From 4c0e5279e1df3671ff2bf44c91cb369555117dfe Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Fri, 16 Sep 2011 14:10:23 +0200
Subject: [PATCH] Removed allow_config flag and obsolete request to OP.

---
 master/fsm_master.c | 37 +++++++++++++++++--------------------
 master/master.c     |  6 ------
 master/master.h     |  2 --
 3 files changed, 17 insertions(+), 28 deletions(-)

diff --git a/master/fsm_master.c b/master/fsm_master.c
index 75cefafb..d8f2ae15 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -586,28 +586,24 @@ void ec_fsm_master_action_configure(
 
         // Start slave configuration, if it is allowed.
         ec_mutex_lock(&master->config_mutex);
-        if (!master->allow_config) {
-            ec_mutex_unlock(&master->config_mutex);
-        } else {
-            master->config_busy = 1;
-            ec_mutex_unlock(&master->config_mutex);
+        master->config_busy = 1;
+        ec_mutex_unlock(&master->config_mutex);
 
-            if (master->debug_level) {
-                char old_state[EC_STATE_STRING_SIZE],
-                     new_state[EC_STATE_STRING_SIZE];
-                ec_state_string(slave->current_state, old_state, 0);
-                ec_state_string(slave->requested_state, new_state, 0);
-                EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
-                        old_state, new_state,
-                        slave->force_config ? " (forced)" : "");
-            }
-
-            fsm->idle = 0;
-            fsm->state = ec_fsm_master_state_configure_slave;
-            ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
-            fsm->state(fsm); // execute immediately
-            return;
+        if (master->debug_level) {
+            char old_state[EC_STATE_STRING_SIZE],
+                 new_state[EC_STATE_STRING_SIZE];
+            ec_state_string(slave->current_state, old_state, 0);
+            ec_state_string(slave->requested_state, new_state, 0);
+            EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
+                    old_state, new_state,
+                    slave->force_config ? " (forced)" : "");
         }
+
+        fsm->idle = 0;
+        fsm->state = ec_fsm_master_state_configure_slave;
+        ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
+        fsm->state(fsm); // execute immediately
+        return;
     }
 
     // slave has error flag set; process next one
@@ -895,6 +891,7 @@ void ec_fsm_master_enter_write_system_times(
         }
     }
 
+    // scanning and setting system times complete
     ec_master_request_op(master);
     ec_fsm_master_restart(fsm);
 }
diff --git a/master/master.c b/master/master.c
index a2fb5233..ae3f9386 100644
--- a/master/master.c
+++ b/master/master.c
@@ -161,12 +161,10 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     master->has_app_time = 0;
 
     master->scan_busy = 0;
-    master->allow_scan = 1;
     ec_mutex_init(&master->scan_mutex);
     init_waitqueue_head(&master->scan_queue);
 
     master->config_busy = 0;
-    master->allow_config = 1;
     ec_mutex_init(&master->config_mutex);
     init_waitqueue_head(&master->config_queue);
     
@@ -583,7 +581,6 @@ int ec_master_enter_operation_phase(
     EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
 
     ec_mutex_lock(&master->config_mutex);
-    master->allow_config = 0; // temporarily disable slave configuration
     if (master->config_busy) {
         ec_mutex_unlock(&master->config_mutex);
 
@@ -644,7 +641,6 @@ int ec_master_enter_operation_phase(
     
 out_allow:
     master->allow_scan = 1;
-    master->allow_config = 1;
     return ret;
 }
 
@@ -2034,7 +2030,6 @@ int ecrt_master_activate(ec_master_t *master)
         return ret;
     }
 
-    master->allow_config = 1; // request the current configuration
     master->allow_scan = 1; // allow re-scanning on topology change
     master->active = 1;
 
@@ -2107,7 +2102,6 @@ void ecrt_master_deactivate(ec_master_t *master)
         EC_MASTER_WARN(master, "Failed to restart master thread!\n");
 
     master->allow_scan = 1;
-    master->allow_config = 1;
     master->active = 0;
 }
 
diff --git a/master/master.h b/master/master.h
index 322903f4..5e1f3f46 100644
--- a/master/master.h
+++ b/master/master.h
@@ -232,8 +232,6 @@ struct ec_master {
                                     slave scanning. */
 
     unsigned int config_busy; /**< State of slave configuration. */
-    unsigned int allow_config; /**< \a True, if slave configuration is
-                                 allowed. */
     struct ec_mutex_t config_mutex; /**< Mutex protecting the \a config_busy
                                    variable and the allow_config flag. */
     wait_queue_head_t config_queue; /**< Queue for processes that wait for