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Minor cleanup!

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This commit is contained in:
Anders Sandstrom
2021-03-05 16:12:26 +01:00
parent c90934e43d
commit 24fdea0329
1 changed files with 1 additions and 11 deletions
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12
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
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@@ -343,28 +343,18 @@ int ecmcCANOpenSDO::writeNextDataToSlave(int useToggle) {
return 0;
}
// seems byte 0 should be: 000tnnnc
// seems byte 0 should be: 000tnnnc (found in canopennode source docs)
// t toggle bit
// nnn bytes that do NOT contain data
// c for last write, Then no more communication
writeCmdByte temp;
temp.notused=0;
temp.nnn = 7-bytesToWrite;
temp.c = writtenBytes_+bytesToWrite >= ODSize_;
temp.t = useToggle;
memcpy(&(writeDataFrame_.data[0]),&temp,1);
//Copy data to frame (start at element 1 since toggle is at data 0)
memcpy(&(writeDataFrame_.data[1]),dataBuffer_ + writtenBytes_,bytesToWrite);
writeDataFrame_.can_dlc = bytesToWrite + 1; // need to include the toggle byte
// add toggle byte (start with toggle 0)
//if(useToggle) {
// writeDataFrame_.data[0] = 0x70; // toggle 1
//} else {
// writeDataFrame_.data[0] = 0x60; // toggle 0
//}
writeBuffer_->addWriteCAN(&writeDataFrame_); // Send first data frame
writtenBytes_ += bytesToWrite;
return bytesToWrite;