Fixed bug that caused the configuration not to be cleared when reserved but

not activated and then releasing.

TODO

@@ -42,7 +42,6 @@ Version 1.5.0:
 * Output SoE IDN configurations in 'ethercat config'.
 * Fix casting away constness during expected WC calculation.
 * Read AL status code on spontaneous state change.
-* Fix clearing domains etc. when not activated and releasing.
 * Only output watchdog config if not default.
 
 Future issues:

master/master.c

@@ -439,6 +439,20 @@ void ec_master_clear_domains(ec_master_t *master)
 
 /*****************************************************************************/
 
+/** Clear the configuration applied by the application.
+ */
+void ec_master_clear_config(
+        ec_master_t *master /**< EtherCAT master. */
+        )
+{
+    down(&master->master_sem);
+    ec_master_clear_domains(master);
+    ec_master_clear_slave_configs(master);
+    up(&master->master_sem);
+}
+
+/*****************************************************************************/
+
 /** Internal sending callback.
  */
 void ec_master_internal_send_cb(
@@ -653,15 +667,17 @@ void ec_master_leave_operation_phase(
         ec_master_t *master /**< EtherCAT master */
         )
 {
-    if (master->active)
+    if (master->active) {
-        ecrt_master_deactivate(master);
+        ecrt_master_deactivate(master); // also clears config
+    } else {
+        ec_master_clear_config(master);
+    }
 
     EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
 
     master->phase = EC_IDLE;
 }
 
-
 /*****************************************************************************/
 
 /** Injects external datagrams that fit into the datagram queue.
@@ -1989,8 +2005,7 @@ void ecrt_master_deactivate(ec_master_t *master)
     int eoe_was_running;
 #endif
 
-    EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%p)\n",
+    EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
-            master);
 
     if (!master->active) {
         EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
@@ -2007,10 +2022,7 @@ void ecrt_master_deactivate(ec_master_t *master)
     master->receive_cb = ec_master_internal_receive_cb;
     master->cb_data = master;
     
-    down(&master->master_sem);
+    ec_master_clear_config(master);
-    ec_master_clear_domains(master);
-    ec_master_clear_slave_configs(master);
-    up(&master->master_sem);
 
     for (slave = master->slaves;
             slave < master->slaves + master->slave_count;

master/master.h

@@ -170,11 +170,12 @@ struct ec_master {
     unsigned int injection_seq_rt; /**< Datagram injection sequence number
                                      for the realtime side. */
 
-
     ec_slave_t *slaves; /**< Array of slaves on the bus. */
     unsigned int slave_count; /**< Number of slaves on the bus. */
 
+    /* Configuration applied by the application. */
     struct list_head configs; /**< List of slave configurations. */
+    struct list_head domains; /**< List of domains. */
     
     u64 app_time; /**< Time of the last ecrt_master_sync() call. */
     u64 app_start_time; /**< Application start time. */
@@ -213,7 +214,6 @@ struct ec_master {
     struct list_head external_datagram_queue; /**< External Datagram queue. */
     unsigned int send_interval; /**< Interval between calls to ecrt_master_send */
     size_t max_queue_size; /**< Maximum size of datagram queue */
-    struct list_head domains; /**< List of domains. */
 
     unsigned int debug_level; /**< Master debug level. */
     ec_stats_t stats; /**< Cyclic statistics. */
@@ -242,7 +242,6 @@ struct ec_master {
 
     struct list_head reg_requests; /**< Register requests. */
     wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
-
 };
 
 /*****************************************************************************/