137 lines
3.8 KiB
C
137 lines
3.8 KiB
C
/******************************************************************************
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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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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;
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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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