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Update CO_PDO.c: make eventTime, inhibitTime and syncStartValue optional in object dictionary.

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Janez 2024-06-26 12:40:17 +02:00 committed by GitHub
parent 3e08dd45d5
commit 7850623700
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GPG key ID: B5690EEEBB952194
1 changed files with 4 additions and 28 deletions
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32
301/CO_PDO.c
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@ -740,13 +740,7 @@ CO_ReturnError_t CO_RPDO_init(CO_RPDO_t *RPDO,
/* Configure communication parameter - event-timer (optional) */
#if ((CO_CONFIG_PDO) & CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
uint16_t eventTime = 0;
odRet = OD_get_u16(OD_14xx_RPDOCommPar, 5, &eventTime, true);
if (odRet != ODR_OK) {
if (errInfo != NULL) {
*errInfo = (((uint32_t)OD_getIndex(OD_14xx_RPDOCommPar)) << 8) | 5U;
}
return CO_ERROR_OD_PARAMETERS;
}
(void)OD_get_u16(OD_14xx_RPDOCommPar, 5, &eventTime, true);
RPDO->timeoutTime_us = (uint32_t)eventTime * 1000U;
#endif
@ -1200,20 +1194,8 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
#if ((CO_CONFIG_PDO) & CO_CONFIG_TPDO_TIMERS_ENABLE) != 0
uint16_t inhibitTime = 0;
uint16_t eventTime = 0;
odRet = OD_get_u16(OD_18xx_TPDOCommPar, 3, &inhibitTime, true);
if (odRet != ODR_OK) {
if (errInfo != NULL) {
*errInfo = (((uint32_t)OD_getIndex(OD_18xx_TPDOCommPar)) << 8) | 3U;
}
return CO_ERROR_OD_PARAMETERS;
}
odRet = OD_get_u16(OD_18xx_TPDOCommPar, 5, &eventTime, true);
if (odRet != ODR_OK) {
if (errInfo != NULL) {
*errInfo = (((uint32_t)OD_getIndex(OD_18xx_TPDOCommPar)) << 8) | 5U;
}
return CO_ERROR_OD_PARAMETERS;
}
(void)OD_get_u16(OD_18xx_TPDOCommPar, 3, &inhibitTime, true);
(void)OD_get_u16(OD_18xx_TPDOCommPar, 5, &eventTime, true);
TPDO->inhibitTime_us = (uint32_t)inhibitTime * 100U;
TPDO->eventTime_us = (uint32_t)eventTime * 1000U;
#endif
@ -1222,13 +1204,7 @@ CO_ReturnError_t CO_TPDO_init(CO_TPDO_t *TPDO,
/* Configure communication parameter - SYNC start value (optional) */
#if ((CO_CONFIG_PDO) & CO_CONFIG_PDO_SYNC_ENABLE) != 0
TPDO->syncStartValue = 0;
odRet = OD_get_u8(OD_18xx_TPDOCommPar, 6, &TPDO->syncStartValue, true);
if (odRet != ODR_OK) {
if (errInfo != NULL) {
*errInfo = (((uint32_t)OD_getIndex(OD_18xx_TPDOCommPar)) << 8) | 6U;
}
return CO_ERROR_OD_PARAMETERS;
}
(void)OD_get_u8(OD_18xx_TPDOCommPar, 6, &TPDO->syncStartValue, true);
TPDO->SYNC = SYNC;
TPDO->syncCounter = 255;
#endif