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ethercat
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Retry reading assigned pdos using timeout.

This commit is contained in:
Richard Hacker 2008-06-18 15:03:03 +00:00
parent 4349375d28
commit 87cca35c84
2 changed files with 7 additions and 3 deletions
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8
master/fsm_coe_map.c
View File

@ -44,6 +44,10 @@
#include "sdo_request.h"
#include "fsm_coe_map.h"
/** Retry reading the number of assigned Pdos if this time is not elapsed.
*/
#define EC_FSM_COE_MAP_TIMEOUT 5
/*****************************************************************************/
void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
@ -183,7 +187,7 @@ void ec_fsm_coe_map_action_next_dir(
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
ecrt_sdo_request_read(&fsm->request);
fsm->retries = 5;
fsm->jiffies_start = jiffies;
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@ -210,7 +214,7 @@ void ec_fsm_coe_map_state_pdo_count(
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
if (fsm->retries--) {
if (jiffies - fsm->jiffies_start < HZ * EC_FSM_COE_MAP_TIMEOUT) {
if (fsm->slave->master->debug_level)
EC_DBG("Failed to read number of assigned Pdos from "
"slave %u. Retrying...\n", fsm->slave->ring_position);

2
master/fsm_coe_map.h
View File

@ -73,7 +73,7 @@ struct ec_fsm_coe_map
uint8_t pdo_subindices; /**< Number of Pdo entries. */
uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */
unsigned int retries; /**< Retry count. */
unsigned long jiffies_start; /**< Timestamp. */
};
/*****************************************************************************/