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Add support for CoE flags requried by MFC2020 

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RWop
RWpre_safe

(defined in ETG1000-6)

fixes #142
pull/107/merge
Andreas Karlsson 2023-02-25 10:32:18 +01:00 committed by Hans-Erik Floryd
parent 8bb4350cd5
commit 3bb489469b
2 changed files with 8 additions and 3 deletions
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7
soes/esc_coe.c
View File

@ -872,13 +872,14 @@ static void SDO_download (void)
} }
else else
{ {
if (access == ATYPE_RWpre) if (access == ATYPE_RO)
{ {
SDO_abort (0, index, subindex, ABORT_NOTINTHISSTATE); SDO_abort (0, index, subindex, ABORT_READONLY);
} }
else else
{ {
SDO_abort (0, index, subindex, ABORT_READONLY); SDO_abort (0, index, subindex, ABORT_NOTINTHISSTATE);
} }
} }
} }

4
soes/esc_coe.h
View File

@ -96,11 +96,15 @@ typedef struct
#define ATYPE_Wop 0x20 #define ATYPE_Wop 0x20
#define ATYPE_RXPDO 0x40 #define ATYPE_RXPDO 0x40
#define ATYPE_TXPDO 0x80 #define ATYPE_TXPDO 0x80
#define ATYPE_BACKUP 0x100
#define ATYPE_SETTING 0x200
#define ATYPE_RO (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop) #define ATYPE_RO (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
#define ATYPE_WO (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop) #define ATYPE_WO (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
#define ATYPE_RW (ATYPE_RO | ATYPE_WO) #define ATYPE_RW (ATYPE_RO | ATYPE_WO)
#define ATYPE_RWpre (ATYPE_Wpre | ATYPE_RO) #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 TX_PDO_OBJIDX 0x1c13
#define RX_PDO_OBJIDX 0x1c12 #define RX_PDO_OBJIDX 0x1c12