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ethercat
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Included datagram queuing in critical section in idle task; added some 

debugging and comments.
This commit is contained in:
Florian Pose 2007-08-09 14:47:37 +00:00
parent cc0cee6757
commit f76d31ec92
1 changed files with 8 additions and 8 deletions
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16
master/master.c
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@ -798,21 +798,21 @@ static int ec_master_idle_thread(ec_master_t *master)
while (!signal_pending(current)) {
cycles_start = get_cycles();
if (ec_fsm_master_running(&master->fsm)) {
if (ec_fsm_master_running(&master->fsm)) { // datagram on the way
// receive
spin_lock_bh(&master->internal_lock);
ecrt_master_receive(master);
spin_unlock_bh(&master->internal_lock);
if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
goto schedule;
}
if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
goto schedule;
// execute master state machine
if (ec_fsm_master_exec(&master->fsm)) {
if (ec_fsm_master_exec(&master->fsm)) { // datagram ready for sending
// queue and send
ec_master_queue_datagram(master, &master->fsm_datagram);
spin_lock_bh(&master->internal_lock);
ec_master_queue_datagram(master, &master->fsm_datagram);
ecrt_master_send(master);
spin_unlock_bh(&master->internal_lock);
}
@ -1514,8 +1514,8 @@ void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
EC_DBG("TIMED OUT datagram index %02X waited %u us.\n",
datagram->index,
EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
(unsigned int) datagram, datagram->index,
(unsigned int) (master->main_device.cycles_poll
- datagram->cycles_sent) * 1000 / cpu_khz);
}