--- a/TODO Thu Jun 12 07:15:54 2008 +0000
+++ b/TODO Thu Jun 12 07:26:38 2008 +0000
@@ -26,6 +26,7 @@
* Remove configs_attached flag.
* Remove EC_IOCTL_DOMAIN_COUNT.
* Remove ATOMIC allocations.
+* Clear FMMU configs.
Future issues:
--- a/master/domain.c Thu Jun 12 07:15:54 2008 +0000
+++ b/master/domain.c Thu Jun 12 07:26:38 2008 +0000
@@ -48,41 +48,13 @@
/*****************************************************************************/
-void ec_domain_clear(struct kobject *);
void ec_domain_clear_data(ec_domain_t *);
-ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
-
-/*****************************************************************************/
-
-/** \cond */
-
-EC_SYSFS_READ_ATTR(image_size);
-
-static struct attribute *def_attrs[] = {
- &attr_image_size,
- NULL,
-};
-
-static struct sysfs_ops sysfs_ops = {
- .show = &ec_show_domain_attribute,
- .store = NULL
-};
-
-static struct kobj_type ktype_ec_domain = {
- .release = ec_domain_clear,
- .sysfs_ops = &sysfs_ops,
- .default_attrs = def_attrs
-};
-
-/** \endcond */
/*****************************************************************************/
/** Domain constructor.
- *
- * \return 0 in case of success, else < 0
- */
-int ec_domain_init(
+ */
+void ec_domain_init(
ec_domain_t *domain, /**< EtherCAT domain. */
ec_master_t *master, /**< Parent master. */
unsigned int index /**< Index. */
@@ -100,69 +72,25 @@
domain->expected_working_counter = 0x0000;
domain->working_counter_changes = 0;
domain->notify_jiffies = 0;
-
- // init kobject and add it to the hierarchy
- memset(&domain->kobj, 0x00, sizeof(struct kobject));
- kobject_init(&domain->kobj);
- domain->kobj.ktype = &ktype_ec_domain;
- domain->kobj.parent = &master->kobj;
- if (kobject_set_name(&domain->kobj, "domain%u", index)) {
- EC_ERR("Failed to set kobj name.\n");
- kobject_put(&domain->kobj);
- return -1;
- }
- if (kobject_add(&domain->kobj)) {
- EC_ERR("Failed to add domain kobject.\n");
- kobject_put(&domain->kobj);
- return -1;
- }
-
- return 0;
}
/*****************************************************************************/
/** Domain destructor.
- *
- * Clears and frees a domain object.
- */
-void ec_domain_destroy(ec_domain_t *domain /**< EtherCAT domain */)
-{
- ec_datagram_t *datagram;
-
- // dequeue datagrams
- list_for_each_entry(datagram, &domain->datagrams, list) {
+ */
+void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
+{
+ ec_datagram_t *datagram, *next;
+
+ // dequeue and free datagrams
+ list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
if (!list_empty(&datagram->queue)) // datagram queued?
- list_del_init(&datagram->queue);
- }
-
- // destroy self
- kobject_del(&domain->kobj);
- kobject_put(&domain->kobj);
-}
-
-/*****************************************************************************/
-
-/** Clear and free domain.
- *
- * This method is called by the kobject, once there are no more references
- * to it.
- */
-void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
-{
- ec_domain_t *domain;
- ec_datagram_t *datagram, *next;
-
- domain = container_of(kobj, ec_domain_t, kobj);
-
- list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
+ list_del(&datagram->queue);
ec_datagram_clear(datagram);
kfree(datagram);
}
ec_domain_clear_data(domain);
-
- kfree(domain);
}
/*****************************************************************************/
@@ -323,7 +251,8 @@
datagram_size += fmmu->data_size;
}
- // allocate last datagram, if data are left
+ // Allocate last datagram, if data are left (this is also the case if the
+ // process data fit into a single datagram)
if (datagram_size) {
if (ec_domain_add_datagram(domain,
domain->logical_base_address + datagram_offset,
@@ -348,27 +277,6 @@
/*****************************************************************************/
-/**
- Formats attribute data for SysFS reading.
- \return number of bytes to read
-*/
-
-ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
- struct attribute *attr, /**< attribute */
- char *buffer /**< memory to store data in */
- )
-{
- ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
-
- if (attr == &attr_image_size) {
- return sprintf(buffer, "%u\n", domain->data_size);
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
{
const ec_fmmu_config_t *fmmu;
@@ -477,9 +385,10 @@
domain->index, domain->working_counter,
domain->expected_working_counter);
} else {
- EC_INFO("Domain %u: %u working counter changes. Currently %u/%u.\n",
- domain->index, domain->working_counter_changes,
- domain->working_counter, domain->expected_working_counter);
+ EC_INFO("Domain %u: %u working counter changes. "
+ "Currently %u/%u.\n", domain->index,
+ domain->working_counter_changes, domain->working_counter,
+ domain->expected_working_counter);
}
domain->working_counter_changes = 0;
}
--- a/master/domain.h Thu Jun 12 07:15:54 2008 +0000
+++ b/master/domain.h Thu Jun 12 07:26:38 2008 +0000
@@ -42,7 +42,6 @@
#define __EC_DOMAIN_H__
#include <linux/list.h>
-#include <linux/kobject.h>
#include "globals.h"
#include "datagram.h"
@@ -51,15 +50,13 @@
/*****************************************************************************/
-/**
- EtherCAT domain.
- Handles the process data and the therefore needed datagrams of a certain
- group of slaves.
-*/
-
+/** EtherCAT domain.
+ *
+ * Handles the process data and the therefore needed datagrams of a certain
+ * group of slaves.
+ */
struct ec_domain
{
- struct kobject kobj; /**< kobject. */
struct list_head list; /**< List item. */
ec_master_t *master; /**< EtherCAT master owning the domain. */
unsigned int index; /**< Index (just a number). */
@@ -81,8 +78,8 @@
/*****************************************************************************/
-int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
-void ec_domain_destroy(ec_domain_t *);
+void ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
+void ec_domain_clear(ec_domain_t *);
void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);
int ec_domain_finish(ec_domain_t *, uint32_t);
--- a/master/master.c Thu Jun 12 07:15:54 2008 +0000
+++ b/master/master.c Thu Jun 12 07:26:38 2008 +0000
@@ -58,7 +58,7 @@
/*****************************************************************************/
void ec_master_destroy_slave_configs(ec_master_t *);
-void ec_master_destroy_domains(ec_master_t *);
+void ec_master_clear_domains(ec_master_t *);
static int ec_master_idle_thread(ec_master_t *);
static int ec_master_operation_thread(ec_master_t *);
#ifdef EC_EOE
@@ -231,7 +231,7 @@
#endif
ec_master_destroy_slave_configs(master);
ec_master_clear_slaves(master);
- ec_master_destroy_domains(master);
+ ec_master_clear_domains(master);
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
ec_device_clear(&master->backup_device);
@@ -299,13 +299,14 @@
Destroy all domains.
*/
-void ec_master_destroy_domains(ec_master_t *master)
+void ec_master_clear_domains(ec_master_t *master)
{
ec_domain_t *domain, *next;
list_for_each_entry_safe(domain, next, &master->domains, list) {
list_del(&domain->list);
- ec_domain_destroy(domain);
+ ec_domain_clear(domain);
+ kfree(domain);
}
}
@@ -517,7 +518,7 @@
master->cb_data = master;
ec_master_destroy_slave_configs(master);
- ec_master_destroy_domains(master);
+ ec_master_clear_domains(master);
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
@@ -1202,17 +1203,14 @@
return NULL;
}
- if (list_empty(&master->domains)) index = 0;
- else {
+ if (list_empty(&master->domains)) {
+ index = 0;
+ } else {
last_domain = list_entry(master->domains.prev, ec_domain_t, list);
index = last_domain->index + 1;
}
- if (ec_domain_init(domain, master, index)) {
- EC_ERR("Failed to init domain.\n");
- return NULL;
- }
-
+ ec_domain_init(domain, master, index);
list_add_tail(&domain->list, &master->domains);
return domain;