147 dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)] |
147 dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)] |
148 if len(pdomapping) > 0: |
148 if len(pdomapping) > 0: |
149 # Disable Mapping |
149 # Disable Mapping |
150 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)] |
150 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)] |
151 # Map Variables |
151 # Map Variables |
152 for subindex, (name, loc_infos) in enumerate(pdomapping): |
152 for subindex, (_name, loc_infos) in enumerate(pdomapping): |
153 value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] |
153 value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] |
154 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)] |
154 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)] |
155 # Re-enable Mapping |
155 # Re-enable Mapping |
156 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)] |
156 dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)] |
157 # Re-Enable PDO |
157 # Re-Enable PDO |