master/pdo.c
author Florian Pose <fp@igh-essen.com>
Wed, 19 Nov 2008 17:10:04 +0000
changeset 1316 d01d9cce8b59
parent 1313 ed15eef57d5c
child 1326 ef907b0b5125
permissions -rw-r--r--
Fixed unprocessed interrupts in e100 driver.
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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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/**
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   \file
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   EtherCAT process data object methods.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include <linux/err.h>
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#include "pdo.h"
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/*****************************************************************************/
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/** Pdo constructor.
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 */
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void ec_pdo_init(
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        ec_pdo_t *pdo /**< EtherCAT Pdo */
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        )
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{
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    pdo->sync_index = -1; // not assigned 
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    pdo->name = NULL;
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    INIT_LIST_HEAD(&pdo->entries);
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}
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/*****************************************************************************/
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/** Pdo copy constructor.
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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_pdo_init_copy(ec_pdo_t *pdo, const ec_pdo_t *other_pdo)
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{
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    int ret = 0;
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    pdo->index = other_pdo->index;
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    pdo->sync_index = other_pdo->sync_index;
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    pdo->name = NULL;
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    INIT_LIST_HEAD(&pdo->entries);
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    ret = ec_pdo_set_name(pdo, other_pdo->name);
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    if (ret < 0)
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        goto out_return;
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    ret = ec_pdo_copy_entries(pdo, other_pdo);
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    if (ret < 0)
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        goto out_clear;
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    return 0;
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out_clear:
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    ec_pdo_clear(pdo);
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out_return:
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    return ret;
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}
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/*****************************************************************************/
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/** Pdo destructor.
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 */
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void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
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{
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    if (pdo->name)
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        kfree(pdo->name);
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    ec_pdo_clear_entries(pdo);
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}
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/*****************************************************************************/
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/** Clear Pdo entry list.
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 */
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void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
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{
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    ec_pdo_entry_t *entry, *next;
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    // free all Pdo entries
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    list_for_each_entry_safe(entry, next, &pdo->entries, list) {
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        list_del(&entry->list);
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        ec_pdo_entry_clear(entry);
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        kfree(entry);
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    }
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}
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/*****************************************************************************/
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/** Set Pdo name.
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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_pdo_set_name(
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        ec_pdo_t *pdo, /**< Pdo. */
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        const char *name /**< New name. */
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        )
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{
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    unsigned int len;
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    if (pdo->name && name && !strcmp(pdo->name, name))
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        return 0;
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    if (pdo->name)
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        kfree(pdo->name);
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    if (name && (len = strlen(name))) {
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        if (!(pdo->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
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            EC_ERR("Failed to allocate Pdo name.\n");
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            return -ENOMEM;
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   143
        }
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        memcpy(pdo->name, name, len + 1);
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   145
    } else {
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        pdo->name = NULL;
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    }
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    return 0;
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}
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/*****************************************************************************/
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842
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/** Add a new Pdo entry to the configuration.
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 *
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 * \retval Pointer to the added entry, otherwise a ERR_PTR() code.
842
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 */
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   158
ec_pdo_entry_t *ec_pdo_add_entry(
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        ec_pdo_t *pdo,
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        uint16_t index,
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        uint8_t subindex,
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        uint8_t bit_length
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   163
        )
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{
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   165
    ec_pdo_entry_t *entry;
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   167
    if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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   168
        EC_ERR("Failed to allocate memory for Pdo entry.\n");
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        return ERR_PTR(-ENOMEM);
842
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   170
    }
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    ec_pdo_entry_init(entry);
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   173
    entry->index = index;
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   174
    entry->subindex = subindex;
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   175
    entry->bit_length = bit_length;
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   176
    list_add_tail(&entry->list, &pdo->entries);
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   177
    return entry;
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   178
}
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/*****************************************************************************/
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   181
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/** Copy Pdo entries from another Pdo.
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   183
 *
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 * \retval  0 Success.
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   185
 * \retval <0 Error code.
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   186
 */
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   187
int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
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{
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   189
    ec_pdo_entry_t *entry, *other_entry;
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   190
    int ret;
792
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   191
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   192
    ec_pdo_clear_entries(pdo);
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   193
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   194
    list_for_each_entry(other_entry, &other->entries, list) {
627
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   195
        if (!(entry = (ec_pdo_entry_t *)
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   196
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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   197
            EC_ERR("Failed to allocate memory for Pdo entry copy.\n");
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   198
            return -ENOMEM;
792
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   199
        }
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   200
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   201
        ret = ec_pdo_entry_init_copy(entry, other_entry);
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   202
        if (ret < 0) {
792
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   203
            kfree(entry);
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   204
            return ret;
792
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diff changeset
   205
        }
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   206
627
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   207
        list_add_tail(&entry->list, &pdo->entries);
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diff changeset
   208
    }
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   209
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   210
    return 0;
792
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diff changeset
   211
}
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   212
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   213
/*****************************************************************************/
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   214
799
068a58b96965 Pdo configuration.
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   215
/** Compares the entries of two Pdos.
068a58b96965 Pdo configuration.
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   216
 *
068a58b96965 Pdo configuration.
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   217
 * \retval 1 The entries of the given Pdos are equal.
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   218
 * \retval 0 The entries of the given Pdos differ.
068a58b96965 Pdo configuration.
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diff changeset
   219
 */
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   220
int ec_pdo_equal_entries(
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   221
        const ec_pdo_t *pdo1, /**< First Pdo. */
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   222
        const ec_pdo_t *pdo2 /**< Second Pdo. */
068a58b96965 Pdo configuration.
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diff changeset
   223
        )
068a58b96965 Pdo configuration.
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   224
{
068a58b96965 Pdo configuration.
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   225
    const struct list_head *head1, *head2, *item1, *item2;
068a58b96965 Pdo configuration.
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   226
    const ec_pdo_entry_t *entry1, *entry2;
068a58b96965 Pdo configuration.
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   227
068a58b96965 Pdo configuration.
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   228
    head1 = item1 = &pdo1->entries;
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   229
    head2 = item2 = &pdo2->entries;
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   230
068a58b96965 Pdo configuration.
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   231
    while (1) {
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   232
        item1 = item1->next;
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   233
        item2 = item2->next;
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   234
068a58b96965 Pdo configuration.
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   235
        if ((item1 == head1) ^ (item2 == head2)) // unequal lengths
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diff changeset
   236
            return 0;
826
70aeae0de217 Minor changes.
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diff changeset
   237
        if (item1 == head1) // both finished
799
068a58b96965 Pdo configuration.
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   238
            break;
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   239
068a58b96965 Pdo configuration.
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   240
        entry1 = list_entry(item1, ec_pdo_entry_t, list);
068a58b96965 Pdo configuration.
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diff changeset
   241
        entry2 = list_entry(item2, ec_pdo_entry_t, list);
068a58b96965 Pdo configuration.
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diff changeset
   242
        if (!ec_pdo_entry_equal(entry1, entry2))
068a58b96965 Pdo configuration.
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diff changeset
   243
            return 0;
068a58b96965 Pdo configuration.
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diff changeset
   244
    }
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   245
068a58b96965 Pdo configuration.
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   246
    return 1;
068a58b96965 Pdo configuration.
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   247
}
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   248
068a58b96965 Pdo configuration.
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   249
/*****************************************************************************/
934
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   250
1092
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   251
/** Get the number of Pdo entries.
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   252
 *
69393cf60399 Improved source code doc.
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   253
 * \return Number of Pdo entries.
934
96241b092fac Added entry access functions.
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   254
 */
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   255
unsigned int ec_pdo_entry_count(
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   256
        const ec_pdo_t *pdo /**< Pdo. */
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   257
        )
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   258
{
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   259
    const ec_pdo_entry_t *entry;
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   260
    unsigned int num = 0;
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   261
96241b092fac Added entry access functions.
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   262
    list_for_each_entry(entry, &pdo->entries, list) {
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   263
        num++;
96241b092fac Added entry access functions.
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   264
    }
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   265
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   266
    return num;
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   267
}
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   268
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   269
/*****************************************************************************/
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   270
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   271
/** Finds a Pdo entry via its position in the list.
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   272
 *
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   273
 * Const version.
96241b092fac Added entry access functions.
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   274
 */
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const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
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        const ec_pdo_t *pdo, /**< Pdo. */
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        unsigned int pos /**< Position in the list. */
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        )
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{
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    const ec_pdo_entry_t *entry;
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    list_for_each_entry(entry, &pdo->entries, list) {
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        if (pos--)
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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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/*****************************************************************************/