equal
deleted
inserted
replaced
178 |
178 |
179 // check if mapping has to be altered |
179 // check if mapping has to be altered |
180 if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping)) |
180 if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping)) |
181 continue; |
181 continue; |
182 |
182 |
|
183 // Pdo mapping has to be changed. Does the slave support this? |
|
184 if (!fsm->slave->sii.mailbox_protocols & EC_MBOX_COE |
|
185 || (fsm->slave->sii.has_general |
|
186 && !fsm->slave->sii.coe_details.enable_pdo_assign)) { |
|
187 EC_ERR("Slave %u does not support changing the Pdo mapping!\n", |
|
188 fsm->slave->ring_position); |
|
189 fsm->state = ec_fsm_pdo_mapping_state_error; |
|
190 return; |
|
191 } |
|
192 |
183 if (fsm->slave->master->debug_level) { |
193 if (fsm->slave->master->debug_level) { |
184 EC_DBG("Changing Pdo mapping for SM%u of slave %u.\n", |
194 EC_DBG("Changing Pdo mapping for SM%u of slave %u.\n", |
185 fsm->sync->index, fsm->slave->ring_position); |
195 fsm->sync->index, fsm->slave->ring_position); |
186 } |
196 } |
187 |
197 |