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ethercat
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Fixed race: Stop EoE processing when entering or leaving operation mode.

This commit is contained in:
Florian Pose 2007-01-09 12:56:03 +00:00
parent 8f51b59d3e
commit 4dc453ef55
1 changed files with 12 additions and 8 deletions
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20
master/master.c
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@ -393,6 +393,9 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
ec_slave_t *slave;
ec_datagram_t *datagram = &master->fsm.datagram;
ec_master_eoe_stop(master); // stop EoE timer
master->eoe_checked = 0; // prevent from starting again by FSM
master->mode = EC_MASTER_MODE_OPERATION;
while (!cancel_delayed_work(&master->idle_work)) {
flush_workqueue(master->workqueue);
@ -429,6 +432,8 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
}
}
master->eoe_checked = 1; // allow starting EoE again
return 0;
out_idle:
@ -449,6 +454,9 @@ void ec_master_leave_operation_mode(ec_master_t *master
ec_fsm_t *fsm = &master->fsm;
ec_datagram_t *datagram = &master->fsm.datagram;
ec_master_eoe_stop(master); // stop EoE timer
master->eoe_checked = 0; // prevent from starting again by FSM
// wait for FSM datagram
if (datagram->state == EC_DATAGRAM_SENT) {
// active waiting
@ -486,6 +494,8 @@ void ec_master_leave_operation_mode(ec_master_t *master
master->release_cb = ec_master_release_cb;
master->cb_data = master;
master->eoe_checked = 0; // allow EoE again
master->mode = EC_MASTER_MODE_IDLE;
queue_delayed_work(master->workqueue, &master->idle_work, 1);
}
@ -766,6 +776,8 @@ void ec_master_idle_run(void *data /**< master pointer */)
ec_master_t *master = (ec_master_t *) data;
cycles_t cycles_start, cycles_end;
if (master->mode != EC_MASTER_MODE_IDLE) return;
cycles_start = get_cycles();
// receive
@ -1037,14 +1049,6 @@ void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
master->eoe_checked = 1;
// if the locking callbacks are not set in operation mode,
// the EoE timer my not be started.
if (master->mode == EC_MASTER_MODE_OPERATION
&& (!master->request_cb || !master->release_cb)) {
EC_INFO("No EoE processing because of missing locking callbacks.\n");
return;
}
// decouple all EoE handlers
list_for_each_entry(eoe, &master->eoe_handlers, list)
eoe->slave = NULL;