--- a/drivers/ec_master.c Thu Jan 05 13:39:39 2006 +0000
+++ b/drivers/ec_master.c Thu Jan 05 14:11:25 2006 +0000
@@ -706,17 +706,16 @@
0x0120, 2, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Unable to send!\n", state_and_ack);
- return -2;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n",
+ state_and_ack);
+ return -1;
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Device \"%s %s\" (%d) did not respond!\n",
- state_and_ack, slave->desc->vendor_name,
- slave->desc->product_name, slave->ring_position*(-1));
- return -3;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device \"%s %s\""
+ " (%d) did not respond!\n", state_and_ack, slave->desc->vendor_name,
+ slave->desc->product_name, slave->ring_position * (-1));
+ return -1;
}
slave->requested_state = state_and_ack & 0x0F;
@@ -729,23 +728,21 @@
EtherCAT_command_read(&cmd, slave->station_address, 0x0130, 2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
- printk(KERN_ERR "EtherCAT: Could not check"
- " state %02X - Unable to send!\n", state_and_ack);
- return -2;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
+ " send!\n", state_and_ack);
+ return -1;
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not check"
- " state %02X - Device did not respond!\n",
- state_and_ack);
- return -3;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
+ " respond!\n", state_and_ack);
+ return -1;
}
if (unlikely(cmd.data[0] & 0x10)) { // State change error
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Device refused state change (code %02X)!\n",
- state_and_ack, cmd.data[0]);
- return -4;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
+ " state change (code %02X)!\n", state_and_ack, cmd.data[0]);
+ return -1;
}
if (likely(cmd.data[0] == (state_and_ack & 0x0F))) {
@@ -757,9 +754,9 @@
}
if (unlikely(!tries_left)) {
- printk(KERN_ERR "EtherCAT: Could not check state %02X -"
- " Timeout while checking!\n", state_and_ack);
- return -5;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
+ " checking!\n", state_and_ack);
+ return -1;
}
slave->current_state = state_and_ack & 0x0F;
@@ -792,24 +789,21 @@
desc = slave->desc;
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_INIT) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0))
return -1;
// Resetting FMMU's
memset(data, 0x00, 256);
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0600, 256, data);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Resetting FMMUs -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
@@ -819,16 +813,14 @@
{
memset(data, 0x00, 256);
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 256, data);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Resetting SMs -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -839,24 +831,23 @@
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 8, desc->sm0);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0808, 8, desc->sm1);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -872,8 +863,7 @@
// Change state to PREOP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_PREOP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0))
return -1;
// Set FMMU's
@@ -893,16 +883,14 @@
fmmu[2] = (slave->logical_address & 0x00FF0000) >> 16;
fmmu[3] = (slave->logical_address & 0xFF000000) >> 24;
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0600, 16, fmmu);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting FMMU0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -913,32 +901,30 @@
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 8, desc->sm0);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0808, 8, desc->sm1);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM1 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -946,15 +932,13 @@
if (desc->sm2)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0810, 8, desc->sm2);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM2 -"
- " Slave %04X did not respond!\n",
+ printk(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
@@ -962,28 +946,24 @@
if (desc->sm3)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0818, 8, desc->sm3);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM3 -"
- " Slave %04X did not respond!\n",
+ printk(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
}
// Change state to SAVEOP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_SAVEOP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0))
return -1;
// Change state to OP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_OP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0))
return -1;
return 0;