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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/lifegrd.c | 4 ++--
src/lss.c | 4 ++--
src/nmtMaster.c | 2 +-
src/nmtSlave.c | 2 +-
src/pdo.c | 20 ++++++++++----------
src/sdo.c | 4 ++--
src/states.c | 2 +-
src/sync.c | 2 +-
9 files changed, 22 insertions(+), 22 deletions(-)
diff --git a/include/objdictdef.h b/include/objdictdef.h
index 60948b85a752..1ee36e88a155 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/lifegrd.c b/src/lifegrd.c
index 566a4922a491..c98c4580b532 100644
--- a/src/lifegrd.c
+++ b/src/lifegrd.c
@@ -99,7 +99,7 @@ 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;
@@ -181,7 +181,7 @@ void ProducerHeartbeatAlarm(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 2febb6229320..d244d361d351 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 ba4cb05c50d2..a2efd36d6d68 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 = 0;
diff --git a/src/nmtSlave.c b/src/nmtSlave.c
index 0ff2ebac5a7e..ee6efee62b91 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 f5174ce64a56..f4cd2cb3ff7c 100644
--- a/src/pdo.c
+++ b/src/pdo.c
@@ -55,7 +55,7 @@ UNS8 buildPDO (CO_Data * d, UNS8 numPdo, Message * pdo)
UNS32 offset = 0x00000000;
const UNS8 *pMappingCount = (UNS8 *) TPDO_map->pSubindex[0].pObject;
- pdo->cob_id = (UNS16) UNS16_LE(*(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF);
+ pdo->cob_id = (UNS16) *(UNS32*)TPDO_com->pSubindex[1].pObject & 0x7FF;
pdo->rtr = NOT_A_REQUEST;
MSG_WAR (0x3009, " PDO CobId is : ",
@@ -146,7 +146,7 @@ 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);
@@ -189,7 +189,7 @@ 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;
@@ -206,7 +206,7 @@ proceedPDO (CO_Data * d, Message * m)
case state2:
pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
- if (*pwCobId == UNS16_LE(m->cob_id))
+ if (*pwCobId == m->cob_id)
{
/* The cobId is recognized */
status = state4;
@@ -283,7 +283,7 @@ 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 : ",
@@ -308,7 +308,7 @@ 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;
@@ -326,7 +326,7 @@ 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;
@@ -366,7 +366,7 @@ 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;
@@ -391,7 +391,7 @@ 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;
}
@@ -484,7 +484,7 @@ static void sendPdo(CO_Data * d, UNS32 pdoNum, Message * 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 f5abb11ce5db..394e1609aa61 100644
--- a/src/sdo.c
+++ b/src/sdo.c
@@ -780,7 +780,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
}
/* Looking for the cobid received. */
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);
/* Defining Server number = index minus 0x1200 where the cobid received is defined. */
@@ -802,7 +802,7 @@ UNS8 proceedSDO (CO_Data* d, Message *m)
}
/* 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 ) {
whoami = SDO_CLIENT;
MSG_WAR(0x3A64, "proceedSDO. I am client index : ", 0x1280 + j);
/* Defining Client number = index minus 0x1280 where the cobid received is defined. */
diff --git a/src/states.c b/src/states.c
index a8fb3d3fd1a8..866f055d655f 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 52a15ac71540..a2e163d81e9f 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)UNS16_LE(*d->COB_ID_Sync);
+ m.cob_id = (UNS16)*d->COB_ID_Sync;
m.rtr = NOT_A_REQUEST;
m.len = 0;
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