203 

   203 

   204         // set mapped Pdo count to zero

   204         // set mapped Pdo count to zero

   205         EC_WRITE_U8(&fsm->request.data, 0); // zero Pdos mapped

   205         EC_WRITE_U8(&fsm->request.data, 0); // zero Pdos mapped

   206         fsm->request.data_size = 1;

   206         fsm->request.data_size = 1;

   207         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);

   207         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);

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

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

   210             EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);

   210             EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);

   211 

   211 

   212         fsm->state = ec_fsm_pdo_mapping_state_zero_count;

   212         fsm->state = ec_fsm_pdo_mapping_state_zero_count;

   213         ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);

   213         ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->request);

   246 {

   246 {

   247     EC_WRITE_U16(&fsm->request.data, fsm->pdo->index);

   247     EC_WRITE_U16(&fsm->request.data, fsm->pdo->index);

   248     fsm->request.data_size = 2;

   248     fsm->request.data_size = 2;

   249     ec_sdo_request_address(&fsm->request,

   249     ec_sdo_request_address(&fsm->request,

   250             0x1C10 + fsm->sync->index, fsm->pdo_count);

   250             0x1C10 + fsm->sync->index, fsm->pdo_count);

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

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

   253         EC_DBG("Mapping Pdo 0x%04X at position %u.\n",

   253         EC_DBG("Mapping Pdo 0x%04X at position %u.\n",

   254                 fsm->pdo->index, fsm->pdo_count);

   254                 fsm->pdo->index, fsm->pdo_count);

   255     

   255     

   256     fsm->state = ec_fsm_pdo_mapping_state_add_pdo;

   256     fsm->state = ec_fsm_pdo_mapping_state_add_pdo;

   312     if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {

   312     if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {

   313         // no more Pdos to map. write Pdo count

   313         // no more Pdos to map. write Pdo count

   314         EC_WRITE_U8(&fsm->request.data, fsm->pdo_count);

   314         EC_WRITE_U8(&fsm->request.data, fsm->pdo_count);

   315         fsm->request.data_size = 1;

   315         fsm->request.data_size = 1;

   316         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);

   316         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);

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

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

   319             EC_DBG("Setting number of mapped Pdos to %u.\n",

   319             EC_DBG("Setting number of mapped Pdos to %u.\n",

   320                     fsm->pdo_count);

   320                     fsm->pdo_count);

   321         

   321         

   322         fsm->state = ec_fsm_pdo_mapping_state_pdo_count;

   322         fsm->state = ec_fsm_pdo_mapping_state_pdo_count;