canfestival: comparison src/pdo.c

equal deleted inserted replaced

-:17edd8a028fa
+:9b76e0881beb
 	UNS8 prp_j = 0x00;
 	UNS8 offset = 0x00;
 	const UNS8* pMappingCount = (UNS8*) TPDO_map->pSubindex[0].pObject;
-	pdo->cob_id.w = *(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 : ", *(UNS32*)TPDO_com->pSubindex[1].pObject);
 	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
 pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
 MSG_WAR(0x3930, "sendPDOrequest cobId is : ",*pwCobId);
 {
 Message pdo;
-pdo.cob_id.w = *pwCobId;
+pdo.cob_id = *pwCobId;
 pdo.rtr = REQUEST;
 pdo.len = 0;
 return canSend(d->canHandle,&pdo);
 }
 }
 UNS16      offsetObjdict;
 UNS16      lastIndex;
 status = state2;
-MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff));
+MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id & 0x7ff));
 offset = 0x00;
 numPdo = 0;
 numMap = 0;
 if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a
 request. */
 PDO */
 pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;
 /* check the CobId coherance */
 /*pwCobId is the cobId read in the dictionary at the state 3
 */
-if ( *pwCobId == (*m).cob_id.w ){
+if ( *pwCobId == (*m).cob_id ){
 /* The cobId is recognized */
 status = state4;
 MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
 break;
 }
 MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
 MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
 return 0xFF;
 }
-MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);
+MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id);
 MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
 MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
 /* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */
 offset += Size;
 					}
 }/* end switch status*/
 }/* end while*/
 }/* end if Donnees */
 else if ((*m).rtr == REQUEST ){
-MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
+MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id);
 status = state1;
 offsetObjdict = d->firstIndex->PDO_TRS;
 lastIndex = d->lastIndex->PDO_TRS;
 if(offsetObjdict) while( offsetObjdict  <= lastIndex ){
 /* study of all PDO stored in the objects dictionary */
 case state1:/* check the CobId */
 /* get CobId of the dictionary which match to the received PDO
 */
 pwCobId = (UNS32*) (d->objdict + offsetObjdict)->pSubindex[1].pObject;
-if ( *pwCobId == (*m).cob_id.w ) {
+if ( *pwCobId == (*m).cob_id ) {
 status = state4;
 break;
 }
 else {
 numPdo++;
 	    canSend(d->canHandle,&d->PDO_status[numPdo].last_message);
 return 0;
 	  }else{
 /* if SYNC did never occur, force emission with current data */
 /* DS301 do not tell what to do in such a case...*/
-MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id.w);
+MSG_ERR(0x1947, "Not ready RTR_SYNC TPDO send current data : ", m->cob_id);
 status = state5;
 	  }
 break;
 }else if(
 (*pTransmissionType == TRANS_EVENT_PROFILE) ||
 PDOEventTimerAlarm(d, numPdo);
 return 0;
 }else {
 /* The requested PDO is not to send on request. So, does
 nothing. */
-MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
+MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id);
 return 0xFF;
 }
 case state5:/* build and send requested PDO */
 {
 void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum)
 {
 	/* This is needed to avoid deletion of re-attribuated timer */
 	d->PDO_status[pdoNum].event_timer = TIMER_NONE;
 	/* force emission of PDO by artificially changing last emitted*/
-	d->PDO_status[pdoNum].last_message.cob_id.w = 0;
+	d->PDO_status[pdoNum].last_message.cob_id = 0;
 	_sendPDOevent( d, 0 ); /* not a Sync Event*/
 }
 void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum)
 {
 	    status = state11;
 	    break;
 }
 	/*Compare new and old PDO*/
-	if(d->PDO_status[pdoNum].last_message.cob_id.w == pdo.cob_id.w &&
+	if(d->PDO_status[pdoNum].last_message.cob_id == pdo.cob_id &&
 	   d->PDO_status[pdoNum].last_message.len == pdo.len &&
 #ifdef UNS64
 	   *(UNS64*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS64*)(&pdo.data[0])){
 #else /* don't ALLOW_64BIT_OPS*/
 *(UNS32*)(&d->PDO_status[pdoNum].last_message.data[0]) == *(UNS32*)(&pdo.data[0]) &&
 }
 break;
 case state5: /*Send the pdo*/
 	/*store_as_last_message*/
 	d->PDO_status[pdoNum].last_message = pdo;
-	MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id.w);
+	MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id);
 	MSG_WAR(0x396E,  "     Nb octets  : ",  pdo.len);
 	canSend(d->canHandle,&pdo);
 	status = state11;
 	break;
 	/* Delete TPDO timers */
 	d->PDO_status[pdoNum].event_timer = DelAlarm(d->PDO_status[pdoNum].event_timer);
 	d->PDO_status[pdoNum].inhibit_timer = DelAlarm(d->PDO_status[pdoNum].inhibit_timer);
 	/* Reset transmit type parameter */
 	d->PDO_status[pdoNum].transmit_type_parameter = 0;
-	d->PDO_status[pdoNum].last_message.cob_id.w = 0;
+	d->PDO_status[pdoNum].last_message.cob_id = 0;
 	pdoNum++;
 	offsetObjdict++;
 }
 }

changeset 365	9b76e0881beb
parent 350	e90113f7030b
child 370	6fecf36df407