From add980b522a8b4faa10175bb1aa1acab8af58721 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 27 Oct 2006 09:29:46 +0000
Subject: [PATCH] Moved functionality of ecrt_master_deactivate() (now
deprecated) to ecrt_master_release().
---
examples/mini/mini.c | 9 +++-----
examples/msr/msr_sample.c | 1 -
examples/rtai/rtai_sample.c | 1 -
include/ecrt.h | 2 +-
master/master.c | 42 +++++++++++++++++++------------------
5 files changed, 26 insertions(+), 29 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 2eed05ac..cb62a70b 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -201,12 +201,9 @@ void __exit cleanup_mini_module(void)
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
- if (master) {
- del_timer_sync(&timer);
- printk(KERN_INFO "Deactivating master...\n");
- ecrt_master_deactivate(master);
- ecrt_release_master(master);
- }
+ del_timer_sync(&timer);
+ printk(KERN_INFO "Releasing master...\n");
+ ecrt_release_master(master);
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
}
diff --git a/examples/msr/msr_sample.c b/examples/msr/msr_sample.c
index 82b3fbce..0d148216 100644
--- a/examples/msr/msr_sample.c
+++ b/examples/msr/msr_sample.c
@@ -214,7 +214,6 @@ void __exit cleanup_mod(void)
rt_task_delete(&task);
stop_rt_timer();
- ecrt_master_deactivate(master);
ecrt_release_master(master);
rt_sem_delete(&master_sem);
msr_rtlib_cleanup();
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index aa536517..79889a35 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -202,7 +202,6 @@ void __exit cleanup_mod(void)
rt_task_delete(&task);
stop_rt_timer();
- ecrt_master_deactivate(master);
ecrt_release_master(master);
rt_sem_delete(&master_sem);
diff --git a/include/ecrt.h b/include/ecrt.h
index d6120e9e..b1c14f5c 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -109,7 +109,7 @@ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
int ecrt_master_activate(ec_master_t *master);
-void ecrt_master_deactivate(ec_master_t *master);
+void ecrt_master_deactivate(ec_master_t *master); // deprecated!
void ecrt_master_prepare(ec_master_t *master);
diff --git a/master/master.c b/master/master.c
index 388118d0..98d158aa 100644
--- a/master/master.c
+++ b/master/master.c
@@ -417,6 +417,25 @@ void ec_master_leave_operation_mode(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
+ ec_fsm_t *fsm = &master->fsm;
+ ec_datagram_t *datagram = &master->fsm.datagram;
+
+ // wait for FSM datagram
+ if (datagram->state == EC_DATAGRAM_SENT) {
+ while (get_cycles() - datagram->cycles_sent
+ < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}
+ ecrt_master_receive(master);
+ }
+
+ // set states for all slaves
+ list_for_each_entry(slave, &master->slaves, list) {
+ ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
+ }
+
+ // execute master FSM to deactivate slaves
+ while (ec_fsm_exec(fsm)) {
+ ec_master_sync_io(master);
+ }
ec_master_destroy_domains(master);
@@ -1325,31 +1344,14 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
/**
Resets all slaves to INIT state.
+ This method is deprecated and will disappear in the next version
+ of the realtime interface. The functionality is moved to
+ ecrt_master_release().
\ingroup RealtimeInterface
*/
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
{
- ec_fsm_t *fsm = &master->fsm;
- ec_slave_t *slave;
- ec_datagram_t *datagram = &master->fsm.datagram;
-
- // wait for FSM datagram
- if (datagram->state == EC_DATAGRAM_SENT) {
- while (get_cycles() - datagram->cycles_sent
- < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}
- ecrt_master_receive(master);
- }
-
- // set states for all slaves
- list_for_each_entry(slave, &master->slaves, list) {
- ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
- }
-
- // execute master FSM to deactivate slaves
- while (ec_fsm_exec(fsm)) {
- ec_master_sync_io(master);
- }
}
/*****************************************************************************/
--
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