Now, setNodeId does change TPDO and RPDO CobId without testing previous CobId in order to avoid confusion. Standard does not says when 'default value' should be applied. See DS301 - Object 1400h - 15FFh: Receive PDO Communication Parameter page 108.
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __APPLICFG_LINUX__
#define __APPLICFG_LINUX__
#include <string.h>
#include <stdio.h>
/* Define the architecture : little_endian or big_endian
-----------------------------------------------------
Test :
UNS32 v = 0x1234ABCD;
char *data = &v;
Result for a little_endian architecture :
data[0] = 0xCD;
data[1] = 0xAB;
data[2] = 0x34;
data[3] = 0x12;
Result for a big_endian architecture :
data[0] = 0x12;
data[1] = 0x34;
data[2] = 0xAB;
data[3] = 0xCD;
*/
/* Integers */
#define INTEGER8 char
#define INTEGER16 short
#define INTEGER24
#define INTEGER32 long
#define INTEGER40
#define INTEGER48
#define INTEGER56
#define INTEGER64
/* Unsigned integers */
#define UNS8 unsigned char
#define UNS16 unsigned short
#define UNS32 unsigned long
#define UNS24
#define UNS40
#define UNS48
#define UNS56
#define UNS64
/* Reals */
#define REAL32 float
#define REAL64 double
/* Definition of error and warning macros */
/* -------------------------------------- */
#if defined DEBUG_ERR_CONSOLE_ON || defined DEBUG_WAR_CONSOLE_ON
#include <stdio.h>
#endif
/* Definition of MSG_ERR */
/* --------------------- */
#ifdef DEBUG_ERR_CONSOLE_ON
# define MSG_ERR(num, str, val)/* \
printf("%s,%d : 0X%x %s 0X%x \n",__FILE__, __LINE__,num, str, val);*/
#else
# define MSG_ERR(num, str, val)
#endif
/* Definition of MSG_WAR */
/* --------------------- */
#ifdef DEBUG_WAR_CONSOLE_ON
# define MSG_WAR(num, str, val)/* \
printf("%s,%d : 0X%x %s 0X%x \n",__FILE__, __LINE__,num, str, val);*/
#else
# define MSG_WAR(num, str, val)
#endif
typedef void* CAN_HANDLE;
typedef void* CAN_PORT;
#endif