245         )

   245         )

   246 {

   246 {

   247     if (fsm->sync_subindex <= fsm->sync_subindices) {

   247     if (fsm->sync_subindex <= fsm->sync_subindices) {

   248         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,

   248         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,

   249                 fsm->sync_subindex);

   249                 fsm->sync_subindex);

   251         ecrt_sdo_request_read(&fsm->request);

   251         ecrt_sdo_request_read(&fsm->request);

   252         fsm->state = ec_fsm_coe_map_state_pdo;

   252         fsm->state = ec_fsm_coe_map_state_pdo;

   253         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   253         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   254         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   254         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   255         return;

   255         return;

   312         EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);

   312         EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);

   313 

   313 

   314     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);

   314     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);

   315 

   315 

   316     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   316     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   318     ecrt_sdo_request_read(&fsm->request);

   318     ecrt_sdo_request_read(&fsm->request);

   319     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;

   319     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;

   320     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   320     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   321     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   321     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   322 }

   322 }

   368         ec_fsm_coe_map_t *fsm /**< finite state machine */

   368         ec_fsm_coe_map_t *fsm /**< finite state machine */

   369         )

   369         )

   370 {

   370 {

   371     if (fsm->pdo_subindex <= fsm->pdo_subindices) {

   371     if (fsm->pdo_subindex <= fsm->pdo_subindices) {

   372         ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);

   372         ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);

   374         ecrt_sdo_request_read(&fsm->request);

   374         ecrt_sdo_request_read(&fsm->request);

   375         fsm->state = ec_fsm_coe_map_state_pdo_entry;

   375         fsm->state = ec_fsm_coe_map_state_pdo_entry;

   376         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   376         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   377         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   377         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   378         return;

   378         return;