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Fixed: delay between gateway commands #208

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This commit is contained in:
Janez 2020-07-08 13:48:49 +02:00
parent 035da160b5
commit 997a311a38
1 changed files with 12 additions and 1 deletions
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13
309/CO_gateway_ascii.c
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@ -1490,6 +1490,10 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
gtwa->state = CO_GTWA_ST_IDLE;
}
else if (gtwa->state == CO_GTWA_ST_IDLE) {
return;
}
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_SDO
/* SDO upload state */
else if (gtwa->state == CO_GTWA_ST_READ) {
@ -1955,12 +1959,19 @@ void CO_GTWA_process(CO_GTWA_t *gtwa,
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_PRINT_LEDS */
/* illegal state */
else if (gtwa->state != CO_GTWA_ST_IDLE) {
else {
respErrorCode = CO_GTWA_respErrorInternalState;
responseWithError(gtwa, respErrorCode);
gtwa->state = CO_GTWA_ST_IDLE;
}
/* execute next CANopen processing immediately, if idle and more commands
* available */
if (timerNext_us != NULL && gtwa->state == CO_GTWA_ST_IDLE
&& CO_fifo_CommSearch(&gtwa->commFifo, false)
) {
*timerNext_us = 0;
}
}
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */