110 lines
3.2 KiB
C
110 lines
3.2 KiB
C
/******************************************************************************
|
|
*
|
|
* $Id$
|
|
*
|
|
* 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;
|
|
}
|
|
|
|
/*****************************************************************************/
|