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ethercat
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Ignore queued datagrams while waiting in ec_master_sync_io().

This commit is contained in:
Florian Pose 2007-02-12 10:39:52 +00:00
parent 47e08f6031
commit 3b4c23a436
1 changed files with 9 additions and 6 deletions
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15
master/master.c
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@ -1452,22 +1452,25 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram;
unsigned int datagrams_waiting;
unsigned int datagrams_sent;
// send datagrams
// send all datagrams
ecrt_master_send(master);
while (1) { // active waiting
ecrt_master_receive(master); // receive and dequeue datagrams
// count number of datagrams still waiting for response
datagrams_waiting = 0;
datagrams_sent = 0;
list_for_each_entry(datagram, &master->datagram_queue, queue) {
datagrams_waiting++;
// there may be another process that queued commands
// in the meantime.
if (datagram->state == EC_DATAGRAM_QUEUED) continue;
datagrams_sent++;
}
// if there are no more datagrams waiting, abort loop.
if (!datagrams_waiting) break;
// abort loop if there are no more datagrams marked as sent.
if (!datagrams_sent) break;
}
}