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Avoid OSAL_THREAD usage when EC_MAX_MAPT=1

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Rationale : allow SOEM to be used in a OS that does not support threads.
This commit is contained in:
Claudio Scordino 2018-12-18 13:51:41 +01:00
parent 7beba91c62
commit e0d880d7bd
1 changed files with 9 additions and 8 deletions
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17
soem/ethercatconfig.c
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@ -32,7 +32,9 @@ typedef struct
} ecx_mapt_t; } ecx_mapt_t;
ecx_mapt_t ecx_mapt[EC_MAX_MAPT]; ecx_mapt_t ecx_mapt[EC_MAX_MAPT];
#if EC_MAX_MAPT > 1
OSAL_THREAD_HANDLE ecx_threadh[EC_MAX_MAPT]; OSAL_THREAD_HANDLE ecx_threadh[EC_MAX_MAPT];
#endif
#ifdef EC_VER1 #ifdef EC_VER1
/** Slave configuration structure */ /** Slave configuration structure */
@ -785,6 +787,7 @@ static int ecx_map_sm(ecx_contextt *context, uint16 slave)
return 1; return 1;
} }
#if EC_MAX_MAPT > 1
OSAL_THREAD_FUNC ecx_mapper_thread(void *param) OSAL_THREAD_FUNC ecx_mapper_thread(void *param)
{ {
ecx_mapt_t *maptp; ecx_mapt_t *maptp;
@ -810,6 +813,7 @@ static int ecx_find_mapt(void)
return -1; return -1;
} }
} }
#endif
static int ecx_get_threadcount(void) static int ecx_get_threadcount(void)
{ {
@ -836,13 +840,7 @@ static void ecx_config_find_mappings(ecx_contextt *context, uint8 group)
{ {
if (!group || (group == context->slavelist[slave].group)) if (!group || (group == context->slavelist[slave].group))
{ {
if (EC_MAX_MAPT <= 1) #if EC_MAX_MAPT > 1
{
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
}
else
{
/* multi-threaded version */ /* multi-threaded version */
while ((thrn = ecx_find_mapt()) < 0) while ((thrn = ecx_find_mapt()) < 0)
{ {
@ -854,7 +852,10 @@ static void ecx_config_find_mappings(ecx_contextt *context, uint8 group)
ecx_mapt[thrn].running = 1; ecx_mapt[thrn].running = 1;
osal_thread_create(&(ecx_threadh[thrn]), 128000, osal_thread_create(&(ecx_threadh[thrn]), 128000,
&ecx_mapper_thread, &(ecx_mapt[thrn])); &ecx_mapper_thread, &(ecx_mapt[thrn]));
} #else
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
#endif
} }
} }
/* wait for all threads to finish */ /* wait for all threads to finish */