master/sdo.c
author Florian Pose <fp@igh-essen.com>
Thu, 31 Jul 2008 16:13:29 +0000
changeset 1174 235f34ca50e2
parent 992 50a44cbd30af
child 1326 ef907b0b5125
permissions -rw-r--r--
Major Pdo configuration change: Read mapping of unknown Pdos during
configuration.
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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 Sdo functions.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include "master.h"
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#include "sdo.h"
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_sdo_init(
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        ec_sdo_t *sdo, /**< Sdo. */
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        ec_slave_t *slave, /**< Parent slave. */
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        uint16_t index /**< Sdo index. */
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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->max_subindex = 0;
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    INIT_LIST_HEAD(&sdo->entries);
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}
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/*****************************************************************************/
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/** Sdo destructor.
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 *
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 * Clears and frees an Sdo object.
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 */
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void ec_sdo_clear(
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        ec_sdo_t *sdo /**< Sdo. */
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        )
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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_clear(entry);
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        kfree(entry);
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    }
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    if (sdo->name)
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        kfree(sdo->name);
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}
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/*****************************************************************************/
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/** Get an Sdo entry from an Sdo via its subindex.
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 * 
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 * \retval >0 Pointer to the requested Sdo entry.
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 * \retval NULL Sdo entry not found.
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 */
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ec_sdo_entry_t *ec_sdo_get_entry(
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        ec_sdo_t *sdo, /**< Sdo. */
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        uint8_t subindex /**< Entry subindex. */
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        )
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{
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    ec_sdo_entry_t *entry;
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    list_for_each_entry(entry, &sdo->entries, list) {
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        if (entry->subindex != subindex)
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            continue;
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        return entry;
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    }
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    return NULL;
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}
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/*****************************************************************************/
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/** Get an Sdo entry from an Sdo via its subindex.
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 *
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 * const version.
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 * 
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 * \retval >0 Pointer to the requested Sdo entry.
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 * \retval NULL Sdo entry not found.
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 */
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const ec_sdo_entry_t *ec_sdo_get_entry_const(
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        const ec_sdo_t *sdo, /**< Sdo. */
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        uint8_t subindex /**< Entry subindex. */
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        )
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{
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    const ec_sdo_entry_t *entry;
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    list_for_each_entry(entry, &sdo->entries, list) {
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        if (entry->subindex != subindex)
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            continue;
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        return entry;
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    }
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    return NULL;
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}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   135
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   136
/*****************************************************************************/