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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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/** \file

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 * Canopen-over-EtherCAT Sdo 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 "sdo_request.h"

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

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/** Default timeout in ms to wait for Sdo transfer responses.

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 */

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#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000

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

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void ec_sdo_request_clear_data(ec_sdo_request_t *);

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

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/** State type translation table.

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 */

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static const ec_sdo_request_state_t state_translation_table[] = {

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    EC_SDO_REQUEST_UNUSED,  // EC_REQUEST_INIT,

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    EC_SDO_REQUEST_BUSY,    // EC_REQUEST_QUEUED,

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    EC_SDO_REQUEST_BUSY,    // EC_REQUEST_BUSY,

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    EC_SDO_REQUEST_SUCCESS, // EC_REQUEST_SUCCESS,

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    EC_SDO_REQUEST_ERROR    // EC_REQUEST_FAILURE

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};

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

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/** Sdo request constructor.

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 */

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void ec_sdo_request_init(

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        ec_sdo_request_t *req /**< Sdo request. */

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        )

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{

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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->issue_timeout = 0; // no timeout

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    req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;

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    req->state = EC_REQUEST_INIT;

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    req->abort_code = 0x00000000;

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}

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

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/** Sdo request destructor.

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 */

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void ec_sdo_request_clear(

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        ec_sdo_request_t *req /**< Sdo request. */

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        )

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{

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    ec_sdo_request_clear_data(req);

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}

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

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/** Sdo request destructor.

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 */

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void ec_sdo_request_clear_data(

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        ec_sdo_request_t *req /**< Sdo 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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/** Set the Sdo address.

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 */

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void ec_sdo_request_address(

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        ec_sdo_request_t *req, /**< Sdo request. */

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        uint16_t index, /**< Sdo index. */

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        uint8_t subindex /**< Sdo subindex. */

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        )

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{

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    req->index = index;

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    req->subindex = subindex;

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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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int ec_sdo_request_alloc(

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        ec_sdo_request_t *req, /**< Sdo 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_sdo_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 %u bytes of Sdo memory.\n", size);

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        return -1;

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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 Sdo 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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int ec_sdo_request_copy_data(

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        ec_sdo_request_t *req, /**< Sdo 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 (ec_sdo_request_alloc(req, size))

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        return -1;

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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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/** Checks, if the timeout was exceeded.

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 *

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 * \return non-zero if the timeout was exceeded, else zero.

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 */

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int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */)

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{

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    return req->issue_timeout

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        && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;

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}

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

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 * Realtime interface.

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

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void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)

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{

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    req->issue_timeout = timeout;

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}

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

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uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)

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{

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    return req->data;

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}

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

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size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)

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{

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    return req->data_size;

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}

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

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ec_sdo_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)

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{

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   return state_translation_table[req->state];

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}

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

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void ecrt_sdo_request_read(ec_sdo_request_t *req)

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{

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    req->dir = EC_DIR_INPUT;

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    req->state = EC_REQUEST_QUEUED;

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    req->abort_code = 0x00000000;

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    req->jiffies_start = jiffies;

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}

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

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void ecrt_sdo_request_write(ec_sdo_request_t *req)

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{

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    req->dir = EC_DIR_OUTPUT;

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    req->state = EC_REQUEST_QUEUED;

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    req->abort_code = 0x00000000;

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    req->jiffies_start = jiffies;

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}

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

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/** \cond */

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EXPORT_SYMBOL(ecrt_sdo_request_timeout);

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EXPORT_SYMBOL(ecrt_sdo_request_data);

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EXPORT_SYMBOL(ecrt_sdo_request_data_size);

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EXPORT_SYMBOL(ecrt_sdo_request_state);

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EXPORT_SYMBOL(ecrt_sdo_request_read);

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EXPORT_SYMBOL(ecrt_sdo_request_write);

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/** \endcond */

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