Domains als Liste verwaltet.

master/domain.h

@@ -44,6 +44,7 @@ ec_field_reg_t;
 
 struct ec_domain
 {
+    struct list_head list; /**< Listenkopf */
     ec_master_t *master; /**< EtherCAT-Master, zu der die Domäne gehört. */
 
     unsigned char *data; /**< Prozessdaten */

master/globals.h

@@ -23,14 +23,11 @@
 #define EC_SYNC_SIZE 8 /**< Größe einer Sync-Manager-Konfigurationsseite */
 #define EC_FMMU_SIZE 16 /**< Größe einer FMMU-Konfigurationsseite */
 #define EC_MAX_FMMUS 16 /**< Maximale Anzahl FMMUs pro Slave */
-
 #define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE \
                           - EC_FRAME_HEADER_SIZE \
                           - EC_COMMAND_HEADER_SIZE \
                           - EC_COMMAND_FOOTER_SIZE) /**< Maximale Datengröße */
 
-#define EC_MASTER_MAX_DOMAINS 10 /**< Maximale Anzahl Domänen eines Masters */
-
 #ifndef NULL
 #define NULL ((void *) 0) /**< NULL-Define, falls noch nicht definiert. */
 #endif

master/master.c

@@ -35,12 +35,13 @@ void ec_master_init(ec_master_t *master /**< EtherCAT-Master */)
     master->slave_count = 0;
     master->device_registered = 0;
     master->command_index = 0x00;
-    master->domain_count = 0;
     master->debug_level = 0;
     master->bus_time = 0;
     master->frames_lost = 0;
     master->frames_delayed = 0;
     master->t_last_cyclic_output = 0;
+
+    INIT_LIST_HEAD(&master->domains);
 }
 
 /*****************************************************************************/
@@ -71,15 +72,16 @@ void ec_master_reset(ec_master_t *master
                      /**< Zeiger auf den zurückzusetzenden Master */
                      )
 {
-    unsigned int i;
+    ec_domain_t *domain, *next;
 
     ec_master_clear_slaves(master);
 
-    for (i = 0; i < master->domain_count; i++) {
-        ec_domain_clear(master->domains[i]);
-        kfree(master->domains[i]);
+    // Domain-Liste leeren
+    list_for_each_entry_safe(domain, next, &master->domains, list) {
+        ec_domain_clear(domain);
+        kfree(domain);
     }
-    master->domain_count = 0;
+    INIT_LIST_HEAD(&master->domains);
 
     master->command_index = 0;
     master->debug_level = 0;
@@ -418,19 +420,14 @@ ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
 {
     ec_domain_t *domain;
 
-    if (master->domain_count >= EC_MASTER_MAX_DOMAINS) {
-        EC_ERR("Maximum number of domains reached!\n");
-        return NULL;
-    }
-
     if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
         EC_ERR("Error allocating domain memory!\n");
         return NULL;
     }
 
     ec_domain_init(domain, master, mode, timeout_us);
-    master->domains[master->domain_count] = domain;
-    master->domain_count++;
+
+    list_add_tail(&domain->list, &master->domains);
 
     return domain;
 }
@@ -462,16 +459,15 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
 
     // Domains erstellen
     domain_offset = 0;
-    for (i = 0; i < master->domain_count; i++) {
-        domain = master->domains[i];
+    list_for_each_entry(domain, &master->domains, list) {
         if (ec_domain_alloc(domain, domain_offset)) {
-            EC_ERR("Failed to allocate domain %i!\n", i);
+            EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
             return -1;
         }
         frame_count = domain->data_size / EC_MAX_FRAME_SIZE + 1;
         if (!domain->data_size) frame_count = 0;
-        EC_INFO("Domain %i - Allocated %i bytes (%i Frame(s))\n", i,
-                domain->data_size, frame_count);
+        EC_INFO("Domain %X - Allocated %i bytes (%i Frame(s))\n",
+                (u32) domain, domain->data_size, frame_count);
         domain_offset += domain->data_size;
     }
 

master/master.h

@@ -11,6 +11,8 @@
 #ifndef _EC_MASTER_H_
 #define _EC_MASTER_H_
 
+#include <linux/list.h>
+
 #include "device.h"
 #include "slave.h"
 #include "frame.h"
@@ -32,8 +34,7 @@ struct ec_master
     ec_device_t device; /**< EtherCAT-Gerät */
     unsigned int device_registered; /**< Ein Geraet hat sich registriert. */
     uint8_t command_index; /**< Aktueller Kommando-Index */
-    ec_domain_t *domains[EC_MASTER_MAX_DOMAINS]; /**< Prozessdatendomänen */
-    unsigned int domain_count; /**< Anzahl Domänen */
+    struct list_head domains; /**< Liste der Prozessdatendomänen */
     int debug_level; /**< Debug-Level im Master-Code */
     unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */
     unsigned int frames_lost; /**< Anzahl verlorener Frames */

todo.txt

@@ -3,7 +3,6 @@ TODO-Liste EtherCAT-Treiber
 
 $Id$
 
-- Domains in Listen
 - Asynchroner Betrieb
 - Typeninformation aus Master entfernen?
 - Ethernet over EtherCAT (EoE)