equal
deleted
inserted
replaced
187 fsm->slave->ring_position); |
187 fsm->slave->ring_position); |
188 fsm->state = ec_fsm_pdo_config_state_end; |
188 fsm->state = ec_fsm_pdo_config_state_end; |
189 return; |
189 return; |
190 } |
190 } |
191 |
191 |
|
192 // Pdo configuration has to be changed. Does the slave support this? |
|
193 if (fsm->slave->sii.mailbox_protocols & EC_MBOX_COE |
|
194 || (fsm->slave->sii.has_general |
|
195 && !fsm->slave->sii.coe_details.enable_pdo_configuration)) { |
|
196 EC_ERR("Slave %u does not support changing the Pdo configuration!\n", |
|
197 fsm->slave->ring_position); |
|
198 fsm->state = ec_fsm_pdo_config_state_error; |
|
199 return; |
|
200 } |
|
201 |
192 if (fsm->slave->master->debug_level) { |
202 if (fsm->slave->master->debug_level) { |
193 EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n", |
203 EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n", |
194 fsm->pdo->index, fsm->slave->ring_position); |
204 fsm->pdo->index, fsm->slave->ring_position); |
195 } |
205 } |
196 |
206 |