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Fix PDO mapping with OD_ARRAY entries #64

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Merged
merged 1 commit into from
Feb 9, 2024
Merged

Fix PDO mapping with OD_ARRAY entries #64

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6 changes: 4 additions & 2 deletions src/co_pdo.c
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Original file line number Diff line number Diff line change
Expand Up @@ -84,11 +84,12 @@ void co_pdo_pack (co_net_t * net, co_pdo_t * pdo)
const co_entry_t * entry = pdo->entries[ix];
const co_obj_t * obj = pdo->objs[ix];
size_t bitlength = pdo->mappings[ix] & 0xFF;
uint8_t subindex = (pdo->mappings[ix] >> 8) & 0xFF;
uint64_t value = 0;

if (entry != NULL)
{
co_od_get_value (net, obj, entry, entry->subindex, &value);
co_od_get_value (net, obj, entry, subindex, &value);
}

bitslice_set (&pdo->frame, offset, bitlength, value);
Expand All @@ -106,12 +107,13 @@ void co_pdo_unpack (co_net_t * net, co_pdo_t * pdo)
const co_entry_t * entry = pdo->entries[ix];
const co_obj_t * obj = pdo->objs[ix];
size_t bitlength = pdo->mappings[ix] & 0xFF;
uint8_t subindex = (pdo->mappings[ix] >> 8) & 0xFF;
uint64_t value;

if (entry != NULL)
{
value = bitslice_get (&pdo->frame, offset, bitlength);
co_od_set_value (net, obj, entry, entry->subindex, value);
co_od_set_value (net, obj, entry, subindex, value);
}

offset += bitlength;
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