181 

   181 

   182         ec_pdo_list_clear_pdos(&fsm->pdos);

   182         ec_pdo_list_clear_pdos(&fsm->pdos);

   183 

   183 

   184         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);

   184         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);

   185         ecrt_sdo_request_read(&fsm->request);

   185         ecrt_sdo_request_read(&fsm->request);

   186         fsm->state = ec_fsm_coe_map_state_pdo_count;

   187         fsm->state = ec_fsm_coe_map_state_pdo_count;

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

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

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

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

   189         return;

   190         return;

   190     }

   191     }

   207         )

   208         )

   208 {

   209 {

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

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

   210 

   211 

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

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

   212         EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",

   222         EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",

   213                 fsm->slave->ring_position);

   223                 fsm->slave->ring_position);

   214         fsm->state = ec_fsm_coe_map_state_error;

   224         fsm->state = ec_fsm_coe_map_state_error;

   215         return;

   225         return;

   216     }

   226     }