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ethercat
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Removed kobject from domain.

This commit is contained in:
Florian Pose 2008-06-12 07:26:38 +00:00
parent 22fe4a1841
commit 448eb13820
4 changed files with 29 additions and 124 deletions
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1
TODO
View File

@ -26,6 +26,7 @@ Version 1.4.0:
* Remove configs_attached flag.
* Remove EC_IOCTL_DOMAIN_COUNT.
* Remove ATOMIC allocations.
* Clear FMMU configs.
Future issues:

113
master/domain.c
View File

@ -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 @@ int ec_domain_init(
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 */)
void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
{
ec_datagram_t *datagram;
// dequeue datagrams
list_for_each_entry(datagram, &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);
// dequeue and free datagrams
list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
if (!list_empty(&datagram->queue)) // datagram queued?
list_del(&datagram->queue);
ec_datagram_clear(datagram);
kfree(datagram);
}
ec_domain_clear_data(domain);
kfree(domain);
}
/*****************************************************************************/
@ -323,7 +251,8 @@ int ec_domain_finish(
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 @@ int ec_domain_finish(
/*****************************************************************************/
/**
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 @@ void ecrt_domain_process(ec_domain_t *domain)
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;
}

17
master/domain.h
View File

@ -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 @@ struct ec_domain
/*****************************************************************************/
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);

22
master/master.c
View File

@ -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 @@ void ec_master_clear(
#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 @@ void ec_master_clear_slaves(ec_master_t *master)
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 @@ void ec_master_leave_operation_mode(ec_master_t *master
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 @@ ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
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;