|
1 /****************************************************************************** |
|
2 * |
|
3 * $Id$ |
|
4 * |
|
5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
|
6 * |
|
7 * This file is part of the IgH EtherCAT Master. |
|
8 * |
|
9 * The IgH EtherCAT Master is free software; you can redistribute it |
|
10 * and/or modify it under the terms of the GNU General Public License |
|
11 * as published by the Free Software Foundation; either version 2 of the |
|
12 * License, or (at your option) any later version. |
|
13 * |
|
14 * The IgH EtherCAT Master is distributed in the hope that it will be |
|
15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
17 * GNU General Public License for more details. |
|
18 * |
|
19 * You should have received a copy of the GNU General Public License |
|
20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
|
21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
22 * |
|
23 * The right to use EtherCAT Technology is granted and comes free of |
|
24 * charge under condition of compatibility of product made by |
|
25 * Licensee. People intending to distribute/sell products based on the |
|
26 * code, have to sign an agreement to guarantee that products using |
|
27 * software based on IgH EtherCAT master stay compatible with the actual |
|
28 * EtherCAT specification (which are released themselves as an open |
|
29 * standard) as the (only) precondition to have the right to use EtherCAT |
|
30 * Technology, IP and trade marks. |
|
31 * |
|
32 *****************************************************************************/ |
|
33 |
|
34 /** |
|
35 \file |
|
36 Canopen-over-EtherCAT Sdo request functions. |
|
37 */ |
|
38 |
|
39 /*****************************************************************************/ |
|
40 |
|
41 #include <linux/module.h> |
|
42 |
|
43 #include "sdo_request.h" |
|
44 |
|
45 /*****************************************************************************/ |
|
46 |
|
47 /** Sdo request constructor. |
|
48 */ |
|
49 void ec_sdo_request_init( |
|
50 ec_sdo_request_t *req, /**< Sdo request. */ |
|
51 ec_slave_t *slave, /**< Slave owning the Sdo. */ |
|
52 uint16_t index, /**< Sdo index. */ |
|
53 uint8_t subindex /**< Sdo subindex. */ |
|
54 ) |
|
55 { |
|
56 req->slave = slave; |
|
57 req->index = index; |
|
58 req->subindex = subindex; |
|
59 req->data = NULL; |
|
60 req->size = 0; |
|
61 req->state = EC_REQUEST_QUEUED; |
|
62 } |
|
63 |
|
64 /*****************************************************************************/ |
|
65 |
|
66 /** Sdo request destructor. |
|
67 */ |
|
68 void ec_sdo_request_clear( |
|
69 ec_sdo_request_t *req /**< Sdo request. */ |
|
70 ) |
|
71 { |
|
72 if (req->data) |
|
73 kfree(req->data); |
|
74 } |
|
75 |
|
76 /*****************************************************************************/ |