# HG changeset patch # User Florian Pose # Date 1323080968 -3600 # Node ID cf4db3c282d23db231181ecefeaba803159c6d31 # Parent d6d49dcaf7a57d196418310f574d10e4681274d1 Fixed compiler error in master.c; thanks to Jun Yuan. diff -r d6d49dcaf7a5 -r cf4db3c282d2 master/master.c --- a/master/master.c Wed Nov 23 15:11:07 2011 +0100 +++ b/master/master.c Mon Dec 05 11:29:28 2011 +0100 @@ -2402,7 +2402,7 @@ uint16_t index, uint8_t subindex, uint8_t *data, size_t data_size, uint32_t *abort_code) { - ec_master_sdo_request_t* request; + ec_master_sdo_request_t *request; int retval; EC_MASTER_DBG(master, 1, "%s(master = 0x%p," @@ -2486,7 +2486,8 @@ 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_master_sdo_request_t *request; + int retval; EC_MASTER_DBG(master, 1, "%s(master = 0x%p," " slave_position = %u, index = 0x%04X," @@ -2499,67 +2500,70 @@ 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); + request = kmalloc(sizeof(*request), GFP_KERNEL); + if (!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)) + kref_init(&request->refcount); + + ec_sdo_request_init(&request->req); + ec_sdo_request_address(&request->req, index, 0); + if (ec_sdo_request_alloc(&request->req, data_size)) { + kref_put(&request->refcount, ec_master_sdo_request_release); + 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 (ec_mutex_lock_interruptible(&master->master_mutex)) { + kref_put(&request->refcount, ec_master_sdo_request_release); return -EINTR; - - if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) { - up(&master->master_sem); + } + + if (!(request->slave = ec_master_find_slave( + master, 0, slave_position))) { + ec_mutex_unlock(&master->master_mutex); EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position); - ec_sdo_request_clear(&request.req); + kref_put(&request->refcount, ec_master_sdo_request_release); 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); + EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p" + " (complete access).\n", request); + + // schedule request + kref_get(&request->refcount); + list_add_tail(&request->list, &request->slave->slave_sdo_requests); + + ec_mutex_unlock(&master->master_mutex); // wait for processing through FSM - if (wait_event_interruptible(request.slave->sdo_queue, - request.req.state != EC_INT_REQUEST_QUEUED)) { + if (wait_event_interruptible(request->slave->sdo_queue, + ((request->req.state == EC_INT_REQUEST_SUCCESS) || + (request->req.state == EC_INT_REQUEST_FAILURE)))) { // 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; + kref_put(&request->refcount, ec_master_sdo_request_release); + return -EINTR; + } + + EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p" + " (complete access).\n", request); + + *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 { - return -EIO; - } + retval = -EIO; + } + + kref_put(&request->refcount, ec_master_sdo_request_release); + return retval; } /*****************************************************************************/ @@ -2568,7 +2572,7 @@ 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_master_sdo_request_t *request; int retval; EC_MASTER_DBG(master, 1, "%s(master = 0x%p," @@ -2579,8 +2583,9 @@ target_size, result_size, abort_code); request = kmalloc(sizeof(*request), GFP_KERNEL); - if (!request) + if (!request) { return -ENOMEM; + } kref_init(&request->refcount); ec_sdo_request_init(&request->req); @@ -2651,7 +2656,7 @@ uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size, uint16_t *error_code) { - ec_master_soe_request_t* request; + ec_master_soe_request_t *request; int retval; if (drive_no > 7) { @@ -2660,8 +2665,9 @@ } request = kmalloc(sizeof(*request), GFP_KERNEL); - if (!request) + if (!request) { return -ENOMEM; + } kref_init(&request->refcount); INIT_LIST_HEAD(&request->list); @@ -2726,7 +2732,7 @@ uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size, size_t *result_size, uint16_t *error_code) { - ec_master_soe_request_t* request; + ec_master_soe_request_t *request; if (drive_no > 7) { EC_MASTER_ERR(master, "Invalid drive number!\n"); @@ -2734,8 +2740,9 @@ } request = kmalloc(sizeof(*request), GFP_KERNEL); - if (!request) + if (!request) { return -ENOMEM; + } kref_init(&request->refcount); INIT_LIST_HEAD(&request->list); @@ -2841,6 +2848,7 @@ EXPORT_SYMBOL(ecrt_master_read_idn); EXPORT_SYMBOL(ecrt_master_reset); EXPORT_SYMBOL(ecrt_master_find_domain); + /** \endcond */ /*****************************************************************************/