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Fix esc_coe Wconversion warnings 

- make "size" variables not reflecting hardware or protocol
  uint32_t.

- change size_t to uint32_t to avoid conversion when compiling
  on x64

- add excplcit typecaste for uint8_t and uint16_t that need it
  due to integer promotion

- split assignment using macros and bitwise operations to avoid
  imlicit conversion and need of explicit conversion.

- add excplicit typecast to htoe MACROs
pull/149/head
Andreas Karlsson 2023-03-16 16:44:40 +01:00
parent d22277f4a5
commit f63bca476d
4 changed files with 84 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
soes/esc.h
View File

@ -210,9 +210,9 @@
#define MBXstate_backup 0x05 #define MBXstate_backup 0x05
#define MBXstate_again 0x06 #define MBXstate_again 0x06
#define COE_DEFAULTLENGTH 0x0a #define COE_DEFAULTLENGTH 0x0AU
#define COE_HEADERSIZE 0x0a #define COE_HEADERSIZE 0x0AU
#define COE_SEGMENTHEADERSIZE 0x03 #define COE_SEGMENTHEADERSIZE 0x03U
#define COE_SDOREQUEST 0x02 #define COE_SDOREQUEST 0x02
#define COE_SDORESPONSE 0x03 #define COE_SDORESPONSE 0x03
#define COE_SDOINFORMATION 0x08 #define COE_SDOINFORMATION 0x08
@ -467,7 +467,7 @@ typedef struct
uint16_t (*esc_check_dc_handler) (void); uint16_t (*esc_check_dc_handler) (void);
int (*get_device_id) (uint16_t * device_id); int (*get_device_id) (uint16_t * device_id);
uint8_t MBXrun; uint8_t MBXrun;
size_t activembxsize; uint32_t activembxsize;
sm_cfg_t * activemb0; sm_cfg_t * activemb0;
sm_cfg_t * activemb1; sm_cfg_t * activemb1;
uint16_t ESC_SM2_sml; uint16_t ESC_SM2_sml;
@ -701,11 +701,11 @@ typedef struct
#define ESC_SM3_smc (SM3_smc) #define ESC_SM3_smc (SM3_smc)
#define ESC_SM3_act (SM3_act) #define ESC_SM3_act (SM3_act)
#define ESC_MBXHSIZE sizeof(_MBXh) #define ESC_MBXHSIZE ((uint32_t)sizeof(_MBXh))
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE) #define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
#define ESC_FOEHSIZE sizeof(_FOEh) #define ESC_FOEHSIZE (uint32_t)sizeof(_FOEh)
#define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE)) #define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
#define ESC_EOEHSIZE sizeof(_EOEh) #define ESC_EOEHSIZE ((uint32_t)sizeof(_EOEh))
#define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE)) #define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
void ESC_config (esc_cfg_t * cfg); void ESC_config (esc_cfg_t * cfg);

132
soes/esc_coe.c
View File

@ -18,7 +18,7 @@
#include "esc.h" #include "esc.h"
#include "esc_coe.h" #include "esc_coe.h"
#define BITS2BYTES(b) ((b + 7) >> 3) #define BITS2BYTES(b) ((b + 7U) >> 3)
#define BITSPOS2BYTESOFFSET(b) (b >> 3) #define BITSPOS2BYTESOFFSET(b) (b >> 3)
/* Fetch value from object dictionary */ /* Fetch value from object dictionary */
@ -48,7 +48,7 @@ typedef enum { UPLOAD, DOWNLOAD } load_t;
* @param[in] subindex = value on sub-index of object we want to locate * @param[in] subindex = value on sub-index of object we want to locate
* @return local array index if we succeed, -1 if we didn't find the index. * @return local array index if we succeed, -1 if we didn't find the index.
*/ */
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex) int16_t SDO_findsubindex (int32_t nidx, uint8_t subindex)
{ {
const _objd *objd; const _objd *objd;
int16_t n = 0; int16_t n = 0;
@ -118,9 +118,10 @@ int32_t SDO_findobject (uint16_t index)
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings, uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
int max_mappings) int max_mappings)
{ {
uint16_t offset = 0, hobj; uint32_t offset = 0;
uint16_t hobj;
uint8_t si, sic, c; uint8_t si, sic, c;
int16_t nidx; int32_t nidx;
const _objd *objd; const _objd *objd;
const _objd *objd1c1x; const _objd *objd1c1x;
int mapIx = 0; int mapIx = 0;
@ -159,7 +160,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
if (max_mappings > 0) if (max_mappings > 0)
{ {
uint16_t index = value >> 16; uint16_t index = (uint16_t)(value >> 16);
uint8_t subindex = (value >> 8) & 0xFF; uint8_t subindex = (value >> 8) & 0xFF;
const _objd * mapping; const _objd * mapping;
@ -230,7 +231,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
*nmappings = 0; *nmappings = 0;
} }
return BITS2BYTES (offset); return BITS2BYTES (offset) & 0xFFFF;
} }
/** Copy to mailbox. /** Copy to mailbox.
@ -239,7 +240,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
* @param[in] dest = pointer to destination * @param[in] dest = pointer to destination
* @param[in] size = Size to copy * @param[in] size = Size to copy
*/ */
static void copy2mbx (void *source, void *dest, uint16_t size) static void copy2mbx (void *source, void *dest, size_t size)
{ {
memcpy (dest, source, size); memcpy (dest, source, size);
} }
@ -297,7 +298,8 @@ static void SDO_upload (void)
_COEsdo *coesdo, *coeres; _COEsdo *coesdo, *coeres;
uint16_t index; uint16_t index;
uint8_t subindex; uint8_t subindex;
int16_t nidx, nsub; int32_t nidx;
int32_t nsub;
uint8_t MBXout; uint8_t MBXout;
uint32_t size; uint32_t size;
uint8_t dss; uint8_t dss;
@ -345,14 +347,14 @@ static void SDO_upload (void)
} }
coeres->index = htoes (index); coeres->index = htoes (index);
coeres->subindex = subindex; coeres->subindex = subindex;
coeres->command = COE_COMMAND_UPLOADRESPONSE + coeres->command = COE_COMMAND_UPLOADRESPONSE |
COE_SIZE_INDICATOR; COE_SIZE_INDICATOR;
/* convert bits to bytes */ /* convert bits to bytes */
size = BITS2BYTES(size); size = BITS2BYTES(size);
if (size <= 4) if (size <= 4)
{ {
/* expedited response i.e. length<=4 bytes */ /* expedited response i.e. length<=4 bytes */
coeres->command += COE_EXPEDITED_INDICATOR + dss; coeres->command |= (COE_EXPEDITED_INDICATOR | dss);
void *dataptr = ((objd + nsub)->data) ? void *dataptr = ((objd + nsub)->data) ?
(objd + nsub)->data : (void *)&((objd + nsub)->value); (objd + nsub)->data : (void *)&((objd + nsub)->value);
abort = ESC_upload_pre_objecthandler (index, subindex, abort = ESC_upload_pre_objecthandler (index, subindex,
@ -440,7 +442,7 @@ static void SDO_upload (void)
} }
static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index, static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index,
uint8_t *subindex, int16_t *nidx, uint8_t *subindex, int32_t *nidx,
int16_t *nsub) int16_t *nsub)
{ {
*index = etohs (coesdo->index); *index = etohs (coesdo->index);
@ -468,11 +470,11 @@ static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index,
} }
static uint32_t complete_access_subindex_loop(const _objd *objd, static uint32_t complete_access_subindex_loop(const _objd *objd,
int16_t nidx, int32_t nidx,
int16_t nsub, int16_t nsub,
uint8_t *mbxdata, uint8_t *mbxdata,
load_t load_type, load_t load_type,
uint16_t max_bytes) uint32_t max_bytes)
{ {
/* Objects with dynamic entries cannot be accessed with Complete Access */ /* Objects with dynamic entries cannot be accessed with Complete Access */
if ((objd->datatype == DTYPE_VISIBLE_STRING) || if ((objd->datatype == DTYPE_VISIBLE_STRING) ||
@ -504,7 +506,7 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
if (bitoffset != 0) if (bitoffset != 0)
{ {
/* move on to next byte boundary */ /* move on to next byte boundary */
size += (8 - bitoffset); size += (8U - bitoffset);
} }
if (mbxdata != NULL) if (mbxdata != NULL)
{ {
@ -533,19 +535,21 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
else if ((load_type == UPLOAD) && (mbxdata != NULL)) else if ((load_type == UPLOAD) && (mbxdata != NULL))
{ {
/* copy a bit data type into correct position */ /* copy a bit data type into correct position */
uint8_t bitmask = (1 << bitlen) - 1; uint32_t bitmask = (1U << bitlen) - 1U;
uint32_t tempmask;
if (READ_ACCESS(access, state)) if (READ_ACCESS(access, state))
{ {
if (bitoffset == 0) if (bitoffset == 0)
{ {
mbxdata[BITSPOS2BYTESOFFSET(size)] = 0; mbxdata[BITSPOS2BYTESOFFSET(size)] = 0;
} }
mbxdata[BITSPOS2BYTESOFFSET(size)] |= tempmask = (*(uint8_t *)ul_source & bitmask) << bitoffset;
(*(uint8_t *)ul_source & bitmask) << bitoffset; mbxdata[BITSPOS2BYTESOFFSET(size)] |= (uint8_t)tempmask;
} }
else else
{ {
mbxdata[BITSPOS2BYTESOFFSET(size)] &= ~(bitmask << bitoffset); tempmask = ~(bitmask << bitoffset);
mbxdata[BITSPOS2BYTESOFFSET(size)] &= (uint8_t)tempmask;
} }
} }
@ -586,7 +590,8 @@ static void SDO_upload_complete_access (void)
_COEsdo *coesdo = (_COEsdo *) &MBX[0]; _COEsdo *coesdo = (_COEsdo *) &MBX[0];
uint16_t index; uint16_t index;
uint8_t subindex; uint8_t subindex;
int16_t nidx, nsub; int32_t nidx;
int16_t nsub;
uint32_t abortcode = complete_access_get_variables uint32_t abortcode = complete_access_get_variables
(coesdo, &index, &subindex, &nidx, &nsub); (coesdo, &index, &subindex, &nidx, &nsub);
if (abortcode != 0) if (abortcode != 0)
@ -611,7 +616,7 @@ static void SDO_upload_complete_access (void)
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD, 0); uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD, 0);
/* expedited bits used calculation */ /* expedited bits used calculation */
uint8_t dss = (size > 24) ? 0 : (4 * (3 - ((size - 1) >> 3))); uint8_t dss = (size > 24) ? 0 : (uint8_t)(4U * (3U - ((size - 1U) >> 3)));
/* convert bits to bytes */ /* convert bits to bytes */
size = BITS2BYTES(size); size = BITS2BYTES(size);
@ -709,7 +714,7 @@ static void SDO_uploadsegment (void)
coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
offset = ESCvar.fragsleft; offset = ESCvar.fragsleft;
size = ESCvar.frags - ESCvar.fragsleft; size = ESCvar.frags - ESCvar.fragsleft;
uint8_t command = COE_COMMAND_UPLOADSEGMENT + uint8_t command = COE_COMMAND_UPLOADSEGMENT |
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */ (coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
init_coesdo(coeres, COE_SDORESPONSE, command, init_coesdo(coeres, COE_SDORESPONSE, command,
coesdo->index, coesdo->subindex); coesdo->index, coesdo->subindex);
@ -728,14 +733,14 @@ static void SDO_uploadsegment (void)
ESCvar.segmented = 0; ESCvar.segmented = 0;
ESCvar.frags = 0; ESCvar.frags = 0;
ESCvar.fragsleft = 0; ESCvar.fragsleft = 0;
coeres->command += COE_COMMAND_LASTSEGMENTBIT; coeres->command |= COE_COMMAND_LASTSEGMENTBIT;
if (size >= 7) if (size >= 7)
{ {
coeres->mbxheader.length = htoes (COE_SEGMENTHEADERSIZE + size); coeres->mbxheader.length = htoes (COE_SEGMENTHEADERSIZE + size);
} }
else else
{ {
coeres->command += (7 - size) << 1; coeres->command |= (uint8_t)((7U - size) << 1);
coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH); coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH);
} }
} }
@ -768,9 +773,10 @@ static void SDO_download (void)
_COEsdo *coesdo, *coeres; _COEsdo *coesdo, *coeres;
uint16_t index; uint16_t index;
uint8_t subindex; uint8_t subindex;
int16_t nidx, nsub; int32_t nidx;
int16_t nsub;
uint8_t MBXout; uint8_t MBXout;
uint16_t size, actsize; uint32_t size, actsize;
const _objd *objd; const _objd *objd;
uint32_t *mbxdata; uint32_t *mbxdata;
uint32_t abort; uint32_t abort;
@ -792,7 +798,7 @@ static void SDO_download (void)
/* expedited? */ /* expedited? */
if (coesdo->command & COE_EXPEDITED_INDICATOR) if (coesdo->command & COE_EXPEDITED_INDICATOR)
{ {
size = 4 - ((coesdo->command & 0x0c) >> 2); size = 4U - ((coesdo->command & 0x0CU) >> 2);
mbxdata = &(coesdo->size); mbxdata = &(coesdo->size);
} }
else else
@ -914,7 +920,8 @@ static void SDO_download_complete_access (void)
_COEsdo *coesdo = (_COEsdo *) &MBX[0]; _COEsdo *coesdo = (_COEsdo *) &MBX[0];
uint16_t index; uint16_t index;
uint8_t subindex; uint8_t subindex;
int16_t nidx, nsub; int32_t nidx;
int16_t nsub;
uint32_t abortcode = complete_access_get_variables uint32_t abortcode = complete_access_get_variables
(coesdo, &index, &subindex, &nidx, &nsub); (coesdo, &index, &subindex, &nidx, &nsub);
if (abortcode != 0) if (abortcode != 0)
@ -929,7 +936,7 @@ static void SDO_download_complete_access (void)
if (coesdo->command & COE_EXPEDITED_INDICATOR) if (coesdo->command & COE_EXPEDITED_INDICATOR)
{ {
/* expedited download */ /* expedited download */
bytes = 4 - ((coesdo->command & 0x0c) >> 2); bytes = 4U - ((coesdo->command & 0x0CU) >> 2);
} }
else else
{ {
@ -1030,13 +1037,14 @@ static void SDO_downloadsegment (void)
if (MBXout) if (MBXout)
{ {
_COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; _COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
uint32_t size = coesdo->mbxheader.length - 3; uint32_t size = coesdo->mbxheader.length - 3U;
if (size == 7) if (size == 7)
{ {
size = 7 - ((coesdo->command >> 1) & 7); size = 7 - ((coesdo->command >> 1) & 7);
} }
uint8_t command = COE_COMMAND_DOWNLOADSEGRESP + uint8_t command = COE_COMMAND_DOWNLOADSEGRESP;
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */ uint8_t command2 = (coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
command |= command2;
init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0); init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0);
void *mbxdata = &(coesdo->index); /* data pointer */ void *mbxdata = &(coesdo->index); /* data pointer */
@ -1046,7 +1054,8 @@ static void SDO_downloadsegment (void)
{ {
if(ESCvar.flags == COMPLETE_ACCESS_FLAG) if(ESCvar.flags == COMPLETE_ACCESS_FLAG)
{ {
int16_t nidx, nsub; int32_t nidx;
int16_t nsub;
if(ESCvar.frags > ESCvar.fragsleft + size) if(ESCvar.frags > ESCvar.fragsleft + size)
{ {
@ -1112,7 +1121,7 @@ static void SDO_infoerror (uint32_t abortcode)
if (MBXout) if (MBXout)
{ {
coeres = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; coeres = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coeres->mbxheader.length = htoes ((uint16_t) COE_HEADERSIZE); coeres->mbxheader.length = htoes (COE_HEADERSIZE);
coeres->mbxheader.mbxtype = MBXCOE; coeres->mbxheader.mbxtype = MBXCOE;
coeres->coeheader.numberservice = coeres->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12));
@ -1129,14 +1138,14 @@ static void SDO_infoerror (uint32_t abortcode)
} }
} }
#define ODLISTSIZE ((ESC_MBX1_sml - ESC_MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2) & 0xfffe) #define ODLISTSIZE ((uint32_t)(ESC_MBX1_sml - ESC_MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2U) & 0xfffe)
/** Function for handling incoming requested SDO Get OD List, validating the /** Function for handling incoming requested SDO Get OD List, validating the
* request and sending an response. On error an SDO Info Error will be sent. * request and sending an response. On error an SDO Info Error will be sent.
*/ */
static void SDO_getodlist (void) static void SDO_getodlist (void)
{ {
uint16_t frags; uint32_t frags;
uint8_t MBXout = 0; uint8_t MBXout = 0;
uint16_t entries = 0; uint16_t entries = 0;
uint16_t i, n; uint16_t i, n;
@ -1148,7 +1157,7 @@ static void SDO_getodlist (void)
entries++; entries++;
} }
ESCvar.entries = entries; ESCvar.entries = entries;
frags = ((entries << 1) + ODLISTSIZE - 1); frags = ((uint32_t)(entries << 1) + ODLISTSIZE - 1U);
frags /= ODLISTSIZE; frags /= ODLISTSIZE;
coer = (_COEobjdesc *) &MBX[0]; coer = (_COEobjdesc *) &MBX[0];
/* check for unsupported opcodes */ /* check for unsupported opcodes */
@ -1170,10 +1179,10 @@ static void SDO_getodlist (void)
/* number of objects request */ /* number of objects request */
if (etohs (coer->index) == 0x00) if (etohs (coer->index) == 0x00)
{ {
coel->index = htoes ((uint16_t) 0x00); coel->index = htoes (0x00);
coel->infoheader.incomplete = 0; coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00; coel->infoheader.reserved = 0x00;
coel->infoheader.fragmentsleft = htoes ((uint16_t) 0); coel->infoheader.fragmentsleft = htoes (0);
MBXcontrol[0].state = MBXstate_idle; MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0; ESCvar.xoe = 0;
ESCvar.frags = frags; ESCvar.frags = frags;
@ -1210,7 +1219,7 @@ static void SDO_getodlist (void)
ESCvar.frags = frags; ESCvar.frags = frags;
ESCvar.fragsleft = frags - 1; ESCvar.fragsleft = frags - 1;
coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft); coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft);
coel->index = htoes ((uint16_t) 0x01); coel->index = htoes (0x01);
p = &(coel->datatype); p = &(coel->datatype);
for (i = 0; i < n; i++) for (i = 0; i < n; i++)
@ -1240,13 +1249,13 @@ static void SDO_getodlistcont (void)
coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coel->mbxheader.mbxtype = MBXCOE; coel->mbxheader.mbxtype = MBXCOE;
coel->coeheader.numberservice = coel->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); htoes (COE_SDOINFORMATION << 12);
coel->infoheader.opcode = COE_GETODLISTRESPONSE; coel->infoheader.opcode = COE_GETODLISTRESPONSE;
s = (ESCvar.frags - ESCvar.fragsleft) * (ODLISTSIZE >> 1); s = (uint16_t)((ESCvar.frags - ESCvar.fragsleft) * (ODLISTSIZE >> 1));
if (ESCvar.fragsleft > 1) if (ESCvar.fragsleft > 1)
{ {
coel->infoheader.incomplete = 1; coel->infoheader.incomplete = 1;
n = s + (ODLISTSIZE >> 1); n = (uint16_t)(s + (ODLISTSIZE >> 1));
} }
else else
{ {
@ -1257,7 +1266,7 @@ static void SDO_getodlistcont (void)
} }
coel->infoheader.reserved = 0x00; coel->infoheader.reserved = 0x00;
ESCvar.fragsleft--; ESCvar.fragsleft--;
coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft); coel->infoheader.fragmentsleft = htoes ((uint16_t)ESCvar.fragsleft);
/* pointer 2 bytes back to exclude index */ /* pointer 2 bytes back to exclude index */
p = &(coel->index); p = &(coel->index);
for (i = s; i < n; i++) for (i = s; i < n; i++)
@ -1294,7 +1303,7 @@ static void SDO_getod (void)
coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coel->mbxheader.mbxtype = MBXCOE; coel->mbxheader.mbxtype = MBXCOE;
coel->coeheader.numberservice = coel->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); htoes (COE_SDOINFORMATION << 12);
coel->infoheader.opcode = COE_GETODRESPONSE; coel->infoheader.opcode = COE_GETODRESPONSE;
coel->infoheader.incomplete = 0; coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00; coel->infoheader.reserved = 0x00;
@ -1312,14 +1321,14 @@ static void SDO_getod (void)
int32_t nsub = SDO_findsubindex (nidx, 0); int32_t nsub = SDO_findsubindex (nidx, 0);
const _objd *objd = SDOobjects[nidx].objdesc; const _objd *objd = SDOobjects[nidx].objdesc;
coel->datatype = htoes ((objd + nsub)->datatype); coel->datatype = htoes ((objd + nsub)->datatype);
coel->maxsub = SDOobjects[nidx].objdesc->value; coel->maxsub = (uint8_t)SDOobjects[nidx].objdesc->value;
} }
else else
{ {
coel->datatype = htoes (0); coel->datatype = htoes (0);
coel->maxsub = SDOobjects[nidx].objdesc->value; coel->maxsub = (uint8_t)SDOobjects[nidx].objdesc->value;
} }
coel->objectcode = SDOobjects[nidx].objtype; coel->objectcode = (uint8_t)SDOobjects[nidx].objtype;
s = (uint8_t *) SDOobjects[nidx].name; s = (uint8_t *) SDOobjects[nidx].name;
d = (uint8_t *) &(coel->name); d = (uint8_t *) &(coel->name);
while (*s && (n < (ESC_MBXDSIZE - 0x0c))) while (*s && (n < (ESC_MBXDSIZE - 0x0c)))
@ -1330,7 +1339,7 @@ static void SDO_getod (void)
d++; d++;
} }
*d = *s; *d = *s;
coel->mbxheader.length = htoes ((uint16_t) 0x0c + n); coel->mbxheader.length = htoes (0x0C + n);
MBXcontrol[MBXout].state = MBXstate_outreq; MBXcontrol[MBXout].state = MBXstate_outreq;
MBXcontrol[0].state = MBXstate_idle; MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0; ESCvar.xoe = 0;
@ -1350,7 +1359,8 @@ static void SDO_geted (void)
{ {
uint8_t MBXout; uint8_t MBXout;
uint16_t index; uint16_t index;
int32_t nidx, nsub; int32_t nidx;
int16_t nsub;
uint8_t subindex; uint8_t subindex;
uint8_t *d; uint8_t *d;
const uint8_t *s; const uint8_t *s;
@ -1377,7 +1387,7 @@ static void SDO_geted (void)
coel->infoheader.opcode = COE_ENTRYDESCRIPTIONRESPONSE; coel->infoheader.opcode = COE_ENTRYDESCRIPTIONRESPONSE;
coel->infoheader.incomplete = 0; coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00; coel->infoheader.reserved = 0x00;
coel->infoheader.fragmentsleft = htoes ((uint16_t) 0); coel->infoheader.fragmentsleft = htoes (0);
coel->index = htoes (index); coel->index = htoes (index);
coel->subindex = subindex; coel->subindex = subindex;
coel->valueinfo = COE_VALUEINFO_ACCESS + coel->valueinfo = COE_VALUEINFO_ACCESS +
@ -1395,7 +1405,7 @@ static void SDO_geted (void)
d++; d++;
} }
*d = *s; *d = *s;
coel->mbxheader.length = htoes ((uint16_t) 0x10 + n); coel->mbxheader.length = htoes (0x10 + n);
MBXcontrol[MBXout].state = MBXstate_outreq; MBXcontrol[MBXout].state = MBXstate_outreq;
MBXcontrol[0].state = MBXstate_idle; MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0; ESCvar.xoe = 0;
@ -1421,7 +1431,7 @@ void ESC_coeprocess (void)
_MBXh *mbh; _MBXh *mbh;
_COEsdo *coesdo; _COEsdo *coesdo;
_COEobjdesc *coeobjdesc; _COEobjdesc *coeobjdesc;
uint8_t service; uint16_t service;
if (ESCvar.MBXrun == 0) if (ESCvar.MBXrun == 0)
{ {
return; return;
@ -1548,10 +1558,10 @@ void ESC_coeprocess (void)
* @param[in] length = number of bits to get * @param[in] length = number of bits to get
* @return bitslice value * @return bitslice value
*/ */
static uint64_t COE_bitsliceGet (uint64_t * bitmap, int offset, int length) static uint64_t COE_bitsliceGet (uint64_t * bitmap, unsigned int offset, unsigned int length)
{ {
const int word_offset = offset / 64; const unsigned int word_offset = offset / 64;
const int bit_offset = offset % 64; const unsigned int bit_offset = offset % 64;
const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1; const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1;
uint64_t w0; uint64_t w0;
uint64_t w1 = 0; uint64_t w1 = 0;
@ -1581,11 +1591,11 @@ static uint64_t COE_bitsliceGet (uint64_t * bitmap, int offset, int length)
* @param[in] length = number of bits to set * @param[in] length = number of bits to set
* @param[in] value = value to set * @param[in] value = value to set
*/ */
static void COE_bitsliceSet (uint64_t * bitmap, int offset, int length, static void COE_bitsliceSet (uint64_t * bitmap, unsigned int offset, unsigned int length,
uint64_t value) uint64_t value)
{ {
const int word_offset = offset / 64; const unsigned int word_offset = offset / 64;
const int bit_offset = offset % 64; const unsigned int bit_offset = offset % 64;
const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1; const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1;
const uint64_t mask0 = mask << bit_offset; const uint64_t mask0 = mask << bit_offset;
uint64_t v0 = value << bit_offset; uint64_t v0 = value << bit_offset;
@ -1778,7 +1788,7 @@ void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * mappings)
for (ix = 0; ix < nmappings; ix++) for (ix = 0; ix < nmappings; ix++)
{ {
const _objd * obj = mappings[ix].obj; const _objd * obj = mappings[ix].obj;
uint16_t offset = mappings[ix].offset; uint32_t offset = mappings[ix].offset;
if (obj != NULL) if (obj != NULL)
{ {
@ -1825,7 +1835,7 @@ void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * mappings)
for (ix = 0; ix < nmappings; ix++) for (ix = 0; ix < nmappings; ix++)
{ {
const _objd * obj = mappings[ix].obj; const _objd * obj = mappings[ix].obj;
uint16_t offset = mappings[ix].offset; uint32_t offset = mappings[ix].offset;
if (obj != NULL) if (obj != NULL)
{ {
@ -1860,7 +1870,7 @@ void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * mappings)
*/ */
uint8_t COE_maxSub (uint16_t index) uint8_t COE_maxSub (uint16_t index)
{ {
int nidx; int32_t nidx;
uint8_t maxsub; uint8_t maxsub;
nidx = SDO_findobject (index); nidx = SDO_findobject (index);

4
soes/esc_coe.h
View File

@ -41,7 +41,7 @@ typedef struct
{ {
const _objd * obj; const _objd * obj;
const _objectlist * objectlistitem; const _objectlist * objectlistitem;
uint16_t offset; uint32_t offset;
} _SMmap; } _SMmap;
#define OBJH_READ 0 #define OBJH_READ 0
@ -112,7 +112,7 @@ typedef struct
#define COMPLETE_ACCESS_FLAG (1 << 15) #define COMPLETE_ACCESS_FLAG (1 << 15)
void ESC_coeprocess (void); void ESC_coeprocess (void);
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex); int16_t SDO_findsubindex (int32_t nidx, uint8_t subindex);
int32_t SDO_findobject (uint16_t index); int32_t SDO_findobject (uint16_t index);
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings); uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
void COE_initDefaultValues (void); void COE_initDefaultValues (void);

8
soes/include/sys/gcc/cc.h
View File

@ -54,11 +54,11 @@ extern "C"
#define CC_ATOMIC_OR(var,val) __atomic_or_fetch(&var,val,__ATOMIC_SEQ_CST) #define CC_ATOMIC_OR(var,val) __atomic_or_fetch(&var,val,__ATOMIC_SEQ_CST)
#if BYTE_ORDER == BIG_ENDIAN #if BYTE_ORDER == BIG_ENDIAN
#define htoes(x) CC_SWAP16 (x) #define htoes(x) CC_SWAP16 ((uint16_t)(x))
#define htoel(x) CC_SWAP32 (x) #define htoel(x) CC_SWAP32 ((uint32_t)(x))
#else #else
#define htoes(x) (x) #define htoes(x) ((uint16_t)(x))
#define htoel(x) (x) #define htoel(x) ((uint32_t)(x))
#endif #endif
#define etohs(x) htoes (x) #define etohs(x) htoes (x)