equal
deleted
inserted
replaced
118 if (offset <= lastIndex) { |
118 if (offset <= lastIndex) { |
119 /* get the CobId*/ |
119 /* get the CobId*/ |
120 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject; |
120 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject; |
121 |
121 |
122 MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId); |
122 MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId); |
123 |
123 { |
124 Message pdo = {*pwCobId, REQUEST, 0}; |
124 Message pdo = {*pwCobId, REQUEST, 0}; |
125 return canSend(d->canHandle,&pdo); |
125 return canSend(d->canHandle,&pdo); |
|
126 } |
126 } |
127 } |
127 } |
128 } |
128 MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex); |
129 MSG_ERR(0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex); |
129 return 0xFF; |
130 return 0xFF; |
130 } |
131 } |
473 (*pTransmissionType <= TRANS_SYNC_MAX) && |
474 (*pTransmissionType <= TRANS_SYNC_MAX) && |
474 (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) { |
475 (++d->PDO_status[pdoNum].transmit_type_parameter == *pTransmissionType) ) { |
475 /*Reset count of SYNC*/ |
476 /*Reset count of SYNC*/ |
476 d->PDO_status[pdoNum].transmit_type_parameter = 0; |
477 d->PDO_status[pdoNum].transmit_type_parameter = 0; |
477 MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType); |
478 MSG_WAR(0x3964, " PDO is on SYNCHRO. Trans type : ", *pTransmissionType); |
478 pdo = (Message)Message_Initializer; |
479 { |
|
480 Message msg_init = Message_Initializer; |
|
481 pdo = msg_init; |
|
482 } |
479 if(buildPDO(d, pdoNum, &pdo)) |
483 if(buildPDO(d, pdoNum, &pdo)) |
480 { |
484 { |
481 MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum); |
485 MSG_ERR(0x1906, " Couldn't build TPDO number : ", pdoNum); |
482 status = state11; |
486 status = state11; |
483 break; |
487 break; |
498 /* If transmission on Event and not inhibited, check for changes */ |
502 /* If transmission on Event and not inhibited, check for changes */ |
499 }else if((*pTransmissionType == TRANS_EVENT_PROFILE || |
503 }else if((*pTransmissionType == TRANS_EVENT_PROFILE || |
500 *pTransmissionType == TRANS_EVENT_SPECIFIC )&& |
504 *pTransmissionType == TRANS_EVENT_SPECIFIC )&& |
501 !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) { |
505 !(d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) { |
502 MSG_WAR(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType); |
506 MSG_WAR(0x3968, " PDO is on EVENT. Trans type : ", *pTransmissionType); |
503 pdo = (Message)Message_Initializer; |
507 { |
|
508 Message msg_init = Message_Initializer; |
|
509 pdo = msg_init; |
|
510 } |
504 if(buildPDO(d, pdoNum, &pdo)) |
511 if(buildPDO(d, pdoNum, &pdo)) |
505 { |
512 { |
506 MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum); |
513 MSG_ERR(0x3907, " Couldn't build TPDO number : ", pdoNum); |
507 status = state11; |
514 status = state11; |
508 break; |
515 break; |