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ethercat
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Begin reading of Pdo assignment at sync manager 2; removed some 

debugging.
This commit is contained in:
Florian Pose 2008-06-26 14:03:33 +00:00
parent 444802186b
commit 88f5a2ac84
1 changed files with 3 additions and 11 deletions
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14
master/fsm_coe_map.c
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@ -140,8 +140,8 @@ void ec_fsm_coe_map_state_start(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
// read Pdo assignment for first sync manager
fsm->sync_index = 0xff; // next is 0
// read Pdo assignment for first sync manager not reserved for mailbox
fsm->sync_index = 1; // next is 2
ec_fsm_coe_map_action_next_sync(fsm);
}
@ -157,17 +157,9 @@ void ec_fsm_coe_map_action_next_sync(
fsm->sync_index++;
if (slave->master->debug_level)
EC_DBG("Processing SM%u of slave %u.\n",
fsm->sync_index, slave->ring_position);
for (; fsm->sync_index < EC_MAX_SYNCS; fsm->sync_index++) {
if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index))) {
if (slave->master->debug_level)
EC_DBG("Slave %u does not provide a configuration for "
"SM%u!\n", fsm->slave->ring_position, fsm->sync_index);
if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
continue;
}
fsm->sync_sdo_index = 0x1C10 + fsm->sync_index;