equal
deleted
inserted
replaced
134 0x1800, /*UNS16 index*/ |
134 0x1800, /*UNS16 index*/ |
135 0x01, /*UNS8 subindex*/ |
135 0x01, /*UNS8 subindex*/ |
136 4, /*UNS8 count*/ |
136 4, /*UNS8 count*/ |
137 0, /*UNS8 dataType*/ |
137 0, /*UNS8 dataType*/ |
138 &TPDO_COBId,/*void *data*/ |
138 &TPDO_COBId,/*void *data*/ |
139 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
139 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
140 } |
140 0); /* use block mode */ |
|
141 } |
141 break; |
142 break; |
142 |
143 |
143 case 2: |
144 case 2: |
144 { /*setup Slave's TPDO 1 to be transmitted on SYNC*/ |
145 { /*setup Slave's TPDO 1 to be transmitted on SYNC*/ |
145 UNS8 Transmission_Type = 0x01; |
146 UNS8 Transmission_Type = 0x01; |
151 0x1800, /*UNS16 index*/ |
152 0x1800, /*UNS16 index*/ |
152 0x02, /*UNS8 subindex*/ |
153 0x02, /*UNS8 subindex*/ |
153 1, /*UNS8 count*/ |
154 1, /*UNS8 count*/ |
154 0, /*UNS8 dataType*/ |
155 0, /*UNS8 dataType*/ |
155 &Transmission_Type,/*void *data*/ |
156 &Transmission_Type,/*void *data*/ |
156 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
157 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
158 0); /* use block mode */ |
157 } |
159 } |
158 break; |
160 break; |
159 |
161 |
160 case 3: |
162 case 3: |
161 { /*re-enable Slave's TPDO 1 */ |
163 { /*re-enable Slave's TPDO 1 */ |
168 0x1800, /*UNS16 index*/ |
170 0x1800, /*UNS16 index*/ |
169 0x01, /*UNS8 subindex*/ |
171 0x01, /*UNS8 subindex*/ |
170 4, /*UNS8 count*/ |
172 4, /*UNS8 count*/ |
171 0, /*UNS8 dataType*/ |
173 0, /*UNS8 dataType*/ |
172 &TPDO_COBId,/*void *data*/ |
174 &TPDO_COBId,/*void *data*/ |
173 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
175 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
176 0); /* use block mode */ |
174 } |
177 } |
175 break; |
178 break; |
176 |
179 |
177 case 4: |
180 case 4: |
178 { /*disable Slave's TPDO 2 */ |
181 { /*disable Slave's TPDO 2 */ |
185 0x1400, /*UNS16 index*/ |
188 0x1400, /*UNS16 index*/ |
186 0x01, /*UNS8 subindex*/ |
189 0x01, /*UNS8 subindex*/ |
187 4, /*UNS8 count*/ |
190 4, /*UNS8 count*/ |
188 0, /*UNS8 dataType*/ |
191 0, /*UNS8 dataType*/ |
189 &TPDO_COBId,/*void *data*/ |
192 &TPDO_COBId,/*void *data*/ |
190 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
193 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
194 0); /* use block mode */ |
191 } |
195 } |
192 break; |
196 break; |
193 |
197 |
194 |
198 |
195 case 5: |
199 case 5: |
203 0x1400, /*UNS16 index*/ |
207 0x1400, /*UNS16 index*/ |
204 0x02, /*UNS8 subindex*/ |
208 0x02, /*UNS8 subindex*/ |
205 1, /*UNS8 count*/ |
209 1, /*UNS8 count*/ |
206 0, /*UNS8 dataType*/ |
210 0, /*UNS8 dataType*/ |
207 &Transmission_Type,/*void *data*/ |
211 &Transmission_Type,/*void *data*/ |
208 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
212 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
213 0); /* use block mode */ |
209 } |
214 } |
210 break; |
215 break; |
211 |
216 |
212 case 6: |
217 case 6: |
213 { /*re-enable Slave's TPDO 1 */ |
218 { /*re-enable Slave's TPDO 1 */ |
220 0x1400, /*UNS16 index*/ |
225 0x1400, /*UNS16 index*/ |
221 0x01, /*UNS8 subindex*/ |
226 0x01, /*UNS8 subindex*/ |
222 4, /*UNS8 count*/ |
227 4, /*UNS8 count*/ |
223 0, /*UNS8 dataType*/ |
228 0, /*UNS8 dataType*/ |
224 &TPDO_COBId,/*void *data*/ |
229 &TPDO_COBId,/*void *data*/ |
225 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
230 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
231 0); /* use block mode */ |
226 } |
232 } |
227 break; |
233 break; |
228 |
234 |
229 case 7: |
235 case 7: |
230 { |
236 { |
236 0x1017, /*UNS16 index*/ |
242 0x1017, /*UNS16 index*/ |
237 0x00, /*UNS8 subindex*/ |
243 0x00, /*UNS8 subindex*/ |
238 2, /*UNS8 count*/ |
244 2, /*UNS8 count*/ |
239 0, /*UNS8 dataType*/ |
245 0, /*UNS8 dataType*/ |
240 &Heartbeat_Producer_Time,/*void *data*/ |
246 &Heartbeat_Producer_Time,/*void *data*/ |
241 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
247 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
248 0); /* use block mode */ |
242 } |
249 } |
243 break; |
250 break; |
244 |
251 |
245 case 8: |
252 case 8: |
246 { /*disable Slave's TPDO 2 */ |
253 { /*disable Slave's TPDO 2 */ |
253 0x1801, /*UNS16 index*/ |
260 0x1801, /*UNS16 index*/ |
254 0x01, /*UNS8 subindex*/ |
261 0x01, /*UNS8 subindex*/ |
255 4, /*UNS8 count*/ |
262 4, /*UNS8 count*/ |
256 0, /*UNS8 dataType*/ |
263 0, /*UNS8 dataType*/ |
257 &TPDO_COBId,/*void *data*/ |
264 &TPDO_COBId,/*void *data*/ |
258 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
265 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
266 0); /* use block mode */ |
259 } |
267 } |
260 break; |
268 break; |
261 |
269 |
262 case 9: |
270 case 9: |
263 { /*disable Slave's TPDO 3 */ |
271 { /*disable Slave's TPDO 3 */ |
270 0x1802, /*UNS16 index*/ |
278 0x1802, /*UNS16 index*/ |
271 0x01, /*UNS8 subindex*/ |
279 0x01, /*UNS8 subindex*/ |
272 4, /*UNS8 count*/ |
280 4, /*UNS8 count*/ |
273 0, /*UNS8 dataType*/ |
281 0, /*UNS8 dataType*/ |
274 &TPDO_COBId,/*void *data*/ |
282 &TPDO_COBId,/*void *data*/ |
275 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
283 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
284 0); /* use block mode */ |
276 } |
285 } |
277 break; |
286 break; |
278 |
287 |
279 case 10: |
288 case 10: |
280 { /*disable Slave's TPDO 2 */ |
289 { /*disable Slave's TPDO 2 */ |
287 0x1803, /*UNS16 index*/ |
296 0x1803, /*UNS16 index*/ |
288 0x01, /*UNS8 subindex*/ |
297 0x01, /*UNS8 subindex*/ |
289 4, /*UNS8 count*/ |
298 4, /*UNS8 count*/ |
290 0, /*UNS8 dataType*/ |
299 0, /*UNS8 dataType*/ |
291 &TPDO_COBId,/*void *data*/ |
300 &TPDO_COBId,/*void *data*/ |
292 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
301 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
302 0); /* use block mode */ |
293 } |
303 } |
294 break; |
304 break; |
295 |
305 |
296 case 11: |
306 case 11: |
297 /* Put the master in operational mode */ |
307 /* Put the master in operational mode */ |