From 0ddf9f91dce40ed48131c0f526becfd72b3d7b97 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 20 Oct 2006 12:54:32 +0000
Subject: [PATCH] Added EC_WAIT_SDO_DICT define.
---
master/fsm.c | 2 +-
master/globals.h | 4 ++++
2 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/master/fsm.c b/master/fsm.c
index 2b18b11f..9f518e49 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -609,7 +609,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
- || jiffies - slave->jiffies_preop < 5 * HZ
+ || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| !slave->online
|| slave->error_flag) continue;
diff --git a/master/globals.h b/master/globals.h
index ede1445f..8fb56529 100644
--- a/master/globals.h
+++ b/master/globals.h
@@ -77,6 +77,10 @@
/** datagram timeout in microseconds */
#define EC_IO_TIMEOUT 500
+/** Seconds to wait before fetching SDO dictionary
+ after slave entered PREOP state. */
+#define EC_WAIT_SDO_DICT 3
+
/** minimum size of a buffer used with ec_state_string() */
#define EC_STATE_STRING_SIZE 30
--
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