master/pdo.c
author Florian Pose <fp@igh-essen.com>
Wed, 02 Jul 2008 14:06:10 +0000
changeset 1082 ff06c58e269c
parent 1055 2be8918682fa
child 1092 69393cf60399
permissions -rw-r--r--
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Added EC_MAX_SYNC_MANAGERS to ecrt.h.
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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 "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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int ec_pdo_init_copy(ec_pdo_t *pdo, const ec_pdo_t *other_pdo)
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{
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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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    if (ec_pdo_set_name(pdo, other_pdo->name))
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        goto out_return;
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    if (ec_pdo_copy_entries(pdo, other_pdo))
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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 -1;
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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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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)
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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 -1;
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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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842
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/** Add a new Pdo entry to the configuration.
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 */
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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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        )
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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 NULL;
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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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792
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/** Copy Pdo entries from another Pdo.
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 */
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int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
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{
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    ec_pdo_entry_t *entry, *other_entry;
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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 -1;
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        }
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        if (ec_pdo_entry_init_copy(entry, other_entry)) {
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            kfree(entry);
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            return -1;
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        }
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627
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        list_add_tail(&entry->list, &pdo->entries);
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    }
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    return 0;
792
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}
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/*****************************************************************************/
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799
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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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   215
            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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   221
        if (!ec_pdo_entry_equal(entry1, entry2))
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   222
            return 0;
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   223
    }
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   224
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   225
    return 1;
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   226
}
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068a58b96965 Pdo configuration.
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   228
/*****************************************************************************/
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/**
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   231
 */
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   232
unsigned int ec_pdo_entry_count(
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   233
        const ec_pdo_t *pdo /**< Pdo. */
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   234
        )
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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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   240
        num++;
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   241
    }
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    return num;
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   244
}
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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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   251
 */
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   252
const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
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   253
        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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   256
{
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    const ec_pdo_entry_t *entry;
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   259
    list_for_each_entry(entry, &pdo->entries, list) {
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   260
        if (pos--)
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   261
            continue;
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   262
        return entry;
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   263
    }
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   265
    return NULL;
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   266
}
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   268
/*****************************************************************************/