From 201385fa20df554a991d5100313a915538581981 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 12 Feb 2007 10:39:52 +0000
Subject: [PATCH] Ignore queued datagrams while waiting in ec_master_sync_io().
---
master/master.c | 15 +++++++++------
1 file changed, 9 insertions(+), 6 deletions(-)
diff --git a/master/master.c b/master/master.c
index e68918fe..144241ba 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1452,22 +1452,25 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram;
- unsigned int datagrams_waiting;
+ unsigned int datagrams_sent;
- // send datagrams
+ // send all datagrams
ecrt_master_send(master);
while (1) { // active waiting
ecrt_master_receive(master); // receive and dequeue datagrams
// count number of datagrams still waiting for response
- datagrams_waiting = 0;
+ datagrams_sent = 0;
list_for_each_entry(datagram, &master->datagram_queue, queue) {
- datagrams_waiting++;
+ // there may be another process that queued commands
+ // in the meantime.
+ if (datagram->state == EC_DATAGRAM_QUEUED) continue;
+ datagrams_sent++;
}
- // if there are no more datagrams waiting, abort loop.
- if (!datagrams_waiting) break;
+ // abort loop if there are no more datagrams marked as sent.
+ if (!datagrams_sent) break;
}
}
--
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