equal
deleted
inserted
replaced
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, |