--- a/master/canopen.c Mon Mar 12 18:21:42 2007 +0000
+++ b/master/canopen.c Fri Mar 16 11:04:50 2007 +0000
@@ -298,36 +298,66 @@
off_t off = 0;
unsigned int i;
- if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8
- off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));
- }
- else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16
- off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));
- }
- else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32
- off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));
- }
- else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8
- off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));
- }
- else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16
- off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));
- }
- else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32
- off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));
+ if (entry->data_type == 0x0002) { // int8
+ int8_t value;
+ if (entry->bit_length != 8)
+ goto not_fit;
+ value = EC_READ_S8(request->data);
+ off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
+ }
+ else if (entry->data_type == 0x0003) { // int16
+ int16_t value;
+ if (entry->bit_length != 16)
+ goto not_fit;
+ value = EC_READ_S16(request->data);
+ off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
+ }
+ else if (entry->data_type == 0x0004) { // int32
+ int32_t value;
+ if (entry->bit_length != 32)
+ goto not_fit;
+ value = EC_READ_S16(request->data);
+ off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
+ }
+ else if (entry->data_type == 0x0005) { // uint8
+ uint8_t value;
+ if (entry->bit_length != 8)
+ goto not_fit;
+ value = EC_READ_U8(request->data);
+ off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
+ }
+ else if (entry->data_type == 0x0006) { // uint16
+ uint16_t value;
+ if (entry->bit_length != 16)
+ goto not_fit;
+ value = EC_READ_U16(request->data);
+ off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
+ }
+ else if (entry->data_type == 0x0007) { // uint32
+ uint32_t value;
+ if (entry->bit_length != 32)
+ goto not_fit;
+ value = EC_READ_U32(request->data);
+ off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
}
else if (entry->data_type == 0x0009) { // string
off += sprintf(buffer + off, "%s\n", request->data);
}
else {
- off += sprintf(buffer + off,
- "Unknown data type %04X, bit size %u. Data:\n",
- entry->data_type, entry->bit_length);
- for (i = 0; i < request->size; i++)
- off += sprintf(buffer + off, "%02X (%c)\n",
- request->data[i], request->data[i]);
- }
-
+ off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
+ entry->data_type);
+ goto raw_data;
+ }
+ return off;
+
+not_fit:
+ off += sprintf(buffer + off,
+ "Invalid bit length %u for data type 0x%04X. Data:\n",
+ entry->bit_length, entry->data_type);
+raw_data:
+ for (i = 0; i < request->size; i++)
+ off += sprintf(buffer + off, "%02X (%c)\n",
+ request->data[i], request->data[i]);
return off;
}