diff --git a/TODO b/TODO
index 5a03535334022bcab456696fd53a79aead272047..8d63e8a68446582c852b8720036b545678dbca3e 100644
--- a/TODO
+++ b/TODO
@@ -43,7 +43,6 @@ Version 1.5.0:
* Fix casting away constness during expected WC calculation.
* Read AL status code on spontaneous state change.
* Fix clearing domains etc. when not activated and releasing.
-* Output -EPROTO if mailbox protocol is not supported.
* Only output watchdog config if not default.
* Do not output 'SDO does not exist' when querying data type.
* Always write down PDO assignment/mapping in doubt? If not, add an interface
diff --git a/master/cdev.c b/master/cdev.c
index 0692d6f3d793c132f1c791cb854daf5971ab4426..1ae289cf409b3751c97106fb843f78a48b3464b8 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -881,7 +881,11 @@ int ec_cdev_ioctl_slave_sdo_upload(
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
data.data_size = 0;
- retval = -EIO;
+ 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");
@@ -986,7 +990,13 @@ int ec_cdev_ioctl_slave_sdo_download(
data.abort_code = request.req.abort_code;
- retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+ 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;
diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index d1dc41e9464cea75c4158da4bffd0b86c6f62cc1..c0cff97d7f2aafc2d4e7a3eea050ef1349d30fdb 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -1103,6 +1103,7 @@ void ec_fsm_coe_down_start(
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
+ request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1110,6 +1111,7 @@ void ec_fsm_coe_down_start(
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_SLAVE_ERR(slave, "Mailbox too small!\n");
+ request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1118,6 +1120,7 @@ void ec_fsm_coe_down_start(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1159,6 +1162,7 @@ void ec_fsm_coe_down_start(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1212,6 +1216,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" request datagram: ");
@@ -1233,6 +1238,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
}
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download request"
" for SDO 0x%04x:%x failed with timeout after %lu ms: ",
@@ -1268,6 +1274,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -1276,6 +1283,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1287,6 +1295,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
" for SDO 0x%04x:%x download response.\n", diff_ms,
@@ -1343,6 +1352,7 @@ void ec_fsm_coe_down_prepare_segment_request(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1389,6 +1399,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" response datagram: ");
@@ -1397,6 +1408,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1405,11 +1417,13 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1430,6 +1444,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1440,6 +1455,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1497,6 +1513,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1504,6 +1521,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
" datagram failed: ");
@@ -1515,6 +1533,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
" segment response.\n");
@@ -1553,6 +1572,7 @@ void ec_fsm_coe_down_seg_response(
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
" datagram: ");
@@ -1561,6 +1581,7 @@ void ec_fsm_coe_down_seg_response(
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1569,11 +1590,13 @@ void ec_fsm_coe_down_seg_response(
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1594,6 +1617,7 @@ void ec_fsm_coe_down_seg_response(
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1604,6 +1628,7 @@ void ec_fsm_coe_down_seg_response(
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1640,6 +1665,7 @@ void ec_fsm_coe_down_seg_response(
EC_SLAVE_ERR(slave, "Invalid toggle received during"
" segmented download:\n");
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1671,12 +1697,14 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
+ request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1714,6 +1742,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
ec_datagram_print_state(datagram);
@@ -1734,6 +1763,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
}
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
" SDO 0x%04x:%x failed with timeout after %lu ms: ",
@@ -1771,6 +1801,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1778,6 +1809,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1789,6 +1821,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
" SDO 0x%04x:%x upload response.\n", diff_ms,
@@ -1818,6 +1851,7 @@ void ec_fsm_coe_up_prepare_segment_request(
uint8_t *data =
ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
if (IS_ERR(data)) {
+ fsm->request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1850,11 +1884,13 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
unsigned int expedited, size_specified;
+ int ret;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
" datagram: ");
@@ -1863,6 +1899,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1871,6 +1908,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1881,6 +1919,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
" as response.\n", mbox_prot);
@@ -1896,6 +1935,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
" (%zu bytes)!\n", rec_size);
@@ -1913,6 +1953,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
} else {
EC_SLAVE_ERR(slave, "No abort message.\n");
}
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1923,6 +1964,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
" uploading SDO 0x%04X:%02X.\n",
request->index, request->subindex);
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1955,6 +1997,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6 + fsm->complete_size) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1962,12 +2005,15 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
- if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_size)) {
+ ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
} else { // normal
if (rec_size < 10) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1979,18 +2025,23 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->complete_size = EC_READ_U32(data + 6);
if (!fsm->complete_size) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
- if (ec_sdo_request_alloc(request, fsm->complete_size)) {
+ ret = ec_sdo_request_alloc(request, fsm->complete_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
- if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
+ ret = ec_sdo_request_copy_data(request, data + 10, data_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2031,6 +2082,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" request datagram: ");
@@ -2039,6 +2091,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" request failed: ");
@@ -2068,6 +2121,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -2076,6 +2130,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
" failed: ");
@@ -2087,6 +2142,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
" segment response.\n");
@@ -2125,6 +2181,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" response datagram: ");
@@ -2133,6 +2190,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" response failed: ");
@@ -2142,6 +2200,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2154,6 +2213,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (mbox_prot != 0x03) { // CoE
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2170,6 +2230,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_SLAVE_ERR(slave, "Received currupted SDO upload"
" segment response!\n");
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2180,6 +2241,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
request->index, request->subindex);
request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(slave, request->abort_code);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2208,6 +2270,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
" exceeding complete size!\n",
request->index, request->subindex);
+ request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
diff --git a/master/sdo_request.c b/master/sdo_request.c
index 1700bf972356c10244c4e230bb77ec76fd1780a5..ae981945636c00cfbf9d04a18442e5a797c192b4 100644
--- a/master/sdo_request.c
+++ b/master/sdo_request.c
@@ -64,6 +64,7 @@ void ec_sdo_request_init(
req->issue_timeout = 0; // no timeout
req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_INT_REQUEST_INIT;
+ req->errno = 0;
req->abort_code = 0x00000000;
}
@@ -226,6 +227,7 @@ void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
+ req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
@@ -236,6 +238,7 @@ void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;
+ req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
diff --git a/master/sdo_request.h b/master/sdo_request.h
index 81975e5196ff84832c914f4ed126b33e0657d0a9..3da4ef23fa2e21a0dc68c492888208fcd6a39348 100644
--- a/master/sdo_request.h
+++ b/master/sdo_request.h
@@ -64,6 +64,7 @@ struct ec_sdo_request {
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
+ int errno; /**< Error number. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};