master/sdo.c
author Philipp Weyer <pw@igh-essen.com>
Fri, 18 Aug 2017 12:30:16 +0200
changeset 2679 33b922ec1871
parent 2589 2b9c78543663
permissions -rw-r--r--
Fixed lib include paths
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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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}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   132
/*****************************************************************************/