Abort requests started for slave_configs that don't have any actual slaves.
--- a/master/fsm_master.c Tue Apr 14 09:34:15 2015 -0400
+++ b/master/fsm_master.c Tue Apr 14 09:35:15 2015 -0400
@@ -246,6 +246,9 @@
return;
}
+ // check for detached config requests
+ ec_master_expire_slave_config_requests(fsm->master);
+
ec_datagram_brd(fsm->datagram, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->dev_idx;
--- a/master/master.c Tue Apr 14 09:34:15 2015 -0400
+++ b/master/master.c Tue Apr 14 09:35:15 2015 -0400
@@ -1785,6 +1785,21 @@
/*****************************************************************************/
+/** Abort active requests for slave configs without attached slaves.
+ */
+void ec_master_expire_slave_config_requests(
+ ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ ec_slave_config_t *sc;
+
+ list_for_each_entry(sc, &master->configs, list) {
+ ec_slave_config_expire_disconnected_requests(sc);
+ }
+}
+
+/*****************************************************************************/
+
/** Common implementation for ec_master_find_slave()
* and ec_master_find_slave_const().
*/
--- a/master/master.h Tue Apr 14 09:34:15 2015 -0400
+++ b/master/master.h Tue Apr 14 09:35:15 2015 -0400
@@ -351,6 +351,7 @@
// misc.
void ec_master_set_send_interval(ec_master_t *, unsigned int);
void ec_master_attach_slave_configs(ec_master_t *);
+void ec_master_expire_slave_config_requests(ec_master_t *);
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
uint16_t);
--- a/master/slave_config.c Tue Apr 14 09:34:15 2015 -0400
+++ b/master/slave_config.c Tue Apr 14 09:35:15 2015 -0400
@@ -553,6 +553,36 @@
return NULL;
}
+/*****************************************************************************/
+
+/** Expires any requests that have been started on a detached slave.
+ */
+void ec_slave_config_expire_disconnected_requests(
+ ec_slave_config_t *sc /**< Slave configuration. */
+ )
+{
+ ec_sdo_request_t *sdo_req;
+ ec_reg_request_t *reg_req;
+
+ if (sc->slave) { return; }
+
+ list_for_each_entry(sdo_req, &sc->sdo_requests, list) {
+ if (sdo_req->state == EC_INT_REQUEST_QUEUED ||
+ sdo_req->state == EC_INT_REQUEST_BUSY) {
+ EC_CONFIG_DBG(sc, 1, "Aborting SDO request; no slave attached.\n");
+ sdo_req->state = EC_INT_REQUEST_FAILURE;
+ }
+ }
+
+ list_for_each_entry(reg_req, &sc->reg_requests, list) {
+ if (reg_req->state == EC_INT_REQUEST_QUEUED ||
+ reg_req->state == EC_INT_REQUEST_BUSY) {
+ EC_CONFIG_DBG(sc, 1, "Aborting register request; no slave attached.\n");
+ reg_req->state = EC_INT_REQUEST_FAILURE;
+ }
+ }
+}
+
/******************************************************************************
* Application interface
*****************************************************************************/
--- a/master/slave_config.h Tue Apr 14 09:34:15 2015 -0400
+++ b/master/slave_config.h Tue Apr 14 09:35:15 2015 -0400
@@ -174,6 +174,7 @@
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
unsigned int);
+void ec_slave_config_expire_disconnected_requests(ec_slave_config_t *);
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *, uint16_t, uint8_t, size_t);