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ethercat
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Idle thread considers fsm step prepared by Op-thread (Otherwise some state changes may get lost)

This commit is contained in:
Martin Troxler 2010-11-22 09:09:23 +01:00
parent e13ea1d2fa
commit 6bfc5ee334
1 changed files with 18 additions and 17 deletions
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35
master/master.c
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@ -1273,24 +1273,25 @@ static int ec_master_idle_thread(void *priv_data)
ecrt_master_receive(master);
up(&master->io_sem);
fsm_exec = 0;
// execute master & slave state machines
if (down_interruptible(&master->master_sem))
break;
fsm_exec = ec_fsm_master_exec(&master->fsm);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_exec(&slave->fsm);
}
up(&master->master_sem);
if (master->injection_seq_rt == master->injection_seq_fsm) {
fsm_exec = 0;
// execute master & slave state machines
if (down_interruptible(&master->master_sem))
break;
fsm_exec = ec_fsm_master_exec(&master->fsm);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_exec(&slave->fsm);
}
up(&master->master_sem);
// queue and send
down(&master->io_sem);
if (fsm_exec) {
ec_master_queue_datagram(master, &master->fsm_datagram);
// queue and send
down(&master->io_sem);
if (fsm_exec) {
master->injection_seq_rt++;
}
}
ec_master_inject_external_datagrams(master);
ecrt_master_send(master);
sent_bytes = master->main_device.tx_skb[
master->main_device.tx_ring_index]->len;
@ -1342,7 +1343,7 @@ static int ec_master_operation_thread(void *priv_data)
// execute master & slave state machines
if (down_interruptible(&master->master_sem))
break;
fsm_exec += ec_fsm_master_exec(&master->fsm);
fsm_exec = ec_fsm_master_exec(&master->fsm);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {