equal
deleted
inserted
replaced
350 UNS16 lastIndex; |
350 UNS16 lastIndex; |
351 UNS8 found = 0; |
351 UNS8 found = 0; |
352 Message m; |
352 Message m; |
353 UNS8 i; |
353 UNS8 i; |
354 UNS32 * pwCobId = NULL; |
354 UNS32 * pwCobId = NULL; |
355 UNS8 * pwNodeId = NULL; |
355 UNS32 * pwNodeId = NULL; |
356 |
356 |
357 MSG_WAR(0x3A38, "sendSDO",0); |
357 MSG_WAR(0x3A38, "sendSDO",0); |
358 if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) { |
358 if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) { |
359 MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
359 MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
360 return 0xFF; |
360 return 0xFF; |
441 { |
441 { |
442 UNS8 err; |
442 UNS8 err; |
443 UNS8 line; |
443 UNS8 line; |
444 UNS8 nbBytes; /* received or to be transmited. */ |
444 UNS8 nbBytes; /* received or to be transmited. */ |
445 UNS8 nodeId = 0; /* The node from which the SDO is received */ |
445 UNS8 nodeId = 0; /* The node from which the SDO is received */ |
446 UNS8 *pNodeId = NULL; |
446 UNS32 nodeId_32; /* node id in 32 bits, for temporary use */ |
|
447 UNS32 *pNodeId = NULL; |
447 UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ |
448 UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ |
448 UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ |
449 UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ |
449 s_SDO sdo; /* SDO to transmit */ |
450 s_SDO sdo; /* SDO to transmit */ |
450 UNS16 index; |
451 UNS16 index; |
451 UNS8 subIndex; |
452 UNS8 subIndex; |
493 pCobId = d->objdict[offset].pSubindex[2].pObject; |
494 pCobId = d->objdict[offset].pSubindex[2].pObject; |
494 if (*pCobId == (*m).cob_id.w ) { |
495 if (*pCobId == (*m).cob_id.w ) { |
495 /* b) cobid found, so reading the node id of the server. */ |
496 /* b) cobid found, so reading the node id of the server. */ |
496 pNodeId = d->objdict[offset].pSubindex[3].pObject; |
497 pNodeId = d->objdict[offset].pSubindex[3].pObject; |
497 whoami = SDO_CLIENT; |
498 whoami = SDO_CLIENT; |
498 nodeId = *pNodeId; |
499 nodeId_32 = *pNodeId; |
|
500 nodeId = (UNS8)nodeId_32; |
499 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
501 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
500 MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
502 MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
501 break; |
503 break; |
502 } |
504 } |
503 j++; |
505 j++; |