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

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

   283         return;

   283         return;

   284     }

   284     }

   285 

   285 

   286     // finished reading PDO configuration

   286     // finished reading PDO configuration

   288     ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);

   288     ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);

   289     ec_pdo_list_clear_pdos(&fsm->pdos);

   289     ec_pdo_list_clear_pdos(&fsm->pdos);

   290 

   290 

   291     // next sync manager

   291     // next sync manager

   292     ec_fsm_pdo_read_action_next_sync(fsm);

   292     ec_fsm_pdo_read_action_next_sync(fsm);

   387 ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(

   387 ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(

   388         const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */

   388         const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */

   389         const struct list_head *list /**< current PDO list item */

   389         const struct list_head *list /**< current PDO list item */

   390         )

   390         )

   391 {

   391 {

   393     if (list == &fsm->pdos.list)

   393     if (list == &fsm->pdos.list)

   394         return NULL; // no next PDO

   394         return NULL; // no next PDO

   395     return list_entry(list, ec_pdo_t, list);

   395     return list_entry(list, ec_pdo_t, list);

   396 }

   396 }

   397 

   397 

   404         )

   404         )

   405 {

   405 {

   406     fsm->sync_index++;

   406     fsm->sync_index++;

   407 

   407 

   408     for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {

   408     for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {

   410             // slave configuration removed in the meantime

   410             // slave configuration removed in the meantime

   411             fsm->state = ec_fsm_pdo_state_error;

   411             fsm->state = ec_fsm_pdo_state_error;

   412             return;

   412             return;

   413         }

   413         }

   414 

   414 

   416                     &fsm->slave->config->sync_configs[fsm->sync_index].pdos))

   416                     &fsm->slave->config->sync_configs[fsm->sync_index].pdos))

   417         {

   417         {

   418             fsm->state = ec_fsm_pdo_state_error;

   418             fsm->state = ec_fsm_pdo_state_error;

   419             return;

   419             return;

   420         }

   420         }

   422         if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {

   422         if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {

   423             if (!list_empty(&fsm->pdos.list))

   423             if (!list_empty(&fsm->pdos.list))

   424                 EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"

   424                 EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"

   425                         " but slave does not provide the"

   425                         " but slave does not provide the"

   426                         " sync manager information!\n",

   426                         " sync manager information!\n",

   462     }

   462     }

   463 

   463 

   464     if (list_empty(&fsm->slave_pdo.entries)) {

   464     if (list_empty(&fsm->slave_pdo.entries)) {

   465         EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",

   465         EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",

   466                 fsm->pdo->index);

   466                 fsm->pdo->index);

   468         // pdo mapping is unknown; start loading it

   468         // pdo mapping is unknown; start loading it

   469         ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,

   469         ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,

   470                 &fsm->slave_pdo);

   470                 &fsm->slave_pdo);

   471         fsm->state = ec_fsm_pdo_conf_state_read_mapping;

   471         fsm->state = ec_fsm_pdo_conf_state_read_mapping;

   472         fsm->state(fsm); // execute immediately

   472         fsm->state(fsm); // execute immediately

   637 

   637 

   638     // the sync manager's assigned PDOs have been cleared

   638     // the sync manager's assigned PDOs have been cleared

   639     ec_pdo_list_clear_pdos(&fsm->sync->pdos);

   639     ec_pdo_list_clear_pdos(&fsm->sync->pdos);

   640 

   640 

   641     // assign all PDOs belonging to the current sync manager

   641     // assign all PDOs belonging to the current sync manager

   643     // find first PDO

   643     // find first PDO

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

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

   645 

   645 

   646         // check for mapping to be altered

   646         // check for mapping to be altered

   647         ec_fsm_pdo_conf_action_next_sync(fsm);

   647         ec_fsm_pdo_conf_action_next_sync(fsm);

   667             0x1C10 + fsm->sync_index, fsm->pdo_pos);

   667             0x1C10 + fsm->sync_index, fsm->pdo_pos);

   668     ecrt_sdo_request_write(&fsm->request);

   668     ecrt_sdo_request_write(&fsm->request);

   669 

   669 

   670     EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",

   670     EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",

   671             fsm->pdo->index, fsm->pdo_pos);

   671             fsm->pdo->index, fsm->pdo_pos);

   673     fsm->state = ec_fsm_pdo_conf_state_assign_pdo;

   673     fsm->state = ec_fsm_pdo_conf_state_assign_pdo;

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

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

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

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

   676 }

   676 }

   677 

   677 

   704         ecrt_sdo_request_write(&fsm->request);

   704         ecrt_sdo_request_write(&fsm->request);

   705 

   705 

   706         EC_SLAVE_DBG(fsm->slave, 1,

   706         EC_SLAVE_DBG(fsm->slave, 1,

   707                 "Setting number of assigned PDOs to %u.\n",

   707                 "Setting number of assigned PDOs to %u.\n",

   708                 fsm->pdo_pos);

   708                 fsm->pdo_pos);

   710         fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;

   710         fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;

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

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

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

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

   713         return;

   713         return;

   714     }

   714     }

   715 

   715 

   716     // add next PDO to assignment

   716     // add next PDO to assignment

   717     fsm->pdo_pos++;

   717     fsm->pdo_pos++;

   718     ec_fsm_pdo_conf_action_assign_pdo(fsm);

   718     ec_fsm_pdo_conf_action_assign_pdo(fsm);

   719 }

   719 }

   721 /*****************************************************************************/

   721 /*****************************************************************************/

   722 

   722 

   723 /** Set the number of assigned PDOs.

   723 /** Set the number of assigned PDOs.

   724  */

   724  */

   725 void ec_fsm_pdo_conf_state_set_pdo_count(

   725 void ec_fsm_pdo_conf_state_set_pdo_count(