449     // start Sdo configuration

   449     // start Sdo configuration

   450     fsm->state = ec_fsm_slave_config_state_sdo_conf;

   450     fsm->state = ec_fsm_slave_config_state_sdo_conf;

   451     fsm->request = list_entry(fsm->slave->config->sdo_configs.next,

   451     fsm->request = list_entry(fsm->slave->config->sdo_configs.next,

   452             ec_sdo_request_t, list);

   452             ec_sdo_request_t, list);

   453     ecrt_sdo_request_write(fsm->request);

   453     ecrt_sdo_request_write(fsm->request);

   455     ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   455     ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   456 }

   456 }

   457 

   457 

   458 /*****************************************************************************/

   458 /*****************************************************************************/

   459 

   459 

   478     // Another Sdo to configure?

   478     // Another Sdo to configure?

   479     if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {

   479     if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {

   480         fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,

   480         fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,

   481                 list);

   481                 list);

   482         ecrt_sdo_request_write(fsm->request);

   482         ecrt_sdo_request_write(fsm->request);

   484         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   484         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   485         return;

   485         return;

   486     }

   486     }

   487 

   487 

   488     // All Sdos are now configured.

   488     // All Sdos are now configured.