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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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/** \file

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 * Sercos-over-EtherCAT request functions.

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 */

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

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#include <linux/module.h>

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#include <linux/jiffies.h>

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#include "soe_request.h"

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

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/** Default timeout in ms to wait for SoE responses.

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 */

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#define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000

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

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void ec_soe_request_clear_data(ec_soe_request_t *);

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

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/** SoE request constructor.

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 */

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void ec_soe_request_init(

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        ec_soe_request_t *req /**< SoE request. */

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        )

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{

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    req->drive_no = 0x00;

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    req->idn = 0x0000;

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    req->al_state = EC_AL_STATE_INIT;

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    req->data = NULL;

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    req->mem_size = 0;

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    req->data_size = 0;

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    req->dir = EC_DIR_INVALID;

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    req->state = EC_INT_REQUEST_INIT;

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    req->jiffies_sent = 0U;

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    req->error_code = 0x0000;

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}

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

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/** SoE request destructor.

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 */

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void ec_soe_request_clear(

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        ec_soe_request_t *req /**< SoE request. */

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        )

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{

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    ec_soe_request_clear_data(req);

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}

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

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/** Copy another SoE request.

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 */

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int ec_soe_request_copy(

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        ec_soe_request_t *req, /**< SoE request. */

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        const ec_soe_request_t *other /**< Other SoE request to copy from. */

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        )

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{

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    req->drive_no = other->drive_no;

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    req->idn = other->idn;

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    req->al_state = other->al_state;

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    return ec_soe_request_copy_data(req, other->data, other->data_size);

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}

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

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/** Set drive number.

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 */

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void ec_soe_request_set_drive_no(

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        ec_soe_request_t *req, /**< SoE request. */

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        uint8_t drive_no /** Drive Number. */

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        )

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{

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    req->drive_no = drive_no;

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}

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

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/** Set IDN.

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 */

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void ec_soe_request_set_idn(

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        ec_soe_request_t *req, /**< SoE request. */

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        uint16_t idn /** IDN. */

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        )

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{

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    req->idn = idn;

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}

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

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/** Free allocated memory.

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 */

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void ec_soe_request_clear_data(

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        ec_soe_request_t *req /**< SoE request. */

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        )

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{

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    if (req->data) {

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        kfree(req->data);

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        req->data = NULL;

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    }

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    req->mem_size = 0;

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    req->data_size = 0;

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}

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

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/** Pre-allocates the data memory.

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 *

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 * If the \a mem_size is already bigger than \a size, nothing is done.

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 *

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 * \return 0 on success, otherwise -ENOMEM.

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 */

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int ec_soe_request_alloc(

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        ec_soe_request_t *req, /**< SoE request. */

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        size_t size /**< Data size to allocate. */

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        )

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{

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    if (size <= req->mem_size)

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        return 0;

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    ec_soe_request_clear_data(req);

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    if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

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        EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);

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        return -ENOMEM;

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    }

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    req->mem_size = size;

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    req->data_size = 0;

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    return 0;

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}

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

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/** Copies SoE data from an external source.

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 *

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 * If the \a mem_size is to small, new memory is allocated.

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

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 */

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int ec_soe_request_copy_data(

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        ec_soe_request_t *req, /**< SoE request. */

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        const uint8_t *source, /**< Source data. */

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        size_t size /**< Number of bytes in \a source. */

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        )

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{

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    int ret = ec_soe_request_alloc(req, size);

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    if (ret < 0)

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        return ret;

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    memcpy(req->data, source, size);

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    req->data_size = size;

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    return 0;

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}

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

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/** Copies SoE data from an external source.

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 *

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 * If the \a mem_size is to small, new memory is allocated.

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

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 */

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int ec_soe_request_append_data(

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        ec_soe_request_t *req, /**< SoE request. */

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        const uint8_t *source, /**< Source data. */

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        size_t size /**< Number of bytes in \a source. */

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        )

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{

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    if (req->data_size + size > req->mem_size) {

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        size_t new_size = req->mem_size ? req->mem_size * 2 : size;

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        uint8_t *new_data = (uint8_t *) kmalloc(new_size, GFP_KERNEL);

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        if (!new_data) {

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            EC_ERR("Failed to allocate %zu bytes of SoE memory.\n",

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                    new_size);

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            return -ENOMEM;

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        }

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        memcpy(new_data, req->data, req->data_size);

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        kfree(req->data);

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        req->data = new_data;

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        req->mem_size = new_size;

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    }

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    memcpy(req->data + req->data_size, source, size);

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    req->data_size += size;

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    return 0;

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}

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

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/** Request a read operation.

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 */

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void ec_soe_request_read(

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        ec_soe_request_t *req /**< SoE request. */

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       )

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{

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    req->dir = EC_DIR_INPUT;

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    req->state = EC_INT_REQUEST_QUEUED;

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    req->error_code = 0x0000;

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}

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

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/** Request a write operation.

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 */

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void ec_soe_request_write(

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        ec_soe_request_t *req /**< SoE request. */

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        )

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{

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    req->dir = EC_DIR_OUTPUT;

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    req->state = EC_INT_REQUEST_QUEUED;

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    req->error_code = 0x0000;

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}

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