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ethercat
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Removed unwanted tabulators.

This commit is contained in:
Florian Pose 2009-07-27 10:37:47 +00:00
parent f0904054f9
commit 735f1efbc1
14 changed files with 353 additions and 353 deletions
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278
master/cdev.c
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@ -108,10 +108,10 @@ typedef struct {
* \return 0 in case of success, else < 0
*/
int ec_cdev_init(
ec_cdev_t *cdev, /**< EtherCAT master character device. */
ec_master_t *master, /**< Parent master. */
dev_t dev_num /**< Device number. */
)
ec_cdev_t *cdev, /**< EtherCAT master character device. */
ec_master_t *master, /**< Parent master. */
dev_t dev_num /**< Device number. */
)
{
int ret;
@ -121,9 +121,9 @@ int ec_cdev_init(
cdev->cdev.owner = THIS_MODULE;
ret = cdev_add(&cdev->cdev,
MKDEV(MAJOR(dev_num), master->index), 1);
MKDEV(MAJOR(dev_num), master->index), 1);
if (ret) {
EC_ERR("Failed to add character device!\n");
EC_ERR("Failed to add character device!\n");
}
return ret;
@ -1449,7 +1449,7 @@ int ec_cdev_ioctl_eoe_handler(
)
{
ec_ioctl_eoe_handler_t data;
const ec_eoe_t *eoe;
const ec_eoe_t *eoe;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -1464,12 +1464,12 @@ int ec_cdev_ioctl_eoe_handler(
return -EINVAL;
}
if (eoe->slave) {
data.slave_position = eoe->slave->ring_position;
} else {
data.slave_position = 0xffff;
}
snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
if (eoe->slave) {
data.slave_position = eoe->slave->ring_position;
} else {
data.slave_position = 0xffff;
}
snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
data.open = eoe->opened;
data.rx_bytes = eoe->stats.tx_bytes;
data.rx_rate = eoe->tx_rate;
@ -1496,7 +1496,7 @@ int ec_cdev_ioctl_request(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_master_t *m;
ec_master_t *m;
int ret = 0;
m = ecrt_request_master_err(master->index);
@ -1521,8 +1521,8 @@ int ec_cdev_ioctl_create_domain(
{
ec_domain_t *domain;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
domain = ecrt_master_create_domain_err(master);
if (IS_ERR(domain))
@ -1544,8 +1544,8 @@ int ec_cdev_ioctl_create_slave_config(
ec_ioctl_config_t data;
ec_slave_config_t *sc, *entry;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -1589,8 +1589,8 @@ int ec_cdev_ioctl_activate(
off_t offset;
int ret;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
/* Get the sum of the domains' process data sizes. */
@ -1645,8 +1645,8 @@ int ec_cdev_ioctl_send(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
ecrt_master_send(master);
@ -1664,8 +1664,8 @@ int ec_cdev_ioctl_receive(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
ecrt_master_receive(master);
@ -1685,8 +1685,8 @@ int ec_cdev_ioctl_master_state(
{
ec_master_state_t data;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
ecrt_master_state(master, &data);
@ -1708,8 +1708,8 @@ int ec_cdev_ioctl_app_time(
{
ec_ioctl_app_time_t data;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -1729,8 +1729,8 @@ int ec_cdev_ioctl_sync_ref(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
ecrt_master_sync_reference_clock(master);
@ -1748,8 +1748,8 @@ int ec_cdev_ioctl_sync_slaves(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
ecrt_master_sync_slave_clocks(master);
@ -1772,7 +1772,7 @@ int ec_cdev_ioctl_sc_sync(
unsigned int i;
int ret = 0;
if (unlikely(!priv->requested)) {
if (unlikely(!priv->requested)) {
ret = -EPERM;
goto out_return;
}
@ -1821,7 +1821,7 @@ int ec_cdev_ioctl_sc_add_pdo(
ec_ioctl_config_pdo_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -1853,7 +1853,7 @@ int ec_cdev_ioctl_sc_clear_pdos(
ec_ioctl_config_pdo_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -1886,7 +1886,7 @@ int ec_cdev_ioctl_sc_add_entry(
ec_ioctl_add_pdo_entry_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -1919,7 +1919,7 @@ int ec_cdev_ioctl_sc_clear_entries(
ec_ioctl_config_pdo_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -1954,7 +1954,7 @@ int ec_cdev_ioctl_sc_reg_pdo_entry(
ec_domain_t *domain;
int ret;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -1997,7 +1997,7 @@ int ec_cdev_ioctl_sc_dc(
ec_ioctl_config_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2037,7 +2037,7 @@ int ec_cdev_ioctl_sc_sdo(
uint8_t *sdo_data = NULL;
int ret;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2088,8 +2088,8 @@ int ec_cdev_ioctl_sc_create_sdo_request(
ec_slave_config_t *sc;
ec_sdo_request_t *req;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -2137,8 +2137,8 @@ int ec_cdev_ioctl_sc_create_voe_handler(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -2185,8 +2185,8 @@ int ec_cdev_ioctl_sc_state(
const ec_slave_config_t *sc;
ec_slave_config_state_t state;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -2223,7 +2223,7 @@ int ec_cdev_ioctl_domain_offset(
int offset = 0;
const ec_domain_t *domain;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (down_interruptible(&master->master_sem)) {
@ -2254,7 +2254,7 @@ int ec_cdev_ioctl_domain_process(
{
ec_domain_t *domain;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (down_interruptible(&master->master_sem))
@ -2282,7 +2282,7 @@ int ec_cdev_ioctl_domain_queue(
{
ec_domain_t *domain;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (down_interruptible(&master->master_sem))
@ -2312,8 +2312,8 @@ int ec_cdev_ioctl_domain_state(
const ec_domain_t *domain;
ec_domain_state_t state;
if (unlikely(!priv->requested))
return -EPERM;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -2351,7 +2351,7 @@ int ec_cdev_ioctl_sdo_request_timeout(
ec_slave_config_t *sc;
ec_sdo_request_t *req;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2390,7 +2390,7 @@ int ec_cdev_ioctl_sdo_request_state(
ec_slave_config_t *sc;
ec_sdo_request_t *req;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2437,7 +2437,7 @@ int ec_cdev_ioctl_sdo_request_read(
ec_slave_config_t *sc;
ec_sdo_request_t *req;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2477,7 +2477,7 @@ int ec_cdev_ioctl_sdo_request_write(
ec_sdo_request_t *req;
int ret;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2529,7 +2529,7 @@ int ec_cdev_ioctl_sdo_request_data(
ec_slave_config_t *sc;
ec_sdo_request_t *req;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2573,7 +2573,7 @@ int ec_cdev_ioctl_voe_send_header(
uint32_t vendor_id;
uint16_t vendor_type;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2620,7 +2620,7 @@ int ec_cdev_ioctl_voe_rec_header(
uint32_t vendor_id;
uint16_t vendor_type;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2668,7 +2668,7 @@ int ec_cdev_ioctl_voe_read(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2707,7 +2707,7 @@ int ec_cdev_ioctl_voe_read_nosync(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2746,7 +2746,7 @@ int ec_cdev_ioctl_voe_write(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2794,7 +2794,7 @@ int ec_cdev_ioctl_voe_exec(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2841,7 +2841,7 @@ int ec_cdev_ioctl_voe_data(
ec_slave_config_t *sc;
ec_voe_handler_t *voe;
if (unlikely(!priv->requested))
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
@ -2932,10 +2932,10 @@ int ec_cdev_ioctl_slave_foe_read(
data.result = request.req.result;
data.error_code = request.req.error_code;
if (master->debug_level) {
EC_DBG("Read %d bytes via FoE (result = 0x%x).\n",
request.req.data_size, request.req.result);
}
if (master->debug_level) {
EC_DBG("Read %d bytes via FoE (result = 0x%x).\n",
request.req.data_size, request.req.result);
}
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
data.data_size = 0;
@ -3012,9 +3012,9 @@ int ec_cdev_ioctl_slave_foe_write(
return -EINVAL;
}
if (master->debug_level) {
EC_DBG("Scheduling FoE write request.\n");
}
if (master->debug_level) {
EC_DBG("Scheduling FoE write request.\n");
}
// schedule FoE write request.
list_add_tail(&request.list, &master->foe_requests);
@ -3050,9 +3050,9 @@ int ec_cdev_ioctl_slave_foe_write(
ec_foe_request_clear(&request.req);
if (master->debug_level) {
printk ("Finished FoE writing.\n");
}
if (master->debug_level) {
printk("Finished FoE writing.\n");
}
return retval;
}
@ -3189,136 +3189,136 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_eoe_handler(master, arg);
case EC_IOCTL_REQUEST:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_request(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_request(master, arg, priv);
case EC_IOCTL_CREATE_DOMAIN:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_create_domain(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_create_domain(master, arg, priv);
case EC_IOCTL_CREATE_SLAVE_CONFIG:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_create_slave_config(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_create_slave_config(master, arg, priv);
case EC_IOCTL_ACTIVATE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_activate(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_activate(master, arg, priv);
case EC_IOCTL_SEND:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_send(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_send(master, arg, priv);
case EC_IOCTL_RECEIVE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_receive(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_receive(master, arg, priv);
case EC_IOCTL_MASTER_STATE:
return ec_cdev_ioctl_master_state(master, arg, priv);
return ec_cdev_ioctl_master_state(master, arg, priv);
case EC_IOCTL_APP_TIME:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_app_time(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_app_time(master, arg, priv);
case EC_IOCTL_SYNC_REF:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_ref(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sync_ref(master, arg, priv);
case EC_IOCTL_SYNC_SLAVES:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_slaves(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sync_slaves(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sync(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_sync(master, arg, priv);
case EC_IOCTL_SC_ADD_PDO:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
case EC_IOCTL_SC_CLEAR_PDOS:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
case EC_IOCTL_SC_ADD_ENTRY:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
case EC_IOCTL_SC_CLEAR_ENTRIES:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
case EC_IOCTL_SC_REG_PDO_ENTRY:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
case EC_IOCTL_SC_DC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_dc(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_dc(master, arg, priv);
case EC_IOCTL_SC_SDO:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
case EC_IOCTL_SC_SDO_REQUEST:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
case EC_IOCTL_SC_VOE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
case EC_IOCTL_SC_STATE:
return ec_cdev_ioctl_sc_state(master, arg, priv);
return ec_cdev_ioctl_sc_state(master, arg, priv);
case EC_IOCTL_DOMAIN_OFFSET:
return ec_cdev_ioctl_domain_offset(master, arg, priv);
return ec_cdev_ioctl_domain_offset(master, arg, priv);
case EC_IOCTL_DOMAIN_PROCESS:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_domain_process(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_domain_process(master, arg, priv);
case EC_IOCTL_DOMAIN_QUEUE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_domain_queue(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_domain_queue(master, arg, priv);
case EC_IOCTL_DOMAIN_STATE:
return ec_cdev_ioctl_domain_state(master, arg, priv);
return ec_cdev_ioctl_domain_state(master, arg, priv);
case EC_IOCTL_SDO_REQUEST_TIMEOUT:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
case EC_IOCTL_SDO_REQUEST_STATE:
return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
case EC_IOCTL_SDO_REQUEST_READ:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
case EC_IOCTL_SDO_REQUEST_WRITE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
case EC_IOCTL_SDO_REQUEST_DATA:
return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
case EC_IOCTL_VOE_SEND_HEADER:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_voe_send_header(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_voe_send_header(master, arg, priv);
case EC_IOCTL_VOE_REC_HEADER:
return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
case EC_IOCTL_VOE_READ:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_voe_read(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_voe_read(master, arg, priv);
case EC_IOCTL_VOE_READ_NOSYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
case EC_IOCTL_VOE_WRITE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_voe_write(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_voe_write(master, arg, priv);
case EC_IOCTL_VOE_EXEC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_voe_exec(master, arg, priv);
return -EPERM;
return ec_cdev_ioctl_voe_exec(master, arg, priv);
case EC_IOCTL_VOE_DATA:
return ec_cdev_ioctl_voe_data(master, arg, priv);
return ec_cdev_ioctl_voe_data(master, arg, priv);
default:
return -ENOTTY;
}

2
master/datagram.c
View File

@ -118,7 +118,7 @@ void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram. */)
{
if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
kfree(datagram->data);
datagram->data = NULL;
datagram->data = NULL;
}
}

10
master/device.c
View File

@ -319,15 +319,15 @@ void ec_device_send(
#else
if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK) {
#endif
device->tx_count++;
device->tx_count++;
#ifdef EC_DEBUG_IF
ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);
ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);
#endif
#ifdef EC_DEBUG_RING
ec_device_debug_ring_append(
device, TX, skb->data + ETH_HLEN, size);
ec_device_debug_ring_append(
device, TX, skb->data + ETH_HLEN, size);
#endif
}
}
}
/*****************************************************************************/

64
master/fsm_coe.c
View File

@ -1084,57 +1084,57 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->state = ec_fsm_coe_error;
return;
}
if (request->data_size <= 4) { // use expedited transfer type
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (request->data_size <= 4) { // use expedited transfer type
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->state = ec_fsm_coe_error;
return;
}
size = 4 - request->data_size;
size = 4 - request->data_size;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| size << 2
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
memcpy(data + 6, request->data, request->data_size);
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| size << 2
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
memcpy(data + 6, request->data, request->data_size);
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
if (slave->master->debug_level) {
EC_DBG("Expedited download request:\n");
ec_print_data(data, 10);
}
}
}
else { // request->data_size > 4, use normal transfer type
if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) {
EC_ERR("SDO fragmenting not supported yet!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) {
EC_ERR("SDO fragmenting not supported yet!\n");
fsm->state = ec_fsm_coe_error;
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
request->data_size + 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
| 0x1 << 5)); // Download request
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);
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
| 0x1 << 5)); // Download request
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);
if (slave->master->debug_level) {
EC_DBG("Normal download request:\n");
ec_print_data(data, 10 + request->data_size);
}
}
}
fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;

4
master/fsm_master.c
View File

@ -867,7 +867,7 @@ void ec_fsm_master_state_scan_slave(
wake_up_interruptible(&master->scan_queue);
ec_master_calc_dc(master);
// Attach slave configurations
ec_master_attach_slave_configs(master);
@ -967,7 +967,7 @@ void ec_fsm_master_state_write_sii(
/** Master state: WRITE FOE.
*/
void ec_fsm_master_state_foe_request(
ec_fsm_master_t *fsm /**< Master state machine. */
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;

2
master/fsm_pdo.c
View File

@ -641,7 +641,7 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
// assign first PDO
fsm->pdo_pos = 1;
ec_fsm_pdo_conf_action_assign_pdo(fsm);
ec_fsm_pdo_conf_action_assign_pdo(fsm);
}
/*****************************************************************************/

80
master/fsm_sii.c
View File

@ -139,7 +139,7 @@ int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
fsm->state(fsm);
return fsm->state != ec_fsm_sii_state_end
&& fsm->state != ec_fsm_sii_state_error;
&& fsm->state != ec_fsm_sii_state_error;
}
/*****************************************************************************/
@ -164,8 +164,8 @@ int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
*/
void ec_fsm_sii_state_start_reading(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
@ -184,8 +184,8 @@ void ec_fsm_sii_state_start_reading(
EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
#ifdef SII_DEBUG
EC_DBG("reading SII data:\n");
ec_print_data(datagram->data, 4);
EC_DBG("reading SII data:\n");
ec_print_data(datagram->data, 4);
#endif
fsm->retries = EC_FSM_RETRIES;
@ -200,8 +200,8 @@ void ec_fsm_sii_state_start_reading(
*/
void ec_fsm_sii_state_read_check(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
@ -250,8 +250,8 @@ void ec_fsm_sii_state_read_check(
*/
void ec_fsm_sii_state_read_fetch(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
@ -275,8 +275,8 @@ void ec_fsm_sii_state_read_fetch(
}
#ifdef SII_DEBUG
EC_DBG("checking SII read state:\n");
ec_print_data(datagram->data, 10);
EC_DBG("checking SII read state:\n");
ec_print_data(datagram->data, 10);
#endif
if (EC_READ_U8(datagram->data + 1) & 0x20) {
@ -286,15 +286,15 @@ void ec_fsm_sii_state_read_fetch(
}
// check "busy bit"
if (EC_READ_U8(datagram->data + 1) & 0x81) { // busy bit or
// read operation busy
if (EC_READ_U8(datagram->data + 1) & 0x81) { /* busy bit or
read operation busy */
// still busy... timeout?
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= SII_TIMEOUT) {
if (fsm->check_once_more) {
fsm->check_once_more = 0;
} else {
fsm->check_once_more = 0;
} else {
EC_ERR("SII: Read timeout.\n");
fsm->state = ec_fsm_sii_state_error;
return;
@ -319,23 +319,23 @@ void ec_fsm_sii_state_read_fetch(
*/
void ec_fsm_sii_state_start_writing(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
// initiate write operation
ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 8);
EC_WRITE_U8 (datagram->data, 0x81); // two address octets
// + enable write access
EC_WRITE_U8 (datagram->data, 0x81); /* two address octets
+ enable write access */
EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
memset(datagram->data + 4, 0x00, 2);
memset(datagram->data + 4, 0x00, 2);
memcpy(datagram->data + 6, fsm->value, 2);
#ifdef SII_DEBUG
EC_DBG("writing SII data:\n");
ec_print_data(datagram->data, 8);
EC_DBG("writing SII data:\n");
ec_print_data(datagram->data, 8);
#endif
fsm->retries = EC_FSM_RETRIES;
@ -349,8 +349,8 @@ void ec_fsm_sii_state_start_writing(
*/
void ec_fsm_sii_state_write_check(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
@ -390,8 +390,8 @@ void ec_fsm_sii_state_write_check(
*/
void ec_fsm_sii_state_write_check2(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
unsigned long diff_ms;
@ -416,8 +416,8 @@ void ec_fsm_sii_state_write_check2(
}
#ifdef SII_DEBUG
EC_DBG("checking SII write state:\n");
ec_print_data(datagram->data, 2);
EC_DBG("checking SII write state:\n");
ec_print_data(datagram->data, 2);
#endif
if (EC_READ_U8(datagram->data + 1) & 0x20) {
@ -426,25 +426,25 @@ void ec_fsm_sii_state_write_check2(
return;
}
/* FIXME: some slaves never answer with the busy flag set...
* wait a few ms for the write operation to complete. */
/* FIXME: some slaves never answer with the busy flag set...
* wait a few ms for the write operation to complete. */
diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms < SII_INHIBIT) {
#ifdef SII_DEBUG
EC_DBG("too early.\n");
EC_DBG("too early.\n");
#endif
// issue check datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
}
if (EC_READ_U8(datagram->data + 1) & 0x82) { // busy bit or
// write operation busy bit
if (EC_READ_U8(datagram->data + 1) & 0x82) { /* busy bit or
write operation busy bit */
// still busy... timeout?
if (diff_ms >= SII_TIMEOUT) {
if (fsm->check_once_more) {
fsm->check_once_more = 0;
} else {
fsm->check_once_more = 0;
} else {
EC_ERR("SII: Write timeout.\n");
fsm->state = ec_fsm_sii_state_error;
return;
@ -473,8 +473,8 @@ void ec_fsm_sii_state_write_check2(
*/
void ec_fsm_sii_state_error(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
}
@ -485,8 +485,8 @@ void ec_fsm_sii_state_error(
*/
void ec_fsm_sii_state_end(
ec_fsm_sii_t *fsm /**< finite state machine */
)
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
}

4
master/fsm_slave_config.c
View File

@ -443,7 +443,7 @@ void ec_fsm_slave_config_state_dc_read_offset(
// set DC system time offset and transmission delay
ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
EC_WRITE_U64(datagram->data, new_offset);
EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_write_offset;
}
@ -829,7 +829,7 @@ void ec_fsm_slave_config_state_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// TODO check for config here
// TODO check for config here
if (ec_fsm_pdo_exec(fsm->fsm_pdo))
return;

38
master/ioctl.h
View File

@ -239,13 +239,13 @@ typedef struct {
typedef struct {
// inputs
uint32_t index;
uint32_t index;
// outputs
uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
uint32_t fmmu_count;
} ec_ioctl_domain_t;
@ -253,15 +253,15 @@ typedef struct {
typedef struct {
// inputs
uint32_t domain_index;
uint32_t fmmu_index;
uint32_t domain_index;
uint32_t fmmu_index;
// outputs
uint16_t slave_config_alias;
uint16_t slave_config_position;
uint8_t sync_index;
ec_direction_t dir;
uint32_t logical_address;
uint32_t logical_address;
uint32_t data_size;
} ec_ioctl_domain_fmmu_t;
@ -269,7 +269,7 @@ typedef struct {
typedef struct {
// inputs
uint32_t domain_index;
uint32_t domain_index;
uint32_t data_size;
uint8_t *target;
} ec_ioctl_domain_data_t;
@ -278,7 +278,7 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
uint16_t slave_position;
uint8_t al_state;
} ec_ioctl_slave_state_t;
@ -448,15 +448,15 @@ typedef struct {
uint16_t eoe_index;
// outputs
char name[EC_DATAGRAM_NAME_SIZE];
uint16_t slave_position;
uint8_t open;
uint32_t rx_bytes;
uint32_t rx_rate;
uint32_t tx_bytes;
uint32_t tx_rate;
uint32_t tx_queued_frames;
uint32_t tx_queue_size;
char name[EC_DATAGRAM_NAME_SIZE];
uint16_t slave_position;
uint8_t open;
uint32_t rx_bytes;
uint32_t rx_rate;
uint32_t tx_bytes;
uint32_t tx_rate;
uint32_t tx_queued_frames;
uint32_t tx_queue_size;
} ec_ioctl_eoe_handler_t;
/*****************************************************************************/

142
master/master.c
View File

@ -129,9 +129,9 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
INIT_LIST_HEAD(&master->configs);
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_start_time = 0;
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_start_time = 0;
master->scan_busy = 0;
master->allow_scan = 1;
@ -224,7 +224,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
EC_ERR("Failed to allocate synchronisation datagram.\n");
goto out_clear_ref_sync;
}
ec_master_find_dc_ref_clock(master);
ec_master_find_dc_ref_clock(master);
// init character device
ret = ec_cdev_init(&master->cdev, master, device_number);
@ -1257,17 +1257,17 @@ const ec_slave_t *ec_master_find_slave_const(
* \return Number of configurations.
*/
unsigned int ec_master_config_count(
const ec_master_t *master /**< EtherCAT master. */
)
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_slave_config_t *sc;
unsigned int count = 0;
const ec_slave_config_t *sc;
unsigned int count = 0;
list_for_each_entry(sc, &master->configs, list) {
count++;
}
list_for_each_entry(sc, &master->configs, list) {
count++;
}
return count;
return count;
}
/*****************************************************************************/
@ -1277,12 +1277,12 @@ unsigned int ec_master_config_count(
*/
#define EC_FIND_CONFIG \
do { \
list_for_each_entry(sc, &master->configs, list) { \
if (pos--) \
continue; \
return sc; \
} \
return NULL; \
list_for_each_entry(sc, &master->configs, list) { \
if (pos--) \
continue; \
return sc; \
} \
return NULL; \
} while (0)
/** Get a slave configuration via its position in the list.
@ -1290,12 +1290,12 @@ unsigned int ec_master_config_count(
* \return Slave configuration or \a NULL.
*/
ec_slave_config_t *ec_master_get_config(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
{
ec_slave_config_t *sc;
EC_FIND_CONFIG;
ec_slave_config_t *sc;
EC_FIND_CONFIG;
}
/** Get a slave configuration via its position in the list.
@ -1305,12 +1305,12 @@ ec_slave_config_t *ec_master_get_config(
* \return Slave configuration or \a NULL.
*/
const ec_slave_config_t *ec_master_get_config_const(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
{
const ec_slave_config_t *sc;
EC_FIND_CONFIG;
const ec_slave_config_t *sc;
EC_FIND_CONFIG;
}
/*****************************************************************************/
@ -1320,17 +1320,17 @@ const ec_slave_config_t *ec_master_get_config_const(
* \return Number of domains.
*/
unsigned int ec_master_domain_count(
const ec_master_t *master /**< EtherCAT master. */
)
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_domain_t *domain;
unsigned int count = 0;
const ec_domain_t *domain;
unsigned int count = 0;
list_for_each_entry(domain, &master->domains, list) {
count++;
}
list_for_each_entry(domain, &master->domains, list) {
count++;
}
return count;
return count;
}
/*****************************************************************************/
@ -1354,11 +1354,11 @@ unsigned int ec_master_domain_count(
* \return Domain pointer, or \a NULL if not found.
*/
ec_domain_t *ec_master_find_domain(
ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
{
ec_domain_t *domain;
ec_domain_t *domain;
EC_FIND_DOMAIN;
}
@ -1369,11 +1369,11 @@ ec_domain_t *ec_master_find_domain(
* \return Domain pointer, or \a NULL if not found.
*/
const ec_domain_t *ec_master_find_domain_const(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
const ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
{
const ec_domain_t *domain;
const ec_domain_t *domain;
EC_FIND_DOMAIN;
}
@ -1384,17 +1384,17 @@ const ec_domain_t *ec_master_find_domain_const(
* \return Number of EoE handlers.
*/
uint16_t ec_master_eoe_handler_count(
const ec_master_t *master /**< EtherCAT master. */
)
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_eoe_t *eoe;
unsigned int count = 0;
const ec_eoe_t *eoe;
unsigned int count = 0;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
count++;
}
list_for_each_entry(eoe, &master->eoe_handlers, list) {
count++;
}
return count;
return count;
}
/*****************************************************************************/
@ -1406,19 +1406,19 @@ uint16_t ec_master_eoe_handler_count(
* \return EoE handler pointer, or \a NULL if not found.
*/
const ec_eoe_t *ec_master_get_eoe_handler_const(
const ec_master_t *master, /**< EtherCAT master. */
uint16_t index /**< EoE handler index. */
)
const ec_master_t *master, /**< EtherCAT master. */
uint16_t index /**< EoE handler index. */
)
{
const ec_eoe_t *eoe;
const ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (index--)
continue;
return eoe;
}
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (index--)
continue;
return eoe;
}
return NULL;
return NULL;
}
/*****************************************************************************/
@ -1452,9 +1452,9 @@ int ec_master_debug_level(
*/
void ec_master_find_dc_ref_clock(
ec_master_t *master /**< EtherCAT master. */
)
)
{
ec_slave_t *slave, *ref = NULL;
ec_slave_t *slave, *ref = NULL;
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@ -1480,7 +1480,7 @@ int ec_master_calc_topology_rec(
ec_master_t *master, /**< EtherCAT master. */
ec_slave_t *port0_slave, /**< Slave at port 0. */
unsigned int *slave_position /**< Slave position. */
)
)
{
ec_slave_t *slave = master->slaves + *slave_position;
unsigned int i;
@ -1512,7 +1512,7 @@ int ec_master_calc_topology_rec(
*/
void ec_master_calc_topology(
ec_master_t *master /**< EtherCAT master. */
)
)
{
unsigned int slave_position = 0;
@ -1529,9 +1529,9 @@ void ec_master_calc_topology(
*/
void ec_master_calc_transmission_delays(
ec_master_t *master /**< EtherCAT master. */
)
)
{
ec_slave_t *slave;
ec_slave_t *slave;
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@ -1551,10 +1551,10 @@ void ec_master_calc_transmission_delays(
*/
void ec_master_calc_dc(
ec_master_t *master /**< EtherCAT master. */
)
)
{
// find DC reference clock
ec_master_find_dc_ref_clock(master);
// find DC reference clock
ec_master_find_dc_ref_clock(master);
// calculate bus topology
ec_master_calc_topology(master);

8
master/slave.c
View File

@ -747,7 +747,7 @@ void ec_slave_attach_pdo_names(
*/
uint32_t ec_slave_calc_rtt_sum(
ec_slave_t *slave /**< EtherCAT slave. */
)
)
{
uint32_t rtt_sum = 0, rtt;
unsigned int i;
@ -768,7 +768,7 @@ uint32_t ec_slave_calc_rtt_sum(
*/
ec_slave_t *ec_slave_find_next_dc_slave(
ec_slave_t *slave /**< EtherCAT slave. */
)
)
{
ec_slave_t *dc_slave = NULL;
@ -796,7 +796,7 @@ ec_slave_t *ec_slave_find_next_dc_slave(
*/
void ec_slave_calc_port_delays(
ec_slave_t *slave /**< EtherCAT slave. */
)
)
{
unsigned int i;
ec_slave_t *next, *next_dc;
@ -834,7 +834,7 @@ void ec_slave_calc_port_delays(
void ec_slave_calc_transmission_delays_rec(
ec_slave_t *slave, /**< Current slave. */
uint32_t *delay /**< Sum of delays. */
)
)
{
unsigned int i;
ec_slave_t *next, *next_dc;

50
master/slave_config.c
View File

@ -74,11 +74,11 @@ void ec_slave_config_init(
sc->used_fmmus = 0;
sc->dc_assign_activate = 0x0000;
sc->dc_sync[0].cycle_time = 0x00000000;
sc->dc_sync[1].cycle_time = 0x00000000;
sc->dc_sync[0].shift_time = 0x00000000;
sc->dc_sync[1].shift_time = 0x00000000;
sc->dc_assign_activate = 0x0000;
sc->dc_sync[0].cycle_time = 0x00000000;
sc->dc_sync[1].cycle_time = 0x00000000;
sc->dc_sync[0].shift_time = 0x00000000;
sc->dc_sync[1].shift_time = 0x00000000;
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
@ -184,10 +184,10 @@ int ec_slave_config_attach(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
ec_slave_t *slave;
ec_slave_t *slave;
if (sc->slave)
return 0; // already attached
if (sc->slave)
return 0; // already attached
if (!(slave = ec_master_find_slave(
sc->master, sc->alias, sc->position))) {
@ -197,7 +197,7 @@ int ec_slave_config_attach(
return -ENOENT;
}
if (slave->config) {
if (slave->config) {
if (sc->master->debug_level)
EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"
" already has a configuration!\n", sc->alias,
@ -214,11 +214,11 @@ int ec_slave_config_attach(
slave->sii.product_code, sc->alias, sc->position,
sc->vendor_id, sc->product_code);
return -EINVAL;
}
}
// attach slave
slave->config = sc;
sc->slave = slave;
// attach slave
slave->config = sc;
sc->slave = slave;
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
@ -226,7 +226,7 @@ int ec_slave_config_attach(
EC_DBG("Attached slave %u to config %u:%u.\n",
slave->ring_position, sc->alias, sc->position);
return 0;
return 0;
}
/*****************************************************************************/
@ -334,14 +334,14 @@ unsigned int ec_slave_config_sdo_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_sdo_request_t *req;
unsigned int count = 0;
const ec_sdo_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->sdo_configs, list) {
count++;
}
list_for_each_entry(req, &sc->sdo_configs, list) {
count++;
}
return count;
return count;
}
/*****************************************************************************/
@ -679,11 +679,11 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
{
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;
sc->dc_sync[1].cycle_time = sync1_cycle_time;
sc->dc_sync[1].shift_time = sync1_shift_time;
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;
sc->dc_sync[1].cycle_time = sync1_cycle_time;
sc->dc_sync[1].shift_time = sync1_shift_time;
}
/*****************************************************************************/

2
master/slave_config.h
View File

@ -91,7 +91,7 @@ const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
unsigned int);
unsigned int);
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *, uint16_t, uint8_t, size_t);

22
master/voe_handler.c
View File

@ -108,14 +108,14 @@ void ec_voe_handler_clear(
/** Get usable memory size.
*/
size_t ec_voe_handler_mem_size(
const ec_voe_handler_t *voe /**< VoE handler. */
)
const ec_voe_handler_t *voe /**< VoE handler. */
)
{
if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)
return voe->datagram.mem_size -
(EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);
else
return 0;
if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)
return voe->datagram.mem_size -
(EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);
else
return 0;
}
/*****************************************************************************
@ -223,7 +223,7 @@ void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)
voe->request_state = EC_INT_REQUEST_FAILURE;
return;
}
data = ec_slave_mbox_prepare_send(slave, &voe->datagram,
EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);
if (IS_ERR(data)) {
@ -308,7 +308,7 @@ void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)
voe->request_state = EC_INT_REQUEST_FAILURE;
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
voe->jiffies_start = jiffies;
@ -451,7 +451,7 @@ void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)
voe->request_state = EC_INT_REQUEST_FAILURE;
return;
}
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
voe->jiffies_start = jiffies;
@ -502,7 +502,7 @@ void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)
}
if (!(data = ec_slave_mbox_fetch(slave, datagram,
&mbox_prot, &rec_size))) {
&mbox_prot, &rec_size))) {
voe->state = ec_voe_handler_state_error;
voe->request_state = EC_INT_REQUEST_FAILURE;
return;