Forces an emission of PDO by resetting the COB of the last message

diff --git a/examples/AVR/Slave/ds401.c b/examples/AVR/Slave/ds401.c
index 7c9a93e6e7e2e76a89ff71906044a50347b450ce..4ab60bd2b45fc676a49d2e315681b248dbcc7bc2 100644 (file)
--- a/examples/AVR/Slave/ds401.c
+++ b/examples/AVR/Slave/ds401.c
@@ -49,7 +49,11 @@ unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigne
     newInput++;
   }
   if (transmission)
+  {
+  /* force emission of PDO by artificially changing last emitted*/
+    d->PDO_status[0].last_message.cob_id = 0;
     sendPDOevent(d);
+  }
 
   return 1;
 }