equal
deleted
inserted
replaced
326 */ |
326 */ |
327 void ec_fsm_pdo_entry_conf_state_start( |
327 void ec_fsm_pdo_entry_conf_state_start( |
328 ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
328 ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
329 ) |
329 ) |
330 { |
330 { |
331 // PDO mapping has to be changed. Does the slave support this? |
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332 if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) |
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333 || (fsm->slave->sii.has_general |
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334 && !fsm->slave->sii.coe_details.enable_pdo_configuration)) { |
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335 EC_SLAVE_WARN(fsm->slave, "Slave does not support" |
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336 " changing the PDO mapping!\n"); |
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337 EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm); |
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338 fsm->state = ec_fsm_pdo_entry_state_error; |
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339 return; |
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340 } |
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341 |
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342 if (ec_sdo_request_alloc(&fsm->request, 4)) { |
331 if (ec_sdo_request_alloc(&fsm->request, 4)) { |
343 fsm->state = ec_fsm_pdo_entry_state_error; |
332 fsm->state = ec_fsm_pdo_entry_state_error; |
344 return; |
333 return; |
345 } |
334 } |
346 |
335 |