IgH EtherCAT Master: sdo.c Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #include <linux/slab.h>
00038 
00039 #include "master.h"
00040 
00041 #include "sdo.h"
00042 
00043 /*****************************************************************************/
00044 
00047 void ec_sdo_init(
00048         ec_sdo_t *sdo, 
00049         ec_slave_t *slave, 
00050         uint16_t index 
00051         )
00052 {
00053     sdo->slave = slave;
00054     sdo->index = index;
00055     sdo->object_code = 0x00;
00056     sdo->name = NULL;
00057     sdo->max_subindex = 0;
00058     INIT_LIST_HEAD(&sdo->entries);
00059 }
00060 
00061 /*****************************************************************************/
00062 
00067 void ec_sdo_clear(
00068         ec_sdo_t *sdo 
00069         )
00070 {
00071     ec_sdo_entry_t *entry, *next;
00072 
00073     // free all entries
00074     list_for_each_entry_safe(entry, next, &sdo->entries, list) {
00075         list_del(&entry->list);
00076         ec_sdo_entry_clear(entry);
00077         kfree(entry);
00078     }
00079 
00080     if (sdo->name)
00081         kfree(sdo->name);
00082 }
00083 
00084 /*****************************************************************************/
00085 
00091 ec_sdo_entry_t *ec_sdo_get_entry(
00092         ec_sdo_t *sdo, 
00093         uint8_t subindex 
00094         )
00095 {
00096     ec_sdo_entry_t *entry;
00097 
00098     list_for_each_entry(entry, &sdo->entries, list) {
00099         if (entry->subindex != subindex)
00100             continue;
00101         return entry;
00102     }
00103 
00104     return NULL;
00105 }
00106 
00107 /*****************************************************************************/
00108 
00116 const ec_sdo_entry_t *ec_sdo_get_entry_const(
00117         const ec_sdo_t *sdo, 
00118         uint8_t subindex 
00119         )
00120 {
00121     const ec_sdo_entry_t *entry;
00122 
00123     list_for_each_entry(entry, &sdo->entries, list) {
00124         if (entry->subindex != subindex)
00125             continue;
00126         return entry;
00127     }
00128 
00129     return NULL;
00130 }
00131 
00132 /*****************************************************************************/