190 case state3: /* get the PDO transmission type */ |
190 case state3: /* get the PDO transmission type */ |
191 if (d->objdict[offsetObjdict].bSubCount <= 2) { |
191 if (d->objdict[offsetObjdict].bSubCount <= 2) { |
192 MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum); |
192 MSG_ERR(0x1004, "Subindex 2 not found at index ", 0x1800 + pdoNum); |
193 return 0xFF; |
193 return 0xFF; |
194 } |
194 } |
195 pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject; |
195 pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject; |
196 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum); |
196 MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum); |
197 status = state4; |
197 status = state4; |
198 break; |
198 break; |
199 case state4: /* check if transmission type is after (this) SYNC */ |
199 case state4: /* check if transmission type is after (this) SYNC */ |
200 /* The message may not be transmited every SYNC but every n SYNC */ |
200 /* The message may not be transmited every SYNC but every n SYNC */ |
213 offsetObjdictMap++; |
213 offsetObjdictMap++; |
214 status = state11; |
214 status = state11; |
215 break; |
215 break; |
216 } |
216 } |
217 case state5: /* get PDO CobId */ |
217 case state5: /* get PDO CobId */ |
218 pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; |
218 pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject; |
219 MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId); |
219 MSG_WAR(0x3009, " PDO CobId is : ", *pwCobId); |
220 status = state7; |
220 status = state7; |
221 break; |
221 break; |
222 case state7: /* get mapped objects number to transmit with this PDO */ |
222 case state7: /* get mapped objects number to transmit with this PDO */ |
223 pMappingCount = d->objdict[offsetObjdictMap].pSubindex[0].pObject; |
223 pMappingCount = (UNS8*) d->objdict[offsetObjdictMap].pSubindex[0].pObject; |
224 MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount ); |
224 MSG_WAR(0x300D, " Number of objects mapped : ",*pMappingCount ); |
225 status = state8; |
225 status = state8; |
226 case state8: /* get mapping parameters */ |
226 case state8: /* get mapping parameters */ |
227 pMappingParameter = d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject; |
227 pMappingParameter = (UNS32*) d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject; |
228 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter); |
228 MSG_WAR(0x300F, " got mapping parameter : ", *pMappingParameter); |
229 MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum); |
229 MSG_WAR(0x3050, " at index : ", 0x1A00 + pdoNum); |
230 MSG_WAR(0x3051, " sub-index : ", prp_j + 1); |
230 MSG_WAR(0x3051, " sub-index : ", prp_j + 1); |
231 status = state9; |
231 status = state9; |
232 |
232 |