212 

   212 

   213     // set mapped Pdo count to zero

   213     // set mapped Pdo count to zero

   214     EC_WRITE_U8(&fsm->request.data, 0);

   214     EC_WRITE_U8(&fsm->request.data, 0);

   215     fsm->request.data_size = 1;

   215     fsm->request.data_size = 1;

   216     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   216     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   218     if (fsm->slave->master->debug_level)

   218     if (fsm->slave->master->debug_level)

   219         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",

   219         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",

   220                 fsm->pdo->index);

   220                 fsm->pdo->index);

   221 

   221 

   222     fsm->state = ec_fsm_pdo_config_state_zero_count;

   222     fsm->state = ec_fsm_pdo_config_state_zero_count;

   252     value = fsm->entry->index << 16

   252     value = fsm->entry->index << 16

   253         | fsm->entry->subindex << 8 | fsm->entry->bit_length;

   253         | fsm->entry->subindex << 8 | fsm->entry->bit_length;

   254     EC_WRITE_U32(&fsm->request.data, value);

   254     EC_WRITE_U32(&fsm->request.data, value);

   255     fsm->request.data_size = 4;

   255     fsm->request.data_size = 4;

   256     ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);

   256     ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);

   258     if (fsm->slave->master->debug_level)

   258     if (fsm->slave->master->debug_level)

   259         EC_DBG("Configuring Pdo entry %08X at position %u.\n",

   259         EC_DBG("Configuring Pdo entry %08X at position %u.\n",

   260                 value, fsm->entry_count);

   260                 value, fsm->entry_count);

   261     

   261     

   262     fsm->state = ec_fsm_pdo_config_state_add_entry;

   262     fsm->state = ec_fsm_pdo_config_state_add_entry;

   318     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {

   318     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {

   319         // No more entries to add. Write entry count.

   319         // No more entries to add. Write entry count.

   320         EC_WRITE_U8(&fsm->request.data, fsm->entry_count);

   320         EC_WRITE_U8(&fsm->request.data, fsm->entry_count);

   321         fsm->request.data_size = 1;

   321         fsm->request.data_size = 1;

   322         ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   322         ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   324         if (fsm->slave->master->debug_level)

   324         if (fsm->slave->master->debug_level)

   325             EC_DBG("Setting number of Pdo entries to %u.\n",

   325             EC_DBG("Setting number of Pdo entries to %u.\n",

   326                     fsm->entry_count);

   326                     fsm->entry_count);

   327         

   327         

   328         fsm->state = ec_fsm_pdo_config_state_entry_count;

   328         fsm->state = ec_fsm_pdo_config_state_entry_count;