equal
deleted
inserted
replaced
50 { |
50 { |
51 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo; |
51 const indextable *TPDO_com = d->objdict + d->firstIndex->PDO_TRS + numPdo; |
52 const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo; |
52 const indextable *TPDO_map = d->objdict + d->firstIndex->PDO_TRS_MAP + numPdo; |
53 |
53 |
54 UNS8 prp_j = 0x00; |
54 UNS8 prp_j = 0x00; |
55 UNS8 offset = 0x00; |
55 UNS32 offset = 0x00000000; |
56 const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject; |
56 const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject; |
57 |
57 |
58 pdo->cob_id = UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF); |
58 pdo->cob_id = UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF); |
59 pdo->rtr = NOT_A_REQUEST; |
59 pdo->rtr = NOT_A_REQUEST; |
60 |
60 |
91 " Couldn't find mapped variable at index-subindex-size : ", |
91 " Couldn't find mapped variable at index-subindex-size : ", |
92 (UNS16) (*pMappingParameter)); |
92 (UNS16) (*pMappingParameter)); |
93 return 0xFF; |
93 return 0xFF; |
94 } |
94 } |
95 /* copy bit per bit in little endian */ |
95 /* copy bit per bit in little endian */ |
96 CopyBits (Size, ((UNS8 *) tmp), 0, 0, |
96 CopyBits ((UNS8) Size, ((UNS8 *) tmp), 0, 0, |
97 (UNS8 *) & pdo->data[offset >> 3], offset % 8, 0); |
97 (UNS8 *) & pdo->data[offset >> 3], (UNS8)(offset % 8), 0); |
98 |
98 |
99 offset += Size; |
99 offset += Size; |
100 } |
100 } |
101 prp_j++; |
101 prp_j++; |
102 } |
102 } |
103 while (prp_j < *pMappingCount); |
103 while (prp_j < *pMappingCount); |
104 |
104 |
105 pdo->len = 1 + ((offset - 1) >> 3); |
105 pdo->len = (UNS8)(1 + ((offset - 1) >> 3)); |
106 |
106 |
107 MSG_WAR (0x3015, " End scan mapped variable", 0); |
107 MSG_WAR (0x3015, " End scan mapped variable", 0); |
108 |
108 |
109 return 0; |
109 return 0; |
110 } |
110 } |
139 pwCobId = d->objdict[offset].pSubindex[1].pObject; |
139 pwCobId = d->objdict[offset].pSubindex[1].pObject; |
140 |
140 |
141 MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId); |
141 MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId); |
142 { |
142 { |
143 Message pdo; |
143 Message pdo; |
144 pdo.cob_id = UNS16_LE(*pwCobId); |
144 pdo.cob_id = (UNS16)UNS16_LE(*pwCobId); |
145 pdo.rtr = REQUEST; |
145 pdo.rtr = REQUEST; |
146 pdo.len = 0; |
146 pdo.len = 0; |
147 return canSend (d->canHandle, &pdo); |
147 return canSend (d->canHandle, &pdo); |
148 } |
148 } |
149 } |
149 } |