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ethercat
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ethercat/master/pdo_list.c

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/******************************************************************************
*
* $Id$
*
* 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 Pdo list methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "pdo.h"
#include "slave_config.h"
#include "master.h"
#include "pdo_list.h"
/*****************************************************************************/
/** Pdo list constructor.
*/
void ec_pdo_list_init(
ec_pdo_list_t *pl /**< Pdo list. */
)
{
INIT_LIST_HEAD(&pl->list);
}
/*****************************************************************************/
/** Pdo list destructor.
*/
void ec_pdo_list_clear(ec_pdo_list_t *pl /**< Pdo list. */)
{
ec_pdo_list_clear_pdos(pl);
}
/*****************************************************************************/
/** Clears the list of mapped Pdos.
*/
void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
{
ec_pdo_t *pdo, *next;
list_for_each_entry_safe(pdo, next, &pl->list, list) {
list_del_init(&pdo->list);
ec_pdo_clear(pdo);
kfree(pdo);
}
}
/*****************************************************************************/
/** Calculates the total size of the mapped Pdo entries.
*
* \retval Data size in byte.
*/
uint16_t ec_pdo_list_total_size(
const ec_pdo_list_t *pl /**< Pdo list. */
)
{
unsigned int bit_size;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *pdo_entry;
uint16_t byte_size;
bit_size = 0;
list_for_each_entry(pdo, &pl->list, list) {
list_for_each_entry(pdo_entry, &pdo->entries, list) {
bit_size += pdo_entry->bit_length;
}
}
if (bit_size % 8) // round up to full bytes
byte_size = bit_size / 8 + 1;
else
byte_size = bit_size / 8;
return byte_size;
}
/*****************************************************************************/
/** Add a new Pdo to the list.
*
* \retval >0 Pointer to new Pdo.
* \retval NULL No memory.
*/
ec_pdo_t *ec_pdo_list_add_pdo(
ec_pdo_list_t *pl, /**< Pdo list. */
ec_direction_t dir, /**< Direction. */
uint16_t index /**< Pdo index. */
)
{
ec_pdo_t *pdo;
if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo.\n");
return NULL;
}
ec_pdo_init(pdo);
pdo->dir = dir;
pdo->index = index;
list_add_tail(&pdo->list, &pl->list);
return pdo;
}
/*****************************************************************************/
/** Add the copy of an existing Pdo to the list.
*
* \return 0 on success, else < 0
*/
int ec_pdo_list_add_pdo_copy(
ec_pdo_list_t *pl, /**< Pdo list. */
const ec_pdo_t *pdo /**< Pdo to add. */
)
{
ec_pdo_t *mapped_pdo;
// Pdo already mapped?
list_for_each_entry(mapped_pdo, &pl->list, list) {
if (mapped_pdo->index != pdo->index) continue;
EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
return -1;
}
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo memory.\n");
return -1;
}
if (ec_pdo_init_copy(mapped_pdo, pdo)) {
kfree(mapped_pdo);
return -1;
}
list_add_tail(&mapped_pdo->list, &pl->list);
return 0;
}
/*****************************************************************************/
/** Makes a deep copy of another Pdo list.
*
* \return 0 on success, else < 0
*/
int ec_pdo_list_copy(
ec_pdo_list_t *pl, /**< Pdo list. */
const ec_pdo_list_t *other /**< Pdo list to copy from. */
)
{
ec_pdo_t *other_pdo;
ec_pdo_list_clear_pdos(pl);
// Pdo already mapped?
list_for_each_entry(other_pdo, &other->list, list) {
if (ec_pdo_list_add_pdo_copy(pl, other_pdo))
return -1;
}
return 0;
}
/*****************************************************************************/
/** Compares two Pdo lists.
*
* Only the list is compared, not the Pdo entries (i. e. the Pdo
* mapping).
*
* \retval 1 The given Pdo lists are equal.
* \retval 0 The given Pdo lists differ.
*/
int ec_pdo_list_equal(
const ec_pdo_list_t *pl1, /**< First list. */
const ec_pdo_list_t *pl2 /**< Second list. */
)
{
const struct list_head *h1, *h2, *l1, *l2;
const ec_pdo_t *p1, *p2;
h1 = l1 = &pl1->list;
h2 = l2 = &pl2->list;
while (1) {
l1 = l1->next;
l2 = l2->next;
if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
return 0;
if (l1 == h1) // both finished
break;
p1 = list_entry(l1, ec_pdo_t, list);
p2 = list_entry(l2, ec_pdo_t, list);
if (p1->index != p2->index)
return 0;
}
return 1;
}
/*****************************************************************************/
/** Finds a Pdo with the given index.
*/
ec_pdo_t *ec_pdo_list_find_pdo(
const ec_pdo_list_t *pl, /**< Pdo list. */
uint16_t index /**< Pdo index. */
)
{
ec_pdo_t *pdo;
list_for_each_entry(pdo, &pl->list, list) {
if (pdo->index != index)
continue;
return pdo;
}
return NULL;
}
/*****************************************************************************/
/** Finds a Pdo with the given index and returns a const pointer.
*/
const ec_pdo_t *ec_pdo_list_find_pdo_const(
const ec_pdo_list_t *pl, /**< Pdo list. */
uint16_t index /**< Pdo index. */
)
{
const ec_pdo_t *pdo;
list_for_each_entry(pdo, &pl->list, list) {
if (pdo->index != index)
continue;
return pdo;
}
return NULL;
}
/*****************************************************************************/
/** Finds a Pdo via its position in the list.
*
* Const version.
*/
const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
const ec_pdo_list_t *pl, /**< Pdo list. */
unsigned int pos /**< Position in the list. */
)
{
const ec_pdo_t *pdo;
list_for_each_entry(pdo, &pl->list, list) {
if (pos--)
continue;
return pdo;
}
return NULL;
}
/*****************************************************************************/
/**
*/
unsigned int ec_pdo_list_count(
const ec_pdo_list_t *pl /**< Pdo list. */
)
{
const ec_pdo_t *pdo;
unsigned int num = 0;
list_for_each_entry(pdo, &pl->list, list) {
num++;
}
return num;
}
/*****************************************************************************/
/** Outputs the Pdos in the list.
*/
void ec_pdo_list_print(
const ec_pdo_list_t *pl /**< Pdo list. */
)
{
const ec_pdo_t *pdo;
list_for_each_entry(pdo, &pl->list, list) {
printk("0x%04X", pdo->index);
if (pdo->list.next != &pl->list)
printk(" ");
}
}
/*****************************************************************************/
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