--- a/master/canopen.c Tue Feb 28 09:09:08 2006 +0000
+++ b/master/canopen.c Tue Feb 28 09:25:51 2006 +0000
@@ -59,7 +59,7 @@
ec_frame_init_npwr(&frame, master, slave->station_address,
0x1800, 0xF6, data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ if (unlikely(ec_frame_send_receive(&frame))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
--- a/master/domain.c Tue Feb 28 09:09:08 2006 +0000
+++ b/master/domain.c Tue Feb 28 09:25:51 2006 +0000
@@ -311,12 +311,7 @@
}
if (unlikely(ec_frame_receive(frame) < 0)) {
- EC_ERR("Receive error!\n");
- return -1;
- }
-
- if (unlikely(frame->state != ec_frame_received)) {
- EC_WARN("Process data command not received!\n");
+ EC_ERR("Receiving process data failed!\n");
return -1;
}
--- a/master/frame.c Tue Feb 28 09:09:08 2006 +0000
+++ b/master/frame.c Tue Feb 28 09:25:51 2006 +0000
@@ -19,7 +19,6 @@
#define EC_FUNC_HEADER \
frame->master = master; \
- frame->state = ec_frame_ready; \
frame->index = 0; \
frame->working_counter = 0;
@@ -258,10 +257,6 @@
EC_DBG("ec_frame_send\n");
}
- if (unlikely(frame->state != ec_frame_ready)) {
- EC_WARN("Frame not in \"ready\" state!\n");
- }
-
command_size = frame->data_length + EC_COMMAND_HEADER_SIZE
+ EC_COMMAND_FOOTER_SIZE;
frame_size = command_size + EC_FRAME_HEADER_SIZE;
@@ -284,8 +279,6 @@
EC_DBG("Sending command index 0x%X\n", frame->index);
}
- frame->state = ec_frame_sent;
-
// Zeiger auf Socket-Buffer holen
data = ec_device_prepare(&frame->master->device);
@@ -336,11 +329,6 @@
uint8_t command_type, command_index;
ec_device_t *device;
- if (unlikely(frame->state != ec_frame_sent)) {
- EC_ERR("Frame was not sent!\n");
- return -1;
- }
-
device = &frame->master->device;
if (!(received_length = ec_device_received(device))) return -1;
@@ -388,8 +376,6 @@
return -1;
}
- frame->state = ec_frame_received;
-
// Empfangene Daten in Kommandodatenspeicher kopieren
memcpy(frame->data, data, data_length);
data += data_length;
--- a/master/frame.h Tue Feb 28 09:09:08 2006 +0000
+++ b/master/frame.h Tue Feb 28 09:25:51 2006 +0000
@@ -16,23 +16,6 @@
/*****************************************************************************/
-#define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE - EC_FRAME_HEADER_SIZE \
- - EC_COMMAND_HEADER_SIZE \
- - EC_COMMAND_FOOTER_SIZE)
-
-/*****************************************************************************/
-
-/**
- Status eines EtherCAT-Rahmens.
-*/
-
-typedef enum {
- ec_frame_ready, ec_frame_sent, ec_frame_received
-}
-ec_frame_state_t;
-
-/*****************************************************************************/
-
/**
EtherCAT-Rahmen-Typ
*/
@@ -44,9 +27,9 @@
ec_frame_type_apwr = 0x02, /**< Auto-increment physical write */
ec_frame_type_nprd = 0x04, /**< Node-addressed physical read */
ec_frame_type_npwr = 0x05, /**< Node-addressed physical write */
- ec_frame_type_brd = 0x07, /**< Broadcast read */
- ec_frame_type_bwr = 0x08, /**< Broadcast write */
- ec_frame_type_lrw = 0x0C /**< Logical read/write */
+ ec_frame_type_brd = 0x07, /**< Broadcast read */
+ ec_frame_type_bwr = 0x08, /**< Broadcast write */
+ ec_frame_type_lrw = 0x0C /**< Logical read/write */
}
ec_frame_type_t;
@@ -90,7 +73,6 @@
ec_address_t address; /**< Adresse des/der Empfänger */
unsigned int data_length; /**< Länge der zu sendenden und/oder empfangenen
Daten */
- ec_frame_state_t state; /**< Zustand des Kommandos */
uint8_t index; /**< Kommando-Index, mit dem der Frame gesendet wurde
(wird vom Master beim Senden gesetzt). */
uint16_t working_counter; /**< Working-Counter */
--- a/master/globals.h Tue Feb 28 09:09:08 2006 +0000
+++ b/master/globals.h Tue Feb 28 09:25:51 2006 +0000
@@ -24,6 +24,11 @@
#define EC_FMMU_SIZE 16 /**< Größe einer FMMU-Konfigurationsseite */
#define EC_MAX_FMMUS 16 /**< Maximale Anzahl FMMUs pro Slave */
+#define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE \
+ - EC_FRAME_HEADER_SIZE \
+ - EC_COMMAND_HEADER_SIZE \
+ - EC_COMMAND_FOOTER_SIZE) /**< Maximale Datengröße */
+
#define EC_MASTER_MAX_DOMAINS 10 /**< Maximale Anzahl Domänen eines Masters */
#ifndef NULL
--- a/master/master.c Tue Feb 28 09:09:08 2006 +0000
+++ b/master/master.c Tue Feb 28 09:25:51 2006 +0000
@@ -164,24 +164,23 @@
unsigned int i;
unsigned char data[2];
- if (master->slaves || master->slave_count)
- EC_WARN("Slave scan already done!\n");
- ec_master_clear_slaves(master);
+ if (master->slaves || master->slave_count) {
+ EC_ERR("Slave scan already done!\n");
+ return -1;
+ }
// Determine number of slaves on bus
-
ec_frame_init_brd(&frame, master, 0x0000, 4);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
+ if (unlikely(ec_frame_send_receive(&frame))) return -1;
master->slave_count = frame.working_counter;
EC_INFO("Found %i slaves on bus.\n", master->slave_count);
if (!master->slave_count) return 0;
if (!(master->slaves = (ec_slave_t *) kmalloc(master->slave_count
- * sizeof(ec_slave_t),
- GFP_KERNEL))) {
- EC_ERR("Could not allocate memory for bus slaves!\n");
+ * sizeof(ec_slave_t),
+ GFP_KERNEL))) {
+ EC_ERR("Could not allocate memory for slaves!\n");
return -1;
}
@@ -204,7 +203,7 @@
ec_frame_init_apwr(&frame, master, slave->ring_position, 0x0010,
sizeof(uint16_t), data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ if (unlikely(ec_frame_send_receive(&frame))) {
EC_ERR("Writing station address failed on slave %i!\n", i);
return -1;
}
@@ -486,7 +485,7 @@
memset(data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
ec_frame_init_npwr(&frame, master, slave->station_address, 0x0600,
EC_FMMU_SIZE * slave->base_fmmu_count, data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ if (unlikely(ec_frame_send_receive(&frame))) {
EC_ERR("Resetting FMMUs failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -498,7 +497,7 @@
memset(data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
ec_frame_init_npwr(&frame, master, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count, data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ if (unlikely(ec_frame_send_receive(&frame))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
return -1;