--- a/master/cdev.c Thu Sep 15 16:31:43 2011 +0200
+++ b/master/cdev.c Thu Sep 15 16:33:13 2011 +0200
@@ -838,184 +838,78 @@
)
{
ec_ioctl_slave_sdo_upload_t data;
- ec_master_sdo_request_t request;
- int retval;
+ uint8_t *target;
+ int ret;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
- ec_sdo_request_init(&request.req);
- ec_sdo_request_address(&request.req,
- data.sdo_index, data.sdo_entry_subindex);
- ecrt_sdo_request_read(&request.req);
-
- if (down_interruptible(&master->master_sem))
- return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(
- master, 0, data.slave_position))) {
- up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- data.slave_position);
- return -EINVAL;
- }
-
- EC_SLAVE_DBG(request.slave, 1, "Schedule SDO upload request.\n");
-
- // schedule request.
- list_add_tail(&request.list, &request.slave->slave_sdo_requests);
-
- up(&master->master_sem);
-
- // wait for processing through FSM
- if (wait_event_interruptible(request.slave->sdo_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
- list_del(&request.list);
- up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
- return -EINTR;
- }
- // request already processing: interrupt not possible.
- up(&master->master_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(request.slave->sdo_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
-
- EC_SLAVE_DBG(request.slave, 1, "Finished SDO upload request.\n");
-
- data.abort_code = request.req.abort_code;
-
- if (request.req.state != EC_INT_REQUEST_SUCCESS) {
- data.data_size = 0;
- if (request.req.errno) {
- retval = -request.req.errno;
- } else {
- retval = -EIO;
- }
- } else {
- if (request.req.data_size > data.target_size) {
- EC_MASTER_ERR(master, "Buffer too small.\n");
- ec_sdo_request_clear(&request.req);
- return -EOVERFLOW;
- }
- data.data_size = request.req.data_size;
-
+ if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes"
+ " for SDO upload.\n", data.target_size);
+ return -ENOMEM;
+ }
+
+ ret = ecrt_master_sdo_upload(master, data.slave_position,
+ data.sdo_index, data.sdo_entry_subindex, target,
+ data.target_size, &data.data_size, &data.abort_code);
+
+ if (!ret) {
if (copy_to_user((void __user *) data.target,
- request.req.data, data.data_size)) {
- ec_sdo_request_clear(&request.req);
+ target, data.data_size)) {
+ kfree(target);
return -EFAULT;
}
- retval = 0;
- }
+ }
+
+ kfree(target);
+
+ if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Download SDO.
+ */
+int ec_cdev_ioctl_slave_sdo_download(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_sdo_download_t data;
+ uint8_t *sdo_data;
+ int retval;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes"
+ " for SDO download.\n", data.data_size);
+ return -ENOMEM;
+ }
+
+ if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
+ kfree(sdo_data);
+ return -EFAULT;
+ }
+
+ retval = ecrt_master_sdo_download(master, data.slave_position,
+ data.sdo_index, data.sdo_entry_subindex, sdo_data, data.data_size,
+ &data.abort_code);
+
+ kfree(sdo_data);
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
}
- ec_sdo_request_clear(&request.req);
- return retval;
-}
-
-/*****************************************************************************/
-
-/** Download SDO.
- */
-int ec_cdev_ioctl_slave_sdo_download(
- ec_master_t *master, /**< EtherCAT master. */
- unsigned long arg /**< ioctl() argument. */
- )
-{
- ec_ioctl_slave_sdo_download_t data;
- ec_master_sdo_request_t request;
- int retval;
-
- if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
- return -EFAULT;
- }
-
- // copy data to download
- if (!data.data_size) {
- EC_MASTER_ERR(master, "Zero data size!\n");
- return -EINVAL;
- }
-
- ec_sdo_request_init(&request.req);
- ec_sdo_request_address(&request.req,
- data.sdo_index, data.sdo_entry_subindex);
- if (ec_sdo_request_alloc(&request.req, data.data_size)) {
- ec_sdo_request_clear(&request.req);
- return -ENOMEM;
- }
- if (copy_from_user(request.req.data,
- (void __user *) data.data, data.data_size)) {
- ec_sdo_request_clear(&request.req);
- return -EFAULT;
- }
- request.req.data_size = data.data_size;
- ecrt_sdo_request_write(&request.req);
-
- if (down_interruptible(&master->master_sem))
- return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(
- master, 0, data.slave_position))) {
- up(&master->master_sem);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- data.slave_position);
- ec_sdo_request_clear(&request.req);
- return -EINVAL;
- }
-
- EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request.\n");
-
- // schedule request.
- list_add_tail(&request.list, &request.slave->slave_sdo_requests);
-
- up(&master->master_sem);
-
- // wait for processing through FSM
- if (wait_event_interruptible(request.slave->sdo_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
- list_del(&request.list);
- up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
- return -EINTR;
- }
- // request already processing: interrupt not possible.
- up(&master->master_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(request.slave->sdo_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
-
- EC_SLAVE_DBG(request.slave, 1, "Finished SDO download request.\n");
-
- data.abort_code = request.req.abort_code;
-
- if (request.req.state == EC_INT_REQUEST_SUCCESS) {
- retval = 0;
- } else if (request.req.errno) {
- retval = -request.req.errno;
- } else {
- retval = -EIO;
- }
-
- if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
- retval = -EFAULT;
- }
-
- ec_sdo_request_clear(&request.req);
return retval;
}