--- a/master/canopen.c Mon Jun 26 16:07:07 2006 +0000
+++ b/master/canopen.c Wed Aug 02 12:25:25 2006 +0000
@@ -48,8 +48,8 @@
/*****************************************************************************/
void ec_canopen_abort_msg(uint32_t);
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_command_t *);
-int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_command_t *,
+int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_datagram_t *);
+int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_datagram_t *,
ec_sdo_t *, uint8_t);
/*****************************************************************************/
@@ -65,13 +65,13 @@
uint8_t *target /**< 4-byte memory */
)
{
- ec_command_t command;
+ ec_datagram_t datagram;
size_t rec_size;
uint8_t *data;
- ec_command_init(&command);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 6)))
+ ec_datagram_init(&datagram);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
@@ -80,7 +80,7 @@
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- if (!(data = ec_slave_mbox_simple_io(slave, &command, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
goto err;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
@@ -104,10 +104,10 @@
memcpy(target, data + 6, 4);
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return 0;
err:
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return -1;
}
@@ -127,16 +127,16 @@
{
uint8_t *data;
size_t rec_size;
- ec_command_t command;
-
- ec_command_init(&command);
+ ec_datagram_t datagram;
+
+ ec_datagram_init(&datagram);
if (size == 0 || size > 4) {
EC_ERR("Invalid data size!\n");
goto err;
}
- if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 0x0A)))
+ if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 0x0A)))
goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
@@ -149,7 +149,7 @@
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
- if (!(data = ec_slave_mbox_simple_io(slave, &command, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
goto err;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
@@ -172,10 +172,10 @@
return -1;
}
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return 0;
err:
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return -1;
}
@@ -198,11 +198,11 @@
uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
- ec_command_t command;
-
- ec_command_init(&command);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 6)))
+ ec_datagram_t datagram;
+
+ ec_datagram_init(&datagram);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
@@ -210,7 +210,7 @@
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- if (!(data = ec_slave_mbox_simple_io(slave, &command, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
goto err;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
@@ -253,10 +253,10 @@
memcpy(target, data + 10, data_size);
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return 0;
err:
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return -1;
}
@@ -274,11 +274,11 @@
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
- ec_command_t command;
-
- ec_command_init(&command);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &command, 0x03, 8)))
+ ec_datagram_t datagram;
+
+ ec_datagram_init(&datagram);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 8)))
goto err;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
@@ -287,13 +287,13 @@
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
- if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ if (unlikely(ec_master_simple_io(slave->master, &datagram))) {
EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
goto err;
}
do {
- if (!(data = ec_slave_mbox_simple_receive(slave, &command,
+ if (!(data = ec_slave_mbox_simple_receive(slave, &datagram,
0x03, &rec_size)))
goto err;
@@ -342,12 +342,12 @@
while (EC_READ_U8(data + 2) & 0x80);
// Fetch all SDO descriptions
- if (ec_slave_fetch_sdo_descriptions(slave, &command)) goto err;
-
- ec_command_clear(&command);
+ if (ec_slave_fetch_sdo_descriptions(slave, &datagram)) goto err;
+
+ ec_datagram_clear(&datagram);
return 0;
err:
- ec_command_clear(&command);
+ ec_datagram_clear(&datagram);
return -1;
}
@@ -359,7 +359,7 @@
*/
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave, /**< EtherCAT slave */
- ec_command_t *command /**< command */
+ ec_datagram_t *datagram /**< datagram */
)
{
uint8_t *data;
@@ -367,7 +367,7 @@
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- if (!(data = ec_slave_mbox_prepare_send(slave, command, 0x03, 8)))
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8)))
return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
@@ -375,7 +375,7 @@
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
- if (!(data = ec_slave_mbox_simple_io(slave, command, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
@@ -428,7 +428,7 @@
}
// Fetch all entries (subindices)
- if (ec_slave_fetch_sdo_entries(slave, command, sdo,
+ if (ec_slave_fetch_sdo_entries(slave, datagram, sdo,
EC_READ_U8(data + 10)))
return -1;
}
@@ -444,7 +444,7 @@
*/
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
- ec_command_t *command, /**< command */
+ ec_datagram_t *datagram, /**< datagram */
ec_sdo_t *sdo, /**< SDO */
uint8_t subindices /**< number of subindices */
)
@@ -455,7 +455,7 @@
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
- if (!(data = ec_slave_mbox_prepare_send(slave, command, 0x03, 10)))
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10)))
return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
@@ -466,7 +466,7 @@
EC_WRITE_U8 (data + 8, i); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
- if (!(data = ec_slave_mbox_simple_io(slave, command, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information