src/pdo.c
changeset 524 b94067330319
parent 497 a040156aa72f
child 539 187058b4a4b8
equal deleted inserted replaced
523:8db762eb756b 524:b94067330319
    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 
    48 
    49 UNS8
    49 UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
    50 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
       
    51 {
    50 {
    52   const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
    51   const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo;
    53   const indextable *TPDO_map =
    52   const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
    54     d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo;
       
    55 
    53 
    56   UNS8 prp_j = 0x00;
    54   UNS8 prp_j = 0x00;
    57   UNS8 offset = 0x00;
    55   UNS8 offset = 0x00;
    58   const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
    56   const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
    59 
    57 
   642                       status = state11;
   640                       status = state11;
   643                     }
   641                     }
   644                   else
   642                   else
   645                     {
   643                     {
   646 
   644 
   647                       UNS16 EventTimerDuration;
   645                       TIMEVAL EventTimerDuration;
   648                       UNS16 InhibitTimerDuration;
   646                       TIMEVAL InhibitTimerDuration;
   649 
   647 
   650                       MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
   648                       MSG_WAR (0x306A, "Changes TPDO number : ", pdoNum);
   651                       /* Changes detected -> transmit message */
   649                       /* Changes detected -> transmit message */
   652                       EventTimerDuration =
   650                       EventTimerDuration =
   653                         *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
   651                         *(UNS16 *) d->objdict[offsetObjdict].pSubindex[5].
   719 /*!
   717 /*!
   720 **
   718 **
   721 **
   719 **
   722 ** @param d
   720 ** @param d
   723 ** @param OD_entry
   721 ** @param OD_entry
   724 ** @param bSubindex 
   722 ** @param bSubindex
   725 ** @return always 0
   723 ** @return always 0
   726 **/
   724 **/
   727 
   725 
   728 UNS32
   726 UNS32
   729 TPDO_Communication_Parameter_Callback (CO_Data * d,
   727 TPDO_Communication_Parameter_Callback (CO_Data * d,