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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
CANopen SDO functions.
*/
/*****************************************************************************/
#include <linux/slab.h>
#include "master.h"
#include "sdo.h"
/*****************************************************************************/
/** Constructor.
*/
void ec_sdo_init(
ec_sdo_t *sdo, /**< SDO. */
ec_slave_t *slave, /**< Parent slave. */
uint16_t index /**< SDO index. */
)
{
sdo->slave = slave;
sdo->index = index;
sdo->object_code = 0x00;
sdo->name = NULL;
sdo->max_subindex = 0;
INIT_LIST_HEAD(&sdo->entries);
}
/*****************************************************************************/
/** SDO destructor.
*
* Clears and frees an SDO object.
*/
void ec_sdo_clear(
ec_sdo_t *sdo /**< SDO. */
)
{
ec_sdo_entry_t *entry, *next;
// free all entries
list_for_each_entry_safe(entry, next, &sdo->entries, list) {
list_del(&entry->list);
ec_sdo_entry_clear(entry);
kfree(entry);
}
if (sdo->name)
kfree(sdo->name);
}
/*****************************************************************************/
/** Get an SDO entry from an SDO via its subindex.
*
* \retval >0 Pointer to the requested SDO entry.
* \retval NULL SDO entry not found.
*/
ec_sdo_entry_t *ec_sdo_get_entry(
ec_sdo_t *sdo, /**< SDO. */
uint8_t subindex /**< Entry subindex. */
)
{
ec_sdo_entry_t *entry;
list_for_each_entry(entry, &sdo->entries, list) {
if (entry->subindex != subindex)
continue;
return entry;
}
return NULL;
}
/*****************************************************************************/
/** Get an SDO entry from an SDO via its subindex.
*
* const version.
*
* \retval >0 Pointer to the requested SDO entry.
* \retval NULL SDO entry not found.
*/
const ec_sdo_entry_t *ec_sdo_get_entry_const(
const ec_sdo_t *sdo, /**< SDO. */
uint8_t subindex /**< Entry subindex. */
)
{
const ec_sdo_entry_t *entry;
list_for_each_entry(entry, &sdo->entries, list) {
if (entry->subindex != subindex)
continue;
return entry;
}
return NULL;
}
/*****************************************************************************/
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