master/fsm_pdo_mapping.c
changeset 859 233e32f428e1
parent 858 69122084d066
child 875 c5df898a3618
equal deleted inserted replaced
858:69122084d066 859:233e32f428e1
   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