bkinnightskytw
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ethercat
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Minor changes.

This commit is contained in:
Florian Pose 2012-12-04 11:54:13 +01:00
parent d28370edd5
commit 879a17fa56
1 changed files with 18 additions and 5 deletions
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23
master/master.c
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@ -565,8 +565,9 @@ void ec_master_thread_stop(
master->thread = NULL;
EC_MASTER_INFO(master, "Master thread exited.\n");
if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
if (master->fsm_datagram.state != EC_DATAGRAM_SENT) {
return;
}
// wait for FSM datagram
sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
@ -1386,15 +1387,20 @@ static int ec_master_idle_thread(void *priv_data)
up(&master->io_sem);
fsm_exec = 0;
// execute master & slave state machines
if (down_interruptible(&master->master_sem))
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
@ -1452,21 +1458,27 @@ static int ec_master_operation_thread(void *priv_data)
ec_master_output_stats(master);
fsm_exec = 0;
// execute master & slave state machines
if (down_interruptible(&master->master_sem))
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);
// inject datagrams (let the rt thread queue them, see
// ecrt_master_send)
if (fsm_exec)
if (fsm_exec) {
master->injection_seq_fsm++;
}
}
#ifdef EC_USE_HRTIMER
@ -2261,8 +2273,9 @@ void ecrt_master_deactivate(ec_master_t *master)
}
#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
"EtherCAT-IDLE")) {
EC_MASTER_WARN(master, "Failed to restart master thread!\n");
}
/* Disallow scanning to get into the same state like after a master
* request (after ec_master_enter_operation_phase() is called). */