Hello,
setNodeId wrongly assumes, that the COB-id of the PDO communication
parameters only contains the CAN id. This patch resolves the issue.
Maybe somebody can apply this patch to the official repository.
Thanks,
Martin Lederhilger
Index: can_festival/src/states.c
===================================================================
--- can_festival/src/states.c (revision 983)
+++ can_festival/src/states.c (working copy)
@@ -278,9 +278,13 @@
UNS16 offset = d->firstIndex->PDO_RCV;
UNS16 lastIndex = d->lastIndex->PDO_RCV;
UNS32 cobID[] = {0x200, 0x300, 0x400, 0x500};
+ UNS32 canID;
+ UNS32 otherBits;
if( offset ) while( (offset <= lastIndex) && (i < 4)) {
- if((*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF))
- *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
+ canID = (*(UNS32*)d->objdict[offset].pSubindex[1].pObject) & 0x1fffffff;
+ otherBits = (*(UNS32*)d->objdict[offset].pSubindex[1].pObject) & ~0x1fffffff;
+ if((canID == cobID[i] + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF))
+ *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (cobID[i] + nodeId) | otherBits;
i ++;
offset ++;
}
@@ -291,10 +295,14 @@
UNS16 offset = d->firstIndex->PDO_TRS;
UNS16 lastIndex = d->lastIndex->PDO_TRS;
UNS32 cobID[] = {0x180, 0x280, 0x380, 0x480};
+ UNS32 canID;
+ UNS32 otherBits;
i = 0;
if( offset ) while ((offset <= lastIndex) && (i < 4)) {
- if((*(UNS32*)d->objdict[offset].pSubindex[1].pObject == cobID[i] + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF))
- *(UNS32*)d->objdict[offset].pSubindex[1].pObject = cobID[i] + nodeId;
+ canID = (*(UNS32*)d->objdict[offset].pSubindex[1].pObject) & 0x1fffffff;
+ otherBits = (*(UNS32*)d->objdict[offset].pSubindex[1].pObject) & ~0x1fffffff;
+ if((canID == cobID[i] + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF))
+ *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (cobID[i] + nodeId) | otherBits;
i ++;
offset ++;
}
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