--- a/master/master.c Mon Oct 24 10:47:36 2011 +0200
+++ b/master/master.c Mon Oct 24 10:49:27 2011 +0200
@@ -2446,6 +2446,88 @@
/*****************************************************************************/
+int ecrt_master_sdo_download_complete(ec_master_t *master,
+ uint16_t slave_position, uint16_t index, uint8_t *data,
+ size_t data_size, uint32_t *abort_code)
+{
+ ec_master_sdo_request_t request;
+
+ EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
+ " slave_position = %u, index = 0x%04X,"
+ " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
+ __func__, master, slave_position, index, data, data_size,
+ abort_code);
+
+ if (!data_size) {
+ EC_MASTER_ERR(master, "Zero data size!\n");
+ return -EINVAL;
+ }
+
+ ec_sdo_request_init(&request.req);
+ ec_sdo_request_address(&request.req, index, 0);
+ if (ec_sdo_request_alloc(&request.req, data_size)) {
+ ec_sdo_request_clear(&request.req);
+ return -ENOMEM;
+ }
+
+ request.req.complete_access = 1;
+ memcpy(request.req.data, data, data_size);
+ request.req.data_size = 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, slave_position))) {
+ up(&master->master_sem);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
+ ec_sdo_request_clear(&request.req);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request"
+ " (complete access).\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"
+ " (complete access).\n");
+
+ *abort_code = request.req.abort_code;
+
+ if (request.req.state == EC_INT_REQUEST_SUCCESS) {
+ return 0;
+ } else if (request.req.errno) {
+ return -request.req.errno;
+ } else {
+ return -EIO;
+ }
+}
+
+/*****************************************************************************/
+
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *target,
size_t target_size, size_t *result_size, uint32_t *abort_code)
@@ -2717,6 +2799,7 @@
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_sdo_download);
+EXPORT_SYMBOL(ecrt_master_sdo_download_complete);
EXPORT_SYMBOL(ecrt_master_sdo_upload);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);