# HG changeset patch
# User etisserant
# Date 1209038914 -7200
# Node ID c9d01296d6d912437a9a30a33cf795ebcd314c90
# Parent  f138b759026f09bd262636e9e8b10365190b6078
Endianess patch from Edward Karpicz, Lithuania :-)

diff -r f138b759026f -r c9d01296d6d9 src/pdo.c
--- a/src/pdo.c	Wed Apr 23 14:12:08 2008 +0200
+++ b/src/pdo.c	Thu Apr 24 14:08:34 2008 +0200
@@ -122,7 +122,7 @@
 UNS8
 sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
 {
-  UNS16 *pwCobId;
+  UNS32 *pwCobId;
   UNS16 offset = d->firstIndex->PDO_RCV;
   UNS16 lastIndex = d->lastIndex->PDO_RCV;
 
@@ -138,12 +138,12 @@
       if (offset <= lastIndex)
         {
           /* get the CobId */
-          pwCobId = (UNS16 *) d->objdict[offset].pSubindex[1].pObject;
+          pwCobId = d->objdict[offset].pSubindex[1].pObject;
 
           MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
           {
             Message pdo;
-            pdo.cob_id = *pwCobId;
+            pdo.cob_id = UNS16_LE(*pwCobId);
             pdo.rtr = REQUEST;
             pdo.len = 0;
             return canSend (d->canHandle, &pdo);
@@ -176,7 +176,7 @@
   UNS32 *pMappingParameter = NULL;
   UNS8 *pTransmissionType = NULL;       /* pointer to the transmission
                                            type */
-  UNS16 *pwCobId = NULL;
+  UNS32 *pwCobId = NULL;
   UNS8 Size;
   UNS8 offset;
   UNS8 status;
@@ -186,7 +186,7 @@
 
   status = state2;
 
-  MSG_WAR (0x3935, "proceedPDO, cobID : ", ((*m).cob_id & UNS16_LE (0x7ff)));
+  MSG_WAR (0x3935, "proceedPDO, cobID : ", (UNS16_LE(m->cob_id) & 0x7ff));
   offset = 0x00;
   numPdo = 0;
   numMap = 0;
@@ -209,11 +209,11 @@
                 /* get CobId of the dictionary correspondant to the received
                    PDO */
                 pwCobId =
-                  (UNS16 *) d->objdict[offsetObjdict].pSubindex[1].pObject;
+                  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)
+                if (*pwCobId == UNS16_LE(m->cob_id))
                   {
                     /* The cobId is recognized */
                     status = state4;
@@ -291,7 +291,7 @@
 
                         MSG_WAR (0x3942,
                                  "Variable updated with value received by PDO cobid : ",
-                                 m->cob_id);
+                                 UNS16_LE(m->cob_id));
                         MSG_WAR (0x3943, "         Mapped at index : ",
                                  (*pMappingParameter) >> 16);
                         MSG_WAR (0x3944, "                subindex : ",
@@ -302,8 +302,6 @@
                     numMap++;
                   }             /* end loop while on mapped variables */
 
-                offset = 0x00;
-                numMap = 0;
                 return 0;
 
               }                 /* end switch status */
@@ -311,7 +309,7 @@
     }                           /* end if Donnees */
   else if ((*m).rtr == REQUEST)
     {
-      MSG_WAR (0x3946, "Receive a PDO request cobId : ", m->cob_id);
+      MSG_WAR (0x3946, "Receive a PDO request cobId : ", UNS16_LE(m->cob_id));
       status = state1;
       offsetObjdict = d->firstIndex->PDO_TRS;
       lastIndex = d->lastIndex->PDO_TRS;
@@ -327,9 +325,9 @@
                 /* get CobId of the dictionary which match to the received PDO
                  */
                 pwCobId =
-                  (UNS16 *) (d->objdict +
+                   (d->objdict +
                              offsetObjdict)->pSubindex[1].pObject;
-                if (*pwCobId == (*m).cob_id)
+                if (*pwCobId == UNS16_LE(m->cob_id))
                   {
                     status = state4;
                     break;
@@ -369,7 +367,7 @@
                         /* 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);
+                                 UNS16_LE(m->cob_id));
                         status = state5;
                       }
                     break;
@@ -393,7 +391,7 @@
                     /* 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);
+                             UNS16_LE(m->cob_id));
                     return 0xFF;
                   }
 
@@ -402,7 +400,7 @@
                   Message pdo;
                   if (buildPDO (d, numPdo, &pdo))
                     {
-                      MSG_ERR (0x1948, " Couldn't build TPDO n°", numPdo);
+                      MSG_ERR (0x1948, " Couldn't build TPDO n�", numPdo);
                       return 0xFF;
                     }
                   canSend (d->canHandle, &pdo);
@@ -697,7 +695,7 @@
             case state5:       /*Send the pdo */
               /*store_as_last_message */
               d->PDO_status[pdoNum].last_message = pdo;
-              MSG_WAR (0x396D, "sendPDO cobId :", pdo.cob_id);
+              MSG_WAR (0x396D, "sendPDO cobId :", UNS16_LE(pdo.cob_id));
               MSG_WAR (0x396E, "     Nb octets  : ", pdo.len);
 
               canSend (d->canHandle, &pdo);
diff -r f138b759026f -r c9d01296d6d9 src/sdo.c
--- a/src/sdo.c	Wed Apr 23 14:12:08 2008 +0200
+++ b/src/sdo.c	Thu Apr 24 14:08:34 2008 +0200
@@ -493,7 +493,7 @@
   UNS8 found = 0;
   Message m;
   UNS8 i;
-  UNS16 * pwCobId = NULL;
+  UNS32 * pwCobId = NULL;
   UNS8 * pwNodeId = NULL;
 
   MSG_WAR(0x3A38, "sendSDO",0);
@@ -509,7 +509,7 @@
       MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); 
       return 0xFF;
     }
-    pwCobId = (UNS16*) d->objdict[offset].pSubindex[2].pObject;
+    pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
     MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); 
   }
   else {			/*case client*/
@@ -542,10 +542,10 @@
       return 0xFF;
     }
     /* Second, read the cobid client->server */
-    pwCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject;
+    pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
   }
   /* message copy for sending */
-  m.cob_id = *pwCobId;
+  m.cob_id = UNS16_LE(*pwCobId);
   m.rtr = NOT_A_REQUEST; 
   /* the length of SDO must be 8 */
   m.len = 8;
@@ -610,7 +610,7 @@
   UNS8 subIndex;
   UNS32 abortCode;
   UNS8 i,j;
-  UNS16 *pCobId = NULL;
+  UNS32 *pCobId = NULL;
   UNS16 offset;
   UNS16 lastIndex;
 
@@ -626,8 +626,8 @@
 	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
 	  return 0xFF;
 	}
-      pCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject;
-      if ( *pCobId == (*m).cob_id ) {
+      pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
+      if ( *pCobId == UNS16_LE(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 */
@@ -649,8 +649,8 @@
 	 return 0xFF;
        }
        /* a) Looking for the cobid received. */
-       pCobId = (UNS16*) d->objdict[offset].pSubindex[2].pObject;
-       if (*pCobId == (*m).cob_id ) {
+       pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
+       if (*pCobId == UNS16_LE(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;
@@ -669,7 +669,7 @@
 
   /* Test if the size of the SDO is ok */
   if ( (*m).len != 8) {
-    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", (*m).cob_id);
+    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", UNS16_LE(m->cob_id));
     failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
     return 0xFF;
   }
@@ -678,7 +678,7 @@
     MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
   }
   else {
-    MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id);
+    MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
   }
     
   /* Testing the command specifier */
diff -r f138b759026f -r c9d01296d6d9 src/states.c
--- a/src/states.c	Wed Apr 23 14:12:08 2008 +0200
+++ b/src/states.c	Thu Apr 24 14:08:34 2008 +0200
@@ -255,14 +255,12 @@
     /* Adjust COB-ID Client->Server (rx) only id already set to default value or id not valid (id==0xFF)*/
     if((*(UNS32*)d->objdict[offset].pSubindex[1].pObject == 0x600 + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF)){
       /* cob_id_client = 0x600 + nodeId; */
-      UNS32 tmp = 0x600 + nodeId;
-      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = tmp;
+      *(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + nodeId;
     }
     /* Adjust COB-ID Server -> Client (tx) only id already set to default value or id not valid (id==0xFF)*/
     if((*(UNS32*)d->objdict[offset].pSubindex[2].pObject == 0x580 + *d->bDeviceNodeId)||(*d->bDeviceNodeId==0xFF)){
       /* cob_id_server = 0x580 + nodeId; */
-        UNS32 tmp = 0x580 + nodeId;
-      *(UNS32*)d->objdict[offset].pSubindex[2].pObject = tmp;
+      *(UNS32*)d->objdict[offset].pSubindex[2].pObject = 0x580 + nodeId;
     }
   }
 
diff -r f138b759026f -r c9d01296d6d9 src/sync.c
--- a/src/sync.c	Wed Apr 23 14:12:08 2008 +0200
+++ b/src/sync.c	Thu Apr 24 14:08:34 2008 +0200
@@ -131,7 +131,7 @@
   
   MSG_WAR(0x3001, "sendSYNC ", 0);
   
-  m.cob_id = m.cob_id = UNS16_LE(*d->COB_ID_Sync);
+  m.cob_id = UNS16_LE(*d->COB_ID_Sync);
   m.rtr = NOT_A_REQUEST;
   m.len = 0;