2449 int ecrt_master_sdo_download_complete(ec_master_t *master,

  2450         uint16_t slave_position, uint16_t index, uint8_t *data,

  2451         size_t data_size, uint32_t *abort_code)

  2452 {

  2453     ec_master_sdo_request_t request;

  2454 

  2455     EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"

  2456             " slave_position = %u, index = 0x%04X,"

  2457             " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",

  2458             __func__, master, slave_position, index, data, data_size,

  2459             abort_code);

  2460 

  2461     if (!data_size) {

  2462         EC_MASTER_ERR(master, "Zero data size!\n");

  2463         return -EINVAL;

  2464     }

  2465 

  2466     ec_sdo_request_init(&request.req);

  2467     ec_sdo_request_address(&request.req, index, 0);

  2468     if (ec_sdo_request_alloc(&request.req, data_size)) {

  2469         ec_sdo_request_clear(&request.req);

  2470         return -ENOMEM;

  2471     }

  2472 

  2473     request.req.complete_access = 1;

  2474     memcpy(request.req.data, data, data_size);

  2475     request.req.data_size = data_size;

  2476     ecrt_sdo_request_write(&request.req);

  2477 

  2478     if (down_interruptible(&master->master_sem))

  2479         return -EINTR;

  2480 

  2481     if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {

  2482         up(&master->master_sem);

  2483         EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);

  2484         ec_sdo_request_clear(&request.req);

  2485         return -EINVAL;

  2486     }

  2487 

  2488     EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request"

  2489             " (complete access).\n");

  2490 

  2491     // schedule request.

  2492     list_add_tail(&request.list, &request.slave->slave_sdo_requests);

  2493 

  2494     up(&master->master_sem);

  2495 

  2496     // wait for processing through FSM

  2497     if (wait_event_interruptible(request.slave->sdo_queue,

  2498                 request.req.state != EC_INT_REQUEST_QUEUED)) {

  2499         // interrupted by signal

  2500         down(&master->master_sem);

  2501         if (request.req.state == EC_INT_REQUEST_QUEUED) {

  2502             list_del(&request.list);

  2503             up(&master->master_sem);

  2504             ec_sdo_request_clear(&request.req);

  2505             return -EINTR;

  2506         }

  2507         // request already processing: interrupt not possible.

  2508         up(&master->master_sem);

  2509     }

  2510 

  2511     // wait until master FSM has finished processing

  2512     wait_event(request.slave->sdo_queue,

  2513             request.req.state != EC_INT_REQUEST_BUSY);

  2514 

  2515     EC_SLAVE_DBG(request.slave, 1, "Finished SDO download request"

  2516             " (complete access).\n");

  2517 

  2518     *abort_code = request.req.abort_code;

  2519 

  2520     if (request.req.state == EC_INT_REQUEST_SUCCESS) {

  2521         return 0;

  2522     } else if (request.req.errno) {

  2523         return -request.req.errno;

  2524     } else {

  2525         return -EIO;

  2526     }

  2527 }

  2528 

  2529 /*****************************************************************************/

  2530 

  2802 EXPORT_SYMBOL(ecrt_master_sdo_download_complete);