506 cat_type = EC_READ_U16(cat_word) & 0x7FFF; |
506 cat_type = EC_READ_U16(cat_word) & 0x7FFF; |
507 cat_size = EC_READ_U16(cat_word + 1); |
507 cat_size = EC_READ_U16(cat_word + 1); |
508 |
508 |
509 switch (cat_type) { |
509 switch (cat_type) { |
510 case 0x000A: |
510 case 0x000A: |
511 if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2))) |
511 if (ec_slave_fetch_sii_strings( |
|
512 slave, (uint8_t *) (cat_word + 2))) |
512 goto end; |
513 goto end; |
513 break; |
514 break; |
514 case 0x001E: |
515 case 0x001E: |
515 ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2)); |
516 ec_slave_fetch_sii_general( |
|
517 slave, (uint8_t *) (cat_word + 2)); |
516 break; |
518 break; |
517 case 0x0028: |
519 case 0x0028: |
518 break; |
520 break; |
519 case 0x0029: |
521 case 0x0029: |
520 if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2), |
522 if (ec_slave_fetch_sii_syncs( |
521 cat_size)) |
523 slave, (uint8_t *) (cat_word + 2), cat_size)) |
522 goto end; |
524 goto end; |
523 break; |
525 break; |
524 case 0x0032: |
526 case 0x0032: |
525 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2), |
527 if (ec_slave_fetch_sii_pdos( |
526 cat_size, EC_TX_PDO)) |
528 slave, (uint8_t *) (cat_word + 2), |
|
529 cat_size, EC_TX_PDO)) |
527 goto end; |
530 goto end; |
528 break; |
531 break; |
529 case 0x0033: |
532 case 0x0033: |
530 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2), |
533 if (ec_slave_fetch_sii_pdos( |
531 cat_size, EC_RX_PDO)) |
534 slave, (uint8_t *) (cat_word + 2), |
|
535 cat_size, EC_RX_PDO)) |
532 goto end; |
536 goto end; |
533 break; |
537 break; |
534 default: |
538 default: |
535 if (fsm->slave->master->debug_level) |
539 if (fsm->slave->master->debug_level) |
536 EC_WARN("Unknown category type 0x%04X in slave %i.\n", |
540 EC_WARN("Unknown category type 0x%04X in slave %i.\n", |