# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1142612702 0
# Node ID d6679c77ad3f8c6f9f5befb53a1805a4babf5246
# Parent  fad6709a526f8f28bd3bc258ac57e1def2c77dc5
ecrt_master_prepare_async_io() hinzugef?gt.

diff -r fad6709a526f -r d6679c77ad3f include/ecrt.h
--- a/include/ecrt.h	Fri Mar 17 15:18:13 2006 +0000
+++ b/include/ecrt.h	Fri Mar 17 16:25:02 2006 +0000
@@ -49,6 +49,7 @@
 void ecrt_master_sync_io(ec_master_t *master);
 void ecrt_master_async_send(ec_master_t *master);
 void ecrt_master_async_receive(ec_master_t *master);
+void ecrt_master_prepare_async_io(ec_master_t *master);
 void ecrt_master_debug(ec_master_t *master, int level);
 void ecrt_master_print(const ec_master_t *master);
 int ecrt_master_sdo_write(ec_master_t *master,
diff -r fad6709a526f -r d6679c77ad3f master/master.c
--- a/master/master.c	Fri Mar 17 15:18:13 2006 +0000
+++ b/master/master.c	Fri Mar 17 16:25:02 2006 +0000
@@ -100,6 +100,7 @@
 
     master->command_index = 0;
     master->debug_level = 0;
+    master->timeout = 100; // us
     master->stats.timeouts = 0;
     master->stats.delayed = 0;
     master->stats.corrupted = 0;
@@ -857,7 +858,7 @@
     ec_master_send_commands(master);
 
     t_start = get_cycles(); // Sendezeit nehmen
-    t_timeout = 100 * cpu_khz / 1000; // 100us
+    t_timeout = master->timeout * cpu_khz / 1000;
 
     do {
         ec_device_call_isr(master->device);
@@ -960,6 +961,37 @@
 /*****************************************************************************/
 
 /**
+   Bereitet Synchronen Datenverkehr vor.
+
+   Fürgt einmal die Kommandos aller Domains zur Warteschlange hinzu, sendet
+   diese ab und wartet so lange, bis diese anschließend problemlos empfangen
+   werden können.
+*/
+
+void ecrt_master_prepare_async_io(ec_master_t *master)
+{
+    ec_domain_t *domain;
+    cycles_t t_start, t_end, t_timeout;
+
+    // Alle empfangenen Kommandos aus der Liste entfernen
+    list_for_each_entry(domain, &master->domains, list)
+        ecrt_domain_queue(domain);
+
+    ecrt_master_async_send(master);
+
+    t_start = get_cycles(); // Sendezeit nehmen
+    t_timeout = master->timeout * cpu_khz / 1000;
+
+    // Aktiv warten!
+    do {
+        t_end = get_cycles();
+    }
+    while (t_end - t_start < t_timeout);
+}
+
+/*****************************************************************************/
+
+/**
    Setzt die Debug-Ebene des Masters.
 
    Folgende Debug-Level sind definiert:
diff -r fad6709a526f -r d6679c77ad3f master/master.h
--- a/master/master.h	Fri Mar 17 15:18:13 2006 +0000
+++ b/master/master.h	Fri Mar 17 16:25:02 2006 +0000
@@ -52,6 +52,7 @@
     struct list_head domains; /**< Liste der Prozessdatendomänen */
     int debug_level; /**< Debug-Level im Master-Code */
     ec_stats_t stats; /**< Rahmen-Statistiken */
+    unsigned int timeout; /**< Timeout für synchronen Datenaustausch */
 };
 
 /*****************************************************************************/
diff -r fad6709a526f -r d6679c77ad3f mini/mini.c
--- a/mini/mini.c	Fri Mar 17 15:18:13 2006 +0000
+++ b/mini/mini.c	Fri Mar 17 16:25:02 2006 +0000
@@ -14,7 +14,7 @@
 
 #include "../include/ecrt.h" // Echtzeitschnittstelle
 
-//#define ASYNC
+#define ASYNC
 
 /*****************************************************************************/
 
@@ -115,9 +115,8 @@
     }
 
 #ifdef ASYNC
-    ecrt_domain_queue(domain1);
-    ecrt_master_async_send(master);
-    udelay(100);
+    // Einmal senden und warten...
+    ecrt_master_prepare_async_io(master);
 #endif
 
     printk("Starting cyclic sample thread.\n");
diff -r fad6709a526f -r d6679c77ad3f rt/msr_module.c
--- a/rt/msr_module.c	Fri Mar 17 15:18:13 2006 +0000
+++ b/rt/msr_module.c	Fri Mar 17 16:25:02 2006 +0000
@@ -37,7 +37,7 @@
 // EtherCAT
 #include "../include/ecrt.h"
 
-//#define ASYNC
+#define ASYNC
 
 // Defines/Makros
 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -229,10 +229,8 @@
 #endif
 
 #ifdef ASYNC
-    ecrt_domain_queue(domain1);
-    ecrt_domain_queue(domain2);
-    ecrt_master_async_send(master);
-    udelay(100);
+    // Einmal senden und warten...
+    ecrt_master_prepare_async_io(master);
 #endif
 
     ipipe_init_attr(&attr);