equal
deleted
inserted
replaced
208 ecrt_sdo_request_write(&fsm->request); |
208 ecrt_sdo_request_write(&fsm->request); |
209 if (fsm->slave->master->debug_level) |
209 if (fsm->slave->master->debug_level) |
210 EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index); |
210 EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index); |
211 |
211 |
212 fsm->state = ec_fsm_pdo_mapping_state_zero_count; |
212 fsm->state = ec_fsm_pdo_mapping_state_zero_count; |
213 ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request); |
213 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
214 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
214 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
215 return; |
215 return; |
216 } |
216 } |
217 |
217 |
218 if (fsm->slave->master->debug_level) |
218 if (fsm->slave->master->debug_level) |
252 if (fsm->slave->master->debug_level) |
252 if (fsm->slave->master->debug_level) |
253 EC_DBG("Mapping Pdo 0x%04X at position %u.\n", |
253 EC_DBG("Mapping Pdo 0x%04X at position %u.\n", |
254 fsm->pdo->index, fsm->pdo_count); |
254 fsm->pdo->index, fsm->pdo_count); |
255 |
255 |
256 fsm->state = ec_fsm_pdo_mapping_state_add_pdo; |
256 fsm->state = ec_fsm_pdo_mapping_state_add_pdo; |
257 ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request); |
257 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
258 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
258 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
259 } |
259 } |
260 |
260 |
261 /*****************************************************************************/ |
261 /*****************************************************************************/ |
262 |
262 |
318 if (fsm->slave->master->debug_level) |
318 if (fsm->slave->master->debug_level) |
319 EC_DBG("Setting number of mapped Pdos to %u.\n", |
319 EC_DBG("Setting number of mapped Pdos to %u.\n", |
320 fsm->pdo_count); |
320 fsm->pdo_count); |
321 |
321 |
322 fsm->state = ec_fsm_pdo_mapping_state_pdo_count; |
322 fsm->state = ec_fsm_pdo_mapping_state_pdo_count; |
323 ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request); |
323 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
324 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
324 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
325 return; |
325 return; |
326 } |
326 } |
327 |
327 |
328 // add next Pdo to mapping |
328 // add next Pdo to mapping |