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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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14
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StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
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0
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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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}
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