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/*

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This file is part of CanFestival, a library implementing CanOpen Stack.

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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#ifndef __sdo_h__

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#define __sdo_h__

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struct struct_s_transfer;

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#include "timer.h"

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typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);

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/* The Transfer structure

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Used to store the different segments of

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 - a SDO received before writing in the dictionary

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 - the reading of the dictionary to put on a SDO to transmit

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*/

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struct struct_s_transfer {

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  UNS8           nodeId;     /*own ID if server, or node ID of the server if client */

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  UNS8           whoami;     /* Takes the values SDO_CLIENT or SDO_SERVER */

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  UNS8           state;      /* state of the transmission : Takes the values SDO_... */

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  UNS8           toggle;

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  UNS32          abortCode;  /* Sent or received */

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  /* index and subindex of the dictionary where to store */

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  /* (for a received SDO) or to read (for a transmit SDO) */

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  UNS16          index;

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  UNS8           subIndex;

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  UNS32          count;      /* Number of data received or to be sent. */

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  UNS32          offset;     /* stack pointer of data[]

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                              * Used only to tranfer part of a line to or from a SDO.

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                              * offset is always pointing on the next free cell of data[].

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                              * WARNING s_transfer.data is subject to ENDIANISATION

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                              * (with respect to CANOPEN_BIG_ENDIAN)

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                              */

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  UNS8           data [SDO_MAX_LENGTH_TRANSFERT];

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  UNS8           dataType;   /* Defined in objdictdef.h Value is visible_string

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                              * if it is a string, any other value if it is not a string,

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                              * like 0. In fact, it is used only if client.

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                              */

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  TIMER_HANDLE   timer;      /* Time counter to implement a timeout in milliseconds.

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                              * It is automatically incremented whenever

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                              * the line state is in SDO_DOWNLOAD_IN_PROGRESS or

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                              * SDO_UPLOAD_IN_PROGRESS, and reseted to 0

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                              * when the response SDO have been received.

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                              */

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  SDOCallback_t Callback;   /* The user callback func to be called at SDO transaction end */

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};

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typedef struct struct_s_transfer s_transfer;

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#include "data.h"

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/* The 8 bytes data of the SDO */

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struct BODY{

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    UNS8 data[8];

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};

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/* The SDO structure ...*/

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struct struct_s_SDO {

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  UNS8 nodeId;		/*in any case, Node ID of the server (case sender or receiver).*/

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  struct BODY body;

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};

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typedef struct struct_s_SDO s_SDO;

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/** Reset of a SDO exchange on timeout.

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 * Send a SDO abort

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 */

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void SDOTimeoutAlarm(CO_Data* d, UNS32 id);

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/** Reset all sdo buffers

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 */

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void resetSDO (CO_Data* d);

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/** Copy the data received from the SDO line transfert to the object dictionary

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 * Returns SDO error code if error. Else, returns 0;

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 */

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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);

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/** Copy the data from the object dictionary to the SDO line for a network transfert.

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 * Returns SDO error code if error. Else, returns 0;

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 */

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UNS32 objdictToSDOline (CO_Data* d, UNS8 line);

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/** copy data from an existant line in the argument "* data"

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 * Returns 0xFF if error. Else, returns 0;

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 */

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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);

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/** Add data to an existant line

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 * Returns 0xFF if error. Else, returns 0;

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 */

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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);

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/** Called when an internal SDO abort occurs.

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 * Release the line * Only if server *

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 * If client, the line must be released manually in the core application.

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 * The reason of that is to permit the program to read the transfers[][] structure before its reset,

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 * because many informations are stored on it : index, subindex, data received or trasmited, ...

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 * In all cases, sends a SDO abort.

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 * Returns 0

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 */

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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,

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		UNS8 subIndex, UNS32 abortCode);

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/** Reset an unused line.

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 *

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 */

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void resetSDOline (CO_Data* d, UNS8 line);

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/** Initialize some fields of the structure.

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 * Returns 0

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 */

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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);

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/** Search for an unused line in the transfers array

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 * to store a new SDO.

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 * ie a line which value of the field "state" is "SDO_RESET"

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 * An unused line have the field "state" at the value SDO_RESET

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 * bus_id is hardware dependant

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 * whoami : create the line for a SDO_SERVER or SDO_CLIENT.

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 * return 0xFF if all the lines are on use. Else, return 0

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 */

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UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);

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/** Search for the line, in the transfers array, which contains the

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 * beginning of the reception of a fragmented SDO

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 * whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER

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 * bus_id is hardware dependant

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 * nodeId correspond to the message node-id

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 * return 0xFF if error.  Else, return 0

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 */

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UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);

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/** Close a transmission.

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 * nodeId : Node id of the server if both server or client

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 * whoami : Line opened as SDO_CLIENT or SDO_SERVER

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 */

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UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);

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/** Bytes in the line structure which must be transmited (or received)

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 * bus_id is hardware dependant.

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 * return 0.

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 */

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UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);

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/** Store in the line structure the nb of bytes which must be transmited (or received)

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 * bus_id is hardware dependant.

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 * return 0 if success, 0xFF if error.

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 */

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UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);

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/** Transmit a SDO frame on the bus bus_id

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 * sdo is a structure which contains the sdo to transmit

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 * bus_id is hardware dependant

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 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER

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 * return canSend(bus_id,&m) or 0xFF if error

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 */

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UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);

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/** Transmit a SDO error to the client. The reasons may be :

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 * Read/Write to a undefined object

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 * Read/Write to a undefined subindex

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 * Read/write a not valid length object

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 * Write a read only object

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 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER

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 */

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UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 abortCode);

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/** Treat a SDO frame reception

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 * bus_id is hardware dependant

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 * call the function sendSDO

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 * return 0xFF if error

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 *        0x80 if transfert aborted by the server

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 *        0x0  ok

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 */

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UNS8 proceedSDO (CO_Data* d, Message *m);

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/** Used by the application to send a SDO request frame to write the data *data

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 * at the index and subIndex indicated

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 * in the dictionary of the slave whose node_id is nodeId

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 * Count : nb of bytes to write in the dictionnary.

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 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

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 * bus_id is hardware dependant

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 * return 0xFF if error, else return 0

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 */

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UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,

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		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);

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/** Used to send a SDO request frame to write in a distant node dictionnary.

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 * The function Callback	which must be defined in the user code is called at the

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 * end of the exchange. (on succes or abort).

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 */

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UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,

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		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);

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/** Used to send a SDO request frame to write in a distant node dictionnary.

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 * The function Callback	which must be defined in the user code is called at the

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 * end of the exchange. (on succes or abort). First free SDO client parameter is

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 * automatically initialized for specific node if not already defined.

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 */

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UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,

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		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);

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/** Used by the application to send a SDO request frame to read

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 * in the dictionary of a server node whose node_id is ID

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 * at the index and subIndex indicated

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 * bus_id is hardware dependant

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 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

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 * return 0xFF if error, else return 0

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 */

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UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,

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		      UNS8 subIndex, UNS8 dataType);

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/** Used to send a SDO request frame to read in a distant node dictionnary.

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 * The function Callback	which must be defined in the user code is called at the

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 * end of the exchange. (on succes or abort).

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 */

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UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);

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/** Used to send a SDO request frame to read in a distant node dictionnary.

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 * The function Callback which must be defined in the user code is called at the

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 * end of the exchange. (on succes or abort). First free SDO client parameter is

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 * automatically initialized for specific node if not already defined.

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 */

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UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);

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/** Use this function after a readNetworkDict to get the result.

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  Returns : SDO_FINISHED             // data is available

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            SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)

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            SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.

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            SDO_UPLOAD_IN_PROGRESS   // Data not yet available

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	    SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !

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  dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals.

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  abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

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  example :

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  UNS32 data;

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  UNS8 size;

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  readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5

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  while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);

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*/

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UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data,

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			       UNS8 *size, UNS32 * abortCode);

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/**

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  Use this function after a writeNetworkDict to get the result of the write

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  It is mandatory to call this function because it is releasing the line used for the transfer.

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  Returns : SDO_FINISHED             // data is available

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            SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)

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            SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.

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            SDO_DOWNLOAD_IN_PROGRESS // Data not yet available

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	    SDO_UPLOAD_IN_PROGRESS   // Should not arrive !

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  abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

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  example :

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  UNS32 data = 0x50;

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  UNS8 size;

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  UNS32 abortCode;

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  writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5

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  while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);

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*/

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UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);

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#endif