--- a/master/Kbuild Wed Mar 07 11:30:09 2007 +0000
+++ b/master/Kbuild Wed Mar 07 11:46:02 2007 +0000
@@ -35,9 +35,9 @@
obj-m := ec_master.o
-ec_master-objs := module.o master.o device.o device_id.o slave.o datagram.o \
- domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o fsm_coe.o \
- fsm_slave.o fsm_master.o xmldev.o
+ec_master-objs := module.o master.o device.o device_id.o pdo.o slave.o \
+ datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
+ fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
ifeq ($(EC_DBG_IF),1)
ec_master-objs += debug.o
--- a/master/Makefile.am Wed Mar 07 11:30:09 2007 +0000
+++ b/master/Makefile.am Wed Mar 07 11:46:02 2007 +0000
@@ -38,6 +38,7 @@
debug.c debug.h \
device.c device.h \
device_id.c device_id.h \
+ pdo.c pdo.h \
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/pdo.c Wed Mar 07 11:46:02 2007 +0000
@@ -0,0 +1,109 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 process data object methods.
+*/
+
+/*****************************************************************************/
+
+#include <linux/slab.h>
+
+#include "pdo.h"
+
+/*****************************************************************************/
+
+/**
+ * PDO constructor.
+ */
+
+void ec_pdo_init(ec_pdo_t *pdo /**< EtherCAT PDO */)
+{
+ pdo->name = NULL;
+ INIT_LIST_HEAD(&pdo->entries);
+}
+
+/*****************************************************************************/
+
+/**
+ * PDO destructor.
+ */
+
+void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT PDO */)
+{
+ ec_pdo_entry_t *entry, *next;
+
+ // free all PDO entries
+ list_for_each_entry_safe(entry, next, &pdo->entries, list) {
+ list_del(&entry->list);
+ kfree(entry);
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ * Makes a deep copy of a PDO.
+ */
+
+int ec_pdo_copy(ec_pdo_t *pdo, const ec_pdo_t *other_pdo)
+{
+ ec_pdo_entry_t *entry, *other_entry, *next;
+
+ // make flat copy
+ *pdo = *other_pdo;
+
+ INIT_LIST_HEAD(&pdo->entries);
+ list_for_each_entry(other_entry, &other_pdo->entries, list) {
+ if (!(entry = (ec_pdo_entry_t *)
+ kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for PDO entry copy.\n");
+ goto out_free;
+ }
+
+ *entry = *other_entry; // flat copy is sufficient
+ list_add_tail(&entry->list, &pdo->entries);
+ }
+
+ return 0;
+
+out_free:
+ list_for_each_entry_safe(entry, next, &pdo->entries, list) {
+ list_del(&entry->list);
+ kfree(entry);
+ }
+ return -1;
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/pdo.h Wed Mar 07 11:46:02 2007 +0000
@@ -0,0 +1,102 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 Process data object structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef _EC_PDO_H_
+#define _EC_PDO_H_
+
+#include <linux/list.h>
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+/**
+ * PDO type.
+ */
+
+typedef enum
+{
+ EC_RX_PDO, /**< Reveive PDO */
+ EC_TX_PDO /**< Transmit PDO */
+}
+ec_pdo_type_t;
+
+/*****************************************************************************/
+
+/**
+ * PDO description.
+ */
+
+typedef struct
+{
+ struct list_head list; /**< list item */
+ ec_pdo_type_t type; /**< PDO type */
+ uint16_t index; /**< PDO index */
+ int8_t sync_index; /**< assigned sync manager */
+ char *name; /**< PDO name */
+ struct list_head entries; /**< entry list */
+}
+ec_pdo_t;
+
+/*****************************************************************************/
+
+/**
+ * PDO entry description.
+ */
+
+typedef struct
+{
+ struct list_head list; /**< list item */
+ uint16_t index; /**< PDO entry index */
+ uint8_t subindex; /**< PDO entry subindex */
+ char *name; /**< entry name */
+ uint8_t bit_length; /**< entry length in bit */
+}
+ec_pdo_entry_t;
+
+/*****************************************************************************/
+
+void ec_pdo_init(ec_pdo_t *);
+void ec_pdo_clear(ec_pdo_t *);
+int ec_pdo_copy(ec_pdo_t *, const ec_pdo_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/slave.c Wed Mar 07 11:30:09 2007 +0000
+++ b/master/slave.c Wed Mar 07 11:46:02 2007 +0000
@@ -242,7 +242,6 @@
{
ec_slave_t *slave;
ec_pdo_t *pdo, *next_pdo;
- ec_pdo_entry_t *entry, *next_ent;
ec_sdo_data_t *sdodata, *next_sdodata;
unsigned int i;
@@ -261,13 +260,7 @@
// free all PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
list_del(&pdo->list);
-
- // free all PDO entries
- list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
- list_del(&entry->list);
- kfree(entry);
- }
-
+ ec_pdo_clear(pdo);
kfree(pdo);
}
@@ -532,14 +525,12 @@
return -1;
}
- INIT_LIST_HEAD(&pdo->entries);
+ ec_pdo_init(pdo);
pdo->type = pdo_type;
-
pdo->index = EC_READ_U16(data);
entry_count = EC_READ_U8(data + 2);
pdo->sync_index = EC_READ_U8(data + 3);
pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
-
list_add_tail(&pdo->list, &slave->sii_pdos);
word_count -= 4;
@@ -555,7 +546,6 @@
entry->subindex = EC_READ_U8(data + 2);
entry->name = ec_slave_sii_string(slave, EC_READ_U8(data + 3));
entry->bit_length = EC_READ_U8(data + 5);
-
list_add_tail(&entry->list, &pdo->entries);
word_count -= 4;
@@ -1071,8 +1061,8 @@
/**< sync manager */
)
{
- ec_pdo_t *pdo;
- ec_pdo_entry_t *pdo_entry;
+ const ec_pdo_t *pdo;
+ const ec_pdo_entry_t *pdo_entry;
unsigned int bit_size, byte_size;
if (sync->length) return sync->length;
--- a/master/slave.h Wed Mar 07 11:30:09 2007 +0000
+++ b/master/slave.h Wed Mar 07 11:46:02 2007 +0000
@@ -48,6 +48,7 @@
#include "globals.h"
#include "datagram.h"
+#include "pdo.h"
/*****************************************************************************/
@@ -122,52 +123,6 @@
/*****************************************************************************/
/**
- PDO type.
-*/
-
-typedef enum
-{
- EC_RX_PDO, /**< Reveive PDO */
- EC_TX_PDO /**< Transmit PDO */
-}
-ec_pdo_type_t;
-
-/*****************************************************************************/
-
-/**
- PDO description.
-*/
-
-typedef struct
-{
- struct list_head list; /**< list item */
- ec_pdo_type_t type; /**< PDO type */
- uint16_t index; /**< PDO index */
- uint8_t sync_index; /**< assigned sync manager */
- char *name; /**< PDO name */
- struct list_head entries; /**< entry list */
-}
-ec_pdo_t;
-
-/*****************************************************************************/
-
-/**
- PDO entry description.
-*/
-
-typedef struct
-{
- struct list_head list; /**< list item */
- uint16_t index; /**< PDO index */
- uint8_t subindex; /**< entry subindex */
- char *name; /**< entry name */
- uint8_t bit_length; /**< entry length in bit */
-}
-ec_pdo_entry_t;
-
-/*****************************************************************************/
-
-/**
FMMU configuration.
*/