--- a/master/master.c Tue Dec 04 12:59:15 2012 +0100
+++ b/master/master.c Tue Dec 04 13:28:38 2012 +0100
@@ -2665,7 +2665,8 @@
uint16_t index, uint8_t subindex, uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
- ec_master_sdo_request_t request;
+ ec_sdo_request_t request;
+ ec_slave_t *slave;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
@@ -2678,61 +2679,64 @@
return -EINVAL;
}
- ec_sdo_request_init(&request.req);
- ecrt_sdo_request_index(&request.req, index, subindex);
- if (ec_sdo_request_alloc(&request.req, data_size)) {
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_init(&request);
+ ecrt_sdo_request_index(&request, index, subindex);
+ if (ec_sdo_request_alloc(&request, data_size)) {
+ ec_sdo_request_clear(&request);
return -ENOMEM;
}
- 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))
+ memcpy(request.data, data, data_size);
+ request.data_size = data_size;
+ ecrt_sdo_request_write(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_sdo_request_clear(&request);
return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
+ }
+
+ if (!(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);
+ ec_sdo_request_clear(&request);
return -EINVAL;
}
- EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request.\n");
+ EC_SLAVE_DBG(slave, 1, "Schedule SDO download request.\n");
// schedule request.
- list_add_tail(&request.list, &request.slave->sdo_requests);
+ list_add_tail(&request.list, &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)) {
+ if (wait_event_interruptible(slave->sdo_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
+ // FIXME slave may become invalid!
+
// 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");
-
- *abort_code = request.req.abort_code;
-
- if (request.req.state == EC_INT_REQUEST_SUCCESS) {
+ wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ EC_SLAVE_DBG(slave, 1, "Finished SDO download request.\n");
+
+ *abort_code = request.abort_code;
+
+ if (request.state == EC_INT_REQUEST_SUCCESS) {
return 0;
- } else if (request.req.errno) {
- return -request.req.errno;
+ } else if (request.errno) {
+ return -request.errno;
} else {
return -EIO;
}
@@ -2744,7 +2748,8 @@
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_sdo_request_t request;
+ ec_slave_t *slave;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X,"
@@ -2757,64 +2762,67 @@
return -EINVAL;
}
- ec_sdo_request_init(&request.req);
- ecrt_sdo_request_index(&request.req, index, 0);
- if (ec_sdo_request_alloc(&request.req, data_size)) {
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_init(&request);
+ ecrt_sdo_request_index(&request, index, 0);
+ if (ec_sdo_request_alloc(&request, data_size)) {
+ ec_sdo_request_clear(&request);
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))
+ request.complete_access = 1;
+ memcpy(request.data, data, data_size);
+ request.data_size = data_size;
+ ecrt_sdo_request_write(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_sdo_request_clear(&request);
return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
+ }
+
+ if (!(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);
+ ec_sdo_request_clear(&request);
return -EINVAL;
}
- EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request"
+ EC_SLAVE_DBG(slave, 1, "Schedule SDO download request"
" (complete access).\n");
// schedule request.
- list_add_tail(&request.list, &request.slave->sdo_requests);
+ list_add_tail(&request.list, &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)) {
+ if (wait_event_interruptible(slave->sdo_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
+ // FIXME slave may become invalid!
+
// 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"
+ wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ EC_SLAVE_DBG(slave, 1, "Finished SDO download request"
" (complete access).\n");
- *abort_code = request.req.abort_code;
-
- if (request.req.state == EC_INT_REQUEST_SUCCESS) {
+ *abort_code = request.abort_code;
+
+ if (request.state == EC_INT_REQUEST_SUCCESS) {
return 0;
- } else if (request.req.errno) {
- return -request.req.errno;
+ } else if (request.errno) {
+ return -request.errno;
} else {
return -EIO;
}
@@ -2826,7 +2834,8 @@
uint16_t index, uint8_t subindex, uint8_t *target,
size_t target_size, size_t *result_size, uint32_t *abort_code)
{
- ec_master_sdo_request_t request;
+ ec_sdo_request_t request;
+ ec_slave_t *slave;
int retval = 0;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
@@ -2836,69 +2845,71 @@
__func__, master, slave_position, index, subindex,
target, target_size, result_size, abort_code);
- ec_sdo_request_init(&request.req);
- ecrt_sdo_request_index(&request.req, index, subindex);
- ecrt_sdo_request_read(&request.req);
+ ec_sdo_request_init(&request);
+ ecrt_sdo_request_index(&request, index, subindex);
+ ecrt_sdo_request_read(&request);
if (down_interruptible(&master->master_sem)) {
+ ec_sdo_request_clear(&request);
return -EINTR;
}
- if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
+ if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
- EC_SLAVE_DBG(request.slave, 1, "Schedule SDO upload request.\n");
+ EC_SLAVE_DBG(slave, 1, "Schedule SDO upload request.\n");
// schedule request.
- list_add_tail(&request.list, &request.slave->sdo_requests);
+ list_add_tail(&request.list, &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)) {
+ if (wait_event_interruptible(slave->sdo_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
+ // FIXME slave may become invalid!
+
// 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");
-
- *abort_code = request.req.abort_code;
-
- if (request.req.state != EC_INT_REQUEST_SUCCESS) {
+ wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ EC_SLAVE_DBG(slave, 1, "Finished SDO upload request.\n");
+
+ *abort_code = request.abort_code;
+
+ if (request.state != EC_INT_REQUEST_SUCCESS) {
*result_size = 0;
- if (request.req.errno) {
- retval = -request.req.errno;
+ if (request.errno) {
+ retval = -request.errno;
} else {
retval = -EIO;
}
} else {
- if (request.req.data_size > target_size) {
+ if (request.data_size > target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
- ec_sdo_request_clear(&request.req);
+ ec_sdo_request_clear(&request);
return -EOVERFLOW;
}
- memcpy(target, request.req.data, request.req.data_size);
- *result_size = request.req.data_size;
- }
-
- ec_sdo_request_clear(&request.req);
+ memcpy(target, request.data, request.data_size);
+ *result_size = request.data_size;
+ }
+
+ ec_sdo_request_clear(&request);
return retval;
}