From 95b8b88f38e6cebf230ecaf827cc376089ee0595 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 10 Apr 2006 10:50:45 +0000
Subject: [PATCH] Altered CoE "Get object description response" fields
---
master/canopen.c | 11 +++++++----
master/slave.c | 3 +--
master/slave.h | 4 ++--
3 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/master/canopen.c b/master/canopen.c
index 74de35ea..bf721812 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -268,8 +268,8 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
// Initialize SDO object
sdo->index = sdo_index;
- sdo->type = 0x0000;
- sdo->features = 0x00;
+ //sdo->unkown = 0x0000;
+ sdo->object_code = 0x00;
sdo->name = NULL;
INIT_LIST_HEAD(&sdo->entries);
@@ -332,8 +332,11 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
return -1;
}
- sdo->type = EC_READ_U16(data + 8);
- sdo->features = EC_READ_U8(data + 11);
+ EC_DBG("object desc response:\n");
+ ec_print_data(data, rec_size);
+
+ //sdo->unknown = EC_READ_U16(data + 8);
+ sdo->object_code = EC_READ_U8(data + 11);
name_size = rec_size - 12;
if (name_size) {
diff --git a/master/slave.c b/master/slave.c
index 4bac8262..21c22c41 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -1059,8 +1059,7 @@ void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
EC_INFO(" 0x%04X \"%s\"\n", sdo->index,
sdo->name ? sdo->name : "");
- EC_INFO(" Type 0x%04X, features: 0x%02X\n",
- sdo->type, sdo->features);
+ EC_INFO(" Object code: 0x%02X\n", sdo->object_code);
list_for_each_entry(sdo_entry, &sdo->entries, list) {
EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
sdo->index, sdo_entry->subindex,
diff --git a/master/slave.h b/master/slave.h
index 3c6d6bf5..7ef3b85c 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -157,8 +157,8 @@ typedef struct
{
struct list_head list;
uint16_t index;
- uint16_t type;
- uint8_t features;
+ //uint16_t type;
+ uint8_t object_code;
char *name;
struct list_head entries;
}
--
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