--- a/src/sdo.c Tue Mar 27 15:29:57 2012 +0200
+++ b/src/sdo.c Mon May 21 17:21:57 2012 +0200
@@ -123,7 +123,7 @@
*/
#define getSDOsubIndex(byte3) (byte3)
-/** Returns the subcommand in SDO block transfert
+/** Returns the subcommand in SDO block transfer
*/
#define getSDOblockSC(byte) (byte & 3)
@@ -143,7 +143,7 @@
if ((offset == 0) || ((offset+d->transfers[id].CliServNbr) > d->lastIndex->SDO_CLT)) {
return ;
}
- nodeId = *((UNS32*) d->objdict[offset+d->transfers[id].CliServNbr].pSubindex[3].pObject);
+ nodeId = (UNS8) *((UNS32*) d->objdict[offset+d->transfers[id].CliServNbr].pSubindex[3].pObject);
MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
MSG_WAR(0x2A02, "server node id : ", nodeId);
MSG_WAR(0x2A02, " index : ", d->transfers[id].index);
@@ -188,7 +188,7 @@
UNS8 j;
/* transfer structure initialization */
- for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
+ for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERS ; j++)
resetSDOline(d, j);
}
@@ -211,7 +211,7 @@
size = d->transfers[line].count;
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
- if (size > SDO_MAX_LENGTH_TRANSFERT)
+ if (size > SDO_MAX_LENGTH_TRANSFER)
{
errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
(void *) d->transfers[line].dynamicData, &size, 1);
@@ -243,7 +243,7 @@
**/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
- UNS32 size = SDO_MAX_LENGTH_TRANSFERT;
+ UNS32 size = SDO_MAX_LENGTH_TRANSFER;
UNS8 dataType;
UNS32 errorCode;
@@ -304,8 +304,8 @@
UNS32 offset;
#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
- if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
- MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
+ if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
+ MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
return 0xFF;
}
#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
@@ -316,7 +316,7 @@
}
offset = d->transfers[line].offset;
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
- if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFERT)
+ if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFER)
{
for (i = 0 ; i < nbBytes ; i++)
* (data + i) = d->transfers[line].data[offset + i];
@@ -354,8 +354,8 @@
UNS8 i;
UNS32 offset;
#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
- if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
- MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
+ if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
+ MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
return 0xFF;
}
#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
@@ -364,7 +364,7 @@
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
{
UNS8* lineData = d->transfers[line].data;
- if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
+ if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
if (d->transfers[line].dynamicData == NULL) {
d->transfers[line].dynamicData = (UNS8*) malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
@@ -450,7 +450,7 @@
UNS32 i;
MSG_WAR(0x3A25, "reset SDO line nb : ", line);
initSDOline(d, line, 0, 0, 0, SDO_RESET);
- for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
+ for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFER ; i++)
d->transfers[line].data[i] = 0;
d->transfers[line].whoami = 0;
d->transfers[line].abortCode = 0;
@@ -516,7 +516,7 @@
UNS8 i;
- for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
+ for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
if ( d->transfers[i].state == SDO_RESET ) {
*line = i;
d->transfers[i].whoami = whoami;
@@ -542,7 +542,7 @@
UNS8 i;
- for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
+ for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
if ( (d->transfers[i].state != SDO_RESET) &&
(d->transfers[i].state != SDO_ABORTED_INTERNAL) &&
(d->transfers[i].CliServNbr == CliServNbr) &&
@@ -569,7 +569,7 @@
UNS8 i;
- for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
+ for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
if ( (d->transfers[i].state != SDO_RESET) &&
(d->transfers[i].CliServNbr == CliServNbr) &&
(d->transfers[i].whoami == whoami) ) {
@@ -639,8 +639,8 @@
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
{
#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
- if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
- MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
+ if (nbBytes > SDO_MAX_LENGTH_TRANSFER) {
+ MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
return 0xFF;
}
#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
@@ -678,7 +678,7 @@
MSG_ERR(0x1A42, "SendSDO : SDO server not found", 0);
return 0xFF;
}
- m.cob_id = *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[2].pObject);
+ m.cob_id = (UNS16) *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[2].pObject);
MSG_WAR(0x3A41, "I am server Tx cobId : ", m.cob_id);
}
else { /*case client*/
@@ -688,7 +688,7 @@
MSG_ERR(0x1A42, "SendSDO : SDO client not found", 0);
return 0xFF;
}
- m.cob_id = *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[1].pObject);
+ m.cob_id = (UNS16) *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[1].pObject);
MSG_WAR(0x3A41, "I am client Tx cobId : ", m.cob_id);
}
/* message copy for sending */
@@ -761,10 +761,10 @@
UNS32 *pCobId = NULL;
UNS16 offset;
UNS16 lastIndex;
- UNS8 SubCommand; /* Block transfert only */
- UNS8 SeqNo; /* Sequence number in block transfert */
+ UNS8 SubCommand; /* Block transfer only */
+ UNS8 SeqNo; /* Sequence number in block transfer */
UNS8 AckSeq; /* Sequence number of last segment that was received successfully */
- UNS8 NbBytesNoData; /* Number of bytes that do not contain data in last segment of block transfert */
+ UNS8 NbBytesNoData; /* Number of bytes that do not contain data in last segment of block transfer */
MSG_WAR(0x3A60, "proceedSDO ", 0);
whoami = SDO_UNKNOWN;
@@ -833,12 +833,12 @@
MSG_WAR(0x3A69, "I am SERVER number ", CliServNbr);
}
- /* Look for an SDO transfert already initiated. */
+ /* Look for an SDO transfer already initiated. */
err = getSDOlineOnUse( d, CliServNbr, whoami, &line );
/* Let's find cs value, first it is set as "not valid" */
cs = 0xFF;
- /* Special cases for block transfert : in frames with segment data cs is not spécified */
+ /* Special cases for block transfer : in frames with segment data cs is not spécified */
if (!err) {
if ((whoami == SDO_SERVER) && (d->transfers[line].state == SDO_BLOCK_DOWNLOAD_IN_PROGRESS) ||
(whoami == SDO_CLIENT) && (d->transfers[line].state == SDO_BLOCK_UPLOAD_IN_PROGRESS)) {
@@ -860,7 +860,7 @@
case 0:
/* I am SERVER */
if (whoami == SDO_SERVER) {
- /* Receiving a download segment data : an SDO transfert should have been yet initiated. */
+ /* Receiving a download segment data : an SDO transfer should have been yet initiated. */
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
if (err) {
@@ -882,7 +882,7 @@
}
/* Nb of data to be downloaded */
nbBytes = 7 - getSDOn3(m->data[0]);
- /* Store the data in the transfert structure. */
+ /* Store the data in the transfer structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
if (err) {
failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
@@ -973,7 +973,7 @@
MSG_WAR(0x3A80, "Writing at index : ", index);
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
- /* Search if a SDO transfert have been yet initiated */
+ /* Search if a SDO transfer have been yet initiated */
if (! err) {
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
@@ -1001,9 +1001,9 @@
return 0xFF;
}
- /* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
+ /* SDO expedited -> transfer finished. Data can be stored in the dictionary. */
/*The line will be reseted when it is downloading in the dictionary. */
- MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished. ", 0);
+ MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfer. Finished. ", 0);
/* Transfering line data to object dictionary. */
errorCode = SDOlineToObjdict(d, line);
if (errorCode) {
@@ -1014,10 +1014,10 @@
/* Release of the line. */
resetSDOline(d, line);
}
- else {/* So, if it is not an expedited transfert */
+ else {/* So, if it is not an expedited transfer */
if (getSDOs(m->data[0])) {
nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
- err = setSDOlineRestBytes(d, CliServNbr, nbBytes);
+ err = setSDOlineRestBytes(d, line, nbBytes);
if (err) {
failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
@@ -1103,7 +1103,7 @@
CliServNbr);
MSG_WAR(0x3A90, "Reading at index : ", index);
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
- /* Search if a SDO transfert have been yet initiated*/
+ /* Search if a SDO transfer have been yet initiated*/
if (! err) {
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
MSG_WAR(0x3A93, "Server Nbr = ", CliServNbr);
@@ -1131,16 +1131,16 @@
/* Preparing the response.*/
getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
if (nbBytes > 4) {
- /* normal transfert. (segmented). */
+ /* normal transfer. (segmented). */
/* code to send the initiate upload response. (cs = 2) */
data[0] = (2 << 5) | 1;
data[1] = index & 0xFF; /* LSB */
data[2] = (index >> 8) & 0xFF; /* MSB */
data[3] = subIndex;
- data[4] = nbBytes;
- data[5] = nbBytes >> 8;
- data[6] = nbBytes >> 16;
- data[7] = nbBytes >> 24;
+ data[4] = (UNS8) nbBytes;
+ data[5] = (UNS8) (nbBytes >> 8);
+ data[6] = (UNS8) (nbBytes >> 16);
+ data[7] = (UNS8) (nbBytes >> 24);
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, CliServNbr, data);
}
@@ -1189,7 +1189,7 @@
failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
- /* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
+ /* SDO expedited -> transfer finished. data are available via getReadResultNetworkDict(). */
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
StopSDO_TIMER(line)
d->transfers[line].count = nbBytes;
@@ -1197,7 +1197,7 @@
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0;
}
- else { /* So, if it is not an expedited transfert */
+ else { /* So, if it is not an expedited transfer */
/* Storing the nb of data to receive. */
if (getSDOs(m->data[0])) {
nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
@@ -1221,7 +1221,7 @@
/* I am SERVER */
if (whoami == SDO_SERVER) {
/* Receiving a upload segment. */
- /* A SDO transfert should have been yet initiated. */
+ /* A SDO transfer should have been yet initiated. */
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
if (err) {
@@ -1366,7 +1366,7 @@
CliServNbr);
MSG_WAR(0x3AB3, "Reading at index : ", index);
MSG_WAR(0x3AB4, "Reading at subIndex : ", subIndex);
- /* Search if a SDO transfert have been yet initiated */
+ /* Search if a SDO transfer have been yet initiated */
if (! err) {
MSG_ERR(0x1A93, "SDO error : Transmission yet started at line : ", line);
MSG_WAR(0x3AB5, "Server Nbr = ", CliServNbr);
@@ -1399,16 +1399,16 @@
data[1] = index & 0xFF; /* LSB */
data[2] = (index >> 8) & 0xFF; /* MSB */
data[3] = subIndex;
- data[4] = nbBytes;
- data[5] = nbBytes >> 8;
- data[6] = nbBytes >> 16;
- data[7] = nbBytes >> 24;
+ data[4] = (UNS8) nbBytes;
+ data[5] = (UNS8) (nbBytes >> 8);
+ data[6] = (UNS8) (nbBytes >> 16);
+ data[7] = (UNS8) (nbBytes >> 24);
MSG_WAR(0x3A9A, "SDO. Sending normal block upload initiate response defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, CliServNbr, data);
}
else if (SubCommand == SDO_BCS_END_UPLOAD_REQUEST) {
MSG_WAR(0x3AA2, "Received SDO block END upload request defined at index 0x1200 + ", CliServNbr);
- /* A SDO transfert should have been yet initiated. */
+ /* A SDO transfer should have been yet initiated. */
if (!err)
err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;
if (err) {
@@ -1421,7 +1421,7 @@
resetSDOline(d, line);
}
else if ((SubCommand == SDO_BCS_UPLOAD_RESPONSE) || (SubCommand == SDO_BCS_START_UPLOAD)) {
- /* A SDO transfert should have been yet initiated. */
+ /* A SDO transfer should have been yet initiated. */
if (!err)
err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;
if (err) {
@@ -1459,7 +1459,7 @@
}
else
MSG_WAR(0x3AA2, "Received SDO block START upload defined at index 0x1200 + ", CliServNbr);
- d->transfers[line].lastblockoffset = d->transfers[line].offset;
+ d->transfers[line].lastblockoffset = (UNS8) d->transfers[line].offset;
for(SeqNo = 1 ; SeqNo <= d->transfers[line].blksize ; SeqNo++) {
d->transfers[line].seqno = SeqNo;
getSDOlineRestBytes(d, line, &nbBytes);
@@ -1486,7 +1486,7 @@
data[i] = 0;
MSG_WAR(0x3AA5, "SDO. Sending last upload segment defined at index 0x1200 + ", CliServNbr);
sendSDO(d, whoami, CliServNbr, data);
- d->transfers[line].endfield = 7 - nbBytes;
+ d->transfers[line].endfield = (UNS8) (7 - nbBytes);
break;
}
}
@@ -1531,7 +1531,7 @@
return 0xFF;
}
}
- d->transfers[line].lastblockoffset = d->transfers[line].offset;
+ d->transfers[line].lastblockoffset = (UNS8) d->transfers[line].offset;
for(SeqNo = 1 ; SeqNo <= d->transfers[line].blksize ; SeqNo++) {
d->transfers[line].seqno = SeqNo;
getSDOlineRestBytes(d, line, &nbBytes);
@@ -1558,7 +1558,7 @@
data[i] = 0;
MSG_WAR(0x3AAB, "SDO. Sending last download segment to node id ", nodeId);
sendSDO(d, whoami, CliServNbr, data);
- d->transfers[line].endfield = 7 - nbBytes;
+ d->transfers[line].endfield = (UNS8) (7 - nbBytes);
break;
}
}
@@ -1606,8 +1606,8 @@
if ((m->data[0]) & 2) /* if data set size is indicated */
d->transfers[line].objsize = (UNS32)m->data[4] + (UNS32)m->data[5]*256 + (UNS32)m->data[6]*256*256 + (UNS32)m->data[7]*256*256*256;
data[0] = (5 << 5) | SDO_BSS_INITIATE_DOWNLOAD_RESPONSE;
- data[1] = index; /* LSB */
- data[2] = index >> 8; /* MSB */
+ data[1] = (UNS8) index; /* LSB */
+ data[2] = (UNS8) (index >> 8); /* MSB */
data[3] = subIndex;
data[4] = SDO_BLOCK_SIZE;
data[5] = data[6] = data[7] = 0;
@@ -1636,7 +1636,7 @@
else {
if (SeqNo == (d->transfers[line].seqno + 1)) {
d->transfers[line].seqno = SeqNo;
- /* Store the data in the transfert structure. */
+ /* Store the data in the transfer structure. */
err = SDOtoLine(d, line, 7, (*m).data + 1);
if (err) {
failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
@@ -1664,7 +1664,7 @@
}
RestartSDO_TIMER(line)
NbBytesNoData = (m->data[0]>>2) & 0x07;
- /* Store the data in the transfert structure. */
+ /* Store the data in the transfer structure. */
err = SDOtoLine(d, line, 7-NbBytesNoData, d->transfers[line].tmpData + 1);
if (err) {
failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
@@ -1736,7 +1736,7 @@
else {
if (SeqNo == (d->transfers[line].seqno + 1)) {
d->transfers[line].seqno = SeqNo;
- /* Store the data in the transfert structure. */
+ /* Store the data in the transfer structure. */
err = SDOtoLine(d, line, 7, (*m).data + 1);
if (err) {
failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
@@ -1762,7 +1762,7 @@
return 0xFF;
}
NbBytesNoData = (m->data[0]>>2) & 0x07;
- /* Store the data in the transfert structure. */
+ /* Store the data in the transfer structure. */
err = SDOtoLine(d, line, 7-NbBytesNoData, d->transfers[line].tmpData + 1);
if (err) {
failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
@@ -1909,7 +1909,7 @@
#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
{
UNS8* lineData = d->transfers[line].data;
- if (count > SDO_MAX_LENGTH_TRANSFERT)
+ if (count > SDO_MAX_LENGTH_TRANSFER)
{
d->transfers[line].dynamicData = (UNS8*) malloc(count);
d->transfers[line].dynamicDataSize = count;
@@ -1952,13 +1952,13 @@
}
else {
/* Send the SDO to the server. Initiate download, cs=1. */
- if (count <= 4) { /* Expedited transfert */
+ if (count <= 4) { /* Expedited transfer */
buf[0] = (UNS8)((1 << 5) | ((4 - count) << 2) | 3);
for (i = 4 ; i < 8 ; i++)
buf[i] = d->transfers[line].data[i - 4];
d->transfers[line].offset = count;
}
- else { /** Normal transfert */
+ else { /** Normal transfer */
buf[0] = (1 << 5) | 1;
for (i = 0 ; i < 4 ; i++)
buf[i+4] = (UNS8)((count >> (i<<3))); /* i*8 */
@@ -2272,7 +2272,7 @@
return SDO_ABORTED_INTERNAL;
}
- /* If transfert not finished just return, but if aborted set abort code and size to 0 */
+ /* If transfer not finished just return, but if aborted set abort code and size to 0 */
if (d->transfers[line].state != SDO_FINISHED) {
if((d->transfers[line].state == SDO_ABORTED_RCV) || (d->transfers[line].state == SDO_ABORTED_INTERNAL)) {
*abortCode = d->transfers[line].abortCode;