379     fsm->sync_index = 0xff; // next is zero

   379     fsm->sync_index = 1; // next is 2

   432         if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {

   432         if (!(fsm->pdo =

   433                     ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {

   509     if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {

   510     // check, if slave supports PDO configuration

   510         EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"

   511     if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)

   511                 " is already configured correctly.\n", fsm->pdo->index);

   512             && fsm->slave->sii.has_general

   512         ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);

   513             && fsm->slave->sii.coe_details.enable_pdo_configuration) {

   513         return;

   514 

   514     }

   515         // always write PDO mapping

   515 

   516         ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,

   516     ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,

   517                 fsm->pdo, &fsm->slave_pdo);

   517             fsm->pdo, &fsm->slave_pdo);

   518         fsm->state = ec_fsm_pdo_conf_state_mapping;

   518     fsm->state = ec_fsm_pdo_conf_state_mapping;

   519         fsm->state(fsm); // execure immediately

   519     fsm->state(fsm); // execure immediately

   520         return;

   521     }

   522     else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {

   523         EC_SLAVE_WARN(fsm->slave, "Slave does not support"

   524                 " changing the PDO mapping!\n");

   525         EC_SLAVE_WARN(fsm->slave, "");

   526         printk("Currently mapped PDO entries: ");

   527         ec_pdo_print_entries(&fsm->slave_pdo);

   528         printk(". Entries to map: ");

   529         ec_pdo_print_entries(fsm->pdo);

   530         printk("\n");

   531     }

   532 

   533     ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);

   567     // check if assignment has to be re-configured

   581     if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)

   568     if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {

   582             && fsm->slave->sii.has_general

   569         EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"

   583             && fsm->slave->sii.coe_details.enable_pdo_assign) {

   570                 " is already configured correctly.\n", fsm->sync_index);

   584 

   571         ec_fsm_pdo_conf_action_next_sync(fsm);

   585         // always write PDO assignment

   572         return;

   586         if (fsm->slave->master->debug_level) {

   573     }

   587             EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",

   574 

   588                     fsm->sync_index);

   575     if (fsm->slave->master->debug_level) {

   589             EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);

   576         EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",

   590         }

   577                 fsm->sync_index);

   591 

   578         EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);

   592         if (ec_sdo_request_alloc(&fsm->request, 2)) {

   579     }

   593             fsm->state = ec_fsm_pdo_state_error;

   580 

   594             return;

   581     // PDO assignment has to be changed. Does the slave support this?

   595         }

   582     if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)

   596 

   583             || (fsm->slave->sii.has_general

   597         // set mapped PDO count to zero

   584                 && !fsm->slave->sii.coe_details.enable_pdo_assign)) {

   598         EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped

   599         fsm->request.data_size = 1;

   600         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);

   601         ecrt_sdo_request_write(&fsm->request);

   602 

   603         EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"

   604                 " PDOs to zero.\n");

   605 

   606         fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;

   607         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   608         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   609         return;

   610     }

   611     else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {

   587         ec_fsm_pdo_conf_action_next_sync(fsm);

   614     }

   588         return;

   615 

   589     }

   616     ec_fsm_pdo_conf_action_next_sync(fsm);

   590 

   591     if (ec_sdo_request_alloc(&fsm->request, 2)) {

   592         fsm->state = ec_fsm_pdo_state_error;

   593         return;

   594     }

   595 

   596     // set mapped PDO count to zero

   597     EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped

   598     fsm->request.data_size = 1;

   599     ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);

   600     ecrt_sdo_request_write(&fsm->request);

   601 

   602     EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");

   603 

   604     fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;

   605     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

   606     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   624         fsm->state = ec_fsm_pdo_state_error;

   634         ec_fsm_pdo_conf_action_next_sync(fsm);