From cf327f63c886f72c8d5907209cea4c36063c50e9 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Tue, 4 Dec 2012 12:09:42 +0100
Subject: [PATCH] Mark processing SDO request as invalid if config is cleared.

---
 master/fsm_master.c | 15 +++++++++++++--
 master/master.c     |  1 +
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/master/fsm_master.c b/master/fsm_master.c
index ad4c9af6..ca29c711 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -435,8 +435,11 @@ int ec_fsm_master_action_process_sdo(
     for (slave = master->slaves;
             slave < master->slaves + master->slave_count;
             slave++) {
-        if (!slave->config)
+
+        if (!slave->config) {
             continue;
+        }
+
         list_for_each_entry(req, &slave->config->sdo_requests, list) {
             if (req->state == EC_INT_REQUEST_QUEUED) {
 
@@ -1215,7 +1218,15 @@ void ec_fsm_master_state_sdo_request(
 {
     ec_sdo_request_t *request = fsm->sdo_request;
 
-    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+    if (!request) {
+        // configuration was cleared in the meantime
+        ec_fsm_master_restart(fsm);
+        return;
+    }
+
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) {
+        return;
+    }
 
     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
         EC_SLAVE_DBG(fsm->slave, 1,
diff --git a/master/master.c b/master/master.c
index a9296d9a..8074c88d 100644
--- a/master/master.c
+++ b/master/master.c
@@ -415,6 +415,7 @@ void ec_master_clear_slave_configs(ec_master_t *master)
     ec_slave_config_t *sc, *next;
 
     master->dc_ref_config = NULL;
+    master->fsm.sdo_request = NULL; // mark sdo_request as invalid
 
     list_for_each_entry_safe(sc, next, &master->configs, list) {
         list_del(&sc->list);