equal
deleted
inserted
replaced
485 |
485 |
486 static void sendPdo(CO_Data * d, UNS32 pdoNum, Message * pdo) |
486 static void sendPdo(CO_Data * d, UNS32 pdoNum, Message * pdo) |
487 { |
487 { |
488 /*store_as_last_message */ |
488 /*store_as_last_message */ |
489 d->PDO_status[pdoNum].last_message = *pdo; |
489 d->PDO_status[pdoNum].last_message = *pdo; |
490 MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id)); |
490 MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo->cob_id)); |
491 MSG_WAR (0x396E, " Nb octets : ", pdo.len); |
491 MSG_WAR (0x396E, " Nb octets : ", pdo->len); |
492 |
492 |
493 canSend (d->canHandle, pdo); |
493 canSend (d->canHandle, pdo); |
494 } |
494 } |
495 |
495 |
496 |
496 |
510 } |
510 } |
511 |
511 |
512 UNS8 |
512 UNS8 |
513 sendOnePDOevent (CO_Data * d, UNS8 pdoNum) |
513 sendOnePDOevent (CO_Data * d, UNS8 pdoNum) |
514 { |
514 { |
|
515 UNS8 *pTransmissionType; |
515 UNS16 offsetObjdict; |
516 UNS16 offsetObjdict; |
516 Message pdo; |
517 Message pdo; |
517 if (!d->CurrentCommunicationState.csPDO || |
518 if (!d->CurrentCommunicationState.csPDO || |
518 (d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) |
519 (d->PDO_status[pdoNum].transmit_type_parameter & PDO_INHIBITED)) |
519 { |
520 { |
520 return 0; |
521 return 0; |
521 } |
522 } |
522 |
523 |
523 offsetObjdict = (UNS16) (d->firstIndex->PDO_TRS + pdoNum); |
524 offsetObjdict = (UNS16) (d->firstIndex->PDO_TRS + pdoNum); |
|
525 pTransmissionType = (UNS8 *) d->objdict[offsetObjdict].pSubindex[2].pObject; |
|
526 |
524 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", |
527 MSG_WAR (0x3968, " PDO is on EVENT. Trans type : ", |
525 *pTransmissionType); |
528 *pTransmissionType); |
526 |
529 |
527 memset(&pdo, 0, sizeof(pdo)); |
530 memset(&pdo, 0, sizeof(pdo)); |
528 if (buildPDO (d, pdoNum, &pdo)) |
531 if (buildPDO (d, pdoNum, &pdo)) |