equal
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43 ** @param TPDO_com TPDO communication parameters OD entry |
43 ** @param TPDO_com TPDO communication parameters OD entry |
44 ** @param TPDO_map TPDO mapping parameters OD entry |
44 ** @param TPDO_map TPDO mapping parameters OD entry |
45 ** |
45 ** |
46 ** @return |
46 ** @return |
47 **/ |
47 **/ |
48 |
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49 static void dbg(CO_Data * d, UNS8 v1, UNS8 v2) |
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50 { |
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51 Message pdo; |
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52 pdo.cob_id = 0x100; |
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53 pdo.rtr = NOT_A_REQUEST; |
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54 pdo.len = 2; |
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55 pdo.data[0] = v1; |
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56 pdo.data[1] = v2; |
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57 canSend (d->canHandle, &pdo); |
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58 } |
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59 |
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60 |
48 |
61 UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo) |
49 UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo) |
62 { |
50 { |
63 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo; |
51 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo; |
64 const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo; |
52 const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo; |