59 void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);

    59 void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);

    60 void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);

    60 void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);

    61 

    61 

    62 /*****************************************************************************/

    62 /*****************************************************************************/

    63 

    63 

    64 /**

    70 /**

    65    Constructor.

    71    Constructor.

    66 */

    72 */

    67 

    73 

    68 void ec_fsm_coe_map_init(

    74 void ec_fsm_coe_map_init(

    71         )

    77         )

    72 {

    78 {

    73     fsm->fsm_coe = fsm_coe;

    79     fsm->fsm_coe = fsm_coe;

    74     fsm->state = NULL;

    80     fsm->state = NULL;

    75     ec_sdo_request_init(&fsm->request);

    81     ec_sdo_request_init(&fsm->request);

    76     ec_pdo_list_init(&fsm->pdos);

    83     ec_pdo_list_init(&fsm->pdos);

    77 }

    84 }

    78 

    85 

    79 /*****************************************************************************/

    86 /*****************************************************************************/

    80 

    87 

   180                     fsm->sync->index, slave->ring_position);

   187                     fsm->sync->index, slave->ring_position);

   181 

   188 

   182         ec_pdo_list_clear_pdos(&fsm->pdos);

   189         ec_pdo_list_clear_pdos(&fsm->pdos);

   183 

   190 

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

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

   186         ecrt_sdo_request_read(&fsm->request);

   192         ecrt_sdo_request_read(&fsm->request);

   187         fsm->state = ec_fsm_coe_map_state_pdo_count;

   193         fsm->state = ec_fsm_coe_map_state_pdo_count;

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

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

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

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

   190         return;

   196         return;

   245         )

   251         )

   246 {

   252 {

   247     if (fsm->sync_subindex <= fsm->sync_subindices) {

   253     if (fsm->sync_subindex <= fsm->sync_subindices) {

   248         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,

   254         ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,

   249                 fsm->sync_subindex);

   255                 fsm->sync_subindex);

   251         ecrt_sdo_request_read(&fsm->request);

   256         ecrt_sdo_request_read(&fsm->request);

   252         fsm->state = ec_fsm_coe_map_state_pdo;

   257         fsm->state = ec_fsm_coe_map_state_pdo;

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

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

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

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

   255         return;

   260         return;

   312         EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);

   317         EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);

   313 

   318 

   314     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);

   319     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);

   315 

   320 

   316     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   321     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);

   318     ecrt_sdo_request_read(&fsm->request);

   322     ecrt_sdo_request_read(&fsm->request);

   319     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;

   323     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;

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

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

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

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

   322 }

   326 }

   368         ec_fsm_coe_map_t *fsm /**< finite state machine */

   372         ec_fsm_coe_map_t *fsm /**< finite state machine */

   369         )

   373         )

   370 {

   374 {

   371     if (fsm->pdo_subindex <= fsm->pdo_subindices) {

   375     if (fsm->pdo_subindex <= fsm->pdo_subindices) {

   372         ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);

   376         ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);

   374         ecrt_sdo_request_read(&fsm->request);

   377         ecrt_sdo_request_read(&fsm->request);

   375         fsm->state = ec_fsm_coe_map_state_pdo_entry;

   378         fsm->state = ec_fsm_coe_map_state_pdo_entry;

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

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

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

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

   378         return;

   381         return;