From 8f93b7ead6ce5b6492581885a93aea64d38c8b02 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Thu, 19 Jun 2008 14:06:27 +0000
Subject: [PATCH] Introduced global upload timeout for fsm_coe_map.
---
master/fsm_coe_map.c | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c
index 173d99a2..8262ac8e 100644
--- a/master/fsm_coe_map.c
+++ b/master/fsm_coe_map.c
@@ -61,6 +61,12 @@ void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
/*****************************************************************************/
+/** Sdo upload timeout in ms for reading Pdo assigment/mapping.
+ */
+#define EC_FSM_COE_MAP_UPLOAD_TIMEOUT 3000
+
+/*****************************************************************************/
+
/**
Constructor.
*/
@@ -73,6 +79,7 @@ void ec_fsm_coe_map_init(
fsm->fsm_coe = fsm_coe;
fsm->state = NULL;
ec_sdo_request_init(&fsm->request);
+ fsm->request.response_timeout = EC_FSM_COE_MAP_UPLOAD_TIMEOUT;
ec_pdo_list_init(&fsm->pdos);
}
@@ -182,7 +189,6 @@ void ec_fsm_coe_map_action_next_dir(
ec_pdo_list_clear_pdos(&fsm->pdos);
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
- fsm->request.response_timeout = 10000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -247,7 +253,6 @@ void ec_fsm_coe_map_action_next_pdo(
if (fsm->sync_subindex <= fsm->sync_subindices) {
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
fsm->sync_subindex);
- fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -314,7 +319,6 @@ void ec_fsm_coe_map_state_pdo(
list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
- fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -370,7 +374,6 @@ void ec_fsm_coe_map_action_next_pdo_entry(
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
- fsm->request.response_timeout = 5000;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
--
GitLab