canfestival: src/sdo.c@365d555fc0c6 (annotated)

0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	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	2	This file is part of CanFestival, a library implementing CanOpen Stack.
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	3
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	5
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	6	See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	7
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	8	This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	9	modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	10	License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	11	version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	12
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	13	This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	16	Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	17
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	18	You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	19	License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	21	*/
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	22	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	23	** @file sdo.c
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	24	** @author Edouard TISSERANT and Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	25	** @date Tue Jun 5 09:32:32 2007
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	26	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	27	** @brief
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	28	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	29	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	30	*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	31
84 19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	32	/* #define DEBUG_WAR_CONSOLE_ON */
19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	33	/* #define DEBUG_ERR_CONSOLE_ON */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	34
383 7d8afedb8769 Fixed missing includes causing warnings etisserant parents: 378 diff changeset	35	#include "canfestival.h"
370 6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued. etisserant parents: 365 diff changeset	36	#include "sysdep.h"
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	37
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	38	/* Uncomment if your compiler does not support inline functions */
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	39	#define NO_INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	40
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	41	#ifdef NO_INLINE
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	42	#define INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	43	#else
86 683702a46416 big endian bogue : nodeIdServer in now in 32 bits frdupin parents: 84 diff changeset	44	#define INLINE inline
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	45	#endif
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	46
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	47	/Internals prototypes/
73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	48
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	49	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	50	** Called by writeNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	51	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	52	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	53	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	54	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	55	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	56	** @param count
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	57	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	58	** @param data
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	59	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	60	** @param endianize
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	61	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	62	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	63	**/
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	64	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	65	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	66
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	67	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	68	** Called by readNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	69	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	70	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	71	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	72	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	73	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	74	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	75	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	76	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	77	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	78	**/
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	79	INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	80	UNS8 dataType, SDOCallback_t 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	81
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	82
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	83	/***************************************************************************/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	84	/* SDO (un)packing macros */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	85
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	86	/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	87	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	88	#define getSDOcs(byte) (byte >> 5)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	89
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	90	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	91	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	92	#define getSDOn2(byte) ((byte >> 2) & 3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	93
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	94	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	95	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	96	#define getSDOn3(byte) ((byte >> 1) & 7)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	97
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	98	/** Returns the transfer type from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	99	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	100	#define getSDOe(byte) ((byte >> 1) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	101
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	102	/** Returns the size indicator from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	103	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	104	#define getSDOs(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	105
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	106	/** Returns the indicator of end transmission from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	107	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	108	#define getSDOc(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	109
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	110	/** Returns the toggle from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	111	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	112	#define getSDOt(byte) ((byte >> 4) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	113
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	114	/** Returns the index from the bytes 1 and 2 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	115	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	116	#define getSDOindex(byte1, byte2) ((byte2 << 8) \| (byte1))
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	117
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	118	/** Returns the subIndex from the byte 3 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	119	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	120	#define getSDOsubIndex(byte3) (byte3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	121
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	122	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	123	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	124	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	125	** @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	126	** @param id
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	127	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	128	void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	129	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	130	MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	131	MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	132	MSG_WAR(0x2A02, " index : ", d->transfers[id].index);
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	133	MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	134	/* Reset timer handler */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	135	d->transfers[id].timer = TIMER_NONE;
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	136	/Set aborted state/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	137	d->transfers[id].state = SDO_ABORTED_INTERNAL;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	138	/* Sending a SDO abort */
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	139	sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	140	d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	141	d->transfers[id].abortCode = SDOABT_TIMED_OUT;
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	142	/* Call the user function to inform of the problem.*/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	143	if(d->transfers[id].Callback)
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	144	/If ther is a callback, it is responsible to close SDO transfer (client)/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	145	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	146	else if(d->transfers[id].whoami == SDO_SERVER)
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	147	/Else, if server, reset the line/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	148	resetSDOline(d, (UNS8)id);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	149	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	150
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	151	#define StopSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	152	MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	153	d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	154
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	155	#define StartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	156	MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	157	d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	158
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	159	#define RestartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	160	MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	161	if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	162
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	163	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	164	** Reset all sdo buffers
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	165	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	166	** @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	167	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	168	void resetSDO (CO_Data* d)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	169	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	170	UNS8 j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	171
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	172	/* transfer structure initialization */
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	173	for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	174	resetSDOline(d, j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	175	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	176
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	177	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	178	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	179	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	180	** @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	181	** @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	182	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	183	** @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	184	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	185	UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	186	{
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	187	UNS32 size;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	188	UNS32 errorCode;
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	189	MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	190	/* 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	191	if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	192	d->transfers[line].count = d->transfers[line].offset;
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	193	size = d->transfers[line].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	194	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	195	(void *) d->transfers[line].data, &size, 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	196	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	197	return errorCode;
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	198	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	199	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	200
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	201	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	202
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	203	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	204	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	205	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	206	** @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	207	** @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	208	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	209	** @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	210	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	211	UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	{
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	213	UNS32 size = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	214	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	215	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	216
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	217	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	218	MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	219
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	220	errorCode = getODentry(d, d->transfers[line].index,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	221	d->transfers[line].subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	222	(void *)d->transfers[line].data,
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	223	&size, &dataType, 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	224
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	225	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	226	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	227
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	228	d->transfers[line].count = size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	229	d->transfers[line].offset = 0;
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	230
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	231	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	232	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	233
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	234	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	235	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	236	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	237	** @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	238	** @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	239	** @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	240	** @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	241	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	242	** @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	243	**/
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	244	UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	245	UNS8 i;
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	246	UNS32 offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	247
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	248	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	253	MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	254	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	}
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	256	offset = d->transfers[line].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	257	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	258	* (data + i) = d->transfers[line].data[offset + i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	259	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	260	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	261	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	262
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	263	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	264	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	265	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	266	** @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	267	** @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	268	** @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	269	** @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	270	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	271	** @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	272	**/
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	273	UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	274	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275	UNS8 i;
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	276	UNS32 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	277
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	278	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	279	MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	280	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	281	}
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	282	offset = d->transfers[line].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	283	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	284	d->transfers[line].data[offset + i] = * (data + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	285	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	286	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	287	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	288
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	289	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	290	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	291	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	292	** @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	293	** @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	294	** @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	295	** @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	296	** @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	297	** @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	298	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	299	** @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	300	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	301	UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	302	UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	303	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	304	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306	err = getSDOlineOnUse( d, nodeId, whoami, &line );
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	307	if (!err) /* If a line on use have been found.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	308	MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	309	if ((! err) && (whoami == SDO_SERVER)) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	310	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	311	MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	312	}
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	313	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. etisserant parents: 0 diff changeset	314	StopSDO_TIMER(line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	315	d->transfers[line].state = SDO_ABORTED_INTERNAL;
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	316	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	317	MSG_WAR(0x3A22, "Sending SDO abort ", 0);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	318	err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	319	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	320	MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	321	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	322	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	323	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	324	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	325
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	326	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	327	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	328	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	329	** @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	330	** @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	331	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	332	void resetSDOline ( CO_Data* d, UNS8 line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	333	{
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	334	UNS32 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	335	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	336	initSDOline(d, line, 0, 0, 0, SDO_RESET);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	337	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	338	d->transfers[line].data[i] = 0;
501 9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	339	d->transfers[line].whoami = 0;
9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	340	d->transfers[line].abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	341	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	342
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	343	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	344	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	345	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	346	** @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	347	** @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	348	** @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	349	** @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	350	** @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	351	** @param state
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	352	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	353	** @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	354	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	355	UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	356	{
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	357	MSG_WAR(0x3A25, "init SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	358	if (state == SDO_DOWNLOAD_IN_PROGRESS \|\| state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	359	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	360	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	361	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	362	}
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	363	d->transfers[line].nodeId = nodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	364	d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	365	d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	366	d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	367	d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	368	d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	369	d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	370	d->transfers[line].dataType = 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	371	d->transfers[line].Callback = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	372	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	373	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	374
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	375	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	376	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	377	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	378	** @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	379	** @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	380	** @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	381	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	382	** @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	383	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	384	UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	385	{
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 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	387	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	388
0 4472ee7c6c3e Commit a new cvs repo. etisserant 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. etisserant parents: diff changeset	391	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	392	d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo. etisserant 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 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	396	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	397	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant 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 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	410	UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	411	{
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	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); /* i8 /
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	}

author	greg
	Fri, 17 Jul 2009 11:48:41 +0200
changeset 566	365d555fc0c6
parent 544	7620872e153c
child 587	c175351a6994
permissions	-rw-r--r--