src/states.c
author etisserant
Thu, 10 Aug 2006 17:38:53 +0200
changeset 45 45885c4e3e56
parent 14 1fbdf88163b3
child 53 73bc47a0db55
permissions -rw-r--r--
Updated doc
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include "states.h"
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#include "def.h"
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#include "nmtSlave.h"
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#ifdef LED_ENABLE
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#include "led.h"
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#else
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#define led_set_state(a,b)
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#endif
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e_nodeState getState(CO_Data* d)
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{
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  return d->nodeState;
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}
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void canDispatch(CO_Data* d, Message *m)
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{
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	 switch(m->cob_id.w >> 7)
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	{
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		case SYNC:
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			if(d->CurrentCommunicationState.csSYNC)
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				proceedSYNC(d,m);
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			break;
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		//case TIME_STAMP:
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		case PDO1tx:
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		case PDO1rx:
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		case PDO2tx:
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		case PDO2rx:
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		case PDO3tx:
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		case PDO3rx:
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		case PDO4tx:
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		case PDO4rx:
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			if (d->CurrentCommunicationState.csPDO)
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				proceedPDO(d,m);
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			break;
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		case SDOtx:
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		case SDOrx:
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			if (d->CurrentCommunicationState.csSDO)
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				proceedSDO(d,m);
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			break;
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		case NODE_GUARD:
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			if (d->CurrentCommunicationState.csHeartbeat)
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				proceedNODE_GUARD(d,m);
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			break;
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		case NMT:
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			if (d->iam_a_slave)
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			{
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				proceedNMTstateChange(d,m);
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			}
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#ifdef CANOPEN_LSS_ENABLE
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		default:
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			if (m->cob_id.w == 0x7E4 || m->cob_id.w == 0x705)
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			{
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				proceedLSS(d,m);
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			}
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#endif
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	}
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}
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#define StartOrStop(CommType, FuncStart, FuncStop) \
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	if(newCommunicationState->CommType && !d->CurrentCommunicationState.CommType){\
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		MSG_ERR(0x9999,#FuncStart, 9999);\
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		d->CurrentCommunicationState.CommType = 1;\
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		FuncStart;\
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	}else if(!newCommunicationState->CommType && d->CurrentCommunicationState.CommType){\
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		MSG_ERR(0x9999,#FuncStop, 9999);\
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		d->CurrentCommunicationState.CommType = 0;\
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		FuncStop;\
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	}
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#define None
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void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
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{
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	StartOrStop(csSDO,	None,		resetSDO(d))
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	StartOrStop(csSYNC,	startSYNC(d),		stopSYNC(d))
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	StartOrStop(csHeartbeat,	heartbeatInit(d),	heartbeatStop(d))
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//	StartOrStop(Emergency,,)
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	StartOrStop(csPDO,	None,	None)
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	StartOrStop(csBoot_Up,	None,	slaveSendBootUp(d))
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}
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UNS8 setState(CO_Data* d, e_nodeState newState)
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{
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	while(newState != d->nodeState){
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		switch( newState ){
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			case Initialisation:
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			{
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				s_state_communication newCommunicationState = {
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					csBoot_Up: 1,
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					csSDO: 0,
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					csEmergency: 0,
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					csSYNC: 0,
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					csHeartbeat: 0,
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					csPDO: 0};
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				// This will force a second loop for the state switch
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				d->nodeState = Initialisation;
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				newState = Pre_operational;
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				switchCommunicationState(d, &newCommunicationState);
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				// call user app related state func.
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				(*d->initialisation)();
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			}
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			break;
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			case Pre_operational:
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			{
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				s_state_communication newCommunicationState = {
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					csBoot_Up: 0,
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					csSDO: 1,
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					csEmergency: 1,
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					csSYNC: 1,
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					csHeartbeat: 1,
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					csPDO: 0};
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				d->nodeState = Pre_operational;
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				newState = Pre_operational;
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				switchCommunicationState(d, &newCommunicationState);
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				(*d->preOperational)();
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			}
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			break;
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			case Operational:
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			if(d->nodeState == Initialisation) return 0xFF;
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			{
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				s_state_communication newCommunicationState = {
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					csBoot_Up: 0,
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					csSDO: 1,
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					csEmergency: 1,
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					csSYNC: 1,
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					csHeartbeat: 1,
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					csPDO: 1};
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				d->nodeState = Operational;
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				newState = Operational;
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				switchCommunicationState(d, &newCommunicationState);
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				(*d->operational)();
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			}
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			break;
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			case Stopped:
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			if(d->nodeState == Initialisation) return 0xFF;
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			{
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				s_state_communication newCommunicationState = {
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					csBoot_Up: 0,
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					csSDO: 0,
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					csEmergency: 0,
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					csSYNC: 0,
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					csHeartbeat: 1,
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					csPDO: 0};
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				d->nodeState = Stopped;
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				newState = Stopped;
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				switchCommunicationState(d, &newCommunicationState);
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				(*d->stopped)();
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			}
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			break;
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			default:
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				return 0xFF;
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		}//end switch case
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		led_set_state(d, newState);		
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	}
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	return 0;
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}
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UNS8 getNodeId(CO_Data* d)
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{
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  return *d->bDeviceNodeId;
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}
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void setNodeId(CO_Data* d, UNS8 nodeId)
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{
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  UNS16 offset = d->firstIndex->SDO_SVR;
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  if(offset){
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      //cob_id_client = 0x600 + nodeId;
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      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
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      //cob_id_server = 0x580 + nodeId;
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      *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
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      // node Id client. As we do not know the value, we put the node Id Server
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      //*(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId;
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  }
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  // ** Initialize the server(s) SDO parameters
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  // Remember that only one SDO server is allowed, defined at index 0x1200
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  // ** Initialize the client(s) SDO parameters  
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  // Nothing to initialize (no default values required by the DS 401)
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  // ** Initialize the receive PDO communication parameters. Only for 0x1400 to 0x1403
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  {
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    UNS8 i = 0;
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    UNS16 offset = d->firstIndex->PDO_RCV;
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    UNS16 lastIndex = d->lastIndex->PDO_RCV;
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    UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
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    if( offset ) while( (offset <= lastIndex) && (i < 4)) {
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      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
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	      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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      i ++;
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      offset ++;
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    }
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  }
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  // ** Initialize the transmit PDO communication parameters. Only for 0x1800 to 0x1803
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  {
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    UNS8 i = 0;
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    UNS16 offset = d->firstIndex->PDO_TRS;
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    UNS16 lastIndex = d->lastIndex->PDO_TRS;
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    UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
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    i = 0;
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    if( offset ) while ((offset <= lastIndex) && (i < 4)) {
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      if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)
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	      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
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      i ++;
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      offset ++;
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    }
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  }
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  // bDeviceNodeId is defined in the object dictionary.
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  *d->bDeviceNodeId = nodeId;
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}