212     }

   212     }

   213 

   213 

   214     if (slave->master->debug_level)

   214     if (slave->master->debug_level)

   215         EC_DBG("Reading of PDO configuration finished.\n");

   215         EC_DBG("Reading of PDO configuration finished.\n");

   216 

   216 

   217     fsm->state = ec_fsm_pdo_state_end;

   218     fsm->state = ec_fsm_pdo_state_end;

   218 }

   219 }

   219 

   220 

   220 /*****************************************************************************/

   221 /*****************************************************************************/

   221 

   222 

   228     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   229     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   229 

   230 

   230     if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   231     if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   231         EC_ERR("Failed to read number of assigned PDOs for SM%u"

   232         EC_ERR("Failed to read number of assigned PDOs for SM%u"

   232                 " of slave %u.\n", fsm->sync_index, fsm->slave->ring_position);

   233                 " of slave %u.\n", fsm->sync_index, fsm->slave->ring_position);

   234         return;

   235         return;

   235     }

   236     }

   236 

   237 

   237     if (fsm->request.data_size != sizeof(uint8_t)) {

   238     if (fsm->request.data_size != sizeof(uint8_t)) {

   238         EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "

   239         EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "

   239                 "from slave %u.\n", fsm->request.data_size,

   240                 "from slave %u.\n", fsm->request.data_size,

   240                 fsm->request.index, fsm->request.subindex,

   241                 fsm->request.index, fsm->request.subindex,

   241                 fsm->slave->ring_position);

   242                 fsm->slave->ring_position);

   243         return;

   244         return;

   244     }

   245     }

   245     fsm->pdo_count = EC_READ_U8(fsm->request.data);

   246     fsm->pdo_count = EC_READ_U8(fsm->request.data);

   246 

   247 

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

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

   270         return;

   271         return;

   271     }

   272     }

   272 

   273 

   273     // finished reading PDO configuration

   274     // finished reading PDO configuration

   274     

   275     

   280     ec_pdo_list_clear_pdos(&fsm->pdos);

   277     ec_pdo_list_clear_pdos(&fsm->pdos);

   281 

   278 

   282     // next sync manager

   279     // next sync manager

   283     ec_fsm_pdo_read_action_next_sync(fsm);

   280     ec_fsm_pdo_read_action_next_sync(fsm);

   284 }

   281 }

   294     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   291     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   295 

   292 

   296     if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   293     if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   297         EC_ERR("Failed to read index of assigned PDO %u from SM%u.\n",

   294         EC_ERR("Failed to read index of assigned PDO %u from SM%u.\n",

   298                 fsm->pdo_pos, fsm->sync_index);

   295                 fsm->pdo_pos, fsm->sync_index);

   300         return;

   297         return;

   301     }

   298     }

   302 

   299 

   303     if (fsm->request.data_size != sizeof(uint16_t)) {

   300     if (fsm->request.data_size != sizeof(uint16_t)) {

   304         EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "

   301         EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "

   305                 "from slave %u.\n", fsm->request.data_size,

   302                 "from slave %u.\n", fsm->request.data_size,

   306                 fsm->request.index, fsm->request.subindex,

   303                 fsm->request.index, fsm->request.subindex,

   307                 fsm->slave->ring_position);

   304                 fsm->slave->ring_position);

   309         return;

   306         return;

   310     }

   307     }

   311 

   308 

   312     if (!(fsm->pdo = (ec_pdo_t *)

   309     if (!(fsm->pdo = (ec_pdo_t *)

   313                 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   310                 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   314         EC_ERR("Failed to allocate PDO.\n");

   311         EC_ERR("Failed to allocate PDO.\n");

   316         return;

   313         return;

   317     }

   314     }

   318 

   315 

   319     ec_pdo_init(fsm->pdo);

   316     ec_pdo_init(fsm->pdo);

   320     fsm->pdo->index = EC_READ_U16(fsm->request.data);

   317     fsm->pdo->index = EC_READ_U16(fsm->request.data);

   342         return;

   339         return;

   343 

   340 

   344     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {

   341     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {

   345         EC_ERR("Failed to read mapped PDO entries for PDO 0x%04X.\n",

   342         EC_ERR("Failed to read mapped PDO entries for PDO 0x%04X.\n",

   346                 fsm->pdo->index);

   343                 fsm->pdo->index);

   348         return;

   345         return;

   349     }

   346     }

   350 

   347 

   351     // next PDO

   348     // next PDO

   352     fsm->pdo_pos++;

   349     fsm->pdo_pos++;