fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@409:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@409:  *  and/or modify it under the terms of the GNU General Public License
fp@409:  *  as published by the Free Software Foundation; either version 2 of the
fp@409:  *  License, or (at your option) any later version.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@409:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@409:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@409:  *  GNU General Public License for more details.
fp@409:  *
fp@409:  *  You should have received a copy of the GNU General Public License
fp@409:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@409:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@409:  *
fp@409:  *  The right to use EtherCAT Technology is granted and comes free of
fp@409:  *  charge under condition of compatibility of product made by
fp@409:  *  Licensee. People intending to distribute/sell products based on the
fp@409:  *  code, have to sign an agreement to guarantee that products using
fp@409:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@409:  *  EtherCAT specification (which are released themselves as an open
fp@409:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@409:  *  Technology, IP and trade marks.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    \file
fp@847:    CANopen Sdo functions.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@992: #include <linux/slab.h>
fp@409: 
fp@430: #include "master.h"
fp@409: 
fp@847: #include "sdo.h"
fp@847: 
fp@409: /*****************************************************************************/
fp@409: 
fp@992: /** Constructor.
fp@847:  */
fp@992: void ec_sdo_init(
fp@847:         ec_sdo_t *sdo, /**< Sdo. */
fp@992:         ec_slave_t *slave, /**< Parent slave. */
fp@992:         uint16_t index /**< Sdo index. */
fp@847:         )
fp@409: {
fp@430:     sdo->slave = slave;
fp@409:     sdo->index = index;
fp@409:     sdo->object_code = 0x00;
fp@409:     sdo->name = NULL;
fp@962:     sdo->max_subindex = 0;
fp@409:     INIT_LIST_HEAD(&sdo->entries);
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Sdo destructor.
fp@847:  *
fp@847:  * Clears and frees an Sdo object.
fp@847:  */
fp@992: void ec_sdo_clear(
fp@847:         ec_sdo_t *sdo /**< Sdo. */
fp@847:         )
fp@448: {
fp@409:     ec_sdo_entry_t *entry, *next;
fp@409: 
fp@409:     // free all entries
fp@409:     list_for_each_entry_safe(entry, next, &sdo->entries, list) {
fp@409:         list_del(&entry->list);
fp@991:         ec_sdo_entry_clear(entry);
fp@991:         kfree(entry);
fp@448:     }
fp@448: 
fp@992:     if (sdo->name)
fp@992:         kfree(sdo->name);
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@963: /** Get an Sdo entry from an Sdo via its subindex.
fp@847:  * 
fp@847:  * \retval >0 Pointer to the requested Sdo entry.
fp@847:  * \retval NULL Sdo entry not found.
fp@847:  */
fp@740: ec_sdo_entry_t *ec_sdo_get_entry(
fp@847:         ec_sdo_t *sdo, /**< Sdo. */
fp@847:         uint8_t subindex /**< Entry subindex. */
fp@740:         )
fp@740: {
fp@740:     ec_sdo_entry_t *entry;
fp@740: 
fp@740:     list_for_each_entry(entry, &sdo->entries, list) {
fp@963:         if (entry->subindex != subindex)
fp@963:             continue;
fp@963:         return entry;
fp@963:     }
fp@963: 
fp@963:     return NULL;
fp@963: }
fp@963: 
fp@963: /*****************************************************************************/
fp@963: 
fp@963: /** Get an Sdo entry from an Sdo via its subindex.
fp@963:  *
fp@963:  * const version.
fp@963:  * 
fp@963:  * \retval >0 Pointer to the requested Sdo entry.
fp@963:  * \retval NULL Sdo entry not found.
fp@963:  */
fp@963: const ec_sdo_entry_t *ec_sdo_get_entry_const(
fp@963:         const ec_sdo_t *sdo, /**< Sdo. */
fp@963:         uint8_t subindex /**< Entry subindex. */
fp@963:         )
fp@963: {
fp@963:     const ec_sdo_entry_t *entry;
fp@963: 
fp@963:     list_for_each_entry(entry, &sdo->entries, list) {
fp@963:         if (entry->subindex != subindex)
fp@963:             continue;
fp@740:         return entry;
fp@740:     }
fp@740: 
fp@740:     return NULL;
fp@740: }
fp@740: 
fp@740: /*****************************************************************************/