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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/**

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   \file

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   Canopen-over-EtherCAT functions.

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*/

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/*****************************************************************************/

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#include <linux/module.h>

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#include "canopen.h"

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#include "master.h"

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/*****************************************************************************/

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ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);

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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

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                                    char *);

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void ec_sdo_clear(struct kobject *);

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void ec_sdo_entry_clear(struct kobject *);

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void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,

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                              ec_sdo_entry_t *);

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void ec_sdo_request_clear(ec_sdo_request_t *);

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/*****************************************************************************/

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/** \cond */

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EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_ATTR(value);

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static struct attribute *sdo_def_attrs[] = {

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    &attr_info,

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    NULL,

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};

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static struct sysfs_ops sdo_sysfs_ops = {

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    .show = &ec_show_sdo_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo = {

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    .release = ec_sdo_clear,

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    .sysfs_ops = &sdo_sysfs_ops,

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    .default_attrs = sdo_def_attrs

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};

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static struct attribute *sdo_entry_def_attrs[] = {

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    &attr_info,

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    &attr_value,

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    NULL,

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};

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static struct sysfs_ops sdo_entry_sysfs_ops = {

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    .show = &ec_show_sdo_entry_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo_entry = {

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    .release = ec_sdo_entry_clear,

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    .sysfs_ops = &sdo_entry_sysfs_ops,

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    .default_attrs = sdo_entry_def_attrs

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};

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/** \endcond */

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/*****************************************************************************/

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/**

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   SDO constructor.

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*/

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int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

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                uint16_t index, /**< SDO index */

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                ec_slave_t *slave /**< parent slave */

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                )

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{

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    sdo->slave = slave;

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    sdo->index = index;

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    sdo->object_code = 0x00;

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    sdo->name = NULL;

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    sdo->subindices = 0;

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    INIT_LIST_HEAD(&sdo->entries);

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    // init kobject and add it to the hierarchy

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    memset(&sdo->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&sdo->kobj);

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    sdo->kobj.ktype = &ktype_ec_sdo;

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    sdo->kobj.parent = &slave->sdo_kobj;

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    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

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        EC_ERR("Failed to set kobj name.\n");

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        kobject_put(&sdo->kobj);

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        return -1;

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    }

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    if (kobject_add(&sdo->kobj)) {

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        EC_ERR("Failed to add SDO kobject.\n");

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        kobject_put(&sdo->kobj);

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        return -1;

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO destructor.

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   Clears and frees an SDO object.

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*/

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void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)

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{

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    ec_sdo_entry_t *entry, *next;

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    // free all entries

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    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

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        list_del(&entry->list);

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        ec_sdo_entry_destroy(entry);

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    }

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    // destroy self

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    kobject_del(&sdo->kobj);

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    kobject_put(&sdo->kobj);

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}

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/*****************************************************************************/

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/**

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   Clear and free SDO.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

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void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

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{

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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

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    if (sdo->name) kfree(sdo->name);

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    kfree(sdo);

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}

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/*****************************************************************************/

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ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

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                    char *buffer /**< target buffer */

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                    )

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{

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    off_t off = 0;

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    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

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    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

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    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

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                              struct attribute *attr,

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                              char *buffer

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                              )

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{

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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

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    if (attr == &attr_info) {

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        return ec_sdo_info(sdo, buffer);

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO entry constructor.

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*/

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int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

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                      uint8_t subindex, /**< SDO entry subindex */

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                      ec_sdo_t *sdo /**< parent SDO */

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                      )

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{

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    entry->sdo = sdo;

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    entry->subindex = subindex;

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    entry->data_type = 0x0000;

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    entry->bit_length = 0;

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    entry->description = NULL;

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    // init kobject and add it to the hierarchy

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    memset(&entry->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&entry->kobj);

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    entry->kobj.ktype = &ktype_ec_sdo_entry;

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    entry->kobj.parent = &sdo->kobj;

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    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

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        EC_ERR("Failed to set kobj name.\n");

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        kobject_put(&entry->kobj);

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        return -1;

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    }

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    if (kobject_add(&entry->kobj)) {

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        EC_ERR("Failed to add entry kobject.\n");

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        kobject_put(&entry->kobj);

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        return -1;

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO entry destructor.

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   Clears and frees an SDO entry object.

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*/

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void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)

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{

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    // destroy self

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    kobject_del(&entry->kobj);

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    kobject_put(&entry->kobj);

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}

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/*****************************************************************************/

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/**

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   Clear and free SDO entry.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

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void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

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    if (entry->description) kfree(entry->description);

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    kfree(entry);

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}

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/*****************************************************************************/

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ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

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                          char *buffer /**< target buffer */

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                          )

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{

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    off_t off = 0;

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    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

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    off += sprintf(buffer + off, "Description: %s\n",

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                   entry->description ? entry->description : "");

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    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

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    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */

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                                 ec_sdo_request_t *request, /**< SDO request */

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                                 char *buffer /**< target buffer */

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                                 )

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{

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    off_t off = 0;

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    unsigned int i;

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    if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8

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        off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));

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    }

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    else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16

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        off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));

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    }

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    else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32

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        off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));

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    }

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    else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8

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        off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));

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    }

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    else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16

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        off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));

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    }

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    else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32

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        off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));

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    }

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    else if (entry->data_type == 0x0009) { // string

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        off += sprintf(buffer + off, "%s\n", request->data);

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    }

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    else {

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        for (i = 0; i < request->size; i++)

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            off += sprintf(buffer + off, "%02X (%c)\n",

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                           request->data[i], request->data[i]);

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    }

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */

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                                char *buffer /**< target buffer */

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                                )

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{

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    ec_sdo_t *sdo = entry->sdo;

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    ec_master_t *master = sdo->slave->master;

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    off_t off = 0;

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    ec_sdo_request_t request;

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    if (down_interruptible(&master->sdo_sem)) {

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        // interrupted by signal

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        return -ERESTARTSYS;

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    }

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    ec_sdo_request_init_read(&request, sdo, entry);

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    // this is necessary, because the completion object

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    // is completed by the ec_master_flush_sdo_requests() function.

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    INIT_COMPLETION(master->sdo_complete);

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    master->sdo_request = &request;

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    master->sdo_seq_user++;

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    master->sdo_timer.expires = jiffies + 10;

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    add_timer(&master->sdo_timer);

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    wait_for_completion(&master->sdo_complete);

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    master->sdo_request = NULL;

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    up(&master->sdo_sem);

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    if (request.return_code == 1 && request.data) {

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        off += ec_sdo_entry_format_data(entry, &request, buffer);

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    }

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    else {

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        off = -EINVAL;

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    }

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    ec_sdo_request_clear(&request);

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

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                                    struct attribute *attr,

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                                    char *buffer

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                                    )

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   382

   383

    if (attr == &attr_info) {

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        return ec_sdo_entry_info(entry, buffer);

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    }

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    else if (attr == &attr_value) {

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        return ec_sdo_entry_read_value(entry, buffer);

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO request constructor.

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*/

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void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */

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                              ec_sdo_t *sdo, /**< SDO */

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                              ec_sdo_entry_t *entry /**< SDO entry */

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                              )

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{

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    req->sdo = sdo;

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    req->entry = entry;

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    req->data = NULL;

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    req->size = 0;

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    req->return_code = 0;

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}

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/*****************************************************************************/

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   413

/**

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   SDO request destructor.

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*/

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   417

void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)

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{

   419

    if (req->data) kfree(req->data);

   420

}

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/*****************************************************************************/