150         fsm->state = ec_fsm_pdo_assign_state_end;

   150         fsm->state = ec_fsm_pdo_assign_state_end;

   151         return;

   151         return;

   152     }

   152     }

   153 

   153 

   154     fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT

   154     fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT

   155     ec_fsm_pdo_assign_next_dir(fsm);

   156     ec_fsm_pdo_assign_next_dir(fsm);

   156 }

   157 }

   157 

   158 

   158 /*****************************************************************************/

   159 /*****************************************************************************/

   159 

   160 

   189                     fsm->slave->ring_position);

   190                     fsm->slave->ring_position);

   190             fsm->state = ec_fsm_pdo_assign_state_error;

   191             fsm->state = ec_fsm_pdo_assign_state_error;

   191             return;

   192             return;

   192         }

   193         }

   193 

   194 

   194         if (fsm->slave->master->debug_level) {

   197         if (fsm->slave->master->debug_level) {

   195             EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",

   198             EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",

   196                     fsm->sync->index, fsm->slave->ring_position);

   199                     fsm->sync->index, fsm->slave->ring_position);

   197         }

   200         }

   198 

   201 

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

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

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

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

   215         return;

   218         return;

   216     }

   219     }

   217 

   220 

   221     fsm->state = ec_fsm_pdo_assign_state_end;

   224     fsm->state = ec_fsm_pdo_assign_state_end;

   222 }

   225 }

   223 

   226 

   224 /*****************************************************************************/

   227 /*****************************************************************************/

   225 

   228 

   346         fsm->state = ec_fsm_pdo_assign_state_error;

   349         fsm->state = ec_fsm_pdo_assign_state_error;

   347         return;

   350         return;

   348     }

   351     }

   349 

   352 

   350     if (fsm->slave->master->debug_level)

   353     if (fsm->slave->master->debug_level)

   353 

   356 

   354     // assignment for this direction finished

   357     // assignment for this direction finished

   355     ec_fsm_pdo_assign_next_dir(fsm);

   358     ec_fsm_pdo_assign_next_dir(fsm);

   356 }

   359 }

   357 

   360