components/free_rtos/base/swap.h

@@ -10,10 +10,10 @@
 
 #include <arm_acle.h>
 
-#define BASE_SWAP32(value) __builtin_bswap32(value)
+//#define BASE_SWAP32(value) __builtin_bswap32(value)
-//#define BASE_SWAP32(value) __rev(value)
+#define BASE_SWAP32(value) __rev(value)
 
-#define BASE_SWAP16(value) (uint16_t)__builtin_bswap16(value)
+//#define BASE_SWAP16(value) (uint16_t)__builtin_bswap16(value)
-//#define BASE_SWAP16(value) (uint16_t)__rev16(value)
+#define BASE_SWAP16(value) (uint16_t)__rev16(value)
 
 #endif /* FREE_RTOS_BASE_SWAP_H_ */

components/free_rtos/ethernet_industry/eth_ecat_command.hpp

@@ -98,34 +98,6 @@ private:
 
 };
 
-/*
- * EtherCAT Command
- *
- * Типы параметров шаблона должны быть struct Type и struct Dir или их синонимы
- *
- * Возможные значения первого параметра шаблона (синонимы):
- *
- * EcatCommand< AP, ... >
- * EcatCommand< B, ... >
- * EcatCommand< FP, ... >
- * EcatCommand< L, ... >
- *
- * Возможные значения второго параметра шаблона (синонимы):
- *
- * EcatCommand< ... ,RD >
- * EcatCommand< ... ,WR >
- * EcatCommand< ... ,RW >
- * EcatCommand< ... ,RMW >
- * EcatCommand< ... ,NO >
- *
- * Так же можно использовать готовые синонимы EcatCommand<>:
- *
- * APRD,   APWR,    APRW,    ARMW
- * BRD,    BWR,     BRW,     NOP
- * FPRD,   FPWR,    FPRW,    FRMW
- * LRD,    LWR,     LRW,     NOP
- *
- */
 template<typename TypeT, typename DirT>
 class EcatCommand : public EcatCommandBase {
     static_assert(std::is_base_of<TypeBase, TypeT>::value == true, "TypeT should be derived from command::TypeBase");

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -110,29 +110,6 @@ private:
 
 };
 
-/*
- * EtherCAT Datagram
- *
- * Первый параметр шаблона должен быть class EcatCommand
- *
- * Возможные значения первого параметра шаблона:
- *
- * EcatDatagram< BWR, DataType >
- * или
- * EcatDatagram< EcatCommand< B, WR >, DataType >
- *
- * EcatDatagram< LWR, DataType >
- * или
- * EcatDatagram< EcatCommand< L, WR >, DataType >
- *
- * Пример:
- *
- * datagram::EcatDatagram<command::BWR, DataType > a{ {{broadcast, address}}, expected_wkc, data };
- * datagram::EcatDatagram<command::LWR, DataType > b{ {{logic, address}}, expected_wkc, data };
- *
- * auto queue = a + b;
- *
- */
 template<typename CommandT, typename... DataTypes>
 class EcatDatagram : public IEcatDatagram {
     static_assert(std::is_base_of<command::EcatCommandBase, CommandT>::value == true, "CommandT should be derived from ECatCommandBase");

components/free_rtos/ethernet_ip/eth_checksum.c

@@ -8,7 +8,6 @@
 #include "free_rtos/base/swap.h"
 
 #include <arm_acle.h>
-#include <string.h>
 
 uint16_t eth_calcChksum(uint32_t sum, uint8_t * const data, uint16_t len)
 {
@@ -57,60 +56,69 @@ uint16_t eth_calcChksum2(uint32_t sum, uint8_t * const hdata, uint16_t hlen, uin
     return ~sum;
 }
 
+union PointerConverter
+{
+    void * unknown;
+    uint64_t * octet;
+    uint32_t * quartet;
+    uint16_t * duet;
+    uint8_t * solo;
+};
+
+struct Array {
+    uint16_t duet0;
+    uint16_t duet1;
+    uint16_t duet2;
+    uint16_t duet3;
+};
+
+union ValueConverter
+{
+    uint64_t octet;
+    uint32_t quartet;
+    uint16_t duet;
+    uint8_t solo;
+    struct Array array;
+};
+
 uint32_t calcSum(void * const buffer, uint32_t sum, void * const data, uint16_t len)
 {
-    uint8_t* buffer_start;
+    union PointerConverter buffer_start;
-    uint8_t* data_start;
+    union PointerConverter data_start;
-    uint32_t value;
+    union ValueConverter value;
 
-    buffer_start = (uint8_t*)buffer;
+    buffer_start.unknown = buffer;
-    data_start = (uint8_t*)data;
+    data_start.unknown = data;
-    value = 0x00000000;
 
-    #define SIZE sizeof(uint32_t)
+    while(len >= sizeof(uint32_t)) {
-    while(len >= SIZE) {
+        len -= sizeof(uint32_t);
-        len -= SIZE;
 
-        memcpy(&value, data_start, SIZE);
+        value.quartet = *data_start.quartet++;
-        data_start += SIZE;
+        *buffer_start.quartet++ = value.quartet;
 
-        memcpy(buffer_start, &value, SIZE);
+        value.quartet = __rev16(value.quartet);
-        buffer_start += SIZE;
+        sum += value.array.duet0 + value.array.duet1;
-
-        value = __rev16(value);
-        sum += (value&0xFFFF) + (value>>16);
     }
-    #undef SIZE
 
-    #define SIZE sizeof(uint16_t)
+    if(len >= sizeof(uint16_t)) {
-    if(len >= SIZE) {
+        len -= sizeof(uint16_t);
-        len -= SIZE;
-        value = 0x00000000;
 
-        memcpy(&value, data_start, SIZE);
+        value.duet = *data_start.duet++;
-        data_start += SIZE;
+        *buffer_start.duet++ = value.duet;
 
-        memcpy(buffer_start, &value, SIZE);
+        value.quartet = __rev16(value.quartet);
-        buffer_start += SIZE;
+        sum += value.duet;
-
-        sum += __rev16(value);
     }
-    #undef SIZE
 
-    #define SIZE sizeof(uint8_t)
+    if(len >= sizeof(uint8_t)) {
-    if(len >= SIZE) {
+        len -= sizeof(uint8_t);
-        len -= SIZE;
-        value = 0x00000000;
 
-        memcpy(&value, data_start, SIZE);
+        value.solo = *data_start.solo++;
-        data_start += SIZE;
+        *buffer_start.solo++ = value.solo;
 
-        memcpy(buffer_start, &value, SIZE);
+        value.quartet = __rev16(value.quartet);
-        buffer_start += SIZE;
+        sum += value.solo;
-
-        sum += __rev16(value);
     }
-    #undef SIZE
 
     return sum;
 }