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ethercat/master/pdo_mapping.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 mapping methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "pdo.h"
#include "slave_config.h"
#include "master.h"
#include "pdo_mapping.h"
/*****************************************************************************/
/** Pdo mapping constructor.
*/
void ec_pdo_mapping_init(
ec_pdo_mapping_t *pm /**< Pdo mapping. */
)
{
INIT_LIST_HEAD(&pm->pdos);
pm->default_mapping = 1;
}
/*****************************************************************************/
/** Pdo mapping destructor.
*/
void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
{
ec_pdo_mapping_clear_pdos(pm);
}
/*****************************************************************************/
/** Clears the list of mapped Pdos.
*/
void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
{
ec_pdo_t *pdo, *next;
list_for_each_entry_safe(pdo, next, &pm->pdos, 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_mapping_total_size(
const ec_pdo_mapping_t *pm /**< Pdo mapping. */
)
{
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, &pm->pdos, 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;
}
/*****************************************************************************/
/** Adds a Pdo to the mapping.
*
* \return 0 on success, else < 0
*/
int ec_pdo_mapping_add_pdo_copy(
ec_pdo_mapping_t *pm, /**< Pdo mapping. */
const ec_pdo_t *pdo /**< Pdo to add. */
)
{
ec_pdo_t *mapped_pdo;
// Pdo already mapped?
list_for_each_entry(mapped_pdo, &pm->pdos, 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 memory for Pdo mapping.\n");
return -1;
}
if (ec_pdo_init_copy(mapped_pdo, pdo)) {
kfree(mapped_pdo);
return -1;
}
list_add_tail(&mapped_pdo->list, &pm->pdos);
return 0;
}
/*****************************************************************************/
/** Add a Pdo to the mapping.
*
* The first call of this method will clear the default mapping.
*
* \retval 0 Success.
* \retval -1 Error.
*/
int ec_pdo_mapping_add_pdo_info(
ec_pdo_mapping_t *pm, /**< Pdo mapping. */
const ec_pdo_info_t *pdo_info, /**< Pdo information. */
const ec_slave_config_t *config /**< Slave configuration, to load
default entries. */
)
{
unsigned int i;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
const ec_pdo_entry_info_t *entry_info;
if (pm->default_mapping) {
pm->default_mapping = 0;
ec_pdo_mapping_clear_pdos(pm);
}
if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo.\n");
goto out_return;
}
ec_pdo_init(pdo);
pdo->dir = pdo_info->dir;
pdo->index = pdo_info->index;
if (config->master->debug_level)
EC_INFO("Adding Pdo 0x%04X to mapping.\n", pdo->index);
if (pdo_info->n_entries && pdo_info->entries) { // configuration provided
if (config->master->debug_level)
EC_INFO(" Pdo configuration provided.\n");
for (i = 0; i < pdo_info->n_entries; i++) {
entry_info = &pdo_info->entries[i];
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo entry.\n");
goto out_free;
}
ec_pdo_entry_init(entry);
entry->index = entry_info->index;
entry->subindex = entry_info->subindex;
entry->bit_length = entry_info->bit_length;
list_add_tail(&entry->list, &pdo->entries);
}
} else { // use default Pdo configuration
if (config->master->debug_level)
EC_INFO(" Using default Pdo configuration.\n");
if (config->slave) {
ec_sync_t *sync;
ec_pdo_t *default_pdo;
if ((sync = ec_slave_get_pdo_sync(config->slave, pdo->dir))) {
list_for_each_entry(default_pdo, &sync->mapping.pdos, list) {
if (default_pdo->index != pdo->index)
continue;
if (config->master->debug_level)
EC_INFO(" Found Pdo name \"%s\".\n",
default_pdo->name);
// try to take Pdo name from mapped one
if (ec_pdo_set_name(pdo, default_pdo->name))
goto out_free;
// copy entries (= default Pdo configuration)
if (ec_pdo_copy_entries(pdo, default_pdo))
goto out_free;
if (config->master->debug_level) {
const ec_pdo_entry_t *entry;
list_for_each_entry(entry, &pdo->entries, list) {
EC_INFO(" Entry 0x%04X:%u.\n",
entry->index, entry->subindex);
}
}
}
} else {
EC_WARN("Slave %u does not provide a default Pdo"
" configuration!\n", config->slave->ring_position);
}
} else {
EC_WARN("Failed to load default Pdo configuration for %u:%u:"
" Slave not found.\n", config->alias, config->position);
}
}
list_add_tail(&pdo->list, &pm->pdos);
return 0;
out_free:
ec_pdo_clear(pdo);
kfree(pdo);
out_return:
return -1;
}
/*****************************************************************************/
/** Makes a deep copy of another Pdo mapping.
*
* \return 0 on success, else < 0
*/
int ec_pdo_mapping_copy(
ec_pdo_mapping_t *pm, /**< Pdo mapping. */
const ec_pdo_mapping_t *other /**< Pdo mapping to copy from. */
)
{
ec_pdo_t *other_pdo;
ec_pdo_mapping_clear_pdos(pm);
// Pdo already mapped?
list_for_each_entry(other_pdo, &other->pdos, list) {
if (ec_pdo_mapping_add_pdo_copy(pm, other_pdo))
return -1;
}
return 0;
}
/*****************************************************************************/
/** Compares two Pdo mappings.
*
* Only the mapping is compared, not the Pdo entries (i. e. the Pdo
* configuration).
*
* \retval 1 The given Pdo mappings are equal.
* \retval 0 The given Pdo mappings differ.
*/
int ec_pdo_mapping_equal(
const ec_pdo_mapping_t *pm1, /**< First mapping. */
const ec_pdo_mapping_t *pm2 /**< Second mapping. */
)
{
const struct list_head *h1, *h2, *l1, *l2;
const ec_pdo_t *p1, *p2;
h1 = l1 = &pm1->pdos;
h2 = l2 = &pm2->pdos;
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.
*/
const ec_pdo_t *ec_pdo_mapping_find_pdo(
const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
uint16_t index /**< Pdo index. */
)
{
ec_pdo_t *pdo;
list_for_each_entry(pdo, &pm->pdos, list) {
if (pdo->index != index)
continue;
return pdo;
}
return NULL;
}
/*****************************************************************************/
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