src/sdo.c
author lbessard
Mon, 20 Apr 2009 17:42:36 +0200
changeset 546 13701680330c
parent 544 7620872e153c
child 587 c175351a6994
permissions -rw-r--r--
Bug avoided reset PDO mapping fixed
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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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/*!
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** @file   sdo.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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/* #define DEBUG_WAR_CONSOLE_ON */
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/* #define DEBUG_ERR_CONSOLE_ON */
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#include "canfestival.h"
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#include "sysdep.h"
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/* Uncomment if your compiler does not support inline functions */
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#define NO_INLINE
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#ifdef NO_INLINE
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  #define INLINE
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#else
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  #define INLINE inline
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#endif
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/*Internals prototypes*/
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/*!
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** Called by writeNetworkDict
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**
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** @param d
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** @param nodeId
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** @param index
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** @param subIndex
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** @param count
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** @param dataType
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** @param data
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** @param Callback
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** @param endianize
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**
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** @return
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**/
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INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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/*!
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** Called by readNetworkDict
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**
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** @param d
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** @param nodeId
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** @param index
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** @param subIndex
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** @param dataType
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** @param Callback
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**
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** @return
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**/
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INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
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	UNS8 dataType, SDOCallback_t Callback);
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/***************************************************************************/
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/* SDO (un)packing macros */
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/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
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 */
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#define getSDOcs(byte) (byte >> 5)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
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 */
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#define getSDOn2(byte) ((byte >> 2) & 3)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
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 */
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#define getSDOn3(byte) ((byte >> 1) & 7)
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/** Returns the transfer type from the first byte of the SDO
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 */
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#define getSDOe(byte) ((byte >> 1) & 1)
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/** Returns the size indicator from the first byte of the SDO
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 */
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#define getSDOs(byte) (byte & 1)
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/** Returns the indicator of end transmission from the first byte of the SDO
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 */
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#define getSDOc(byte) (byte & 1)
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/** Returns the toggle from the first byte of the SDO
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 */
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#define getSDOt(byte) ((byte >> 4) & 1)
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/** Returns the index from the bytes 1 and 2 of the SDO
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 */
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#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
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/** Returns the subIndex from the byte 3 of the SDO
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 */
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#define getSDOsubIndex(byte3) (byte3)
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/*!
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**
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** @param d
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** @param id
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**/
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
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{
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    MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
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    MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
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    MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
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    MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex);
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    /* Reset timer handler */
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    d->transfers[id].timer = TIMER_NONE;
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    /*Set aborted state*/
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    d->transfers[id].state = SDO_ABORTED_INTERNAL;
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    /* Sending a SDO abort */
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    sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
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		 d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
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    d->transfers[id].abortCode = SDOABT_TIMED_OUT;
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    /* Call the user function to inform of the problem.*/
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    if(d->transfers[id].Callback)
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    	/*If ther is a callback, it is responsible to close SDO transfer (client)*/
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    	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
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    else if(d->transfers[id].whoami == SDO_SERVER)
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    	/*Else, if server, reset the line*/
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    	resetSDOline(d, (UNS8)id);
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}
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#define StopSDO_TIMER(id) \
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MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
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d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
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#define StartSDO_TIMER(id) \
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MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
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d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
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#define RestartSDO_TIMER(id) \
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MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
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if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
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/*!
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** Reset all sdo buffers
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**
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** @param d
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**/
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void resetSDO (CO_Data* d)
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{
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  UNS8 j;
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  /* transfer structure initialization */
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    for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
0
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      resetSDOline(d, j);
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}
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/*!
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**
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**
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** @param d
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** @param line
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**
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** @return
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**/
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
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{
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  UNS32 size;
0
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  UNS32 errorCode;
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  MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
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  /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
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  if( d->transfers[line].count == 0)
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  	d->transfers[line].count = d->transfers[line].offset;
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  size = d->transfers[line].count;
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  errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0
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			 (void *) d->transfers[line].data, &size, 1);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param line
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**
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** @return
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**/
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
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{
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  UNS32  size = 0;
0
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  UNS8  dataType;
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  UNS32 errorCode;
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  MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
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  MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
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  errorCode = getODentry(d, 	d->transfers[line].index,
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  				d->transfers[line].subIndex,
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  				(void *)d->transfers[line].data,
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  				&size, &dataType, 1);
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0
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  d->transfers[line].count = size;
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  d->transfers[line].offset = 0;
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0
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param line
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** @param nbBytes
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** @param data
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**
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** @return
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**/
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
0
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  UNS8 i;
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  UNS32 offset;
0
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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    if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
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    MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
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    return 0xFF;
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  }
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  offset = d->transfers[line].offset;
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  for (i = 0 ; i < nbBytes ; i++)
0
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    * (data + i) = d->transfers[line].data[offset + i];
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param line
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** @param nbBytes
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** @param data
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**
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** @return
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**/
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
0
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{
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  UNS8 i;
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  UNS32 offset;
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0
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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  offset = d->transfers[line].offset;
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  for (i = 0 ; i < nbBytes ; i++)
0
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    d->transfers[line].data[offset + i] = * (data + i);
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param nodeId
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** @param whoami
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** @param index
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** @param subIndex
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** @param abortCode
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**
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** @return
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**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0
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		UNS8 subIndex, UNS32 abortCode)
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{
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  UNS8 err;
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parents:
diff changeset
   305
  UNS8 line;
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  err = getSDOlineOnUse( d, nodeId, whoami, &line );
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  if (!err) /* If a line on use have been found.*/
0
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    MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
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   309
  if ((! err) && (whoami == SDO_SERVER)) {
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    resetSDOline( d, line );
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    MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
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  }
1
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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  if ((! err) && (whoami == SDO_CLIENT)) {
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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parents: 0
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    StopSDO_TIMER(line);
0
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    d->transfers[line].state = SDO_ABORTED_INTERNAL;
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b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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parents: 0
diff changeset
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  }
0
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  MSG_WAR(0x3A22, "Sending SDO abort ", 0);
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  err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0
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  if (err) {
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    MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
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    return 0xFF;
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   322
  }
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   323
  return 0;
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}
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   325
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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diff changeset
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param line
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**/
0
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void resetSDOline ( CO_Data* d, UNS8 line )
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{
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187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
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  UNS32 i;
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  MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0
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  initSDOline(d, line, 0, 0, 0, SDO_RESET);
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  for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
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    d->transfers[line].data[i] = 0;
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9bec3864a891 Fixed incomplete resetSDOline
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  d->transfers[line].whoami = 0;
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  d->transfers[line].abortCode = 0;
0
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}
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   342
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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parents: 503
diff changeset
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param state
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @return
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**/
0
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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
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{
506
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  MSG_WAR(0x3A25, "init SDO line nb : ", line);
0
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  if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
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  	StartSDO_TIMER(line)
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parents:
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   360
  }else{
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   361
  	StopSDO_TIMER(line)
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  }
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  d->transfers[line].nodeId = nodeId;
0
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parents:
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   364
  d->transfers[line].index = index;
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parents:
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   365
  d->transfers[line].subIndex = subIndex;
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  d->transfers[line].state = state;
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   367
  d->transfers[line].toggle = 0;
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   368
  d->transfers[line].count = 0;
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  d->transfers[line].offset = 0;
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  d->transfers[line].dataType = 0;
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  d->transfers[line].Callback = NULL;
0
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  return 0;
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   373
}
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   374
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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parents: 503
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** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
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   383
**/
0
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UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
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diff changeset
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{
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   386
0
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parents:
diff changeset
   387
  UNS8 i;
506
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etisserant
parents: 503
diff changeset
   388
0
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parents:
diff changeset
   389
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   390
    if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   391
      *line = i;
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   392
      d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   393
      return 0;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   394
    } /* end if */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   395
  } /* end for */
0
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diff changeset
   396
  MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
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parents:
diff changeset
   397
  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   398
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   399
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   400
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   401
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   402
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   403
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   404
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   405
** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   406
** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   407
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   408
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   409
**/
0
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etisserant
parents:
diff changeset
   410
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   411
{
506
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etisserant
parents: 503
diff changeset
   412
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   413
  UNS8 i;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   414
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   415
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   416
    if ( (d->transfers[i].state != SDO_RESET) &&
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   417
	 (d->transfers[i].nodeId == nodeId) &&
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
	 (d->transfers[i].whoami == whoami) ) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419
      *line = i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   420
      return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   421
    }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   422
  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   423
  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   424
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   425
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   426
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   427
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   428
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   429
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   430
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   431
** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   432
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   433
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   434
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   435
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   436
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   437
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   438
  UNS8 line;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   439
  err = getSDOlineOnUse(d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   440
  if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   441
    MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   442
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   443
  }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   444
  resetSDOline(d, line);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   445
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   446
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   447
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   448
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   449
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   450
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   451
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   452
** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   453
** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   454
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   455
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   456
**/
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
   457
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   458
{
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
   459
  /* SDO initiated with e=0 and s=0 have count set to null */
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
   460
  if (d->transfers[line].count == 0)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   461
    * nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   462
  else
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
   463
    * nbBytes = d->transfers[line].count - d->transfers[line].offset;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   464
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   465
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   466
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   467
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   468
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   469
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   470
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   471
** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   472
** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   473
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   474
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   475
**/
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
   476
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   477
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   478
  if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   479
    MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   480
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   481
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   482
  d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   483
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   484
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   485
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   486
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   487
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   488
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   489
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   490
** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   491
** @param sdo
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   492
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   493
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   494
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   495
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   496
{
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   497
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   498
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   499
  UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   500
  Message m;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   501
  UNS8 i;
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   502
  UNS32 * pwCobId = NULL;
306
3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents: 217
diff changeset
   503
  UNS8 * pwNodeId = NULL;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   504
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   505
  MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   506
  if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   507
    MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   508
    return 0xFF;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   509
  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   510
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   511
  /*get the server->client cobid*/
481
9dd36e4453ae Fixed some comments in sdo.c
etisserant
parents: 447
diff changeset
   512
  if ( whoami == SDO_SERVER )	{/*case server. only one SDO server*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   513
    offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   514
    if (offset == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   515
      MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   516
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   517
    }
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   518
    pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   519
    MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   520
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   521
  else {			/*case client*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   522
    /* Get the client->server cobid.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   523
    UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   524
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   525
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   526
    if (offset == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   527
      MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   528
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   529
    }
481
9dd36e4453ae Fixed some comments in sdo.c
etisserant
parents: 447
diff changeset
   530
    /* find index for communication server node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   531
    while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   532
      MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   533
      if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   534
	MSG_ERR(0x1A28, "Subindex 3  not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   535
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   536
      }
306
3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents: 217
diff changeset
   537
      pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   538
      MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   539
      if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   540
	found = 1;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   541
	break;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   542
      }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   543
      offset ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   544
      sdoNum ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   545
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   546
    if (! found){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   547
      MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   548
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   549
    }
481
9dd36e4453ae Fixed some comments in sdo.c
etisserant
parents: 447
diff changeset
   550
    /* read the client->server cobid */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   551
    pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   552
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   553
  /* message copy for sending */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   554
  m.cob_id = UNS16_LE(*pwCobId);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   555
  m.rtr = NOT_A_REQUEST;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   556
  /* the length of SDO must be 8 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   557
  m.len = 8;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   558
  for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   559
    m.data[i] =  sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   560
  }
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   561
  return canSend(d->canHandle,&m);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   562
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   563
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   564
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   565
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   566
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   567
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   568
** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   569
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   570
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   571
** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   572
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   573
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   574
**/
499
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   575
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   576
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   577
  s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   578
  UNS8 ret;
499
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   579
  UNS8* pNodeIdServer;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   580
  UNS8 nodeIdServer;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   581
  UNS16 offset;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   582
1
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents: 0
diff changeset
   583
  MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
499
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   584
  if(whoami == SDO_SERVER)
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   585
  {
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   586
	sdo.nodeId = *d->bDeviceNodeId;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   587
  }
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   588
  else
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   589
  {
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   590
    sdo.nodeId = nodeID;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
   591
  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   592
  sdo.body.data[0] = 0x80;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   593
  /* Index */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   594
  sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   595
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   596
  /* Subindex */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   597
  sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   598
  /* Data */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   599
  sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   600
  sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   601
  sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   602
  sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   603
  ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   604
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   605
  return ret;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   606
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   607
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   608
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   609
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   610
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   611
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   612
** @param m
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   613
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   614
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   615
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   616
UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   617
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   618
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   619
  UNS8 line;
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
   620
  UNS32 nbBytes; /* received or to be transmited. */
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   621
  UNS8 nodeId = 0;  /* The node from which the SDO is received */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
   622
  UNS8 *pNodeId = NULL;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   623
  UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   624
  UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   625
  s_SDO sdo;    /* SDO to transmit */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   626
  UNS16 index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   627
  UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   628
  UNS32 abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   629
  UNS8 i,j;
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   630
  UNS32 *pCobId = NULL;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   631
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   632
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   633
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   634
  MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   635
  whoami = SDO_UNKNOWN;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   636
  /* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   637
  /* Am-I a server ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   638
  offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   639
  lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   640
  j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   641
  if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   642
     if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   643
	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   644
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   645
	}
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   646
      pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   647
      if ( *pCobId == UNS16_LE(m->cob_id) ) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   648
	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   649
	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   650
	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   651
	/* 0x1200 where the cobid received is defined. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   652
	nodeId = j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   653
	break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   654
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   655
      j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   656
      offset++;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   657
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   658
  if (whoami == SDO_UNKNOWN) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   659
    /* Am-I client ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   660
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   661
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   662
    j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   663
    if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   664
       if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   665
	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   666
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   667
       }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   668
       /* a) Looking for the cobid received. */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   669
       pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   670
       if (*pCobId == UNS16_LE(m->cob_id) ) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   671
	 /* b) cobid found, so reading the node id of the server. */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
   672
	 pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   673
	 whoami = SDO_CLIENT;
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
   674
	 nodeId = *pNodeId;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   675
	 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   676
	 MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   677
	 break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   678
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   679
       j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   680
       offset++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   681
    } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   682
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   683
  if (whoami == SDO_UNKNOWN) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   684
    return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   685
  }
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   686
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   687
  /* Test if the size of the SDO is ok */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   688
  if ( (*m).len != 8) {
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   689
    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", UNS16_LE(m->cob_id));
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   690
    failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   691
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   692
  }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   693
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   694
  if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   695
    MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   696
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   697
  else {
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   698
    MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   699
  }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   700
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   701
  /* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   702
  /* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   703
  /* cs = other : Not allowed -> abort. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   704
  switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   705
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   706
  case 0:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   707
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   708
    if (whoami == SDO_SERVER) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   709
      /* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   710
      /* A SDO transfert should have been yet initiated. */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   711
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   712
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   713
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   714
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   715
	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   716
		nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   717
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   718
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   719
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   720
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   721
      RestartSDO_TIMER(line)
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   722
      MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   723
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   724
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   725
      /* Toggle test. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   726
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   727
	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   728
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   729
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   730
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   731
      /* Nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   732
      nbBytes = 7 - getSDOn3(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   733
      /* Store the data in the transfert structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   734
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   735
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   736
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   737
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   738
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   739
      /* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   740
      sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   741
      sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   742
      for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   743
	sdo.body.data[i] = 0;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   744
      MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   745
      sendSDO(d, whoami, sdo);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   746
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   747
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   748
      /* If it was the last segment, */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   749
      if (getSDOc(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   750
	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   751
	/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   752
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   753
	if (errorCode) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   754
	  MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   755
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   756
	  return 0xFF;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   757
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   758
	/* Release of the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   759
	resetSDOline(d, line);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   760
	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   761
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   762
    } /* end if SERVER */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   763
    else { /* if CLIENT */
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   764
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   765
      /* It is a request for a previous upload segment. We should find a line opened for this.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   766
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   767
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   768
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   769
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   770
	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   771
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   772
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   773
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   774
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   775
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   776
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   777
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   778
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   779
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   780
	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   781
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   782
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   783
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   784
      /* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   785
      nbBytes = 7 - getSDOn3(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   786
      /* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   787
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   788
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   789
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   790
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   791
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   792
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   793
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   794
      /* If it was the last segment,*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   795
      if ( getSDOc(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   796
	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   797
	/* The code is safe for the case e=s=0 in initiate frame. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   798
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   799
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   800
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   801
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   802
	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   803
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   804
      else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   805
	     /* Sending the request for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   806
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   807
	sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   808
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   809
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   810
	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   811
	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   812
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   813
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   814
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   815
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   816
  case 1:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   817
    /* I am SERVER */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   818
    /* Receive of an initiate download */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   819
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   820
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   821
      subIndex = getSDOsubIndex(m->data[3]);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   822
      MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   823
	      nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   824
      MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   825
      MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   826
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   827
      /* Search if a SDO transfert have been yet initiated */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   828
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   829
      if (! err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   830
	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   831
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   832
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   833
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   834
      /* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   835
      /* Try to open a new line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   836
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   837
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   838
	MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   839
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   840
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   841
      }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   842
      initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   843
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   844
      if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   845
	/* nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   846
	nbBytes = 4 - getSDOn2(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   847
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   848
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   849
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   850
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   851
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   852
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   853
	  return 0xFF;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   854
	}
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   855
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   856
	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   857
	/*The line will be reseted when it is downloading in the dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   858
	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   859
	/* Transfering line data to object dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   860
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   861
	if (errorCode) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   862
	  MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   863
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   864
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   865
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   866
	/* Release of the line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   867
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   868
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   869
      else {/* So, if it is not an expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   870
	if (getSDOs(m->data[0])) {
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
   871
	  nbBytes = m->data[4] + m->data[5]<<8 + m->data[6]<<16 + m->data[7]<<24;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   872
	  err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   873
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   874
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   875
	    return 0xFF;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   876
	  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   877
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   878
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   879
      /*Sending a SDO, cs=3*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   880
      sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   881
      sdo.body.data[0] = 3 << 5;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   882
      sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   883
      sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   884
      sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   885
      for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   886
		sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   887
      sendSDO(d, whoami, sdo);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   888
    } /* end if I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   889
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   890
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   891
      /* It is a response for a previous download segment. We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   892
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   893
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   894
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   895
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   896
	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   897
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   898
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   899
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   900
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   901
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   902
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   903
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   904
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   905
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   906
	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   907
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   908
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   909
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   910
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   911
      /* End transmission or downloading next segment. We need to know if it will be the last one. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   912
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   913
      if (nbBytes == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   914
	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   915
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   916
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   917
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   918
	return 0x00;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   919
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   920
      /* At least one transfer to send.	*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   921
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   922
	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   923
	/* code to send the next segment. (cs = 0; c = 0) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   924
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   925
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   926
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   927
	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   928
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   929
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   930
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   931
	}
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   932
      }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   933
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   934
	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   935
	/* code to send the last segment. (cs = 0; c = 1)*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   936
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   937
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   938
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   939
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   940
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   941
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   942
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   943
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   944
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   945
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   946
      }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   947
      MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   948
      sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   949
    } /* end if I am a CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   950
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   951
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   952
  case 2:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   953
    /* I am SERVER */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   954
    /* Receive of an initiate upload.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   955
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   956
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   957
      subIndex = getSDOsubIndex(m->data[3]);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   958
      MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   959
	      nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   960
      MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   961
      MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   962
      /* Search if a SDO transfert have been yet initiated*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   963
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   964
      if (! err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   965
	    MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   966
        MSG_WAR(0x3A93, "nodeId = ", nodeId);
12
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   967
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   968
	    return 0xFF;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   969
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   970
      /* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   971
      /* Try to open a new line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   972
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   973
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   974
	MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   975
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   976
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   977
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   978
      initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   979
      /* Transfer data from dictionary to the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   980
      errorCode = objdictToSDOline(d, line);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   981
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   982
      if (errorCode) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   983
	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
   984
		errorCode);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   985
	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   986
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   987
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   988
      /* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   989
      getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   990
      sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   991
      if (nbBytes > 4) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   992
	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   993
	/* code to send the initiate upload response. (cs = 2) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   994
	sdo.body.data[0] = (2 << 5) | 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   995
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   996
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   997
	sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   998
        sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   999
	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1000
	/* in the object dictionary, at every index and subindex. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1001
	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1002
	  sdo.body.data[i] = 0;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1003
	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1004
	sendSDO(d, whoami, sdo);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1005
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1006
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1007
	/* Expedited upload. (cs = 2 ; e = 1) */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1008
	sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1009
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1010
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1011
	sdo.body.data[3] = subIndex;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1012
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1013
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1014
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1015
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1016
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1017
	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1018
	  sdo.body.data[i] = 0;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1019
	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1020
		nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1021
	sendSDO(d, whoami, sdo);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1022
	/* Release the line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1023
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1024
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1025
    } /* end if I am SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1026
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1027
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1028
      /* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1029
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1030
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1031
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1032
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1033
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1034
	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1035
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1036
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1037
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1038
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1039
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1040
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1041
      subIndex = d->transfers[line].subIndex;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1042
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1043
      if (getSDOe(m->data[0])) { /* If SDO expedited */
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1044
	/* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1045
	  nbBytes = 4 - getSDOn2(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1046
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1047
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1048
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1049
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1050
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1051
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1052
	/* SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict(). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1053
	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1054
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1055
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1056
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1057
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1058
	return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1059
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1060
      else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1061
	/* Storing the nb of data to receive. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1062
	if (getSDOs(m->data[0])) {
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1063
	  nbBytes = m->data[4] + m->data[5]<<8 + m->data[6]<<16 + m->data[7]<<24;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1064
	  err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1065
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1066
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1067
	    return 0xFF;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1068
	  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1069
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1070
	/* Requesting next segment. (cs = 3) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1071
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1072
	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1073
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1074
	  sdo.body.data[i] = 0;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1075
	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1076
	sendSDO(d, whoami, sdo);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1077
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1078
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1079
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1080
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1081
  case 3:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1082
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1083
    if (whoami == SDO_SERVER) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1084
      /* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1085
      /* A SDO transfert should have been yet initiated. */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1086
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1087
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1088
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1089
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1090
	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1091
		nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1092
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1093
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1094
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1095
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1096
      RestartSDO_TIMER(line)
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1097
      MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1098
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1099
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1100
      /* Toggle test.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1101
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1102
	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1103
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1104
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1105
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1106
      /* Uploading next segment. We need to know if it will be the last one. */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1107
      getSDOlineRestBytes(d, line, &nbBytes);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1108
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1109
	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1110
	/* code to send the next segment. (cs = 0; c = 0) */
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1111
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1112
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1113
	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1114
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1115
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1116
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1117
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1118
	/* Inverting the toggle for the next tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1119
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1120
	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1121
	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1122
      }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1123
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1124
	/* Last segment. */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1125
	/* code to send the last segment. (cs = 0; c = 1) */
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1126
	sdo.nodeId = nodeId; /** The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1127
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1128
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1129
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1130
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1131
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1132
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1133
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1134
	  sdo.body.data[i] = 0;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1135
	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1136
	sendSDO(d, whoami, sdo);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1137
	/* Release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1138
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1139
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1140
    } /* end if SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1141
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1142
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1143
      /* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1144
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1145
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1146
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1147
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1148
      if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1149
	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1150
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1151
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1152
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1153
      /* Reset the watchdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1154
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1155
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1156
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1157
      /* End transmission or requesting  next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1158
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1159
      if (nbBytes == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1160
	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1161
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1162
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1163
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1164
	return 0x00;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1165
      }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1166
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1167
	/* more than one request to send */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1168
	/* code to send the next segment. (cs = 0; c = 0)	*/
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1169
	sdo.nodeId = nodeId; /** The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1170
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1171
	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1172
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1173
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1174
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1175
	}
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1176
      }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1177
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1178
	/* Last segment.*/
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1179
	/* code to send the last segment. (cs = 0; c = 1)	*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1180
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1181
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1182
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1183
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1184
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1185
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1186
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1187
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1188
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1189
      }
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1190
      MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1191
      sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1192
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1193
    } /* end if I am a CLIENT		*/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1194
    break;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1195
82
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1196
   case 4:
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1197
     abortCode =
435
509158e51940 Fixed suspicious code in sdo.c
etisserant
parents: 402
diff changeset
  1198
      (UNS32)m->data[4] |
82
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1199
      ((UNS32)m->data[5] << 8) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1200
      ((UNS32)m->data[6] << 16) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1201
      ((UNS32)m->data[7] << 24);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1202
    /* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1203
    /* Looking for the line concerned. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1204
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1205
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1206
      if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1207
	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1208
	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1209
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1210
      else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1211
	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1212
      /* Tips : The end user has no way to know that the server node has received an abort SDO. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1213
      /* Its is ok, I think.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1214
    }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1215
    else { /* If I am CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1216
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1217
      if (!err) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1218
	/* The line *must* be released by the core program. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1219
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1220
	d->transfers[line].state = SDO_ABORTED_RCV;
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents: 163
diff changeset
  1221
	d->transfers[line].abortCode = abortCode;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1222
	MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
163
212a9ea3b968 Added SDO network dictionnary access callback when aborded.
etisserant
parents: 154
diff changeset
  1223
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1224
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1225
      else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1226
	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1227
    }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1228
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1229
  default:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1230
    /* Error : Unknown cs */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1231
    MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1232
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1233
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1234
  } /* End switch */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1235
  return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1236
}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1237
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1238
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1239
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1240
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1241
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1242
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1243
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1244
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1245
** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1246
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1247
** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1248
** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1249
** @param endianize
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1250
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1251
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1252
**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1253
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1254
		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1255
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1256
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1257
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1258
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1259
  s_SDO sdo;    /* SDO to transmit */
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1260
  UNS8 i;
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1261
  UNS32 j;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1262
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1263
  UNS16     offset;
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1264
  UNS8      *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1265
  UNS8      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1266
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1267
  MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1268
  MSG_WAR(0x3AC1, "                                   At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1269
  MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1270
  MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1271
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1272
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1273
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1274
  if (!err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1275
    MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1276
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1277
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1278
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1279
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1280
  if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1281
    MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1282
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1283
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1284
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1285
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1286
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1287
  if (offset == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1288
    MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1289
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1290
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1291
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1292
   while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1293
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1294
	 MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1295
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1296
     }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1297
     /* looking for the nodeId server */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1298
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1299
     nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1300
     MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1301
     MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1302
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1303
    if(nodeIdServer == nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1304
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1305
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1306
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1307
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1308
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1309
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1310
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1311
    MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1312
    return 0xFE;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1313
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1314
  MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1315
  initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1316
  d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1317
  d->transfers[line].dataType = dataType;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1318
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1319
  /* Copy data to transfers structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1320
  for (j = 0 ; j < count ; j++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1321
# ifdef CANOPEN_BIG_ENDIAN
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1322
    if (dataType == 0 && endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1323
      d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1324
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1325
      d->transfers[line].data[j] = ((char *)data)[j];
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1326
#  else
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1327
    d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1328
#  endif
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1329
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1330
  /* Send the SDO to the server. Initiate download, cs=1. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1331
  sdo.nodeId = nodeId;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1332
  if (count <= 4) { /* Expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1333
    sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1334
    for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1335
      sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1336
    d->transfers[line].offset = count;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1337
  }
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1338
  else { /** Normal transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1339
    sdo.body.data[0] = (1 << 5) | 1;
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1340
    for (i = 0 ; i < 4 ; i++)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1341
      sdo.body.data[i+4] = count << (i<<3); /* i*8 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1342
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1343
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1344
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1345
  sdo.body.data[3] = subIndex;
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1346
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1347
  d->transfers[line].Callback = Callback;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1348
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1349
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1350
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1351
    MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1352
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1353
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1354
    return 0xFF;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1355
  }
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1356
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1357
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1358
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1359
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1360
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1361
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1362
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1363
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1364
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1365
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1366
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1367
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1368
** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1369
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1370
** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1371
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1372
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1373
**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1374
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1375
		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1376
{
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1377
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1378
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1379
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1380
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1381
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1382
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1383
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1384
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1385
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1386
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1387
** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1388
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1389
** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1390
** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1391
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1392
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1393
**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1394
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1395
		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1396
{
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1397
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1398
}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1399
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1400
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1401
		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1402
{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1403
	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1404
	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1405
	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1406
	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1407
	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1408
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1409
	ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1410
	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1411
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1412
		offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1413
		lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1414
		if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1415
		{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1416
			MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1417
			return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1418
		}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1419
		i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1420
		while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1421
		{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1422
			if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1423
		    {
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1424
		    	MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1425
		    	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1426
		    }
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1427
			nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1428
			if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1429
			{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1430
				*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1431
				*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1432
				*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1433
				return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1434
			}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1435
			offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1436
		}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1437
		return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1438
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1439
	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1440
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1441
		return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1442
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1443
	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1444
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1445
		return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1446
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1447
}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1448
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1449
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1450
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1451
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1452
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1453
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1454
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1455
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1456
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1457
** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1458
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1459
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1460
**/
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1461
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1462
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1463
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1464
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1465
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1466
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1467
  s_SDO sdo;    /* SDO to transmit */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1468
  UNS8      *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1469
  UNS8      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1470
  UNS16     offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1471
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1472
  MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1473
  MSG_WAR(0x3AD6, "                                  At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1474
  MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1475
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1476
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1477
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1478
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1479
  if (!err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1480
    MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1481
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1482
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1483
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1484
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1485
  if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1486
    MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1487
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1488
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1489
  else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1490
    MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1491
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1492
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1493
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1494
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1495
  if (offset == 0) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1496
    MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1497
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1498
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1499
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1500
  while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1501
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1502
	 MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1503
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1504
     }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1505
     /* looking for the nodeId server */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1506
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1507
     nodeIdServer = *pNodeIdServer;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1508
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1509
    if(nodeIdServer == nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1510
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1511
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1512
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1513
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1514
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1515
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1516
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1517
    MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1518
    return 0xFE;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1519
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1520
  MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1521
  initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1522
  getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1523
  sdo.nodeId = nodeId;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1524
  /* Send the SDO to the server. Initiate upload, cs=2. */
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1525
  d->transfers[line].dataType = dataType;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1526
  sdo.body.data[0] = (2 << 5);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1527
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1528
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1529
  sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1530
  for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1531
    sdo.body.data[i] = 0;
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1532
  d->transfers[line].Callback = Callback;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1533
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1534
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1535
    MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1536
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1537
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1538
    return 0xFF;
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1539
  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1540
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1541
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1542
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1543
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1544
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1545
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1546
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1547
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1548
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1549
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1550
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1551
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1552
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1553
**/
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1554
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1555
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1556
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1557
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1558
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1559
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1560
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1561
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1562
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1563
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1564
** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1565
** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1566
** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1567
** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1568
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1569
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1570
**/
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1571
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1572
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1573
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1574
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1575
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1576
UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1577
{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1578
	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1579
	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1580
	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1581
	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1582
	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1583
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1584
	ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1585
	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1586
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1587
		offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1588
		lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1589
		if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1590
		{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1591
			MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1592
			return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1593
		}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1594
		i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1595
		while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1596
		{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1597
			if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1598
		    {
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1599
		    	MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1600
		    	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1601
		    }
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1602
			nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1603
			if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1604
			{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1605
				*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1606
				*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1607
				*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1608
				return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1609
			}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1610
			offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1611
		}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1612
		return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1613
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1614
	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1615
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1616
		return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1617
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1618
	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1619
	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1620
		return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1621
	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1622
}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1623
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1624
/*!
495
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1625
**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1626
**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1627
** @param d
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1628
** @param nodeId
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1629
** @param data
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1630
** @param size pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size
495
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1631
** @param abortCode
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1632
**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1633
** @return
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1634
**/
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1635
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1636
			       UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1637
{
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1638
  UNS32 i;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1639
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1640
  UNS8 line;
499
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client.
etisserant
parents: 495
diff changeset
  1641
  * abortCode = 0;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1642
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1643
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1644
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1645
  if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1646
    MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1647
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1648
  }
503
8435a9ee54f8 Fixed (again) return of abortcode value in SDO's getReadResultNetworkDict
etisserant
parents: 501
diff changeset
  1649
  * abortCode = d->transfers[line].abortCode;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1650
  if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1651
    return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1652
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1653
  /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1654
  if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1655
  	d->transfers[line].count = d->transfers[line].offset;
495
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg.
etisserant
parents: 481
diff changeset
  1656
  /* use transfers[line].count as max size */
539
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1657
  if( d->transfers[line].count < *size )
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch.
etisserant
parents: 538
diff changeset
  1658
  	*size = d->transfers[line].count;
544
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch.
etisserant
parents: 539
diff changeset
  1659
  /* Copy payload to data pointer */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1660
  for  ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1661
# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1662
    if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1663
      ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1664
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1665
      ( (char *) data)[i] = d->transfers[line].data[i];
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1666
# else
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1667
    ( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1668
# endif
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1669
  }
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1670
  return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1671
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1672
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1673
/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1674
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1675
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1676
** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1677
** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1678
** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1679
**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1680
** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1681
**/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1682
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1683
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1684
  UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1685
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1686
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1687
  * abortCode = 0;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1688
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1689
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1690
  if (err) {
506
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict.
etisserant
parents: 503
diff changeset
  1691
    MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1692
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1693
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1694
  * abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1695
  return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1696
}