1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   CANopen Sdo functions.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "master.h"

    44

    45

#include "sdo.h"

    46

    47

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

    48

    49

/** Constructor.

    50

 */

    51

void ec_sdo_init(

    52

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

    53

        ec_slave_t *slave, /**< Parent slave. */

    54

        uint16_t index /**< Sdo index. */

    55

        )

    56

{

    57

    sdo->slave = slave;

    58

    sdo->index = index;

    59

    sdo->object_code = 0x00;

    60

    sdo->name = NULL;

    61

    sdo->max_subindex = 0;

    62

    INIT_LIST_HEAD(&sdo->entries);

    63

}

    64

    65

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

    66

    67

/** Sdo destructor.

    68

 *

    69

 * Clears and frees an Sdo object.

    70

 */

    71

void ec_sdo_clear(

    72

        ec_sdo_t *sdo /**< Sdo. */

    73

        )

    74

{

    75

    ec_sdo_entry_t *entry, *next;

    76

    77

    // free all entries

    78

    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

    79

        list_del(&entry->list);

    80

        ec_sdo_entry_clear(entry);

    81

        kfree(entry);

    82

    }

    83

    84

    if (sdo->name)

    85

        kfree(sdo->name);

    86

}

    87

    88

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

    89

    90

/** Get an Sdo entry from an Sdo via its subindex.

    91

 * 

    92

 * \retval >0 Pointer to the requested Sdo entry.

    93

 * \retval NULL Sdo entry not found.

    94

 */

    95

ec_sdo_entry_t *ec_sdo_get_entry(

    96

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

    97

        uint8_t subindex /**< Entry subindex. */

    98

        )

    99

{

   100

    ec_sdo_entry_t *entry;

   101

   102

    list_for_each_entry(entry, &sdo->entries, list) {

   103

        if (entry->subindex != subindex)

   104

            continue;

   105

        return entry;

   106

    }

   107

   108

    return NULL;

   109

}

   110

   111

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

   112

   113

/** Get an Sdo entry from an Sdo via its subindex.

   114

 *

   115

 * const version.

   116

 * 

   117

 * \retval >0 Pointer to the requested Sdo entry.

   118

 * \retval NULL Sdo entry not found.

   119

 */

   120

const ec_sdo_entry_t *ec_sdo_get_entry_const(

   121

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

   122

        uint8_t subindex /**< Entry subindex. */

   123

        )

   124

{

   125

    const ec_sdo_entry_t *entry;

   126

   127

    list_for_each_entry(entry, &sdo->entries, list) {

   128

        if (entry->subindex != subindex)

   129

            continue;

   130

        return entry;

   131

    }

   132

   133

    return NULL;

   134

}

   135

   136

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