From 1917a6f72b627df410c2905e3e52afb670478077 Mon Sep 17 00:00:00 2001
From: Hans-Erik Floryd <hans-erik.floryd@rt-labs.com>
Date: Mon, 4 Mar 2019 16:40:48 +0100
Subject: [PATCH] fix infoerror abort code

The upper 16 bits of the infoerror abort code was invalid.
---
 soes/esc_coe.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/soes/esc_coe.c b/soes/esc_coe.c
index 937b2f3..21c98a8 100644
--- a/soes/esc_coe.c
+++ b/soes/esc_coe.c
@@ -558,7 +558,8 @@ void SDO_infoerror (uint32_t abortcode)
       coeres->infoheader.incomplete = 0;
       coeres->infoheader.reserved = 0x00;
       coeres->infoheader.fragmentsleft = 0;
-      coeres->index = htoel (abortcode);
+      coeres->index = (uint16_t)htoel (abortcode);
+      coeres->datatype = (uint16_t)(htoel (abortcode) >> 16);
       MBXcontrol[MBXout].state = MBXstate_outreq;
       MBXcontrol[0].state = MBXstate_idle;
       ESCvar.xoe = 0;