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ethercat
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properly deactivate slaves if there is no eoe slave

This commit is contained in:
Matthias Luescher 2011-01-06 17:19:15 +01:00
parent 67d28bec54
commit e4722b4475
1 changed files with 11 additions and 7 deletions
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18
master/master.c
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@ -1958,6 +1958,7 @@ void ecrt_master_deactivate(ec_master_t *master)
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
int is_eoe_slave;
#endif
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
@ -1981,15 +1982,18 @@ void ecrt_master_deactivate(ec_master_t *master)
// set state to PREOP for all but eoe slaves
#ifdef EC_EOE
is_eoe_slave = 0;
// ... but leave EoE slaves in OP
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (slave != eoe->slave || !ec_eoe_is_open(eoe)) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
}
if (slave == eoe->slave && ec_eoe_is_open(eoe))
is_eoe_slave = 1;
}
if (!is_eoe_slave) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
}
#else
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);