# HG changeset patch
# User etisserant
# Date 1237244598 -3600
# Node ID 187058b4a4b86b5889901fc75f02ce4b6b2b7668
# Parent 49f6d796b6921ceaeaf335dd4254904901ccd7b3
Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
diff -r 49f6d796b692 -r 187058b4a4b8 include/objacces.h
--- a/include/objacces.h Mon Mar 16 23:04:39 2009 +0100
+++ b/include/objacces.h Tue Mar 17 00:03:18 2009 +0100
@@ -64,7 +64,7 @@
* @return
*/
UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
- UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
+ UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code);
/* _getODentry() Reads an entry from the object dictionary.\n
@@ -108,7 +108,7 @@
UNS16 wIndex,
UNS8 bSubindex,
void * pDestData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 * pDataType,
UNS8 checkAccess,
UNS8 endianize);
@@ -188,7 +188,7 @@
UNS16 wIndex,
UNS8 bSubindex,
void * pSourceData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 checkAccess,
UNS8 endianize);
diff -r 49f6d796b692 -r 187058b4a4b8 include/objdictdef.h
--- a/include/objdictdef.h Mon Mar 16 23:04:39 2009 +0100
+++ b/include/objdictdef.h Tue Mar 17 00:03:18 2009 +0100
@@ -85,7 +85,7 @@
{
UNS8 bAccessType;
UNS8 bDataType; /* Defines of what datatype the entry is */
- UNS8 size; /* The size (in Byte) of the variable */
+ UNS32 size; /* The size (in Byte) of the variable */
void* pObject; /* This is the pointer of the Variable */
} subindex;
diff -r 49f6d796b692 -r 187058b4a4b8 include/sdo.h
--- a/include/sdo.h Mon Mar 16 23:04:39 2009 +0100
+++ b/include/sdo.h Tue Mar 17 00:03:18 2009 +0100
@@ -135,7 +135,7 @@
* @param *data Pointer on the data
* @return 0xFF if error. Else, returns 0.
*/
-UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
+UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
/**
* @brief Add data to an existant line
@@ -145,7 +145,7 @@
* @param *data Pointer on the data
* @return 0xFF if error. Else, returns 0.
*/
-UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
+UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
/**
* @brief Called when an internal SDO abort occurs.
@@ -224,7 +224,7 @@
* @param *nbBytes Pointer on nbBytes
* @return 0.
*/
-UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);
+UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes);
/**
* @brief Store in the line structure the nb of bytes which must be transmited (or received)
@@ -234,7 +234,7 @@
* @param nbBytes
* @return 0 if success, 0xFF if error.
*/
-UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);
+UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes);
/**
* @brief Transmit a SDO frame on the bus bus_id
@@ -290,7 +290,7 @@
* @return 0xFF if error, else return 0
*/
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data);
/**
* @ingroup sdo
@@ -308,7 +308,7 @@
* @return 0xFF if error, else return 0
*/
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback);
/**
* @ingroup sdo
@@ -330,7 +330,7 @@
* @return 0xFF if error, else return 0
*/
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
/**
* @ingroup sdo
@@ -399,7 +399,7 @@
* while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
* @endcode
*/
-UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
+UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size, UNS32 * abortCode);
/**
* @brief Use this function after a writeNetworkDict to get the result of the write
diff -r 49f6d796b692 -r 187058b4a4b8 src/objacces.c
--- a/src/objacces.c Mon Mar 16 23:04:39 2009 +0100
+++ b/src/objacces.c Tue Mar 17 00:03:18 2009 +0100
@@ -54,7 +54,7 @@
**/
#ifdef DEBUG_WAR_CONSOLE_ON
UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
- UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
+ UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code)
{
MSG_WAR(0x2B09,"Dictionary index : ", index);
MSG_WAR(0X2B10," subindex : ", subIndex);
@@ -108,14 +108,14 @@
UNS16 wIndex,
UNS8 bSubindex,
void * pDestData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 * pDataType,
UNS8 checkAccess,
UNS8 endianize)
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
loop if it fails. */
UNS32 errorCode;
- UNS8 szData;
+ UNS32 szData;
const indextable *ptrTable;
ODCallback_t *Callback;
@@ -211,11 +211,11 @@
UNS16 wIndex,
UNS8 bSubindex,
void * pSourceData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 checkAccess,
UNS8 endianize)
{
- UNS8 szData;
+ UNS32 szData;
UNS8 dataType;
UNS32 errorCode;
const indextable *ptrTable;
diff -r 49f6d796b692 -r 187058b4a4b8 src/pdo.c
--- a/src/pdo.c Mon Mar 16 23:04:39 2009 +0100
+++ b/src/pdo.c Tue Mar 17 00:03:18 2009 +0100
@@ -71,12 +71,12 @@
UNS32 *pMappingParameter =
(UNS32 *) TPDO_map->pSubindex[prp_j + 1].pObject;
UNS16 index = (UNS16) ((*pMappingParameter) >> 16);
- UNS8 Size = (UNS8) (*pMappingParameter & (UNS32) 0x000000FF); /* Size in bits */
+ UNS32 Size = (UNS32) (*pMappingParameter & (UNS32) 0x000000FF); /* Size in bits */
/* get variable only if Size != 0 and Size is lower than remaining bits in the PDO */
if (Size && ((offset + Size) <= 64))
{
- UNS8 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
+ UNS32 ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
UNS8 subIndex =
(UNS8) (((*pMappingParameter) >> (UNS8) 8) & (UNS32) 0x000000FF);
@@ -241,7 +241,7 @@
while (numMap < *pMappingCount)
{
UNS8 tmp[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
- UNS8 ByteSize;
+ UNS32 ByteSize;
pMappingParameter =
(UNS32 *) (d->objdict + offsetObjdict +
numPdo)->pSubindex[numMap + 1].pObject;
@@ -268,7 +268,7 @@
CopyBits (Size, (UNS8 *) & m->data[offset >> 3],
offset % 8, 0, ((UNS8 *) tmp), 0, 0);
/*1->8 => 1 ; 9->16 =>2, ... */
- ByteSize = 1 + ((Size - 1) >> 3);
+ ByteSize = (UNS32)(1 + ((Size - 1) >> 3));
objDict =
setODentry (d, (UNS16) ((*pMappingParameter) >> 16),
diff -r 49f6d796b692 -r 187058b4a4b8 src/sdo.c
--- a/src/sdo.c Mon Mar 16 23:04:39 2009 +0100
+++ b/src/sdo.c Tue Mar 17 00:03:18 2009 +0100
@@ -62,7 +62,7 @@
** @return
**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
/*!
** Called by readNetworkDict
@@ -184,10 +184,10 @@
**/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
{
- UNS8 size;
+ UNS32 size;
UNS32 errorCode;
MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
- size = (UNS8)d->transfers[line].count;
+ size = d->transfers[line].count;
errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
(void *) d->transfers[line].data, &size, 1);
if (errorCode != OD_SUCCESSFUL)
@@ -207,7 +207,7 @@
**/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
- UNS8 size = 0;
+ UNS32 size = 0;
UNS8 dataType;
UNS32 errorCode;
@@ -238,9 +238,9 @@
**
** @return
**/
-UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
+UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
UNS8 i;
- UNS8 offset;
+ UNS32 offset;
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);
@@ -250,7 +250,7 @@
MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
return 0xFF;
}
- offset = (UNS8)d->transfers[line].offset;
+ offset = d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
* (data + i) = d->transfers[line].data[offset + i];
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
@@ -267,19 +267,21 @@
**
** @return
**/
-UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
+UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
{
UNS8 i;
- UNS8 offset;
+ UNS32 offset;
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);
return 0xFF;
}
- offset = (UNS8)d->transfers[line].offset;
+ offset = d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
d->transfers[line].data[offset + i] = * (data + i);
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
+ d->transfers[line].count = d->transfers[line].offset;
+
return 0;
}
@@ -328,7 +330,7 @@
**/
void resetSDOline ( CO_Data* d, UNS8 line )
{
- UNS8 i;
+ 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++)
@@ -451,12 +453,13 @@
**
** @return
**/
-UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
+UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
{
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
* nbBytes = 0;
else
- * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
+ * nbBytes = d->transfers[line].count - d->transfers[line].offset;
+
return 0;
}
@@ -469,7 +472,7 @@
**
** @return
**/
-UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
+UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
{
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
@@ -613,7 +616,7 @@
{
UNS8 err;
UNS8 line;
- UNS8 nbBytes; /* received or to be transmited. */
+ UNS32 nbBytes; /* received or to be transmited. */
UNS8 nodeId = 0; /* The node from which the SDO is received */
UNS8 *pNodeId = NULL;
UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
@@ -864,8 +867,7 @@
}
else {/* So, if it is not an expedited transfert */
if (getSDOs(m->data[0])) {
- /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
- nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
+ nbBytes = 0;
err = setSDOlineRestBytes(d, nodeId, nbBytes);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
@@ -1248,13 +1250,14 @@
** @return
**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
UNS8 err;
UNS8 SDOfound = 0;
UNS8 line;
s_SDO sdo; /* SDO to transmit */
- UNS8 i, j;
+ UNS8 i;
+ UNS32 j;
UNS16 lastIndex;
UNS16 offset;
UNS8 *pNodeIdServer;
@@ -1333,9 +1336,8 @@
}
else { /** Normal transfert */
sdo.body.data[0] = (1 << 5) | 1;
- sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
- for (i = 5 ; i < 8 ; i++)
- sdo.body.data[i] = 0;
+ for (i = 4 ; i < 8 ; i++)
+ sdo.body.data[i] = 0;
}
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
@@ -1369,7 +1371,7 @@
** @return
**/
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
}
@@ -1389,13 +1391,13 @@
** @return
**/
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
}
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
+ UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
UNS8 ret;
UNS16 lastIndex;
@@ -1629,10 +1631,10 @@
**
** @return
**/
-UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size,
+UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
UNS32 * abortCode)
{
- UNS8 i;
+ UNS32 i;
UNS8 err;
UNS8 line;
* abortCode = 0;
@@ -1649,8 +1651,8 @@
/* Transfert is finished. Put the value in the data. */
/* use transfers[line].count as max size */
- if( (UNS8)d->transfers[line].count < *size )
- *size = (UNS8)d->transfers[line].count;
+ if( d->transfers[line].count < *size )
+ *size = d->transfers[line].count;
for ( i = 0 ; i < *size ; i++) {
# ifdef CANOPEN_BIG_ENDIAN
if (d->transfers[line].dataType != visible_string)