From d2c96f488c7d719f1e0f10248d67f95b3ac94f65 Mon Sep 17 00:00:00 2001 From: Florian Pose <fp@igh-essen.com> Date: Wed, 7 Mar 2007 11:46:02 +0000 Subject: [PATCH] Layed out PDO structures to own files. --- master/Kbuild | 6 +-- master/Makefile.am | 1 + master/pdo.c | 109 +++++++++++++++++++++++++++++++++++++++++++++ master/pdo.h | 102 ++++++++++++++++++++++++++++++++++++++++++ master/slave.c | 18 ++------ master/slave.h | 47 +------------------ 6 files changed, 220 insertions(+), 63 deletions(-) create mode 100644 master/pdo.c create mode 100644 master/pdo.h diff --git a/master/Kbuild b/master/Kbuild index a0ed6989..1daabc87 100644 --- a/master/Kbuild +++ b/master/Kbuild @@ -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 diff --git a/master/Makefile.am b/master/Makefile.am index 24cc9440..83d36447 100644 --- a/master/Makefile.am +++ b/master/Makefile.am @@ -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 \ diff --git a/master/pdo.c b/master/pdo.c new file mode 100644 index 00000000..3db54bca --- /dev/null +++ b/master/pdo.c @@ -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; +} + +/*****************************************************************************/ diff --git a/master/pdo.h b/master/pdo.h new file mode 100644 index 00000000..492fe9e1 --- /dev/null +++ b/master/pdo.h @@ -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 diff --git a/master/slave.c b/master/slave.c index eab68e68..00b34938 100644 --- a/master/slave.c +++ b/master/slave.c @@ -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; diff --git a/master/slave.h b/master/slave.h index 36d49716..bd95314c 100644 --- a/master/slave.h +++ b/master/slave.h @@ -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. */ -- GitLab