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ethercat
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Layed out PDO structures to own files.

This commit is contained in:
Florian Pose 2007-03-07 11:46:02 +00:00
parent 762b0d2cf8
commit ff176f5542
6 changed files with 220 additions and 63 deletions
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6
master/Kbuild
View File

@ -35,9 +35,9 @@ include $(src)/../config.kbuild
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o device_id.o slave.o datagram.o \
domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o fsm_coe.o \
fsm_slave.o fsm_master.o xmldev.o
ec_master-objs := module.o master.o device.o device_id.o pdo.o slave.o \
datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
fsm_coe.o fsm_slave.o fsm_master.o xmldev.o
ifeq ($(EC_DBG_IF),1)
ec_master-objs += debug.o

1
master/Makefile.am
View File

@ -38,6 +38,7 @@ EXTRA_DIST = \
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 \

109
master/pdo.c Normal file
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@ -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;
}
/*****************************************************************************/

102
master/pdo.h Normal file
View File

@ -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

18
master/slave.c
View File

@ -242,7 +242,6 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
{
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 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
// 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 @@ int ec_slave_fetch_sii_pdos(
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 @@ int ec_slave_fetch_sii_pdos(
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 @@ uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
/**< 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;

47
master/slave.h
View File

@ -48,6 +48,7 @@
#include "globals.h"
#include "datagram.h"
#include "pdo.h"
/*****************************************************************************/
@ -121,52 +122,6 @@ ec_sync_t;
/*****************************************************************************/
/**
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.
*/