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From: Markus Messmer <mme@pengutronix.de>
Date: Sat, 29 Oct 2011 18:32:03 +0200
Subject: [PATCH] fix for CAN ID byteorder
The can identifier does not need to get switched when compiling for big endian
machines.
FIXME rsc: needs to be made architecture independend.
Signed-off-by: Markus Messmer <mme@pengutronix.de>
---
include/objdictdef.h | 4 ++--
src/emcy.c | 4 ++--
src/lifegrd.c | 4 ++--
src/lss.c | 4 ++--
src/nmtMaster.c | 2 +-
src/nmtSlave.c | 2 +-
src/pdo.c | 20 ++++++++++----------
src/sdo.c | 10 +++++-----
src/states.c | 2 +-
src/sync.c | 2 +-
10 files changed, 27 insertions(+), 27 deletions(-)
diff --git a/include/objdictdef.h b/include/objdictdef.h
index 8361ee6..40ee460 100644
--- a/include/objdictdef.h
+++ b/include/objdictdef.h
@@ -118,7 +118,7 @@ typedef const indextable * (*scanIndexOD_t)(UNS16 wIndex, UNS32 * errorCode, ODC
/************************** MACROS *********************************/
/* CANopen usefull helpers */
-#define GET_NODE_ID(m) (UNS16_LE(m.cob_id) & 0x7f)
-#define GET_FUNCTION_CODE(m) (UNS16_LE(m.cob_id) >> 7)
+#define GET_NODE_ID(m) (m.cob_id & 0x7f)
+#define GET_FUNCTION_CODE(m) (m.cob_id >> 7)
#endif /* __objdictdef_h__ */
diff --git a/src/emcy.c b/src/emcy.c
index 272442a..0a3ca92 100644
--- a/src/emcy.c
+++ b/src/emcy.c
@@ -101,7 +101,7 @@ UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister)
MSG_WAR(0x3051, "sendEMCY", 0);
- m.cob_id = UNS16_LE(*(UNS32*)d->error_cobid);
+ m.cob_id = *(UNS32*)d->error_cobid;
m.rtr = NOT_A_REQUEST;
m.len = 8;
m.data[0] = errCode & 0xFF; /* LSB */
@@ -239,7 +239,7 @@ void proceedEMCY(CO_Data* d, Message* m)
}
/* post the received EMCY */
- nodeID = UNS16_LE(m->cob_id) & 0x7F;
+ nodeID = m->cob_id & 0x7F;
errCode = m->data[0] | ((UNS16)m->data[1] << 8);
errReg = m->data[2];
(*d->post_emcy)(d, nodeID, errCode, errReg);
diff --git a/src/lifegrd.c b/src/lifegrd.c
index 54b14f3..3a6530b 100644
--- a/src/lifegrd.c
+++ b/src/lifegrd.c
@@ -103,7 +103,7 @@ void proceedNODE_GUARD(CO_Data* d, Message* m )
{
Message msg;
UNS16 tmp = *d->bDeviceNodeId + 0x700;
- msg.cob_id = UNS16_LE(tmp);
+ msg.cob_id = tmp;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState;
@@ -180,7 +180,7 @@ void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
** the node-id of this device.
*/
UNS16 tmp = *d->bDeviceNodeId + 0x700;
- msg.cob_id = UNS16_LE(tmp);
+ msg.cob_id = tmp;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
diff --git a/src/lss.c b/src/lss.c
index 2febb62..d244d36 100644
--- a/src/lss.c
+++ b/src/lss.c
@@ -330,7 +330,7 @@ UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
m.len = 8;
m.rtr = NOT_A_REQUEST;
m.data[0]=command;
- m.cob_id=UNS16_LE(SLSS_ADRESS);
+ m.cob_id=SLSS_ADRESS;
/* Tha data sent with the msg depends on the command */
switch(command){
@@ -397,7 +397,7 @@ UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
m.len = 8;
m.rtr = NOT_A_REQUEST;
m.data[0]=command;
- m.cob_id=UNS16_LE(MLSS_ADRESS);
+ m.cob_id=MLSS_ADRESS;
/* Tha data sent with the msg depends on the command */
switch(command){
diff --git a/src/nmtMaster.c b/src/nmtMaster.c
index 22b11c8..9e3a80f 100644
--- a/src/nmtMaster.c
+++ b/src/nmtMaster.c
@@ -74,7 +74,7 @@ UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
/* message configuration */
UNS16 tmp = nodeId | (NODE_GUARD << 7);
- m.cob_id = UNS16_LE(tmp);
+ m.cob_id = tmp;
m.rtr = REQUEST;
m.len = 1;
diff --git a/src/nmtSlave.c b/src/nmtSlave.c
index 0ff2eba..ee6efee 100644
--- a/src/nmtSlave.c
+++ b/src/nmtSlave.c
@@ -128,7 +128,7 @@ UNS8 slaveSendBootUp(CO_Data* d)
/* message configuration */
{
UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId;
- m.cob_id = UNS16_LE(tmp);
+ m.cob_id = tmp;
}
m.rtr = NOT_A_REQUEST;
m.len = 1;
diff --git a/src/pdo.c b/src/pdo.c
index 457c495..c435d7a 100644
--- a/src/pdo.c
+++ b/src/pdo.c
@@ -55,7 +55,7 @@ UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
UNS8 offset = 0x00;
const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
- pdo->cob_id = UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF);
+ pdo->cob_id = *(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF;
pdo->rtr = NOT_A_REQUEST;
MSG_WAR (0x3009, " PDO CobId is : ",
@@ -141,7 +141,7 @@ sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
{
Message pdo;
- pdo.cob_id = UNS16_LE(*pwCobId);
+ pdo.cob_id = *pwCobId;
pdo.rtr = REQUEST;
pdo.len = 0;
return canSend (d->canHandle, &pdo);
@@ -184,7 +184,7 @@ proceedPDO (CO_Data * d, Message * m)
status = state2;
- MSG_WAR (0x3935, "proceedPDO, cobID : ", (UNS16_LE(m->cob_id) & 0x7ff));
+ MSG_WAR (0x3935, "proceedPDO, cobID : ", (m->cob_id & 0x7ff));
offset = 0x00;
numPdo = 0;
numMap = 0;
@@ -211,7 +211,7 @@ proceedPDO (CO_Data * d, Message * m)
/* check the CobId coherance */
/*pwCobId is the cobId read in the dictionary at the state 3
*/
- if (*pwCobId == UNS16_LE(m->cob_id))
+ if (*pwCobId == m->cob_id)
{
/* The cobId is recognized */
status = state4;
@@ -289,7 +289,7 @@ proceedPDO (CO_Data * d, Message * m)
MSG_WAR (0x3942,
"Variable updated by PDO cobid : ",
- UNS16_LE(m->cob_id));
+ m->cob_id);
MSG_WAR (0x3943, " Mapped at index : ",
(*pMappingParameter) >> 16);
MSG_WAR (0x3944, " subindex : ",
@@ -306,7 +306,7 @@ proceedPDO (CO_Data * d, Message * m)
} /* end if Donnees */
else if ((*m).rtr == REQUEST)
{
- MSG_WAR (0x3946, "Receive a PDO request cobId : ", UNS16_LE(m->cob_id));
+ MSG_WAR (0x3946, "Receive a PDO request cobId : ", m->cob_id);
status = state1;
offsetObjdict = d->firstIndex->PDO_TRS;
lastIndex = d->lastIndex->PDO_TRS;
@@ -324,7 +324,7 @@ proceedPDO (CO_Data * d, Message * m)
pwCobId =
(d->objdict +
offsetObjdict)->pSubindex[1].pObject;
- if (*pwCobId == UNS16_LE(m->cob_id))
+ if (*pwCobId == m->cob_id)
{
status = state4;
break;
@@ -364,7 +364,7 @@ proceedPDO (CO_Data * d, Message * m)
/* DS301 do not tell what to do in such a case... */
MSG_ERR (0x1947,
"Not ready RTR_SYNC TPDO send current data : ",
- UNS16_LE(m->cob_id));
+ m->cob_id);
status = state5;
}
break;
@@ -389,7 +389,7 @@ proceedPDO (CO_Data * d, Message * m)
/* The requested PDO is not to send on request. So, does
nothing. */
MSG_WAR (0x2947, "PDO is not to send on request : ",
- UNS16_LE(m->cob_id));
+ m->cob_id);
return 0xFF;
}
@@ -690,7 +690,7 @@ _sendPDOevent (CO_Data * d, UNS8 isSyncEvent)
case state5: /*Send the pdo */
/*store_as_last_message */
d->PDO_status[pdoNum].last_message = pdo;
- MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
+ MSG_WAR (0x396D, "sendPDO cobId :", pdo.cob_id);
MSG_WAR (0x396E, " Nb octets : ", pdo.len);
canSend (d->canHandle, &pdo);
diff --git a/src/sdo.c b/src/sdo.c
index 4e26652..1262cf9 100644
--- a/src/sdo.c
+++ b/src/sdo.c
@@ -547,7 +547,7 @@ UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
}
/* message copy for sending */
- m.cob_id = UNS16_LE(*pwCobId);
+ m.cob_id = *pwCobId;
m.rtr = NOT_A_REQUEST;
/* the length of SDO must be 8 */
m.len = 8;
@@ -640,7 +640,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
return 0xFF;
}
pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
- if ( *pCobId == UNS16_LE(m->cob_id) ) {
+ if ( *pCobId == m->cob_id ) {
whoami = SDO_SERVER;
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
@@ -663,7 +663,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
}
/* a) Looking for the cobid received. */
pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
- if (*pCobId == UNS16_LE(m->cob_id) ) {
+ if (*pCobId == m->cob_id ) {
/* b) cobid found, so reading the node id of the server. */
pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
whoami = SDO_CLIENT;
@@ -682,7 +682,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
/* Test if the size of the SDO is ok */
if ( (*m).len != 8) {
- MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
+ MSG_ERR(0x1A67, "Error size SDO. CobId : ", m->cob_id);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
return 0xFF;
}
@@ -691,7 +691,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
}
else {
- MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
+ MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", m->cob_id);
}
/* Testing the command specifier */
diff --git a/src/states.c b/src/states.c
index c7d5df7..208dcc9 100644
--- a/src/states.c
+++ b/src/states.c
@@ -62,7 +62,7 @@ e_nodeState getState(CO_Data* d)
**/
void canDispatch(CO_Data* d, Message *m)
{
- UNS16 cob_id = UNS16_LE(m->cob_id);
+ UNS16 cob_id = m->cob_id;
switch(cob_id >> 7)
{
case SYNC: /* can be a SYNC or a EMCY message */
diff --git a/src/sync.c b/src/sync.c
index bae1925..7ff65f2 100644
--- a/src/sync.c
+++ b/src/sync.c
@@ -131,7 +131,7 @@ UNS8 sendSYNCMessage(CO_Data* d)
MSG_WAR(0x3001, "sendSYNC ", 0);
- m.cob_id = UNS16_LE(*d->COB_ID_Sync);
+ m.cob_id = *d->COB_ID_Sync;
m.rtr = NOT_A_REQUEST;
m.len = 0;
|
