2485 int ecrt_master_sdo_download_complete(ec_master_t *master,

  2486         uint16_t slave_position, uint16_t index, uint8_t *data,

  2487         size_t data_size, uint32_t *abort_code)

  2488 {

  2489     ec_master_sdo_request_t request;

  2490 

  2491     EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"

  2492             " slave_position = %u, index = 0x%04X,"

  2493             " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",

  2494             __func__, master, slave_position, index, data, data_size,

  2495             abort_code);

  2496 

  2497     if (!data_size) {

  2498         EC_MASTER_ERR(master, "Zero data size!\n");

  2499         return -EINVAL;

  2500     }

  2501 

  2502     ec_sdo_request_init(&request.req);

  2503     ec_sdo_request_address(&request.req, index, 0);

  2504     if (ec_sdo_request_alloc(&request.req, data_size)) {

  2505         ec_sdo_request_clear(&request.req);

  2506         return -ENOMEM;

  2507     }

  2508 

  2509     request.req.complete_access = 1;

  2510     memcpy(request.req.data, data, data_size);

  2511     request.req.data_size = data_size;

  2512     ecrt_sdo_request_write(&request.req);

  2513 

  2514     if (down_interruptible(&master->master_sem))

  2515         return -EINTR;

  2516 

  2517     if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {

  2518         up(&master->master_sem);

  2519         EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);

  2520         ec_sdo_request_clear(&request.req);

  2521         return -EINVAL;

  2522     }

  2523 

  2524     EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request"

  2525             " (complete access).\n");

  2526 

  2527     // schedule request.

  2528     list_add_tail(&request.list, &request.slave->slave_sdo_requests);

  2529 

  2530     up(&master->master_sem);

  2531 

  2532     // wait for processing through FSM

  2533     if (wait_event_interruptible(request.slave->sdo_queue,

  2534                 request.req.state != EC_INT_REQUEST_QUEUED)) {

  2535         // interrupted by signal

  2536         down(&master->master_sem);

  2537         if (request.req.state == EC_INT_REQUEST_QUEUED) {

  2538             list_del(&request.list);

  2539             up(&master->master_sem);

  2540             ec_sdo_request_clear(&request.req);

  2541             return -EINTR;

  2542         }

  2543         // request already processing: interrupt not possible.

  2544         up(&master->master_sem);

  2545     }

  2546 

  2547     // wait until master FSM has finished processing

  2548     wait_event(request.slave->sdo_queue,

  2549             request.req.state != EC_INT_REQUEST_BUSY);

  2550 

  2551     EC_SLAVE_DBG(request.slave, 1, "Finished SDO download request"

  2552             " (complete access).\n");

  2553 

  2554     *abort_code = request.req.abort_code;

  2555 

  2556     if (request.req.state == EC_INT_REQUEST_SUCCESS) {

  2557         return 0;

  2558     } else if (request.req.errno) {

  2559         return -request.req.errno;

  2560     } else {

  2561         return -EIO;

  2562     }

  2563 }

  2564 

  2565 /*****************************************************************************/

  2566 

  2838 EXPORT_SYMBOL(ecrt_master_sdo_download_complete);