From 6628493d43eb8d6d51b2a40c445f1280859bb246 Mon Sep 17 00:00:00 2001
From: Richard Hacker <ha@igh-essen.com>
Date: Wed, 18 Jun 2008 15:03:03 +0000
Subject: [PATCH] Retry reading assigned pdos using timeout.
---
master/fsm_coe_map.c | 8 ++++++--
master/fsm_coe_map.h | 2 +-
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c
index 5033e004..ba3fed2a 100644
--- a/master/fsm_coe_map.c
+++ b/master/fsm_coe_map.c
@@ -44,6 +44,10 @@
#include "sdo_request.h"
#include "fsm_coe_map.h"
+/** Retry reading the number of assigned Pdos if this time is not elapsed.
+ */
+#define EC_FSM_COE_MAP_TIMEOUT 5
+
/*****************************************************************************/
void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
@@ -183,7 +187,7 @@ void ec_fsm_coe_map_action_next_dir(
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
ecrt_sdo_request_read(&fsm->request);
- fsm->retries = 5;
+ fsm->jiffies_start = jiffies;
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -210,7 +214,7 @@ void ec_fsm_coe_map_state_pdo_count(
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- if (fsm->retries--) {
+ if (jiffies - fsm->jiffies_start < HZ * EC_FSM_COE_MAP_TIMEOUT) {
if (fsm->slave->master->debug_level)
EC_DBG("Failed to read number of assigned Pdos from "
"slave %u. Retrying...\n", fsm->slave->ring_position);
diff --git a/master/fsm_coe_map.h b/master/fsm_coe_map.h
index 17dce52d..fb71b879 100644
--- a/master/fsm_coe_map.h
+++ b/master/fsm_coe_map.h
@@ -73,7 +73,7 @@ struct ec_fsm_coe_map
uint8_t pdo_subindices; /**< Number of Pdo entries. */
uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */
- unsigned int retries; /**< Retry count. */
+ unsigned long jiffies_start; /**< Timestamp. */
};
/*****************************************************************************/
--
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