uint8_t subindex /**< Subindex. */
)
{
entry->sdo = sdo;
@@ -95,244 +57,19 @@
entry->data_type = 0x0000;
entry->bit_length = 0;
entry->description = NULL;
-
- // Init kobject and add it to the hierarchy
- memset(&entry->kobj, 0x00, sizeof(struct kobject));
- kobject_init(&entry->kobj);
- entry->kobj.ktype = &ktype_ec_sdo_entry;
- entry->kobj.parent = &sdo->kobj;
- if (kobject_set_name(&entry->kobj, "%02X", entry->subindex)) {
- EC_ERR("Failed to set kobj name.\n");
- kobject_put(&entry->kobj);
- return -1;
- }
- if (kobject_add(&entry->kobj)) {
- EC_ERR("Failed to add entry kobject.\n");
- kobject_put(&entry->kobj);
- return -1;
- }
-
- return 0;
}
/*****************************************************************************/
-/** Sdo entry destructor.
- *
- * Clears and frees an Sdo entry object.
+/** Destructor.
*/
-void ec_sdo_entry_destroy(
+void ec_sdo_entry_clear(
ec_sdo_entry_t *entry /**< Sdo entry. */
)
{
- // destroy self
- kobject_del(&entry->kobj);
- kobject_put(&entry->kobj);
+
+ if (entry->description)
+ kfree(entry->description);
}
/*****************************************************************************/
-
-/** Clear and free the Sdo entry.
- *
- * This method is called by the kobject,
- * once there are no more references to it.
- */
-void ec_sdo_entry_clear(
- struct kobject *kobj /**< Sdo entry's kobject. */
- )
-{
- ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
-
- if (entry->description) kfree(entry->description);
-
- kfree(entry);
-}
-
-/*****************************************************************************/
-
-/** Print Sdo entry information to a buffer.
- *
- * \return Number of bytes written.
- */
-ssize_t ec_sdo_entry_info(
- ec_sdo_entry_t *entry, /**< Sdo entry. */
- char *buffer /**< Target buffer. */
- )
-{
- off_t off = 0;
-
- off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
- off += sprintf(buffer + off, "Description: %s\n",
- entry->description ? entry->description : "");
- off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
- off += sprintf(buffer + off, "Bit length: %u\n", entry->bit_length);
-
- return off;
-}
-
-/*****************************************************************************/
-
-/** Format entry data based on the CANopen data type and print it to a buffer.
- *
- * \return number of bytes written.
- */
-ssize_t ec_sdo_entry_format_data(
- ec_sdo_entry_t *entry, /**< Sdo entry. */
- ec_sdo_request_t *request, /**< Sdo request. */
- char *buffer /**< Target buffer. */
- )
-{
- off_t off = 0;
- unsigned int i;
-
- if (request->data_size * 8 != entry->bit_length) {
- EC_ERR("Dictionary size of Sdo entry 0x%04X:%02X (%u bit) does not "
- "match size of uploaded data (%u byte)!\n", entry->sdo->index,
- entry->subindex, entry->bit_length, request->data_size);
- EC_DBG("Uploaded data:\n");
- ec_print_data(request->data, request->data_size);
- return -EIO;
- }
-
- if (entry->data_type == 0x0002) { // int8
- int8_t value;
- if (entry->bit_length != 8)
- goto not_fit;
- value = EC_READ_S8(request->data);
- off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
- }
- else if (entry->data_type == 0x0003) { // int16
- int16_t value;
- if (entry->bit_length != 16)
- goto not_fit;
- value = EC_READ_S16(request->data);
- off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
- }
- else if (entry->data_type == 0x0004) { // int32
- int32_t value;
- if (entry->bit_length != 32)
- goto not_fit;
- value = EC_READ_S16(request->data);
- off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
- }
- else if (entry->data_type == 0x0005) { // uint8
- uint8_t value;
- if (entry->bit_length != 8)
- goto not_fit;
- value = EC_READ_U8(request->data);
- off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
- }
- else if (entry->data_type == 0x0006) { // uint16
- uint16_t value;
- if (entry->bit_length != 16)
- goto not_fit;
- value = EC_READ_U16(request->data);
- off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
- }
- else if (entry->data_type == 0x0007) { // uint32
- uint32_t value;
- if (entry->bit_length != 32)
- goto not_fit;
- value = EC_READ_U32(request->data);
- off += sprintf(buffer + off, "%u (0x%08X)\n", value, value);
- }
- else if (entry->data_type == 0x0009) { // string
- off += sprintf(buffer + off, "%s\n", request->data);
- }
- else {
- off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
- entry->data_type);
- goto raw_data;
- }
- return off;
-
-not_fit:
- off += sprintf(buffer + off,
- "Invalid bit length %u for data type 0x%04X. Data:\n",
- entry->bit_length, entry->data_type);
-raw_data:
- for (i = 0; i < request->data_size; i++)
- off += sprintf(buffer + off, "%02X (%c)\n",
- request->data[i], request->data[i]);
- return off;
-}
-
-/*****************************************************************************/
-
-/** Start blocking Sdo entry reading.
- *
- * This function blocks, until reading is finished, and is interruptible as
- * long as the master state machine has not begun with reading.
- *
- * \return number of bytes written to buffer, or error code.
- */
-ssize_t ec_sdo_entry_read_value(
- ec_sdo_entry_t *entry, /**< Sdo entry. */
- char *buffer /**< Target buffer. */
- )
-{
- ec_master_t *master = entry->sdo->slave->master;
- off_t off = 0;
- ec_master_sdo_request_t request;
-
- request.slave = entry->sdo->slave;
- ec_sdo_request_init(&request.req);
- ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex);
- ecrt_sdo_request_read(&request.req);
-
- // schedule request.
- down(&master->sdo_sem);
- list_add_tail(&request.list, &master->slave_sdo_requests);
- up(&master->sdo_sem);
-
- // wait for processing through FSM
- if (wait_event_interruptible(master->sdo_queue,
- request.req.state != EC_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->sdo_sem);
- if (request.req.state == EC_REQUEST_QUEUED) {
- list_del(&request.req.list);
- up(&master->sdo_sem);
- return -EINTR;
- }
- // request already processing: interrupt not possible.
- up(&master->sdo_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
-
- if (request.req.state != EC_REQUEST_SUCCESS)
- return -EIO;
-
- off += ec_sdo_entry_format_data(entry, &request.req, buffer);
-
- ec_sdo_request_clear(&request.req);
- return off;
-}
-
-/*****************************************************************************/
-
-/** Show the Sysfs attribute of an Sdo entry.
- *
- * /return Number of bytes written to buffer.
- */
-ssize_t ec_show_sdo_entry_attribute(
- struct kobject *kobj, /**< kobject. */
- struct attribute *attr, /**< Sysfs attribute. */
- char *buffer /**< Target buffer. */
- )
-{
- ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
-
- if (attr == &attr_info) {
- return ec_sdo_entry_info(entry, buffer);
- }
- else if (attr == &attr_value) {
- return ec_sdo_entry_read_value(entry, buffer);
- }
-
- return 0;
-}
-
-/*****************************************************************************/