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ethercat
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Removed ec_master_prepare().

This commit is contained in:
Florian Pose 2008-04-25 12:08:11 +00:00
parent 80c1bf823d
commit 5742847dea
2 changed files with 0 additions and 33 deletions
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1
TODO
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@ -40,7 +40,6 @@ Version 1.4.0:
* Separate CoE debugging. * Separate CoE debugging.
* Make ecrt_master_slave_config() return no error when slave is not present * Make ecrt_master_slave_config() return no error when slave is not present
or invalid. or invalid.
* Remove ec_master_prepare().
Future issues: Future issues:

32
master/master.c
View File

@ -1227,36 +1227,6 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
/*****************************************************************************/ /*****************************************************************************/
/**
Prepares synchronous IO.
Queues all domain datagrams and sends them. Then waits a certain time, so
that ecrt_master_receive() can be called securely.
*/
void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
{
ec_domain_t *domain;
cycles_t cycles_start, cycles_end, cycles_timeout;
// queue datagrams of all domains
list_for_each_entry(domain, &master->domains, list)
ecrt_domain_queue(domain);
ecrt_master_send(master);
cycles_start = get_cycles();
cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
// active waiting
while (1) {
udelay(100);
cycles_end = get_cycles();
if (cycles_end - cycles_start >= cycles_timeout) break;
}
}
/*****************************************************************************/
/** Detaches the slave configurations from the slaves. /** Detaches the slave configurations from the slaves.
*/ */
void ec_master_detach_slave_configs( void ec_master_detach_slave_configs(
@ -1354,8 +1324,6 @@ int ecrt_master_activate(ec_master_t *master)
#endif #endif
ec_master_thread_stop(master); ec_master_thread_stop(master);
ec_master_prepare(master); // prepare asynchronous IO
if (master->debug_level) if (master->debug_level)
EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram); EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);