# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1204561359 0
# Node ID f4f53be425aceca8e67278789579ea24665c5f60
# Parent  726326d0aef4f0a581757638e71dde405dd5c573
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.

diff -r 726326d0aef4 -r f4f53be425ac TODO
--- a/TODO	Mon Mar 03 16:17:23 2008 +0000
+++ b/TODO	Mon Mar 03 16:22:39 2008 +0000
@@ -25,7 +25,6 @@
 * Adapt remaining examples.
 * Separate Pdo and Pdo entry classes.
 * Attach Pdo names.
-* Replace ec_sdo_data_t with ec_sdo_request_t.
 * Make all define underscores the same.
 
 Future issues:
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_coe.c
--- a/master/fsm_coe.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_coe.c	Mon Mar 03 16:22:39 2008 +0000
@@ -183,13 +183,14 @@
    Starts to download an Sdo to a slave.
 */
 
-void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
-                         ec_slave_t *slave, /**< EtherCAT slave */
-                         ec_sdo_data_t *sdodata /**< Sdo data object */
-                         )
+void ec_fsm_coe_download(
+        ec_fsm_coe_t *fsm, /**< State machine. */
+        ec_slave_t *slave, /**< EtherCAT slave. */
+        ec_sdo_request_t *request /**< Sdo request. */
+        )
 {
     fsm->slave = slave;
-    fsm->sdodata = sdodata;
+    fsm->request = request;
     fsm->state = ec_fsm_coe_down_start;
 }
 
@@ -954,12 +955,12 @@
 {
     ec_datagram_t *datagram = fsm->datagram;
     ec_slave_t *slave = fsm->slave;
-    ec_sdo_data_t *sdodata = fsm->sdodata;
+    ec_sdo_request_t *request = fsm->request;
     uint8_t *data;
 
     if (fsm->slave->master->debug_level)
         EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n",
-               sdodata->index, sdodata->subindex, slave->ring_position);
+               request->index, request->subindex, slave->ring_position);
 
     if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
         EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
@@ -967,14 +968,14 @@
         return;
     }
 
-    if (slave->sii.rx_mailbox_size < 6 + 10 + sdodata->size) {
+    if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
         EC_ERR("Sdo fragmenting not supported yet!\n");
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
-                                            sdodata->size + 10))) {
+                                            request->data_size + 10))) {
         fsm->state = ec_fsm_coe_error;
         return;
     }
@@ -982,10 +983,10 @@
     EC_WRITE_U16(data, 0x2 << 12); // Sdo request
     EC_WRITE_U8 (data + 2, (0x1 // size specified
                             | 0x1 << 5)); // Download request
-    EC_WRITE_U16(data + 3, sdodata->index);
-    EC_WRITE_U8 (data + 5, sdodata->subindex);
-    EC_WRITE_U32(data + 6, sdodata->size);
-    memcpy(data + 10, sdodata->data, sdodata->size);
+    EC_WRITE_U16(data + 3, request->index);
+    EC_WRITE_U8 (data + 5, request->subindex);
+    EC_WRITE_U32(data + 6, request->data_size);
+    memcpy(data + 10, request->data, request->data_size);
 
     fsm->retries = EC_FSM_RETRIES;
     fsm->state = ec_fsm_coe_down_request;
@@ -1092,7 +1093,7 @@
     ec_slave_t *slave = fsm->slave;
     uint8_t *data, mbox_prot;
     size_t rec_size;
-    ec_sdo_data_t *sdodata = fsm->sdodata;
+    ec_sdo_request_t *request = fsm->request;
 
     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
         return; // FIXME: request again?
@@ -1136,7 +1137,7 @@
         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
         fsm->state = ec_fsm_coe_error;
         EC_ERR("Sdo download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
-               sdodata->index, sdodata->subindex, sdodata->size,
+               request->index, request->subindex, request->data_size,
                slave->ring_position);
         if (rec_size < 10) {
             EC_ERR("Incomplete Abort command:\n");
@@ -1149,11 +1150,11 @@
 
     if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
         EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
-        EC_READ_U16(data + 3) != sdodata->index || // index
-        EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
+        EC_READ_U16(data + 3) != request->index || // index
+        EC_READ_U8 (data + 5) != request->subindex) { // subindex
         fsm->state = ec_fsm_coe_error;
         EC_ERR("Sdo download 0x%04X:%X (%i bytes) failed:\n",
-               sdodata->index, sdodata->subindex, sdodata->size);
+               request->index, request->subindex, request->data_size);
         EC_ERR("Invalid Sdo download response at slave %i!\n",
                slave->ring_position);
         ec_print_data(data, rec_size);
@@ -1368,12 +1369,6 @@
         return;
     }
 
-    if (request->data) {
-        kfree(request->data);
-        request->data = NULL;
-    }
-    request->size = 0;
-
     // normal or expedited?
     expedited = EC_READ_U8(data + 2) & 0x02;
 
@@ -1414,18 +1409,10 @@
             return;
         }
 
-        if (!(request->data = (uint8_t *)
-                    kmalloc(complete_size + 1, GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
-                    complete_size);
-            fsm->state = ec_fsm_coe_error;
-            return;
-        }
-        request->data[complete_size] = 0x00; // just to be sure...
-
-        memcpy(request->data, data + 6, complete_size);
-        request->size = complete_size;
-
+        if (ec_sdo_request_copy_data(request, data + 6, complete_size)) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
     } else { // normal
         if (rec_size < 10) {
             EC_ERR("Received currupted Sdo normal upload"
@@ -1458,17 +1445,16 @@
             return;
         }
 
-        if (!(request->data = (uint8_t *)
-                    kmalloc(complete_size + 1, GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
-                    complete_size);
-            fsm->state = ec_fsm_coe_error;
-            return;
-        }
-        request->data[complete_size] = 0x00; // just to be sure...
-
-        memcpy(request->data, data + 10, data_size);
-        request->size = complete_size;
+        if (ec_sdo_request_alloc(request, complete_size)) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
         fsm->toggle = 0;
 
         if (data_size < complete_size) {
@@ -1592,6 +1578,7 @@
 /**
    CoE state: UP RESPONSE.
    \todo Timeout behavior
+   \todo Check for \a data_size exceeding \a complete_size.
 */
 
 void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
@@ -1677,8 +1664,8 @@
                 data_size, seg_size);
     }
 
-    memcpy(request->data + request->size, data + 10, data_size);
-    request->size += data_size;
+    memcpy(request->data + request->data_size, data + 10, data_size);
+    request->data_size += data_size;
 
     if (!last_segment) {
         fsm->toggle = !fsm->toggle;
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_coe.h
--- a/master/fsm_coe.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_coe.h	Mon Mar 03 16:22:39 2008 +0000
@@ -60,7 +60,6 @@
     unsigned int retries; /**< retries upon datagram timeout */
 
     void (*state)(ec_fsm_coe_t *); /**< CoE state function */
-    ec_sdo_data_t *sdodata; /**< input/output: Sdo data object */
     cycles_t cycles_start; /**< CoE timestamp */
     ec_sdo_t *sdo; /**< current Sdo */
     uint8_t subindex; /**< current subindex */
@@ -74,7 +73,7 @@
 void ec_fsm_coe_clear(ec_fsm_coe_t *);
 
 void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
-void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
+void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
 void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
 
 int ec_fsm_coe_exec(ec_fsm_coe_t *);
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_coe_map.c
--- a/master/fsm_coe_map.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_coe_map.c	Mon Mar 03 16:22:39 2008 +0000
@@ -181,7 +181,8 @@
 
         ec_pdo_mapping_clear_pdos(&fsm->mapping);
 
-        ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index, 0);
+        ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
+        ec_sdo_request_read(&fsm->request);
         fsm->state = ec_fsm_coe_map_state_pdo_count;
         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -235,8 +236,9 @@
         )
 {
     if (fsm->sync_subindex <= fsm->sync_subindices) {
-        ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index,
+        ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
                 fsm->sync_subindex);
+        ec_sdo_request_read(&fsm->request);
         fsm->state = ec_fsm_coe_map_state_pdo;
         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -292,7 +294,8 @@
 
     list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
 
-    ec_sdo_request_read(&fsm->request, fsm->pdo->index, 0);
+    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
+    ec_sdo_request_read(&fsm->request);
     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
     ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -338,7 +341,8 @@
         )
 {
     if (fsm->pdo_subindex <= fsm->pdo_subindices) {
-        ec_sdo_request_read(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
+        ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
+        ec_sdo_request_read(&fsm->request);
         fsm->state = ec_fsm_coe_map_state_pdo_entry;
         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_pdo_config.c
--- a/master/fsm_pdo_config.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_pdo_config.c	Mon Mar 03 16:22:39 2008 +0000
@@ -65,7 +65,7 @@
         )
 {
     fsm->fsm_coe = fsm_coe;
-    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+    ec_sdo_request_init(&fsm->request);
 }
 
 /*****************************************************************************/
@@ -76,6 +76,7 @@
         ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
         )
 {
+    ec_sdo_request_clear(&fsm->request);
 }
 
 /*****************************************************************************/
@@ -204,17 +205,22 @@
                 fsm->pdo->index, fsm->slave->ring_position);
     }
 
+    if (ec_sdo_request_alloc(&fsm->request, 4)) {
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
     // set mapped Pdo count to zero
-    fsm->sdodata.index = fsm->pdo->index;
-    fsm->sdodata.subindex = 0; // number of configured entries
-    EC_WRITE_U8(&fsm->sdo_value, 0);
-    fsm->sdodata.size = 1;
+    EC_WRITE_U8(&fsm->request.data, 0);
+    fsm->request.data_size = 1;
+    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
+    ec_sdo_request_write(&fsm->request);
     if (fsm->slave->master->debug_level)
         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
                 fsm->pdo->index);
 
     fsm->state = ec_fsm_pdo_config_state_zero_count;
-    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 
@@ -243,18 +249,18 @@
 {
     uint32_t value;
 
-    fsm->sdodata.subindex = fsm->entry_count;
     value = fsm->entry->index << 16
         | fsm->entry->subindex << 8 | fsm->entry->bit_length;
-    EC_WRITE_U32(&fsm->sdo_value, value);
-    fsm->sdodata.size = 4;
-
+    EC_WRITE_U32(&fsm->request.data, value);
+    fsm->request.data_size = 4;
+    ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
+    ec_sdo_request_write(&fsm->request);
     if (fsm->slave->master->debug_level)
         EC_DBG("Configuring Pdo entry %08X at position %u.\n",
                 value, fsm->entry_count);
     
     fsm->state = ec_fsm_pdo_config_state_add_entry;
-    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 
@@ -311,16 +317,16 @@
     // find next entry
     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
         // No more entries to add. Write entry count.
-        fsm->sdodata.subindex = 0;
-        EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count);
-        fsm->sdodata.size = 1;
-
+        EC_WRITE_U8(&fsm->request.data, fsm->entry_count);
+        fsm->request.data_size = 1;
+        ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
+        ec_sdo_request_write(&fsm->request);
         if (fsm->slave->master->debug_level)
             EC_DBG("Setting number of Pdo entries to %u.\n",
                     fsm->entry_count);
         
         fsm->state = ec_fsm_pdo_config_state_entry_count;
-        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
         return;
     }
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_pdo_config.h
--- a/master/fsm_pdo_config.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_pdo_config.h	Mon Mar 03 16:22:39 2008 +0000
@@ -63,8 +63,7 @@
     const ec_pdo_t *pdo; /**< Current Pdo to configure. */
     const ec_pdo_entry_t *entry; /**< Current entry. */
 
-    ec_sdo_data_t sdodata; /**< Sdo configuration data. */
-    uint16_t sdo_value; /**< Sdo value. */
+    ec_sdo_request_t request; /**< Sdo request. */
     unsigned int entry_count; /**< Number of configured entries. */
 };
 
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_pdo_mapping.c
--- a/master/fsm_pdo_mapping.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_pdo_mapping.c	Mon Mar 03 16:22:39 2008 +0000
@@ -65,7 +65,7 @@
         )
 {
     fsm->fsm_coe = fsm_coe;
-    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+    ec_sdo_request_init(&fsm->request);
 }
 
 /*****************************************************************************/
@@ -76,6 +76,7 @@
         ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
+    ec_sdo_request_clear(&fsm->request);
 }
 
 /*****************************************************************************/
@@ -195,16 +196,21 @@
                     fsm->sync->index, fsm->slave->ring_position);
         }
 
+        if (ec_sdo_request_alloc(&fsm->request, 2)) {
+            fsm->state = ec_fsm_pdo_mapping_state_error;
+            return;
+        }
+
         // set mapped Pdo count to zero
-        fsm->sdodata.index = 0x1C10 + fsm->sync->index;
-        fsm->sdodata.subindex = 0; // mapped Pdo count
-        EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped
-        fsm->sdodata.size = 1;
+        EC_WRITE_U8(&fsm->request.data, 0); // zero Pdos mapped
+        fsm->request.data_size = 1;
+        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
+        ec_sdo_request_write(&fsm->request);
         if (fsm->slave->master->debug_level)
             EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
 
         fsm->state = ec_fsm_pdo_mapping_state_zero_count;
-        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
         return;
     }
@@ -238,16 +244,17 @@
         ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
-    fsm->sdodata.subindex = fsm->pdo_count;
-    EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
-    fsm->sdodata.size = 2;
-
+    EC_WRITE_U16(&fsm->request.data, fsm->pdo->index);
+    fsm->request.data_size = 2;
+    ec_sdo_request_address(&fsm->request,
+            0x1C10 + fsm->sync->index, fsm->pdo_count);
+    ec_sdo_request_write(&fsm->request);
     if (fsm->slave->master->debug_level)
         EC_DBG("Mapping Pdo 0x%04X at position %u.\n",
-                fsm->pdo->index, fsm->sdodata.subindex);
+                fsm->pdo->index, fsm->pdo_count);
     
     fsm->state = ec_fsm_pdo_mapping_state_add_pdo;
-    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 
@@ -304,16 +311,16 @@
     // find next Pdo
     if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {
         // no more Pdos to map. write Pdo count
-        fsm->sdodata.subindex = 0;
-        EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
-        fsm->sdodata.size = 1;
-
+        EC_WRITE_U8(&fsm->request.data, fsm->pdo_count);
+        fsm->request.data_size = 1;
+        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
+        ec_sdo_request_write(&fsm->request);
         if (fsm->slave->master->debug_level)
             EC_DBG("Setting number of mapped Pdos to %u.\n",
                     fsm->pdo_count);
         
         fsm->state = ec_fsm_pdo_mapping_state_pdo_count;
-        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);
         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
         return;
     }
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_pdo_mapping.h
--- a/master/fsm_pdo_mapping.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_pdo_mapping.h	Mon Mar 03 16:22:39 2008 +0000
@@ -67,8 +67,7 @@
     const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */
     const ec_pdo_t *pdo; /**< Current Pdo. */
 
-    ec_sdo_data_t sdodata; /**< Sdo configuration data. */
-    uint16_t sdo_value; /**< Sdo value. */
+    ec_sdo_request_t request; /**< Sdo request. */
     unsigned int pdo_count; /**< Number of mapped Pdos. */
 };
 
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_slave_config.c
--- a/master/fsm_slave_config.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_slave_config.c	Mon Mar 03 16:22:39 2008 +0000
@@ -448,9 +448,10 @@
 
     // start Sdo configuration
     fsm->state = ec_fsm_slave_config_state_sdo_conf;
-    fsm->sdodata =
-        list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
-    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
+            ec_sdo_request_t, list);
+    ec_sdo_request_write(fsm->request);
+    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->request);
     ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 }
 
@@ -475,10 +476,11 @@
     }
 
     // Another Sdo to configure?
-    if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
-        fsm->sdodata =
-            list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
-        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
+        fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,
+                list);
+        ec_sdo_request_write(fsm->request);
+        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->request);
         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
         return;
     }
diff -r 726326d0aef4 -r f4f53be425ac master/fsm_slave_config.h
--- a/master/fsm_slave_config.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/fsm_slave_config.h	Mon Mar 03 16:22:39 2008 +0000
@@ -65,7 +65,7 @@
     unsigned int retries; /**< Retries on datagram timeout. */
 
     void (*state)(ec_fsm_slave_config_t *); /**< State function. */
-    ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
+    ec_sdo_request_t *request; /**< Sdo request for Sdo configuration. */
     ec_fsm_change_t fsm_change; /**< State change state machine. */
     ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
     ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
diff -r 726326d0aef4 -r f4f53be425ac master/sdo.h
--- a/master/sdo.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/sdo.h	Mon Mar 03 16:22:39 2008 +0000
@@ -64,20 +64,6 @@
 
 /*****************************************************************************/
 
-/** CANopen Sdo configuration data.
- * \todo remove
- */
-typedef struct {
-    struct list_head list; /**< list item */
-    uint16_t index; /**< Sdo index */
-    uint8_t subindex; /**< Sdo subindex */
-    uint8_t *data; /**< pointer to Sdo data */
-    size_t size; /**< size of Sdo data */
-}
-ec_sdo_data_t;
-
-/*****************************************************************************/
-
 int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
 void ec_sdo_destroy(ec_sdo_t *);
 
diff -r 726326d0aef4 -r f4f53be425ac master/sdo_entry.c
--- a/master/sdo_entry.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/sdo_entry.c	Mon Mar 03 16:22:39 2008 +0000
@@ -242,7 +242,7 @@
             "Invalid bit length %u for data type 0x%04X. Data:\n",
             entry->bit_length, entry->data_type);
 raw_data:
-    for (i = 0; i < request->size; i++)
+    for (i = 0; i < request->data_size; i++)
         off += sprintf(buffer + off, "%02X (%c)\n",
                 request->data[i], request->data[i]);
     return off;
@@ -268,7 +268,8 @@
 
     request.slave = entry->sdo->slave;
     ec_sdo_request_init(&request.req);
-    ec_sdo_request_read(&request.req, entry->sdo->index, entry->subindex);
+    ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex);
+    ec_sdo_request_read(&request.req);
 
     // schedule request.
     down(&master->sdo_sem);
diff -r 726326d0aef4 -r f4f53be425ac master/sdo_request.c
--- a/master/sdo_request.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/sdo_request.c	Mon Mar 03 16:22:39 2008 +0000
@@ -55,7 +55,8 @@
         )
 {
     req->data = NULL;
-    req->size = 0;
+    req->mem_size = 0;
+    req->data_size = 0;
     req->state = EC_REQUEST_COMPLETE;
 }
 
@@ -83,14 +84,15 @@
         req->data = NULL;
     }
 
-    req->size = 0;
+    req->mem_size = 0;
+    req->data_size = 0;
 }
 
 /*****************************************************************************/
 
-/** Start an Sdo read operation (download).
+/** Set the Sdo address.
  */
-void ec_sdo_request_read(
+void ec_sdo_request_address(
         ec_sdo_request_t *req, /**< Sdo request. */
         uint16_t index, /**< Sdo index. */
         uint8_t subindex /**< Sdo subindex. */
@@ -98,9 +100,74 @@
 {
     req->index = index;
     req->subindex = subindex;
-    req->state = EC_REQUEST_QUEUED;
-
-    ec_sdo_request_clear_data(req);
 }
 
 /*****************************************************************************/
+
+/** Pre-allocates the data memory.
+ *
+ * If the \a mem_size is already bigger than \a size, nothing is done.
+ */
+int ec_sdo_request_alloc(
+        ec_sdo_request_t *req, /**< Sdo request. */
+        size_t size /**< Data size to allocate. */
+        )
+{
+    if (size <= req->mem_size)
+        return 0;
+
+    ec_sdo_request_clear_data(req);
+
+    if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
+        EC_ERR("Failed to allocate %u bytes of Sdo memory.\n", size);
+        return -1;
+    }
+
+    req->mem_size = size;
+    req->data_size = 0;
+    return 0;
+}
+
+/*****************************************************************************/
+
+/** Copies Sdo data from an external source.
+ *
+ * If the \a mem_size is to small, new memory is allocated.
+ */
+int ec_sdo_request_copy_data(
+        ec_sdo_request_t *req, /**< Sdo request. */
+        const uint8_t *source, /**< Source data. */
+        size_t size /**< Number of bytes in \a source. */
+        )
+{
+    if (ec_sdo_request_alloc(req, size))
+        return -1;
+
+    memcpy(req->data, source, size);
+    req->data_size = size;
+    return 0;
+}
+
+/*****************************************************************************/
+
+/** Start an Sdo read operation (Sdo upload).
+ */
+void ec_sdo_request_read(
+        ec_sdo_request_t *req /**< Sdo request. */
+        )
+{
+    req->state = EC_REQUEST_QUEUED;
+}
+
+/*****************************************************************************/
+
+/** Start an Sdo write operation (Sdo download).
+ */
+void ec_sdo_request_write(
+        ec_sdo_request_t *req /**< Sdo request. */
+        )
+{
+    req->state = EC_REQUEST_QUEUED;
+}
+
+/*****************************************************************************/
diff -r 726326d0aef4 -r f4f53be425ac master/sdo_request.h
--- a/master/sdo_request.h	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/sdo_request.h	Mon Mar 03 16:22:39 2008 +0000
@@ -54,7 +54,8 @@
     uint16_t index; /**< Sdo index. */
     uint8_t subindex; /**< Sdo subindex. */
     uint8_t *data; /**< Pointer to Sdo data. */
-    size_t size; /**< Size of Sdo data. */
+    size_t mem_size; /**< Size of Sdo data memory. */
+    size_t data_size; /**< Size of Sdo data. */
     ec_request_state_t state; /**< Sdo request state. */
 } ec_sdo_request_t;
 
@@ -63,7 +64,12 @@
 void ec_sdo_request_init(ec_sdo_request_t *);
 void ec_sdo_request_clear(ec_sdo_request_t *);
 
-void ec_sdo_request_read(ec_sdo_request_t *, uint16_t, uint8_t);
+void ec_sdo_request_address(ec_sdo_request_t *, uint16_t, uint8_t);
+int ec_sdo_request_alloc(ec_sdo_request_t *, size_t);
+int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t);
+
+void ec_sdo_request_read(ec_sdo_request_t *);
+void ec_sdo_request_write(ec_sdo_request_t *);
 
 /*****************************************************************************/
 
diff -r 726326d0aef4 -r f4f53be425ac master/slave_config.c
--- a/master/slave_config.c	Mon Mar 03 16:17:23 2008 +0000
+++ b/master/slave_config.c	Mon Mar 03 16:22:39 2008 +0000
@@ -159,7 +159,7 @@
 {
     ec_slave_config_t *sc;
     ec_direction_t dir;
-    ec_sdo_data_t *sdodata, *next_sdodata;
+    ec_sdo_request_t *req, *next_req;
 
     sc = container_of(kobj, ec_slave_config_t, kobj);
 
@@ -168,13 +168,11 @@
         ec_pdo_mapping_clear(&sc->mapping[dir]);
 
     // free all Sdo configurations
-    list_for_each_entry_safe(sdodata, next_sdodata, &sc->sdo_configs, list) {
-        list_del(&sdodata->list);
-        kfree(sdodata->data);
-        kfree(sdodata);
-    }
-
-    /** \todo */
+    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
+        list_del(&req->list);
+        ec_sdo_request_clear(req);
+        kfree(req);
+    }
 
     kfree(sc);
 }
@@ -234,7 +232,7 @@
     const ec_pdo_t *pdo;
     const ec_pdo_entry_t *entry;
     char str[20];
-    ec_sdo_data_t *sdodata;
+    const ec_sdo_request_t *req;
 
     buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);
     buf += sprintf(buf, "Position: %u\n", sc->position);
@@ -265,15 +263,15 @@
     if (!list_empty((struct list_head *) &sc->sdo_configs)) {
         buf += sprintf(buf, "\nSdo configurations:\n");
 
-        list_for_each_entry(sdodata, &sc->sdo_configs, list) {
-            switch (sdodata->size) {
-                case 1: sprintf(str, "%u", EC_READ_U8(sdodata->data)); break;
-                case 2: sprintf(str, "%u", EC_READ_U16(sdodata->data)); break;
-                case 4: sprintf(str, "%u", EC_READ_U32(sdodata->data)); break;
+        list_for_each_entry(req, &sc->sdo_configs, list) {
+            switch (req->data_size) {
+                case 1: sprintf(str, "%u", EC_READ_U8(req->data)); break;
+                case 2: sprintf(str, "%u", EC_READ_U16(req->data)); break;
+                case 4: sprintf(str, "%u", EC_READ_U32(req->data)); break;
                 default: sprintf(str, "(invalid size)"); break;
             }
             buf += sprintf(buf, "  0x%04X:%-3i -> %s\n",
-                    sdodata->index, sdodata->subindex, str);
+                    req->index, req->subindex, str);
         }
         buf += sprintf(buf, "\n");
     }
@@ -310,31 +308,29 @@
         uint8_t subindex, const uint8_t *data, size_t size)
 {
     ec_slave_t *slave = sc->slave;
-    ec_sdo_data_t *sdodata;
+    ec_sdo_request_t *req;
 
     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
         EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
         return -1;
     }
 
-    if (!(sdodata = (ec_sdo_data_t *)
-          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate memory for Sdo configuration object!\n");
+    if (!(req = (ec_sdo_request_t *)
+          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
+        EC_ERR("Failed to allocate memory for Sdo configuration!\n");
         return -1;
     }
 
-    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
-        EC_ERR("Failed to allocate memory for Sdo configuration data!\n");
-        kfree(sdodata);
+    ec_sdo_request_init(req);
+    ec_sdo_request_address(req, index, subindex);
+
+    if (ec_sdo_request_copy_data(req, data, size)) {
+        ec_sdo_request_clear(req);
+        kfree(req);
         return -1;
     }
-
-    sdodata->index = index;
-    sdodata->subindex = subindex;
-    memcpy(sdodata->data, data, size);
-    sdodata->size = size;
-
-    list_add_tail(&sdodata->list, &sc->sdo_configs);
+        
+    list_add_tail(&req->list, &sc->sdo_configs);
     return 0;
 }