--- a/master/fsm_slave_config.c Tue Oct 11 14:06:07 2011 +0200
+++ b/master/fsm_slave_config.c Mon Oct 24 10:47:36 2011 +0200
@@ -449,6 +449,7 @@
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
EC_DIR_INVALID, // use default direction
+ 0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.boot_rx_mailbox_offset;
@@ -461,6 +462,7 @@
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
EC_DIR_INVALID, // use default direction
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.boot_tx_mailbox_offset;
@@ -476,6 +478,7 @@
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
@@ -503,6 +506,7 @@
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
@@ -515,6 +519,7 @@
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
NULL, // use default sync manager configuration
+ 0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
@@ -959,7 +964,7 @@
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
- unsigned int i, offset, num_pdo_syncs;
+ unsigned int i, j, offset, num_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
uint16_t size;
@@ -986,18 +991,30 @@
for (i = 0; i < num_pdo_syncs; i++) {
const ec_sync_config_t *sync_config;
+ uint8_t pdo_xfer = 0;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
- sync_config = &slave->config->sync_configs[sync_index];
+ const ec_slave_config_t *sc = slave->config;
+ sync_config = &sc->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
+
+ // determine, if PDOs shall be transferred via this SM
+ // inthat case, enable sync manager in every case
+ for (j = 0; j < sc->used_fmmus; j++) {
+ if (sc->fmmu_configs[j].sync_index == sync_index) {
+ pdo_xfer = 1;
+ break;
+ }
+ }
+
} else {
sync_config = NULL;
size = sync->default_length;
}
- ec_sync_page(sync, sync_index, size, sync_config,
+ ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
datagram->data + EC_SYNC_PAGE_SIZE * i);
}