author | Florian Pose <fp@igh-essen.com> |
Thu, 12 Jan 2012 13:55:15 +0100 | |
branch | redundancy |
changeset 2268 | 5e1d3c9430e0 |
parent 1363 | 11c0b2caa253 |
child 2421 | bc2d4bf9cbe5 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 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 and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* 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 along |
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* 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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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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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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/*****************************************************************************/ |
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#include <linux/slab.h> |
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|
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#include "master.h" |
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|
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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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/*****************************************************************************/ |
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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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|
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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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/*****************************************************************************/ |
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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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|
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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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|
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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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|
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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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|
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return NULL; |
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} |
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|
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/*****************************************************************************/ |