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ethercat
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Abort requests started for slave_configs that don't have any actual slaves.

This commit is contained in:
Gavin Lambert 2015-04-14 09:35:15 -04:00
parent 9e3510c455
commit 1d35113c85
5 changed files with 50 additions and 0 deletions
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3
master/fsm_master.c
View File

@ -246,6 +246,9 @@ void ec_fsm_master_state_start(
return;
}
// check for detached config requests
ec_master_expire_slave_config_requests(fsm->master);
ec_datagram_brd(fsm->datagram, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->dev_idx;

15
master/master.c
View File

@ -1785,6 +1785,21 @@ void ec_master_attach_slave_configs(
/*****************************************************************************/
/** Abort active requests for slave configs without attached slaves.
*/
void ec_master_expire_slave_config_requests(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
ec_slave_config_expire_disconnected_requests(sc);
}
}
/*****************************************************************************/
/** Common implementation for ec_master_find_slave()
* and ec_master_find_slave_const().
*/

1
master/master.h
View File

@ -351,6 +351,7 @@ void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
// misc.
void ec_master_set_send_interval(ec_master_t *, unsigned int);
void ec_master_attach_slave_configs(ec_master_t *);
void ec_master_expire_slave_config_requests(ec_master_t *);
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
uint16_t);

30
master/slave_config.c
View File

@ -553,6 +553,36 @@ ec_voe_handler_t *ec_slave_config_find_voe_handler(
return NULL;
}
/*****************************************************************************/
/** Expires any requests that have been started on a detached slave.
*/
void ec_slave_config_expire_disconnected_requests(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
ec_sdo_request_t *sdo_req;
ec_reg_request_t *reg_req;
if (sc->slave) { return; }
list_for_each_entry(sdo_req, &sc->sdo_requests, list) {
if (sdo_req->state == EC_INT_REQUEST_QUEUED ||
sdo_req->state == EC_INT_REQUEST_BUSY) {
EC_CONFIG_DBG(sc, 1, "Aborting SDO request; no slave attached.\n");
sdo_req->state = EC_INT_REQUEST_FAILURE;
}
}
list_for_each_entry(reg_req, &sc->reg_requests, list) {
if (reg_req->state == EC_INT_REQUEST_QUEUED ||
reg_req->state == EC_INT_REQUEST_BUSY) {
EC_CONFIG_DBG(sc, 1, "Aborting register request; no slave attached.\n");
reg_req->state = EC_INT_REQUEST_FAILURE;
}
}
}
/******************************************************************************
* Application interface
*****************************************************************************/

1
master/slave_config.h
View File

@ -174,6 +174,7 @@ ec_reg_request_t *ec_slave_config_find_reg_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
unsigned int);
void ec_slave_config_expire_disconnected_requests(ec_slave_config_t *);
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *, uint16_t, uint8_t, size_t);