--- a/master/fsm_slave_config.c Thu Jan 10 12:34:58 2013 +0100
+++ b/master/fsm_slave_config.c Thu Jan 10 17:36:41 2013 +0100
@@ -679,7 +679,7 @@
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
ecrt_sdo_request_write(&fsm->request_copy);
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
}
/*****************************************************************************/
@@ -690,7 +690,7 @@
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) {
+ if (ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram)) {
return;
}
@@ -713,7 +713,7 @@
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
ecrt_sdo_request_write(&fsm->request_copy);
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ ec_fsm_coe_exec(fsm->fsm_coe, fsm->datagram); // execute immediately
return;
}
@@ -746,7 +746,7 @@
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
- ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
+ ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
@@ -765,7 +765,7 @@
{
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_soe_exec(fsm->fsm_soe)) {
+ if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
return;
}
@@ -790,7 +790,7 @@
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
- ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
+ ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
@@ -823,8 +823,9 @@
{
// TODO check for config here
- if (ec_fsm_pdo_exec(fsm->fsm_pdo))
- return;
+ if (ec_fsm_pdo_exec(fsm->fsm_pdo, fsm->datagram)) {
+ return;
+ }
if (!fsm->slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
@@ -1470,7 +1471,7 @@
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
- ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
+ ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
@@ -1489,7 +1490,7 @@
{
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_soe_exec(fsm->fsm_soe)) {
+ if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
return;
}
@@ -1514,7 +1515,7 @@
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
- ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
+ ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}