--- a/master/fsm_coe_map.c Mon Mar 03 11:42:05 2008 +0000
+++ b/master/fsm_coe_map.c Mon Mar 03 13:26:32 2008 +0000
@@ -70,8 +70,9 @@
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
)
{
+ fsm->fsm_coe = fsm_coe;
fsm->state = NULL;
- fsm->fsm_coe = fsm_coe;
+ ec_sdo_request_init(&fsm->request);
ec_pdo_mapping_init(&fsm->mapping);
}
@@ -83,6 +84,7 @@
void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
+ ec_sdo_request_clear(&fsm->request);
ec_pdo_mapping_clear(&fsm->mapping);
}
@@ -179,7 +181,7 @@
ec_pdo_mapping_clear_pdos(&fsm->mapping);
- ec_sdo_request_init(&fsm->request, fsm->sync_sdo_index, 0);
+ ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -233,7 +235,7 @@
)
{
if (fsm->sync_subindex <= fsm->sync_subindices) {
- ec_sdo_request_init(&fsm->request, fsm->sync_sdo_index,
+ ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index,
fsm->sync_subindex);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -290,7 +292,7 @@
list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
- ec_sdo_request_init(&fsm->request, fsm->pdo->index, 0);
+ ec_sdo_request_read(&fsm->request, fsm->pdo->index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -336,7 +338,7 @@
)
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
- ec_sdo_request_init(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
+ ec_sdo_request_read(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately