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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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   \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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}

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