From 3bb489469baff840c3b513d01788d0969c3463c5 Mon Sep 17 00:00:00 2001
From: Andreas Karlsson <andreas.karlsson@rt-labs.com>
Date: Sat, 25 Feb 2023 10:32:18 +0100
Subject: [PATCH] Add support for CoE flags requried by MFC2020

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RWop
RWpre_safe

(defined in ETG1000-6)

fixes #142
---
 soes/esc_coe.c | 7 ++++---
 soes/esc_coe.h | 4 ++++
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/soes/esc_coe.c b/soes/esc_coe.c
index 796db6c..2e35391 100644
--- a/soes/esc_coe.c
+++ b/soes/esc_coe.c
@@ -872,13 +872,14 @@ static void SDO_download (void)
          }
          else
          {
-            if (access == ATYPE_RWpre)
+            if (access == ATYPE_RO)
             {
-               SDO_abort (0, index, subindex, ABORT_NOTINTHISSTATE);
+               SDO_abort (0, index, subindex, ABORT_READONLY);
+
             }
             else
             {
-               SDO_abort (0, index, subindex, ABORT_READONLY);
+               SDO_abort (0, index, subindex, ABORT_NOTINTHISSTATE);
             }
          }
       }
diff --git a/soes/esc_coe.h b/soes/esc_coe.h
index b54ac7b..17aee0c 100644
--- a/soes/esc_coe.h
+++ b/soes/esc_coe.h
@@ -96,11 +96,15 @@ typedef struct
 #define ATYPE_Wop               0x20
 #define ATYPE_RXPDO             0x40
 #define ATYPE_TXPDO             0x80
+#define ATYPE_BACKUP            0x100
+#define ATYPE_SETTING           0x200
 
 #define ATYPE_RO                (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
 #define ATYPE_WO                (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
 #define ATYPE_RW                (ATYPE_RO | ATYPE_WO)
 #define ATYPE_RWpre             (ATYPE_Wpre | ATYPE_RO)
+#define ATYPE_RWop              (ATYPE_Wop | ATYPE_RO)
+#define ATYPE_RWpre_safe        (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_RO)
 
 #define TX_PDO_OBJIDX           0x1c13
 #define RX_PDO_OBJIDX           0x1c12