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ethercat
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Introduced global upload timeout for fsm_coe_map.

This commit is contained in:
Florian Pose 2008-06-19 14:06:27 +00:00
parent 86d0d12c62
commit 28adf79a3c
1 changed files with 7 additions and 4 deletions
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11
master/fsm_coe_map.c
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@ -61,6 +61,12 @@ void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
/*****************************************************************************/
/** Sdo upload timeout in ms for reading Pdo assigment/mapping.
*/
#define EC_FSM_COE_MAP_UPLOAD_TIMEOUT 3000
/*****************************************************************************/
/**
Constructor.
*/
@ -73,6 +79,7 @@ void ec_fsm_coe_map_init(
fsm->fsm_coe = fsm_coe;
fsm->state = NULL;
ec_sdo_request_init(&fsm->request);
fsm->request.response_timeout = EC_FSM_COE_MAP_UPLOAD_TIMEOUT;
ec_pdo_list_init(&fsm->pdos);
}
@ -182,7 +189,6 @@ void ec_fsm_coe_map_action_next_dir(
ec_pdo_list_clear_pdos(&fsm->pdos);
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
fsm->request.response_timeout = 10000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@ -247,7 +253,6 @@ void ec_fsm_coe_map_action_next_pdo(
if (fsm->sync_subindex <= fsm->sync_subindices) {
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
fsm->sync_subindex);
fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@ -314,7 +319,6 @@ void ec_fsm_coe_map_state_pdo(
list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@ -370,7 +374,6 @@ void ec_fsm_coe_map_action_next_pdo_entry(
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);