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Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize

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This commit is contained in:
Martin Troxler
2011-03-14 16:55:09 +01:00
parent f405ebef0a
commit ae09c143c9
22 changed files with 575 additions and 366 deletions
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master/master.c
+5 -3
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@@ -228,6 +228,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
}
// create state machine object
ec_mbox_init(&master->fsm_mbox,&master->fsm_datagram);
ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
// init reference sync datagram
@@ -329,7 +330,7 @@ void ec_master_clear(
#endif
ec_cdev_clear(&master->cdev);
#ifdef EC_EOE
ec_master_clear_eoe_handlers(master);
#endif
@@ -341,6 +342,7 @@ void ec_master_clear(
ec_datagram_clear(&master->sync_datagram);
ec_datagram_clear(&master->ref_sync_datagram);
ec_fsm_master_clear(&master->fsm);
ec_mbox_clear(&master->fsm_mbox);
ec_datagram_clear(&master->fsm_datagram);
ec_device_clear(&master->backup_device);
ec_device_clear(&master->main_device);
@@ -1279,7 +1281,7 @@ static int ec_master_idle_thread(void *priv_data)
if (ec_mutex_lock_interruptible(&master->master_mutex))
break;
if (ec_fsm_master_exec(&master->fsm)) {
ec_master_queue_fsm_datagram(master, &master->fsm_datagram);
ec_master_mbox_queue_datagrams(master, &master->fsm_mbox);
}
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@@ -1343,7 +1345,7 @@ static int ec_master_operation_thread(void *priv_data)
if (ec_mutex_lock_interruptible(&master->master_mutex))
break;
if (ec_fsm_master_exec(&master->fsm))
ec_master_queue_fsm_datagram(master, &master->fsm_datagram);
ec_master_mbox_queue_datagrams(master, &master->fsm_mbox);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {