Removed ec_master_prepare().
--- a/TODO Fri Apr 25 12:04:23 2008 +0000
+++ b/TODO Fri Apr 25 12:08:11 2008 +0000
@@ -40,7 +40,6 @@
* Separate CoE debugging.
* Make ecrt_master_slave_config() return no error when slave is not present
or invalid.
-* Remove ec_master_prepare().
Future issues:
--- a/master/master.c Fri Apr 25 12:04:23 2008 +0000
+++ b/master/master.c Fri Apr 25 12:08:11 2008 +0000
@@ -1227,36 +1227,6 @@
/*****************************************************************************/
-/**
- Prepares synchronous IO.
- Queues all domain datagrams and sends them. Then waits a certain time, so
- that ecrt_master_receive() can be called securely.
-*/
-
-void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
-{
- ec_domain_t *domain;
- cycles_t cycles_start, cycles_end, cycles_timeout;
-
- // queue datagrams of all domains
- list_for_each_entry(domain, &master->domains, list)
- ecrt_domain_queue(domain);
-
- ecrt_master_send(master);
-
- cycles_start = get_cycles();
- cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
-
- // active waiting
- while (1) {
- udelay(100);
- cycles_end = get_cycles();
- if (cycles_end - cycles_start >= cycles_timeout) break;
- }
-}
-
-/*****************************************************************************/
-
/** Detaches the slave configurations from the slaves.
*/
void ec_master_detach_slave_configs(
@@ -1354,8 +1324,6 @@
#endif
ec_master_thread_stop(master);
- ec_master_prepare(master); // prepare asynchronous IO
-
if (master->debug_level)
EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);