Pierre David / CANopen_Node

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Dependents:   SDC21XX_Motor SDC21XX_Motor

Diff: CANopen.cpp

Revision:
1:a5e0bd1f1c93
Parent:
0:0f99b1d63054
--- a/CANopen.cpp	Mon May 30 11:28:35 2016 +0000
+++ b/CANopen.cpp	Mon May 30 11:38:02 2016 +0000
@@ -32,7 +32,6 @@
         }
         int32_t CANopen::Send_Initiate_SDO_Upload(short index, short subindex)
         {
-            CANMessage _message;
             char _data[8];
             _data[0] = 0x60;
             _data[1] = index;
@@ -42,11 +41,9 @@
             _data[5] = 0;
             _data[6] = 0;
             _data[7] = 0;
-            &_message.data = _data;
-            message.len = 8;
-            message.id = 0x600 + node_id;
+            CANMessage _message(0x600 + node_id, _data, 8);
             can->write(_message);
-            can->read(&_message);
+            can->read(_message);
             return (_message.data[4] | _message.data[5] << 8 | _message.data[6] << 16 | _message.data[7] << 24);
             
         }