motion/ecmc_plugin_socketcan
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Rename to cobId

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This commit is contained in:
Anders Sandstrom
2021-03-04 12:50:56 +01:00
parent 0b941f3f62
commit 3e59a7c086
2 changed files with 13 additions and 13 deletions
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18
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
View File

@@ -21,8 +21,8 @@
* ecmc ecmcCANOpenSDO class
*/
ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
uint32_t SDOSlaveTXId, // 0x580 + CobId
uint32_t SDOSlaveRXId, // 0x600 + Cobid
uint32_t cobIdTx, // 0x580 + CobId
uint32_t cobIdRx, // 0x600 + Cobid
ecmc_can_direction rw,
uint16_t ODIndex,
uint8_t ODSubIndex,
@@ -31,8 +31,8 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
int exeSampleTimeMs) {
writeBuffer_ = writeBuffer;
SDOSlaveRXId_ = SDOSlaveRXId;
SDOSlaveTXId_ = SDOSlaveTXId;
cobIdRx_ = cobIdRx;
cobIdTx_ = cobIdTx;
ODIndex_ = ODIndex;
ODSubIndex_ = ODSubIndex;
ODSize_ = ODSize;
@@ -52,7 +52,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
// Request data (send on slave RX)
// w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00
reqDataFrame_.can_id = SDOSlaveRXId;
reqDataFrame_.can_id = cobIdRx;
reqDataFrame_.can_dlc = 8; // data length
reqDataFrame_.data[0] = 0x40; // request read cmd
reqDataFrame_.data[1] = ODIndexBytes_.byte0;
@@ -65,7 +65,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
// Confirm Toggle 0
// w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
confReqFrameTg0_.can_id = SDOSlaveRXId;
confReqFrameTg0_.can_id = cobIdRx;
confReqFrameTg0_.can_dlc = 8; // data length
confReqFrameTg0_.data[0] = 0x61; // confirm cmd toggle 0
confReqFrameTg0_.data[1] = ODIndexBytes_.byte0;
@@ -78,7 +78,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
// Confirm Toggle 1
// w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
confReqFrameTg1_.can_id = SDOSlaveRXId;
confReqFrameTg1_.can_id = cobIdRx;
confReqFrameTg1_.can_dlc = 8; // data length
confReqFrameTg1_.data[0] = 0x71; // confirm cmd toggle 1
confReqFrameTg1_.data[1] = ODIndexBytes_.byte0;
@@ -89,7 +89,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
confReqFrameTg1_.data[6] = 0;
confReqFrameTg1_.data[7] = 0;
recConfRead_.can_id = SDOSlaveTXId;
recConfRead_.can_id = cobIdTx;
recConfRead_.can_dlc = 8; // data length
recConfRead_.data[0] = 0x41; // confirm cmd toggle 1
recConfRead_.data[1] = ODIndexBytes_.byte0;
@@ -148,7 +148,7 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
break;
case WAIT_FOR_DATA:
if(frame->can_id != SDOSlaveTXId_) {
if(frame->can_id != cobIdTx_) {
return; // not correct frame
}
//Add data to buffer

8
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
View File

@@ -27,8 +27,8 @@
class ecmcCANOpenSDO {
public:
ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
uint32_t SDOSlaveTXId, // 0x580 + CobId
uint32_t SDOSlaveRXId, // 0x600 + Cobid
uint32_t cobIdTx, // 0x580 + CobId
uint32_t cobIdRx, // 0x600 + Cobid
ecmc_can_direction rw,
uint16_t ODIndex, // Object dictionary index
uint8_t ODSubIndex, // Object dictionary subindex
@@ -43,8 +43,8 @@ class ecmcCANOpenSDO {
int frameEqual(can_frame *frame1,can_frame *frame2);
ecmcSocketCANWriteBuffer *writeBuffer_;
uint32_t SDOSlaveRXId_; // with cobid
uint32_t SDOSlaveTXId_; // with cobid
uint32_t cobIdRx_; // with cobid
uint32_t cobIdTx_; // with cobid
int readSampleTimeMs_;
int exeSampleTimeMs_;
ecmc_can_direction rw_;