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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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   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(

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        ec_pdo_t *pdo, /**< PDO to create. */

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        const ec_pdo_t *other_pdo /**< PDO to copy from. */

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        )

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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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        }

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        memcpy(pdo->name, name, len + 1);

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    } 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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/** 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.

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 */

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ec_pdo_entry_t *ec_pdo_add_entry(

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        ec_pdo_t *pdo, /**< PDO. */

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        uint16_t index, /**< New entry's index. */

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        uint8_t subindex, /**< New entry's subindex. */

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        uint8_t bit_length /**< New entry's bit length. */

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        )

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{

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    ec_pdo_entry_t *entry;

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    if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

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        EC_ERR("Failed to allocate memory for PDO entry.\n");

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        return ERR_PTR(-ENOMEM);

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    }

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    ec_pdo_entry_init(entry);

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    entry->index = index;

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    entry->subindex = subindex;

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    entry->bit_length = bit_length;

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    list_add_tail(&entry->list, &pdo->entries);

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    return entry;

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}

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

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/** Copy PDO entries from another PDO.

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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_copy_entries(

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        ec_pdo_t *pdo, /**< PDO whos entries shall be replaced. */

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        const ec_pdo_t *other /**< Pdo with entries to copy. */

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        )

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{

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    ec_pdo_entry_t *entry, *other_entry;

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    int ret;

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    ec_pdo_clear_entries(pdo);

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    list_for_each_entry(other_entry, &other->entries, list) {

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        if (!(entry = (ec_pdo_entry_t *)

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                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

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            EC_ERR("Failed to allocate memory for PDO entry copy.\n");

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            return -ENOMEM;

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        }

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        ret = ec_pdo_entry_init_copy(entry, other_entry);

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        if (ret < 0) {

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            kfree(entry);

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            return ret;

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        }

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        list_add_tail(&entry->list, &pdo->entries);

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    }

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    return 0;

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}

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

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/** Compares the entries of two PDOs.

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 *

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 * \retval 1 The entries of the given PDOs are equal.

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 * \retval 0 The entries of the given PDOs differ.

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 */

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int ec_pdo_equal_entries(

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        const ec_pdo_t *pdo1, /**< First PDO. */

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        const ec_pdo_t *pdo2 /**< Second PDO. */

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        )

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{

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    const struct list_head *head1, *head2, *item1, *item2;

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    const ec_pdo_entry_t *entry1, *entry2;

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    head1 = item1 = &pdo1->entries;

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    head2 = item2 = &pdo2->entries;

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    while (1) {

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        item1 = item1->next;

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        item2 = item2->next;

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        if ((item1 == head1) ^ (item2 == head2)) // unequal lengths

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            return 0;

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        if (item1 == head1) // both finished

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            break;

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        entry1 = list_entry(item1, ec_pdo_entry_t, list);

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        entry2 = list_entry(item2, ec_pdo_entry_t, list);

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        if (!ec_pdo_entry_equal(entry1, entry2))

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            return 0;

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    }

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    return 1;

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}

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

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/** Get the number of PDO entries.

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 *

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 * \return Number of PDO entries.

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 */

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unsigned int ec_pdo_entry_count(

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        const ec_pdo_t *pdo /**< PDO. */

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        )

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{

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    const ec_pdo_entry_t *entry;

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    unsigned int num = 0;

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

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        num++;

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    }

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    return num;

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}

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

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/** Finds a PDO entry via its position in the list.

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 *

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 * Const version.

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 */

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

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/** Outputs the PDOs in the list.

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 */

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void ec_pdo_print_entries(

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        const ec_pdo_t *pdo /**< PDO. */

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        )

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{

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    const ec_pdo_entry_t *entry;

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    if (list_empty(&pdo->entries)) {

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        printk("(none)");

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    } else {

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

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            printk("0x%04X:%02X/%u",

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                    entry->index, entry->subindex, entry->bit_length);

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            if (entry->list.next != &pdo->entries)

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                printk(" ");

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        }

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    }

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}

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