Merge pull request #28 from nattgris/pdo-rtr

Fix PDOs sending remote frames instead of actual data

Author: hefloryd

Diff for: src/co_main.h

@@ -35,9 +35,10 @@ extern "C" {
 
 #define CO_BYTELENGTH(bitlength) (((bitlength) + 7) / 8)
 
-#define CO_RTR_MASK BIT (30)
-#define CO_EXT_MASK BIT (29)
-#define CO_ID_MASK  0x1FFFFFFF
+#define CO_RTR_MASK   BIT (30)
+#define CO_EXT_MASK   BIT (29)
+#define CO_ID_MASK    0x1FFFFFFF
+#define CO_EXTID_MASK (CO_EXT_MASK | CO_ID_MASK)
 
 #define CO_COBID_INVALID BIT (31)
 #define CO_NODE_GET(id)  ((id)&0x7F)

Diff for: src/co_pdo.c

@@ -538,7 +538,7 @@ static void co_pdo_transmit (co_net_t * net, co_pdo_t * pdo)
    /* Transmit PDO */
    co_pdo_pack (net, pdo);
    dlc = CO_BYTELENGTH (pdo->bitlength);
-   os_channel_send (net->channel, pdo->cobid, &pdo->frame, dlc);
+   os_channel_send (net->channel, pdo->cobid & CO_EXTID_MASK, &pdo->frame, dlc);
    pdo->timestamp = now;
    pdo->queued    = false;
 }
@@ -685,7 +685,7 @@ void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
 
    if (id & CO_RTR_MASK)
    {
-      id &= ~CO_RTR_MASK;
+      id &= CO_EXTID_MASK;
       for (ix = 0; ix < MAX_TX_PDO; ix++)
       {
          co_pdo_t * pdo = &net->pdo_tx[ix];

Diff for: src/co_sync.c

@@ -157,7 +157,7 @@ int co_sync_timer (co_net_t * net, uint32_t now)
             co_put_uint8 (msg, sync->counter);
             os_channel_send (
                net->channel,
-               sync->cobid & 0x1FFFFFF,
+               sync->cobid & CO_EXTID_MASK,
                msg,
                sizeof (msg));
 
@@ -166,7 +166,7 @@ int co_sync_timer (co_net_t * net, uint32_t now)
          }
          else
          {
-            os_channel_send (net->channel, sync->cobid & 0x1FFFFFFF, NULL, 0);
+            os_channel_send (net->channel, sync->cobid & CO_EXTID_MASK, NULL, 0);
          }
 
          /* Call user callback */