/// <summary>
/// Send a SDO packet, with command and payload, should be only called from SDO state machine
/// </summary>
/// <param name="cmd">SDO command byte</param>
/// <param name="payload">Data payload to send</param>
private void sendpacket(byte cmd, byte[] payload)
{
canpacket p = new canpacket();
p.cob = (UInt16)(0x600 + node);
p.len = 8;
p.data = new byte[8];
p.data[0] = cmd;
p.data[1] = (byte)index;
p.data[2] = (byte)(index >> 8);
p.data[3] = subindex;
int sendlength = 4;
if (payload.Length < 4)
{
sendlength = payload.Length;
}
for (int x = 0; x < sendlength; x++)
{
p.data[4 + x] = payload[x];
}
if (dbglevel == debuglevel.DEBUG_ALL)
{
Console.WriteLine(String.Format("Sending a new SDO packet: {0}", p.ToString()));
}
if (can.isopen())
{
can.SendPacket(p);
}
}
/// <summary>
/// Segmented transfer update function, should be only called from SDO state machine
/// </summary>
/// <param name="cmd">SDO command byte</param>
/// <param name="payload">Data payload</param>
private void sendpacketsegment(byte cmd, byte[] payload)
{
canpacket p = new canpacket();
p.cob = (UInt16)(0x600 + node);
p.len = 8;
p.data = new byte[8];
p.data[0] = cmd;
for (int x = 0; x < payload.Length; x++)
{
p.data[1 + x] = payload[x];
}
if (dbglevel == debuglevel.DEBUG_ALL)
{
Console.WriteLine(String.Format("Sending a new segmented SDO packet: {0}", p.ToString()));
}
can.SendPacket(p);
}
private static void Lco_nmtevent(libCanopenSimple.canpacket p)
{
Console.WriteLine("NMT :" + p.ToString());
}
private static void Lco_sdoevent(libCanopenSimple.canpacket p, DateTime dt)
{
Console.WriteLine("SDO :" + p.ToString());
}
