209         fsm->state = ec_fsm_pdo_config_state_error;

   209         fsm->state = ec_fsm_pdo_config_state_error;

   210         return;

   210         return;

   211     }

   211     }

   212 

   212 

   213     // set mapped Pdo count to zero

   213     // set mapped Pdo count to zero

   215     fsm->request.data_size = 1;

   215     fsm->request.data_size = 1;

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

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

   217     ecrt_sdo_request_write(&fsm->request);

   217     ecrt_sdo_request_write(&fsm->request);

   218     if (fsm->slave->master->debug_level)

   218     if (fsm->slave->master->debug_level)

   219         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",

   219         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",

   249 {

   249 {

   250     uint32_t value;

   250     uint32_t value;

   251 

   251 

   252     value = fsm->entry->index << 16

   252     value = fsm->entry->index << 16

   253         | fsm->entry->subindex << 8 | fsm->entry->bit_length;

   253         | fsm->entry->subindex << 8 | fsm->entry->bit_length;

   255     fsm->request.data_size = 4;

   255     fsm->request.data_size = 4;

   256     ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);

   256     ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);

   257     ecrt_sdo_request_write(&fsm->request);

   257     ecrt_sdo_request_write(&fsm->request);

   258     if (fsm->slave->master->debug_level)

   258     if (fsm->slave->master->debug_level)

   259         EC_DBG("Configuring Pdo entry %08X at position %u.\n",

   259         EC_DBG("Configuring Pdo entry %08X at position %u.\n",

   315     }

   315     }

   316 

   316 

   317     // find next entry

   317     // find next entry

   318     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {

   318     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {

   319         // No more entries to add. Write entry count.

   319         // No more entries to add. Write entry count.

   321         fsm->request.data_size = 1;

   321         fsm->request.data_size = 1;

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

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

   323         ecrt_sdo_request_write(&fsm->request);

   323         ecrt_sdo_request_write(&fsm->request);

   324         if (fsm->slave->master->debug_level)

   324         if (fsm->slave->master->debug_level)

   325             EC_DBG("Setting number of Pdo entries to %u.\n",

   325             EC_DBG("Setting number of Pdo entries to %u.\n",