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ethercat
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Always begin with subindex 0 while fetching SDO dictionary.

This commit is contained in:
Florian Pose 2006-10-20 13:03:01 +00:00
parent e6b2b80be5
commit 2dc4d186c3
1 changed files with 2 additions and 30 deletions
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32
master/fsm.c
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@ -2506,7 +2506,6 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_t *sdo = fsm->coe_sdo;
@ -2582,36 +2581,9 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
return;
}
if (!sdo->subindices) { // no entries
// another SDO description to fetch?
if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) {
fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list);
// start fetching entries
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fsm->coe_state = ec_fsm_error;
return;
}
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
ec_master_queue_datagram(fsm->master, datagram);
fsm->coe_state = ec_fsm_coe_dict_desc_request;
return;
}
if (master->debug_level) {
EC_DBG("Finished fetching SDO descriptions.\n");
}
fsm->coe_state = ec_fsm_end;
return;
}
fsm->coe_subindex = 1;
fsm->coe_subindex = 0;
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fsm->coe_state = ec_fsm_error;