--- a/drivers/ec_master.c Fri Dec 16 16:21:22 2005 +0000
+++ b/drivers/ec_master.c Mon Dec 19 08:13:11 2005 +0000
@@ -1,13 +1,12 @@
-/****************************************************************
+/******************************************************************************
*
* e c _ m a s t e r . c
*
* Methoden für einen EtherCAT-Master.
*
- * $Date$
- * $Author$
+ * $Id$
*
- ***************************************************************/
+ *****************************************************************************/
#include <linux/module.h>
#include <linux/kernel.h>
@@ -18,13 +17,13 @@
#include "ec_globals.h"
#include "ec_master.h"
-/***************************************************************/
+/*****************************************************************************/
/**
Konstruktor des EtherCAT-Masters.
@param master Zeiger auf den zu initialisierenden
- EtherCAT-Master
+ EtherCAT-Master
@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
*/
@@ -41,7 +40,7 @@
master->debug_level = 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Destruktor eines EtherCAT-Masters.
@@ -57,8 +56,7 @@
// Remove all slaves
EtherCAT_clear_slaves(master);
- if (master->process_data)
- {
+ if (master->process_data) {
kfree(master->process_data);
master->process_data = NULL;
}
@@ -66,7 +64,7 @@
master->process_data_length = 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Öffnet ein EtherCAT-Geraet für den Master.
@@ -76,27 +74,26 @@
@param master Der EtherCAT-Master
@param device Das EtherCAT-Geraet
@return 0, wenn alles o.k.,
- < 0, wenn bereits ein Geraet registriert
- oder das Geraet nicht geoeffnet werden konnte.
+ < 0, wenn bereits ein Geraet registriert
+ oder das Geraet nicht geoeffnet werden konnte.
*/
int EtherCAT_master_open(EtherCAT_master_t *master,
EtherCAT_device_t *device)
{
- if (!master || !device)
- {
- printk(KERN_ERR "EtherCAT: Illegal parameters for master_open()!\n");
- return -1;
- }
-
- if (master->dev)
- {
- printk(KERN_ERR "EtherCAT: Master already has a device.\n");
- return -1;
- }
-
- if (EtherCAT_device_open(device) < 0)
- {
+ if (!master || !device) {
+ printk(KERN_ERR "EtherCAT: Illegal parameters"
+ " for master_open()!\n");
+ return -1;
+ }
+
+ if (master->dev) {
+ printk(KERN_ERR "EtherCAT: Master already"
+ " has a device.\n");
+ return -1;
+ }
+
+ if (EtherCAT_device_open(device) < 0) {
printk(KERN_ERR "EtherCAT: Could not open device %X!\n",
(unsigned int) master->dev);
return -1;
@@ -107,7 +104,7 @@
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Schliesst das EtherCAT-Geraet, auf dem der Master arbeitet.
@@ -119,21 +116,21 @@
void EtherCAT_master_close(EtherCAT_master_t *master,
EtherCAT_device_t *device)
{
- if (master->dev != device)
- {
- printk(KERN_WARNING "EtherCAT: Trying to close an unknown device!\n");
+ if (master->dev != device) {
+ printk(KERN_WARNING "EtherCAT: Warning -"
+ " Trying to close an unknown device!\n");
return;
}
- if (EtherCAT_device_close(master->dev) < 0)
- {
- printk(KERN_WARNING "EtherCAT: Could not close device!\n");
+ if (EtherCAT_device_close(master->dev) < 0) {
+ printk(KERN_WARNING "EtherCAT: Warning -"
+ " Could not close device!\n");
}
master->dev = NULL;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Sendet ein einzelnes Kommando in einem Frame und
@@ -150,26 +147,28 @@
{
unsigned int tries_left;
- if (EtherCAT_simple_send(master, cmd) < 0) return -1;
+ if (unlikely(EtherCAT_simple_send(master, cmd) < 0))
+ return -1;
udelay(3);
EtherCAT_device_call_isr(master->dev);
tries_left = 20;
- while (master->dev->state == ECAT_DS_SENT && tries_left)
- {
+ while (unlikely(master->dev->state == ECAT_DS_SENT
+ && tries_left)) {
udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
- if (EtherCAT_simple_receive(master, cmd) < 0) return -1;
+ if (unlikely(EtherCAT_simple_receive(master, cmd) < 0))
+ return -1;
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Sendet ein einzelnes Kommando in einem Frame.
@@ -185,29 +184,27 @@
{
unsigned int length, framelength, i;
- if (master->debug_level > 0)
- {
+ if (unlikely(master->debug_level > 0)) {
printk(KERN_DEBUG "EtherCAT_send_receive_command\n");
}
- if (cmd->state != ECAT_CS_READY)
- {
- printk(KERN_WARNING "EtherCAT_send_receive_command: Command not in ready state!\n");
+ if (unlikely(cmd->state != ECAT_CS_READY)) {
+ printk(KERN_WARNING "EtherCAT_send_receive_command:"
+ "Command not in ready state!\n");
}
length = cmd->data_length + 12;
framelength = length + 2;
- if (framelength > ECAT_FRAME_BUFFER_SIZE)
- {
- printk(KERN_ERR "EtherCAT: Frame too long (%i)!\n", framelength);
+ if (unlikely(framelength > ECAT_FRAME_BUFFER_SIZE)) {
+ printk(KERN_ERR "EtherCAT: Frame too long (%i)!\n",
+ framelength);
return -1;
}
if (framelength < 46) framelength = 46;
- if (master->debug_level > 0)
- {
+ if (unlikely(master->debug_level > 0)) {
printk(KERN_DEBUG "Frame length: %i\n", framelength);
}
@@ -217,8 +214,7 @@
cmd->index = master->command_index;
master->command_index = (master->command_index + 1) % 0x0100;
- if (master->debug_level > 0)
- {
+ if (unlikely(master->debug_level > 0)) {
printk(KERN_DEBUG "Sending command index %i\n", cmd->index);
}
@@ -235,14 +231,15 @@
master->tx_data[2 + 8] = 0x00;
master->tx_data[2 + 9] = 0x00;
- if (cmd->type == ECAT_CMD_APWR
- || cmd->type == ECAT_CMD_NPWR
- || cmd->type == ECAT_CMD_BWR
- || cmd->type == ECAT_CMD_LRW) // Write
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = cmd->data[i];
- }
- else // Read
+ if (likely(cmd->type == ECAT_CMD_APWR
+ || cmd->type == ECAT_CMD_NPWR
+ || cmd->type == ECAT_CMD_BWR
+ || cmd->type == ECAT_CMD_LRW)) // Write commands
+ {
+ for (i = 0; i < cmd->data_length; i++)
+ master->tx_data[2 + 10 + i] = cmd->data[i];
+ }
+ else // Read commands
{
for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = 0x00;
}
@@ -255,27 +252,26 @@
master->tx_data_length = framelength;
- if (master->debug_level > 0)
- {
+ if (unlikely(master->debug_level > 0)) {
printk(KERN_DEBUG "device send...\n");
}
// Send frame
- if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
- {
+ if (unlikely(EtherCAT_device_send(master->dev,
+ master->tx_data,
+ framelength) != 0)) {
printk(KERN_ERR "EtherCAT: Could not send!\n");
return -1;
}
- if (master->debug_level > 0)
- {
+ if (unlikely(master->debug_level > 0)) {
printk(KERN_DEBUG "EtherCAT_send done.\n");
}
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Wartet auf den Empfang eines einzeln gesendeten
@@ -291,49 +287,49 @@
EtherCAT_command_t *cmd)
{
unsigned int length;
- int receive_ret;
+ int ret;
unsigned char command_type, command_index;
- if ((receive_ret = EtherCAT_device_receive(master->dev,
- master->rx_data)) < 0)
- {
- return -1;
- }
-
- master->rx_data_length = (unsigned int) receive_ret;
-
- if (master->rx_data_length < 2)
- {
- printk(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT header!\n");
+ if (unlikely((ret = EtherCAT_device_receive(master->dev,
+ master->rx_data)) < 0))
+ return -1;
+
+ master->rx_data_length = (unsigned int) ret;
+
+ if (unlikely(master->rx_data_length < 2)) {
+ printk(KERN_ERR "EtherCAT: Received frame with"
+ " incomplete EtherCAT header!\n");
output_debug_data(master);
return -1;
}
// Länge des gesamten Frames prüfen
- length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
-
- if (length > master->rx_data_length)
- {
- printk(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
+ length = ((master->rx_data[1] & 0x07) << 8)
+ | (master->rx_data[0] & 0xFF);
+
+ if (unlikely(length > master->rx_data_length)) {
+ printk(KERN_ERR "EtherCAT: Received corrupted"
+ " frame (length does not match)!\n");
output_debug_data(master);
return -1;
}
command_type = master->rx_data[2];
command_index = master->rx_data[2 + 1];
- length = (master->rx_data[2 + 6] & 0xFF) | ((master->rx_data[2 + 7] & 0x07) << 8);
-
- if (master->rx_data_length - 2 < length + 12)
- {
- printk(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
+ length = (master->rx_data[2 + 6] & 0xFF)
+ | ((master->rx_data[2 + 7] & 0x07) << 8);
+
+ if (unlikely(master->rx_data_length - 2 < length + 12)) {
+ printk(KERN_ERR "EtherCAT: Received frame with"
+ " incomplete command data!\n");
output_debug_data(master);
return -1;
}
- if (cmd->state == ECAT_CS_SENT
- && cmd->type == command_type
- && cmd->index == command_index
- && cmd->data_length == length)
+ if (likely(cmd->state == ECAT_CS_SENT
+ && cmd->type == command_type
+ && cmd->index == command_index
+ && cmd->data_length == length))
{
cmd->state = ECAT_CS_RECEIVED;
@@ -355,7 +351,7 @@
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Überprüft die angeschlossenen Slaves.
@@ -381,8 +377,7 @@
unsigned int i, j, found, length, pos;
unsigned char data[2];
- if (slave_count == 0)
- {
+ if (unlikely(!slave_count)) {
printk(KERN_ERR "EtherCAT: No slaves in list!\n");
return -1;
}
@@ -391,27 +386,25 @@
EtherCAT_command_broadcast_read(&cmd, 0x0000, 4);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != slave_count)
- {
+ if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != slave_count)) {
printk(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
cmd.working_counter, slave_count);
return -1;
}
else
- {
printk("EtherCAT: Found all %i slaves.\n", slave_count);
- }
// For every slave in the list
for (i = 0; i < slave_count; i++)
{
cur = &slaves[i];
- if (!cur->desc)
- {
- printk(KERN_ERR "EtherCAT: Slave %i has no description.\n", i);
+ if (unlikely(!cur->desc)) {
+ printk(KERN_ERR "EtherCAT: Slave %i has"
+ " no description.\n", i);
return -1;
}
@@ -424,23 +417,28 @@
data[0] = cur->station_address & 0x00FF;
data[1] = (cur->station_address & 0xFF00) >> 8;
- EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
+ EtherCAT_command_position_write(&cmd, cur->ring_position,
+ 0x0010, 2, data);
+
+ if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Slave %i did not repond"
+ " while writing station address!\n", i);
return -1;
}
// Read base data
EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i);
+
+ if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Slave %i did not respond"
+ " while reading base data!\n", i);
return -1;
}
@@ -451,29 +449,37 @@
// Read identification from "Slave Information Interface" (SII)
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x0008, &cur->vendor_id) != 0)
+ if (unlikely(EtherCAT_read_slave_information(master,
+ cur->station_address,
+ 0x0008,
+ &cur->vendor_id) != 0))
{
printk(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
return -1;
}
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000A, &cur->product_code) != 0)
+ if (unlikely(EtherCAT_read_slave_information(master,
+ cur->station_address,
+ 0x000A,
+ &cur->product_code) != 0))
{
printk(KERN_ERR "EtherCAT: Could not read SII product code!\n");
return -1;
}
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000C, &cur->revision_number) != 0)
+ if (unlikely(EtherCAT_read_slave_information(master,
+ cur->station_address,
+ 0x000C,
+ &cur->revision_number) != 0))
{
printk(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
return -1;
}
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000E, &cur->serial_number) != 0)
+ if (unlikely(EtherCAT_read_slave_information(master,
+ cur->station_address,
+ 0x000E,
+ &cur->serial_number) != 0))
{
printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
return -1;
@@ -483,17 +489,16 @@
found = 0;
- for (j = 0; j < slave_idents_count; j++)
+ for (j = 0; j < slave_ident_count; j++)
{
- if (slave_idents[j].vendor_id == cur->vendor_id
- && slave_idents[j].product_code == cur->product_code)
+ if (unlikely(slave_idents[j].vendor_id == cur->vendor_id
+ && slave_idents[j].product_code == cur->product_code))
{
found = 1;
- if (cur->desc != slave_idents[j].desc)
- {
- printk(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\""
- " at position %i. Expected: \"%s %s\"\n",
+ if (unlikely(cur->desc != slave_idents[j].desc)) {
+ printk(KERN_ERR "EtherCAT: Unexpected slave device"
+ " \"%s %s\" at position %i. Expected: \"%s %s\"\n",
slave_idents[j].desc->vendor_name,
slave_idents[j].desc->product_name, i,
cur->desc->vendor_name, cur->desc->product_name);
@@ -504,8 +509,7 @@
}
}
- if (!found)
- {
+ if (unlikely(!found)) {
printk(KERN_ERR "EtherCAT: Unknown slave device"
" (vendor %X, code %X) at position %i.\n",
cur->vendor_id, cur->product_code, i);
@@ -519,10 +523,11 @@
length += slaves[i].desc->data_length;
}
- if ((master->process_data = (unsigned char *)
- kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL)
- {
- printk(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length);
+ if (unlikely((master->process_data = (unsigned char *)
+ kmalloc(sizeof(unsigned char)
+ * length, GFP_KERNEL)) == NULL)) {
+ printk(KERN_ERR "EtherCAT: Could not allocate %i"
+ " bytes for process data.\n", length);
return -1;
}
@@ -535,8 +540,10 @@
slaves[i].process_data = master->process_data + pos;
slaves[i].logical_address0 = pos;
- printk(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
- i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
+ printk(KERN_DEBUG "EtherCAT: Slave %i -"
+ " Address 0x%X, \"%s %s\", s/n %u\n",
+ i, pos, slaves[i].desc->vendor_name,
+ slaves[i].desc->product_name,
slaves[i].serial_number);
pos += slaves[i].desc->data_length;
@@ -548,7 +555,7 @@
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Entfernt den Zeiger auf das Slave-Array.
@@ -562,7 +569,7 @@
master->slave_count = 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Liest Daten aus dem Slave-Information-Interface
@@ -596,12 +603,13 @@
data[5] = 0x00;
EtherCAT_command_write(&cmd, node_address, 0x502, 6, data);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
- node_address);
+
+ if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
+ return -3;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: SII-read - Slave"
+ " %04X did not respond!\n", node_address);
return -4;
}
@@ -610,22 +618,22 @@
// den Status auslesen, bis das Bit weg ist.
tries_left = 100;
- while (tries_left)
+ while (likely(tries_left))
{
udelay(10);
EtherCAT_command_read(&cmd, node_address, 0x502, 10);
- if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n",
- node_address);
+
+ if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0))
+ return -3;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: SII-read status -"
+ " Slave %04X did not respond!\n", node_address);
return -4;
}
- if ((cmd.data[1] & 0x81) == 0)
- {
+ if (likely((cmd.data[1] & 0x81) == 0)) {
memcpy(target, cmd.data + 6, 4);
break;
}
@@ -633,17 +641,16 @@
tries_left--;
}
- if (!tries_left)
- {
- printk(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
- node_address);
+ if (unlikely(!tries_left)) {
+ printk(KERN_WARNING "EtherCAT: SSI-read."
+ " Slave %04X timed out!\n", node_address);
return -1;
}
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Ändert den Zustand eines Slaves (asynchron).
@@ -669,62 +676,63 @@
data[0] = state_and_ack;
data[1] = 0x00;
- EtherCAT_command_write(&cmd, slave->station_address, 0x0120, 2, data);
-
- if (EtherCAT_simple_send_receive(master, &cmd) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n", state_and_ack);
+ EtherCAT_command_write(&cmd, slave->station_address,
+ 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;
}
- if (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));
+ 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;
}
slave->requested_state = state_and_ack & 0x0F;
tries_left = 100;
- while (tries_left)
+ while (likely(tries_left))
{
udelay(10);
EtherCAT_command_read(&cmd, slave->station_address, 0x0130, 2);
- if (EtherCAT_simple_send_receive(master, &cmd) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to send!\n", state_and_ack);
+ 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;
}
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not respond!\n", state_and_ack);
+ 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;
}
- if (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]);
+ 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;
}
- if (cmd.data[0] == (state_and_ack & 0x0F)) // State change successful
- {
+ if (likely(cmd.data[0] == (state_and_ack & 0x0F))) {
+ // State change successful
break;
}
tries_left--;
}
- if (!tries_left)
- {
- printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while checking!\n", state_and_ack);
+ if (unlikely(!tries_left)) {
+ printk(KERN_ERR "EtherCAT: Could not check state %02X -"
+ " Timeout while checking!\n", state_and_ack);
return -5;
}
@@ -733,7 +741,7 @@
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Konfiguriert einen Slave und setzt den Operational-Zustand.
@@ -758,22 +766,23 @@
desc = slave->desc;
- if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
- {
- return -1;
- }
+ 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);
-
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not respond!\n",
+ 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);
return -2;
}
@@ -784,12 +793,15 @@
{
memset(data, 0x00, 256);
- EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 256, data);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not respond!\n",
+ 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);
return -2;
}
@@ -801,12 +813,15 @@
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8, desc->sm0);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
+ 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);
return -3;
}
@@ -814,12 +829,15 @@
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8, desc->sm1);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
+ 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);
return -2;
}
@@ -828,10 +846,9 @@
// Change state to PREOP
- if (EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0)
- {
+ if (unlikely(EtherCAT_state_change(master, slave,
+ ECAT_STATE_PREOP) != 0))
return -5;
- }
// Set FMMU's
@@ -844,12 +861,15 @@
fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
- EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not respond!\n",
+ 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);
return -2;
}
@@ -861,12 +881,15 @@
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8, desc->sm0);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
+ 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);
return -3;
}
@@ -874,12 +897,15 @@
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8, desc->sm1);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
+ 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);
return -3;
}
@@ -888,12 +914,15 @@
if (desc->sm2)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
+ 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",
slave->station_address);
return -3;
}
@@ -901,33 +930,34 @@
if (desc->sm3)
{
- EtherCAT_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- printk(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
+ 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",
slave->station_address);
return -3;
}
}
// Change state to SAVEOP
- if (EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0)
- {
+ if (unlikely(EtherCAT_state_change(master, slave,
+ ECAT_STATE_SAVEOP) != 0))
return -12;
- }
// Change state to OP
- if (EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0)
- {
+ if (unlikely(EtherCAT_state_change(master, slave,
+ ECAT_STATE_OP) != 0))
return -13;
- }
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Setzt einen Slave zurück in den Init-Zustand.
@@ -939,17 +969,16 @@
*/
int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
- EtherCAT_slave_t *slave)
-{
- if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
- {
- return -1;
- }
+ EtherCAT_slave_t *slave)
+{
+ if (unlikely(EtherCAT_state_change(master, slave,
+ ECAT_STATE_INIT) != 0))
+ return -1;
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Aktiviert alle Slaves.
@@ -967,16 +996,15 @@
for (i = 0; i < master->slave_count; i++)
{
- if (EtherCAT_activate_slave(master, &master->slaves[i]) < 0)
- {
- return -1;
- }
+ if (unlikely(EtherCAT_activate_slave(master,
+ &master->slaves[i]) < 0))
+ return -1;
}
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Deaktiviert alle Slaves.
@@ -995,16 +1023,15 @@
for (i = 0; i < master->slave_count; i++)
{
- if (EtherCAT_deactivate_slave(master, &master->slaves[i]) < 0)
- {
+ if (unlikely(EtherCAT_deactivate_slave(master,
+ &master->slaves[i]) < 0))
ret = -1;
- }
}
return ret;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Sendet alle Prozessdaten an die Slaves.
@@ -1023,16 +1050,18 @@
0, master->process_data_length,
master->process_data);
- if (EtherCAT_simple_send(master, &master->process_data_command) < 0)
- {
- printk(KERN_ERR "EtherCAT: Could not send process data command!\n");
+ if (unlikely(EtherCAT_simple_send(master,
+ &master->process_data_command) < 0))
+ {
+ printk(KERN_ERR "EtherCAT: Could not send"
+ " process data command!\n");
return -1;
}
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Empfängt alle Prozessdaten von den Slaves.
@@ -1053,26 +1082,28 @@
EtherCAT_device_call_isr(master->dev);
tries_left = 20;
- while (master->dev->state == ECAT_DS_SENT && tries_left)
+ while (unlikely(master->dev->state == ECAT_DS_SENT
+ && tries_left))
{
udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
- if (!tries_left)
+ if (unlikely(!tries_left))
{
printk(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
return -1;
}
- if (EtherCAT_simple_receive(master, &master->process_data_command) < 0)
+ if (unlikely(EtherCAT_simple_receive(master,
+ &master->process_data_command) < 0))
{
printk(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
return -1;
}
- if (master->process_data_command.state != ECAT_CS_RECEIVED)
+ if (unlikely(master->process_data_command.state != ECAT_CS_RECEIVED))
{
printk(KERN_WARNING "EtherCAT: Process data command not received!\n");
return -1;
@@ -1085,7 +1116,7 @@
return 0;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Verwirft das zuletzt gesendete Prozessdatenkommando.
@@ -1099,7 +1130,7 @@
master->dev->state = ECAT_DS_READY;
}
-/***************************************************************/
+/*****************************************************************************/
/**
Gibt Frame-Inhalte zwecks Debugging aus.
@@ -1134,7 +1165,7 @@
printk("\n");
}
-/***************************************************************/
+/*****************************************************************************/
EXPORT_SYMBOL(EtherCAT_master_init);
EXPORT_SYMBOL(EtherCAT_master_clear);
@@ -1147,4 +1178,4 @@
EXPORT_SYMBOL(EtherCAT_clear_process_data);
EXPORT_SYMBOL(EtherCAT_deactivate_all_slaves);
-/***************************************************************/
+/*****************************************************************************/