--- a/drivers/can_can4linux/can_can4linux.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_can4linux/can_can4linux.c Wed Jan 23 10:35:52 2008 +0100
@@ -54,7 +54,7 @@
/* There is no mark for extended messages in CanFestival */;
}
- m->cob_id.w = canmsg.id;
+ m->cob_id = canmsg.id;
m->len = canmsg.length;
if(canmsg.flags&MSG_RTR){
m->rtr = 1;
@@ -66,8 +66,8 @@
/*gettimeofday(¤t_time,NULL);
time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
- printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id.w);
- printf("Receive ID: %lx ->",m->cob_id.w);
+ printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id);
+ printf("Receive ID: %lx ->",m->cob_id);
for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);
printf("\n");*/
@@ -81,7 +81,7 @@
canmsg_t canmsg;
canmsg.flags = 0;
- canmsg.id = m->cob_id.w;
+ canmsg.id = m->cob_id;
canmsg.length = m->len;
if(m->rtr){
canmsg.flags |= MSG_RTR;
--- a/drivers/can_ixxat_win32/ixxat.cpp Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_ixxat_win32/ixxat.cpp Wed Jan 23 10:35:52 2008 +0100
@@ -127,9 +127,9 @@
return true; // true -> NOT OK
long res = VCI_ERR;
if (m->rtr == NOT_A_REQUEST)
- res = VCI_TransmitObj(m_BoardHdl, m_TxQueHdl, m->cob_id.w, m->len, const_cast<unsigned char*>(m->data));
+ res = VCI_TransmitObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len, const_cast<unsigned char*>(m->data));
else
- res = VCI_RequestObj(m_BoardHdl, m_TxQueHdl, m->cob_id.w, m->len);
+ res = VCI_RequestObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len);
return (res == false); // false -> OK
}
@@ -141,7 +141,7 @@
VCI_CAN_OBJ obj;
if (m_RX_Que.extract_top(obj))
{
- m->cob_id.w = obj.id;
+ m->cob_id = obj.id;
m->len = obj.len;
m->rtr = (obj.rtr == VCI_RX_BUF) ? NOT_A_REQUEST : REQUEST;
if (m->rtr == NOT_A_REQUEST)
--- a/drivers/can_lincan/can_lincan.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_lincan/can_lincan.c Wed Jan 23 10:35:52 2008 +0100
@@ -50,7 +50,7 @@
/* There is no mark for extended messages in CanFestival */;
}
- m->cob_id.w = canmsg.id;
+ m->cob_id = canmsg.id;
m->len = canmsg.length;
if(canmsg.flags&MSG_RTR){
m->rtr = 1;
@@ -70,7 +70,7 @@
canmsg.flags = 0;
- canmsg.id = m->cob_id.w;
+ canmsg.id = m->cob_id;
canmsg.length = m->len;
if(m->rtr){
canmsg.flags |= MSG_RTR;
--- a/drivers/can_peak_linux/can_peak_linux.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_peak_linux/can_peak_linux.c Wed Jan 23 10:35:52 2008 +0100
@@ -48,7 +48,7 @@
}
return 1;
}
- m->cob_id.w = peakMsg.ID;
+ m->cob_id = peakMsg.ID;
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_*/
m->rtr = 0;
else
@@ -65,7 +65,7 @@
{
UNS8 data;
TPCANMsg peakMsg;
- peakMsg.ID=m -> cob_id.w; /* 11/29 bit code */
+ peakMsg.ID=m -> cob_id; /* 11/29 bit code */
if(m->rtr == 0)
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_*/
else {
--- a/drivers/can_peak_win32/can_peak_win32.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_peak_win32/can_peak_win32.c Wed Jan 23 10:35:52 2008 +0100
@@ -125,7 +125,7 @@
return peakMsg.MSGTYPE ==
MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
}
- m->cob_id.w = peakMsg.ID;
+ m->cob_id = peakMsg.ID;
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */
m->rtr = 0;
@@ -161,7 +161,7 @@
{
UNS8 data;
TPCANMsg peakMsg;
- peakMsg.ID = m->cob_id.w; /* 11/29 bit code */
+ peakMsg.ID = m->cob_id; /* 11/29 bit code */
if (m->rtr == 0)
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */
else
--- a/drivers/can_socket/can_socket.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_socket/can_socket.c Wed Jan 23 10:35:52 2008 +0100
@@ -73,7 +73,7 @@
return 1;
}
- m->cob_id.w = frame.can_id & CAN_EFF_MASK;
+ m->cob_id = frame.can_id & CAN_EFF_MASK;
m->len = frame.can_dlc;
if (frame.can_id & CAN_RTR_FLAG)
m->rtr = 1;
@@ -96,7 +96,7 @@
int res;
struct can_frame frame;
- frame.can_id = m->cob_id.w;
+ frame.can_id = m->cob_id;
if (frame.can_id >= 0x800)
frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = m->len;
--- a/drivers/can_uvccm_win32/can_uvccm_win32.cpp Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/can_uvccm_win32/can_uvccm_win32.cpp Wed Jan 23 10:35:52 2008 +0100
@@ -236,7 +236,7 @@
::memset(&msg, 0 , sizeof (msg));
char colon = 0, type = 0, request = 0;
std::istringstream buf(std::string(can_cmd_buf, bufsize));
- buf >> colon >> type >> std::hex >> msg.cob_id.w >> request;
+ buf >> colon >> type >> std::hex >> msg.cob_id >> request;
if (colon != ':' || (type != 'S' && type != 'X'))
{
bufsize = 0;
@@ -293,7 +293,7 @@
{
// build can_uvccm_win32 command string
std::ostringstream can_cmd_str;
- can_cmd_str << ":S" << std::hex << m.cob_id.w;
+ can_cmd_str << ":S" << std::hex << m.cob_id;
if (m.rtr == 1)
{
can_cmd_str << 'R' << (long)m.len;
--- a/drivers/hcs12/canOpenDriver.c Tue Jan 22 10:27:13 2008 +0100
+++ b/drivers/hcs12/canOpenDriver.c Wed Jan 23 10:35:52 2008 +0100
@@ -422,8 +422,8 @@
/* Selecting a buffer */
IO_PORTS_8(adrCAN + CANTBSEL) = cantflg;
/* We put ide = 0 because id is on 11 bits only */
- IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id.w >> 3);
- IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id.w << 5)|
+ IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id >> 3);
+ IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id << 5)|
(msg.rtr << 4));
IO_PORTS_8(adrCAN + CANTRSLEN) = msg.len & 0X0F;
@@ -533,7 +533,7 @@
ptrMsgRcv[j].r ++;
/* Store the message from the stack*/
- msgRcv->cob_id.w = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id.w;
+ msgRcv->cob_id = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id;
msgRcv->len = stackMsgRcv[j][ptrMsgRcv[j].r].len;
msgRcv->rtr = stackMsgRcv[j][ptrMsgRcv[j].r].rtr;
for (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].r].len ; i++)
@@ -572,7 +572,7 @@
ptrMsgRcv[0].w = NewPtrW;
/* Store the message */
- stackMsgRcv[0][ptrMsgRcv[0].w].cob_id.w = IO_PORTS_16(CAN0 + CANRCVID) >> 5;
+ stackMsgRcv[0][ptrMsgRcv[0].w].cob_id = IO_PORTS_16(CAN0 + CANRCVID) >> 5;
stackMsgRcv[0][ptrMsgRcv[0].w].len = IO_PORTS_8(CAN0 + CANRCVLEN) & 0x0F;
stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01;
for (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].w].len ; i++)
@@ -623,7 +623,7 @@
ptrMsgRcv[1].w = NewPtrW;
/* Store the message */
- stackMsgRcv[1][ptrMsgRcv[1].w].cob_id.w = IO_PORTS_16(CAN1 + CANRCVID) >> 5;
+ stackMsgRcv[1][ptrMsgRcv[1].w].cob_id = IO_PORTS_16(CAN1 + CANRCVID) >> 5;
stackMsgRcv[1][ptrMsgRcv[1].w].len = IO_PORTS_8(CAN1 + CANRCVLEN) & 0x0F;
stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN1 + CANRCVID + 1) >> 4) & 0x01;
for (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].w].len ; i++)
--- a/examples/gene_SYNC_HCS12/appli.c Tue Jan 22 10:27:13 2008 +0100
+++ b/examples/gene_SYNC_HCS12/appli.c Wed Jan 23 10:35:52 2008 +0100
@@ -405,7 +405,7 @@
while (1) {
Message m;
if (f_can_receive(0, &m)) {
- //MSG_WAR(0x3F36, "Msg received", m.cob_id.w);
+ //MSG_WAR(0x3F36, "Msg received", m.cob_id);
lock(); // Not to have interruptions by timer, which can corrupt the data
canDispatch(&gene_SYNC_Data, &m);
unlock();
--- a/include/can.h Tue Jan 22 10:27:13 2008 +0100
+++ b/include/can.h Wed Jan 23 10:35:52 2008 +0100
@@ -31,15 +31,15 @@
UNS32 w;
};
*/
-
+/*
typedef struct {
- UNS32 w; /* 32 bits */
+ UNS32 w;
} SHORT_CAN;
-
+*/
/** Can message structure */
typedef struct {
- SHORT_CAN cob_id; /* l'ID du mesg */
+ UNS16 cob_id; /* l'ID du mesg */
UNS8 rtr; /* remote transmission request. 0 if not rtr,
1 for a rtr message */
UNS8 len; /* message length (0 to 8) */
--- a/include/can_driver.h Tue Jan 22 10:27:13 2008 +0100
+++ b/include/can_driver.h Wed Jan 23 10:35:52 2008 +0100
@@ -58,12 +58,12 @@
{
int i;
UNS8 fc;
- printf("id:%02x ", m->cob_id.w & 0x7F);
- fc = m->cob_id.w >> 7;
+ printf("id:%02x ", m->cob_id & 0x7F);
+ fc = m->cob_id >> 7;
switch(fc)
{
case SYNC:
- if(m->cob_id.w == 0x080)
+ if(m->cob_id == 0x080)
printf("SYNC ");
else
printf("EMCY ");
--- a/include/objdictdef.h Tue Jan 22 10:27:13 2008 +0100
+++ b/include/objdictdef.h Wed Jan 23 10:35:52 2008 +0100
@@ -118,7 +118,7 @@
/************************** MACROS *********************************/
/* CANopen usefull helpers */
-#define GET_NODE_ID(m) (m.cob_id.w & 0x7f)
-#define GET_FUNCTION_CODE(m) (m.cob_id.w >> 7)
+#define GET_NODE_ID(m) (m.cob_id & 0x7f)
+#define GET_FUNCTION_CODE(m) (m.cob_id >> 7)
#endif /* __objdictdef_h__ */
--- a/src/emcy.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/emcy.c Wed Jan 23 10:35:52 2008 +0100
@@ -100,7 +100,7 @@
MSG_WAR(0x3051, "sendEMCY", 0);
- m.cob_id.w = *d->error_cobid;
+ m.cob_id = *d->error_cobid;
m.rtr = NOT_A_REQUEST;
m.len = 8;
m.data[0] = errCode & 0xFF; /* LSB */
@@ -233,12 +233,12 @@
/* Test if the size of the EMCY is ok */
if ( m->len != 8) {
- MSG_ERR(0x1056, "Error size EMCY. CobId : ", m->cob_id.w);
+ MSG_ERR(0x1056, "Error size EMCY. CobId : ", m->cob_id);
return;
}
/* post the received EMCY */
- nodeID = m->cob_id.w & 0x7F;
+ nodeID = m->cob_id & 0x7F;
errCode = m->data[0] | ((UNS16)m->data[1] << 8);
errReg = m->data[2];
(*d->post_emcy)(nodeID, errCode, errReg);
--- a/src/lifegrd.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/lifegrd.c Wed Jan 23 10:35:52 2008 +0100
@@ -101,7 +101,7 @@
if (nodeId == *d->bDeviceNodeId )
{
Message msg;
- msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+ msg.cob_id = *d->bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState;
@@ -178,7 +178,7 @@
** the node-id of this device.
*/
- msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+ msg.cob_id = *d->bDeviceNodeId + 0x700;
msg.len = (UNS8)0x01;
msg.rtr = 0;
msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
--- a/src/lss.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/lss.c Wed Jan 23 10:35:52 2008 +0100
@@ -280,7 +280,7 @@
m.len = 8;
m.rtr = NOT_A_REQUEST;
m.data[0]=command;
- m.cob_id.w=SLSS_ADRESS;
+ m.cob_id=SLSS_ADRESS;
/* Tha data sent with the msg depends on the command */
switch(command){
@@ -331,7 +331,7 @@
m.len = 8;
m.rtr = NOT_A_REQUEST;
m.data[0]=command;
- m.cob_id.w=MLSS_ADRESS;
+ m.cob_id=MLSS_ADRESS;
/* Tha data sent with the msg depends on the command */
switch(command){
--- a/src/nmtMaster.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/nmtMaster.c Wed Jan 23 10:35:52 2008 +0100
@@ -49,7 +49,7 @@
MSG_WAR(0x3501, "Send_NMT cs : ", cs);
MSG_WAR(0x3502, " to node : ", Node_ID);
/* message configuration */
- m.cob_id.w = 0x0000; /*(NMT) << 7*/
+ m.cob_id = 0x0000; /*(NMT) << 7*/
m.rtr = NOT_A_REQUEST;
m.len = 2;
m.data[0] = cs;
@@ -74,7 +74,7 @@
MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
/* message configuration */
- m.cob_id.w = nodeId | (NODE_GUARD << 7);
+ m.cob_id = nodeId | (NODE_GUARD << 7);
m.rtr = REQUEST;
m.len = 1;
--- a/src/nmtSlave.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/nmtSlave.c Wed Jan 23 10:35:52 2008 +0100
@@ -105,7 +105,7 @@
MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
/* message configuration */
- m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
+ m.cob_id = NODE_GUARD << 7 | *d->bDeviceNodeId;
m.rtr = NOT_A_REQUEST;
m.len = 1;
m.data[0] = 0x00;
--- a/src/pdo.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/pdo.c Wed Jan 23 10:35:52 2008 +0100
@@ -54,7 +54,7 @@
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);
@@ -126,7 +126,7 @@
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);
@@ -168,7 +168,7 @@
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;
@@ -191,7 +191,7 @@
/* 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);
@@ -249,7 +249,7 @@
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)); */
@@ -266,7 +266,7 @@
}/* 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;
@@ -279,7 +279,7 @@
/* 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;
}
@@ -306,7 +306,7 @@
}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;
@@ -323,7 +323,7 @@
}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;
}
@@ -425,7 +425,7 @@
/* 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*/
}
@@ -523,7 +523,7 @@
}
/*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])){
@@ -567,7 +567,7 @@
case state5: /*Send the pdo*/
/*store_as_last_message*/
d->PDO_status[pdoNum].last_message = pdo;
- MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id.w);
+ MSG_WAR(0x396D, "sendPDO cobId :", pdo.cob_id);
MSG_WAR(0x396E, " Nb octets : ", pdo.len);
canSend(d->canHandle,&pdo);
@@ -670,7 +670,7 @@
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++;
}
--- a/src/sdo.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/sdo.c Wed Jan 23 10:35:52 2008 +0100
@@ -554,7 +554,7 @@
pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
}
/* message copy for sending */
- m.cob_id.w = *pwCobId;
+ m.cob_id = *pwCobId;
m.rtr = NOT_A_REQUEST;
/* the length of SDO must be 8 */
m.len = 8;
@@ -636,7 +636,7 @@
return 0xFF;
}
pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
- if ( *pCobId == (*m).cob_id.w ) {
+ if ( *pCobId == (*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 */
@@ -659,7 +659,7 @@
}
/* a) Looking for the cobid received. */
pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
- if (*pCobId == (*m).cob_id.w ) {
+ if (*pCobId == (*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;
@@ -678,7 +678,7 @@
/* Test if the size of the SDO is ok */
if ( (*m).len != 8) {
- MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id.w);
+ MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
return 0xFF;
}
@@ -687,7 +687,7 @@
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
}
else {
- MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
+ MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id);
}
/* Testing the command specifier */
--- a/src/states.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/states.c Wed Jan 23 10:35:52 2008 +0100
@@ -67,10 +67,10 @@
**/
void canDispatch(CO_Data* d, Message *m)
{
- switch(m->cob_id.w >> 7)
+ switch(m->cob_id >> 7)
{
case SYNC: /* can be a SYNC or a EMCY message */
- if(m->cob_id.w == 0x080) /* SYNC */
+ if(m->cob_id == 0x080) /* SYNC */
{
if(d->CurrentCommunicationState.csSYNC)
proceedSYNC(d);
@@ -107,11 +107,11 @@
#ifdef CO_ENABLE_LSS
case LSS:
if (!d->CurrentCommunicationState.csLSS)break;
- if ((*(d->iam_a_slave)) && m->cob_id.w==MLSS_ADRESS)
+ if ((*(d->iam_a_slave)) && m->cob_id==MLSS_ADRESS)
{
proceedLSS_Slave(d,m);
}
- else if(!(*(d->iam_a_slave)) && m->cob_id.w==SLSS_ADRESS)
+ else if(!(*(d->iam_a_slave)) && m->cob_id==SLSS_ADRESS)
{
proceedLSS_Master(d,m);
}
--- a/src/sync.c Tue Jan 22 10:27:13 2008 +0100
+++ b/src/sync.c Wed Jan 23 10:35:52 2008 +0100
@@ -130,7 +130,7 @@
MSG_WAR(0x3001, "sendSYNC ", 0);
- m.cob_id.w = *d->COB_ID_Sync & 0x1FFFFFFF;
+ m.cob_id = *d->COB_ID_Sync & 0x1FFFFFFF;
m.rtr = NOT_A_REQUEST;
m.len = 0;