510 } |
510 } |
511 |
511 |
512 UNS8 |
512 UNS8 |
513 sendOnePDOevent (CO_Data * d, UNS8 pdoNum) |
513 sendOnePDOevent (CO_Data * d, UNS8 pdoNum) |
514 { |
514 { |
515 UNS8 *pTransmissionType; |
|
516 UNS16 offsetObjdict; |
515 UNS16 offsetObjdict; |
517 Message pdo; |
516 Message pdo; |
518 if (!d->CurrentCommunicationState.csPDO || |
517 if (!d->CurrentCommunicationState.csPDO || |
519 (d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) |
518 (d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) |
520 { |
519 { |
521 return 0; |
520 return 0; |
522 } |
521 } |
523 |
522 |
524 offsetObjdict = (UNS16) (d->firstIndex->PDO_TRS + pdoNum); |
523 offsetObjdict = (UNS16) (d->firstIndex->PDO_TRS + pdoNum); |
525 pTransmissionType = (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject; |
|
526 |
524 |
527 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", |
525 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", |
528 *pTransmissionType); |
526 *((UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject)); |
529 |
527 |
530 memset(&pdo, 0, sizeof(pdo)); |
528 memset(&pdo, 0, sizeof(pdo)); |
531 if (buildPDO (d, pdoNum, &pdo)) |
529 if (buildPDO (d, pdoNum, &pdo)) |
532 { |
530 { |
533 MSG_ERR (0x3907, " Couldn't build TPDO number : ", |
531 MSG_ERR (0x3907, " Couldn't build TPDO number : ", |