From c8a8eddad7dfc0392170718d8103c5d6cc353aff Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 6 Jun 2008 09:22:57 +0000
Subject: [PATCH] Added ec_slave_get_sdo_by_pos_const() and
ec_slave_sdo_count().
---
master/slave.c | 44 +++++++++++++++++++++++++++++++++++++++++++-
master/slave.h | 2 ++
2 files changed, 45 insertions(+), 1 deletion(-)
diff --git a/master/slave.c b/master/slave.c
index 39525938..d2ab8495 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -1193,7 +1193,7 @@ void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
*/
ec_sdo_t *ec_slave_get_sdo(
- ec_slave_t *slave /**< EtherCAT slave */,
+ ec_slave_t *slave, /**< EtherCAT slave */
uint16_t index /**< Sdo index */
)
{
@@ -1209,6 +1209,48 @@ ec_sdo_t *ec_slave_get_sdo(
/*****************************************************************************/
+/** Get an Sdo from the dictionary, given its position in the list.
+ * \returns The desired Sdo, or NULL.
+ */
+
+const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
+ const ec_slave_t *slave, /**< EtherCAT slave. */
+ uint16_t sdo_position /**< Sdo list position. */
+ )
+{
+ const ec_sdo_t *sdo;
+
+ list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ if (sdo_position--)
+ continue;
+ return sdo;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/
+
+/** Get the number of Sdos in the dictionary.
+ * \returns Sdo count.
+ */
+
+uint16_t ec_slave_sdo_count(
+ const ec_slave_t *slave /**< EtherCAT slave. */
+ )
+{
+ const ec_sdo_t *sdo;
+ uint16_t count = 0;
+
+ list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ count++;
+ }
+
+ return count;
+}
+
+/*****************************************************************************/
+
/** Finds a mapped Pdo.
* \returns The desired Pdo object, or NULL.
*/
diff --git a/master/slave.h b/master/slave.h
index 50b44be6..d2dc25f8 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -223,6 +223,8 @@ ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
void ec_slave_sdo_dict_info(const ec_slave_t *,
unsigned int *, unsigned int *);
ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
+const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
+uint16_t ec_slave_sdo_count(const ec_slave_t *);
const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
/*****************************************************************************/
--
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