equal
deleted
inserted
replaced
458 while( offsetObjdict <= lastIndex) { |
458 while( offsetObjdict <= lastIndex) { |
459 switch( status ) { |
459 switch( status ) { |
460 case state3: |
460 case state3: |
461 if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/ |
461 if (/*d->objdict[offsetObjdict].bSubCount < 5 || not necessary with objdictedit (always 5)*/ |
462 /* check if TPDO is not valid */ |
462 /* check if TPDO is not valid */ |
463 *(UNS32*)d->objdict[offsetObjdict].pSubindex[0].pObject & 0x8000) { |
463 *(UNS32*)d->objdict[offsetObjdict].pSubindex[1].pObject & 0x80000000) { |
464 MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum); |
464 MSG_WAR(0x3960, "Not a valid PDO ", 0x1800 + pdoNum); |
465 /*Go next TPDO*/ |
465 /*Go next TPDO*/ |
466 status = state11; |
466 status = state11; |
467 break; |
467 break; |
468 } |
468 } |
523 d->PDO_status[pdoNum].last_message.len == pdo.len && |
523 d->PDO_status[pdoNum].last_message.len == pdo.len && |
524 *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){ |
524 *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){ |
525 /* No changes -> go to next pdo*/ |
525 /* No changes -> go to next pdo*/ |
526 status = state11; |
526 status = state11; |
527 }else{ |
527 }else{ |
|
528 |
|
529 UNS16 EventTimerDuration; |
|
530 UNS16 InhibitTimerDuration; |
|
531 |
528 MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum); |
532 MSG_WAR(0x306A, "Changes TPDO number : ", pdoNum); |
529 /* Changes detected -> transmit message */ |
533 /* Changes detected -> transmit message */ |
530 UNS16 EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject; |
534 EventTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[5].pObject; |
531 UNS16 InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject; |
535 InhibitTimerDuration = *(UNS16*)d->objdict[offsetObjdict].pSubindex[3].pObject; |
532 |
536 |
533 status = state5; |
537 status = state5; |
534 |
538 |
535 /* Start both event_timer and inhibit_timer*/ |
539 /* Start both event_timer and inhibit_timer*/ |
536 if(EventTimerDuration){ |
540 if(EventTimerDuration){ |