--- a/src/emcy.c Mon Nov 12 13:24:17 2007 +0100
+++ b/src/emcy.c Mon Nov 12 14:38:34 2007 +0100
@@ -39,7 +39,7 @@
UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister);
+UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister);
/*! This is called when Index 0x1003 is updated.
@@ -94,13 +94,13 @@
**
** @return
**/
-UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister)
+UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister)
{
Message m;
MSG_WAR(0x3051, "sendEMCY", 0);
- m.cob_id.w = cob_id ;
+ m.cob_id.w = *d->error_cobid;
m.rtr = NOT_A_REQUEST;
m.len = 8;
m.data[0] = errCode & 0xFF; /* LSB */
@@ -170,7 +170,7 @@
/* send EMCY message */
if (d->CurrentCommunicationState.csEmergency)
- return sendEMCY(d, *d->bDeviceNodeId + 0x080, errCode, *d->error_register);
+ return sendEMCY(d, errCode, *d->error_register);
else return 1;
}
@@ -208,7 +208,7 @@
d->error_state = Error_free;
/* send a EMCY message with code "Error Reset or No Error" */
if (d->CurrentCommunicationState.csEmergency)
- sendEMCY(d, *d->bDeviceNodeId + 0x080, 0x0000, 0x00);
+ sendEMCY(d, 0x0000, 0x00);
}
*d->error_register = errRegister_tmp;
}