21.soem 1.4 无法进入OP解决

从站SSC 5.12主站SOEM 1.4这是SOEM和SSC 5.12的老问题。是大小端转换问题。解决方法修改SOEM的代码int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize) { int wkc, rdl; int retVal 0; uint8 nSM, iSM, tSM; int Tsize; uint8 SMt_bug_add; *Isize 0; *Osize 0; SMt_bug_add 0; rdl sizeof(ec_SMcommtypet); context-SMcommtype[Thread_n].n 0; /* read SyncManager Communication Type object count Complete Access*/ wkc ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, 0x00, TRUE, rdl, (context-SMcommtype[Thread_n]), EC_TIMEOUTRXM); /* positive result from slave ? */ if ((wkc 0) (context-SMcommtype[Thread_n].n 2)) { nSM context-SMcommtype[Thread_n].n; /* limit to maximum number of SM defined, if true the slave cant be configured */ if (nSM EC_MAXSM) { nSM EC_MAXSM; ecx_packeterror(context, Slave, 0, 0, 10); /* #SM larger than EC_MAXSM */ } /* iterate for every SM type defined */ for (iSM 2 ; iSM nSM ; iSM) { tSM context-SMcommtype[Thread_n].SMtype[iSM]; // start slave bug prevention code, remove if possible if((iSM 2) (tSM 2)) // SM2 has type 2 mailbox out, this is a bug in the slave! { SMt_bug_add 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4 } else if((iSM 2) (tSM 4)) { tSM 3; } else if((iSM 3) (tSM 3)) { tSM 4; } if(tSM) { tSM SMt_bug_add; // only add if SMt 0 }