125 lines
3.2 KiB
C
125 lines
3.2 KiB
C
/*****************************************************************************
|
|
*
|
|
* 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
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
\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;
|
|
}
|
|
|
|
/****************************************************************************/
|