1349 static int ec_master_idle_thread(void *priv_data)

  1349 static int ec_master_idle_thread(void *priv_data)

  1350 {

  1350 {

  1351     ec_master_t *master = (ec_master_t *) priv_data;

  1351     ec_master_t *master = (ec_master_t *) priv_data;

  1352     ec_slave_t *slave = NULL;

  1352     ec_slave_t *slave = NULL;

  1353     int fsm_exec;

  1353     int fsm_exec;

  1354     size_t sent_bytes;

  1355     size_t sent_bytes;

  1355 

  1357 

  1356     // send interval in IDLE phase

  1358     // send interval in IDLE phase

  1357     ec_master_set_send_interval(master, 1000000 / HZ); 

  1359     ec_master_set_send_interval(master, 1000000 / HZ); 

  1358 

  1360 

  1359     EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"

  1361     EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"

  1385         if (fsm_exec) {

  1387         if (fsm_exec) {

  1386             ec_master_queue_datagram(master, &master->fsm_datagram,

  1388             ec_master_queue_datagram(master, &master->fsm_datagram,

  1387                     EC_DEVICE_MAIN);

  1389                     EC_DEVICE_MAIN);

  1388         }

  1390         }

  1389         ecrt_master_send(master);

  1391         ecrt_master_send(master);

  1390         sent_bytes = master->devices[EC_DEVICE_MAIN].tx_skb[

  1393         sent_bytes = master->devices[EC_DEVICE_MAIN].tx_skb[

  1391             master->devices[EC_DEVICE_MAIN].tx_ring_index]->len;

  1394             master->devices[EC_DEVICE_MAIN].tx_ring_index]->len;

  1392         up(&master->io_sem);

  1396         up(&master->io_sem);

  1393 

  1397 

  1394         if (ec_fsm_master_idle(&master->fsm)) {

  1398         if (ec_fsm_master_idle(&master->fsm)) {

  1395 #ifdef EC_USE_HRTIMER

  1399 #ifdef EC_USE_HRTIMER

  1396             ec_master_nanosleep(master->send_interval * 1000);

  1400             ec_master_nanosleep(master->send_interval * 1000);