equal
deleted
inserted
replaced
240 **/ |
240 **/ |
241 void setNodeId(CO_Data* d, UNS8 nodeId) |
241 void setNodeId(CO_Data* d, UNS8 nodeId) |
242 { |
242 { |
243 UNS16 offset = d->firstIndex->SDO_SVR; |
243 UNS16 offset = d->firstIndex->SDO_SVR; |
244 if(offset){ |
244 if(offset){ |
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245 /* Adjust COB-ID Client->Server (rx) only id already set to default value*/ |
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246 if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + *d->bDeviceNodeId){ |
245 /* cob_id_client = 0x600 + nodeId; */ |
247 /* cob_id_client = 0x600 + nodeId; */ |
246 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId; |
248 *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId; |
|
249 } |
|
250 /* Adjust COB-ID Server -> Client (tx) only id already set to default value*/ |
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251 if(*(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + *d->bDeviceNodeId){ |
247 /* cob_id_server = 0x580 + nodeId; */ |
252 /* cob_id_server = 0x580 + nodeId; */ |
248 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId; |
253 *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId; |
249 /* node Id client. As we do not know the value, we put the node Id Server */ |
254 } |
250 /* *(UNS8*)d->objdict[offset].pSubindex[3].pObject = nodeId; */ |
|
251 } |
255 } |
252 |
256 |
253 /* |
257 /* |
254 Initialize the server(s) SDO parameters |
258 Initialize the server(s) SDO parameters |
255 Remember that only one SDO server is allowed, defined at index 0x1200 |
259 Remember that only one SDO server is allowed, defined at index 0x1200 |