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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 "master.h"

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#include "sdo.h"

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

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 */

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        ec_sdo_t *sdo, /**< Sdo. */

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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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        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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}

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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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}

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