master/sdo.c
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2589 2b9c78543663
permissions -rw-r--r--
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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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;
740
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   126
        return entry;
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   127
    }
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   128
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   129
    return NULL;
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   130
}
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   131
68d83b45dfa2 Added ec_slave_get_sdo() and ec_sdo_get_entry().
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   132
/*****************************************************************************/