canfestival: src/sdo.c@3b5789c34499 (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	*/
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	116	#define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) \| ((UNS16)byte1))
0 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;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	194
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	195	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	196	if (size > SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	197	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	198	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	199	(void *) d->transfers[line].dynamicData, &size, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	200	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	201	else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	202	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	203	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	204	(void *) d->transfers[line].data, &size, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	205	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	206	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
506 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	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	208	(void *) d->transfers[line].data, &size, 1);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	209	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	210
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	211	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	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	213	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	214	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	215
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	216	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	217
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	218	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	219	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	220	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	221	** @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	222	** @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	223	**
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	** @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	225	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	226	UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	227	{
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	228	UNS32 size = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	229	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	230	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	231
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	232	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	233	MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	234
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	235	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	236	//TODO: Read the size of the object. Depending o it put data into data or dynamicData
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	237	errorCode = getODentry(d, d->transfers[line].index,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	238	d->transfers[line].subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	239	(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	240	&size, &dataType, 1);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	241	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	242	errorCode = getODentry(d, d->transfers[line].index,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	243	d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	244	(void *)d->transfers[line].data,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	245	&size, &dataType, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	246	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	247
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	248	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251	d->transfers[line].count = size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	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	253
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	254	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	256
506 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	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	258	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	259	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	260	** @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	261	** @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	262	** @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	263	** @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	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	** @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	266	**/
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	267	UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	268	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	269	UNS32 offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	270
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	271	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	272	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	273	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	274	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	276	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	277
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	278	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	279	MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", 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;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	283	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	284	if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	285	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	286	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	287	* (data + i) = d->transfers[line].data[offset + i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	288	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	289	else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	290	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	291	if (d->transfers[line].dynamicData == NULL)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	292	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	293	MSG_ERR(0x1A11,"SDO's dynamic buffer not allocated. Line", line);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	294	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	295	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	296	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	297	* (data + i) = d->transfers[line].dynamicData[offset + i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	298	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	299	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	300	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	301	* (data + i) = d->transfers[line].data[offset + i];
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	302	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	303	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	304	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	307	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	308	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	309	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	310	** @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	311	** @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	312	** @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	313	** @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	314	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	315	** @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	316	**/
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	317	UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	318	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	319	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	320	UNS32 offset;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	321	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	322	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	323	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	324	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	325	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	326	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	327
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	328	offset = d->transfers[line].offset;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	329	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	330	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	331	UNS8* lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	332	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	333	if (d->transfers[line].dynamicData == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	334	d->transfers[line].dynamicData = (UNS8*) malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	335	d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	336
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	337	if (d->transfers[line].dynamicData == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	338	MSG_ERR(0x1A15,"SDO allocating dynamic buffer failed, size", SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	339	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	340	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	341	//Copy present data
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	342	memcpy(d->transfers[line].dynamicData, d->transfers[line].data, offset);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	343	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	344	else if ((d->transfers[line].offset + nbBytes) > d->transfers[line].dynamicDataSize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	345	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	346	UNS8* newDynamicBuffer = (UNS8*) realloc(d->transfers[line].dynamicData, d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	347	if (newDynamicBuffer == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	348	MSG_ERR(0x1A15,"SDO reallocating dynamic buffer failed, size", d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	349	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	350	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	351	d->transfers[line].dynamicData = newDynamicBuffer;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	352	d->transfers[line].dynamicDataSize += SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	353	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	354	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	355	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	356
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	357	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	358	lineData[offset + i] = * (data + i);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	359	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	360	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	361	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	362	d->transfers[line].data[offset + i] = * (data + i);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	363	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	364
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	365	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	366	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	367	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	368
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	369	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	370	**
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	372	** @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	373	** @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	374	** @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	375	** @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	376	** @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	377	** @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	378	**
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	** @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	380	**/
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	UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	382	UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	383	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	384	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	385	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	386	err = getSDOlineOnUse( d, nodeId, whoami, &line );
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	387	if (!err) /* If a line on use have been found.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	388	MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	389	if ((! err) && (whoami == SDO_SERVER)) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	390	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	391	MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	392	}
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	393	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	394	StopSDO_TIMER(line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	395	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	396	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	397	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	398	err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	399	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	400	MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	401	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	402	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	403	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	404	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	405
506 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	/*!
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	**
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	** @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	410	** @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	411	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	412	void resetSDOline ( CO_Data* d, UNS8 line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	413	{
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	414	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	415	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	416	initSDOline(d, line, 0, 0, 0, SDO_RESET);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	417	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	418	d->transfers[line].data[i] = 0;
501 9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	419	d->transfers[line].whoami = 0;
9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	420	d->transfers[line].abortCode = 0;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	421	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	422	free(d->transfers[line].dynamicData);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	423	d->transfers[line].dynamicData = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	424	d->transfers[line].dynamicDataSize = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	425	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	426	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	427
506 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	**
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	**
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 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	432	** @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	433	** @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	434	** @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	435	** @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	436	** @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	437	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	438	** @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	439	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	440	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	441	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	442	MSG_WAR(0x3A25, "init SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	443	if (state == SDO_DOWNLOAD_IN_PROGRESS \|\| state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	444	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	445	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	446	StopSDO_TIMER(line)
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	d->transfers[line].nodeId = nodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	449	d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	450	d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	451	d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	452	d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	453	d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	454	d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	455	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	456	d->transfers[line].Callback = NULL;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	457	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	458	free(d->transfers[line].dynamicData);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	459	d->transfers[line].dynamicData = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	460	d->transfers[line].dynamicDataSize = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	461	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	462	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	463	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	464
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	465	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	466	**
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	** @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	469	** @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	470	** @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	471	**
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	** @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	473	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	474	UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	475	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	476
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	477	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	478
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	479	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	480	if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	481	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	482	d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	483	return 0;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	484	} /* end if */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	485	} /* end for */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	486	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	487	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	488	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	489
506 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	/*!
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	**
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	** @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	494	** @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	495	** @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	496	** @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	497	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	498	** @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	499	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	500	UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	501	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	502
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	503	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	504
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	505	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	506	if ( (d->transfers[i].state != SDO_RESET) &&
627 4939452b1bf1 Fixed SDO loop in some situations. edouard parents: 604 diff changeset	507	(d->transfers[i].state != SDO_ABORTED_INTERNAL) &&
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	508	(d->transfers[i].nodeId == nodeId) &&
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	509	(d->transfers[i].whoami == whoami) ) {
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	510	if (line) *line = i;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	511	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	512	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	513	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	514	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	515	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	516
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	517	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	518	**
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	520	** @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	521	** @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	522	** @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	523	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	524	** @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	525	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	526	UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	527	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	528	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	529	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	530	err = getSDOlineOnUse(d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	531	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	532	MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	533	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	534	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	535	resetSDOline(d, line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	536	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	537	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	538
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	539	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	540	**
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	**
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	** @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	543	** @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	544	** @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	545	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	546	** @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	547	**/
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	548	UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	549	{
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	550	/* 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	551	if (d->transfers[line].count == 0)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	552	* nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	553	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	554	* nbBytes = d->transfers[line].count - d->transfers[line].offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	555	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	556	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	557
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	558	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	559	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	560	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	561	** @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	562	** @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	563	** @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	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	** @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	566	**/
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	567	UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	568	{
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	569	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	570	if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	571	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	572	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	573	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	574	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	575
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	576	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	577	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	578	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	579
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	580	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	581	**
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	583	** @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	584	** @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	585	** @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	586	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	587	** @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	588	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	589	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	590	{
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	591	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	592	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	593	UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	594	Message m;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	595	UNS8 i;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	596	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	597	UNS8 * pwNodeId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	598
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	599	MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	600	if( !((d->nodeState == Operational) \|\| (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	601	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	602	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	603	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	604
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	605	/get the server->client cobid/
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	606	if ( whoami == SDO_SERVER ) {/case server. only one SDO server/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	607	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	608	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	609	MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	610	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	611	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	612	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	613	MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	614	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	615	else { /case client/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	616	/* Get the client->server cobid.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	617	UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	618	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	619	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	620	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	621	MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	622	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	623	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	624	/* find index for communication server node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	625	while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	626	MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	627	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	628	MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	629	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	630	}
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	631	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	632	MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	633	if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	634	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	635	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	636	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	637	offset ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	638	sdoNum ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	639	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	640	if (! found){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	641	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	642	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	643	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	644	/* read the client->server cobid */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	645	pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	646	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	647	/* message copy for sending */
597 ea32aa303987 Fixed wrong cast in sdo.c and wrong message length in nodeguarding edouard parents: 587 diff changeset	648	m.cob_id = (UNS16)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	649	m.rtr = NOT_A_REQUEST;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	650	/* the length of SDO must be 8 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	651	m.len = 8;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	652	for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	653	m.data[i] = sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	654	}
149 fe50ada8020b Changes in the API: etisserant parents: 145 diff changeset	655	return canSend(d->canHandle,&m);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	656	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	657
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	658	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	659	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	660	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	661	** @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	662	** @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	663	** @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	664	** @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	665	** @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	666	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	667	** @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	668	**/
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	669	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	670	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	671	s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	672	UNS8 ret;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	673
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	674	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	675	if(whoami == SDO_SERVER)
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	676	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	677	sdo.nodeId = *d->bDeviceNodeId;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	678	}
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	679	else
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	680	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	681	sdo.nodeId = nodeID;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	682	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	683	sdo.body.data[0] = 0x80;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	684	/* Index */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	685	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	686	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	687	/* Subindex */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	688	sdo.body.data[3] = subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	689	/* Data */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	690	sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	691	sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	692	sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	693	sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	694	ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	695
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	696	return ret;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	697	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	698
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	699	/*!
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	701	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	702	** @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	703	** @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	704	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	705	** @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	706	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	707	UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	708	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	709	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	710	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	711	UNS32 nbBytes; /* received or to be transmited. */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	712	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	713	UNS8 *pNodeId = NULL;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	714	UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	715	UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	716	s_SDO sdo; /* SDO to transmit */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	717	UNS16 index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	718	UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	719	UNS32 abortCode;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	720	UNS32 i;
c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	721	UNS8 j;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	722	UNS32 *pCobId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	723	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	724	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	725
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	726	MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	727	whoami = SDO_UNKNOWN;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	728	/* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	729	/* Am-I a server ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	730	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	731	lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	732	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	733	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	734	if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	735	MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	736	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	737	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	738	pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	739	if ( *pCobId == UNS16_LE(m->cob_id) ) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	740	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	741	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	742	/* 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	743	/* 0x1200 where the cobid received is defined. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	744	nodeId = j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	745	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	746	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	747	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	748	offset++;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	749	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	750	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	751	/* Am-I client ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	752	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	753	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	754	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	755	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	756	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	757	MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	758	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	759	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	760	/* a) Looking for the cobid received. */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	761	pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	762	if (*pCobId == UNS16_LE(m->cob_id) ) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	763	/* 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	764	pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	765	whoami = SDO_CLIENT;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	766	nodeId = *pNodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	767	MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	768	MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	769	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	770	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	771	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	772	offset++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	773	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	774	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	775	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	776	return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	777	}
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	778
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	779	/* Test if the size of the SDO is ok */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	780	if ( (*m).len != 8) {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	781	MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	782	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	783	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	784	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	785
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	786	if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	787	MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	788	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	789	else {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	790	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	791	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	792
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	793	/* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	794	/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	795	/* cs = other : Not allowed -> abort. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	796	switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	797
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	798	case 0:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	799	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	800	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	801	/* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	802	/* 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	803	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	804	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	805	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	806	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	807	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	808	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	809	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	810	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	811	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	812	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	813	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	814	MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	815	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	816	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	817	/* Toggle test. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	818	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	819	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	820	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	821	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	822	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	823	/* Nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	824	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	825	/* Store the data in the transfert structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	826	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	827	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	828	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	829	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	830	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	831	/* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	832	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	833	sdo.body.data[0] = (1 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	834	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	835	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	836	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	837	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	838	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	839	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	840	/* If it was the last segment, */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	841	if (getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	842	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	843	/* 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	844	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	845	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	846	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	847	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	848	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	849	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	850	/* Release of the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	851	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	852	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	853	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	854	} /* end if SERVER */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	855	else { /* if CLIENT */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	856	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	857	/* 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	858	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	859	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	860	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	861	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	862	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	863	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
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	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	867	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	868	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	869	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	870	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	871	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	872	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	873	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	874	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	875	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	876	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	877	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	878	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	879	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	880	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	881	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	882	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	883	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	884	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	885	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	886	/* If it was the last segment,*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	887	if ( getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	888	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	889	/* The code is safe for the case e=s=0 in initiate frame. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	890	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	891	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	892	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	893
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	894	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	895	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	896	else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	897	/* Sending the request for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	898	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	899	sdo.body.data[0] = (3 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	900	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	901	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	902	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	903	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	904	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	905	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	906	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	907
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	908	case 1:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	909	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	910	/* Receive of an initiate download */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	911	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	912	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	913	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	914	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	915	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	916	MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	917	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	918
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	919	/* Search if a SDO transfert have been yet initiated */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	920	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	921	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	922	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	923	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	924	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	925	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	926	/* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	927	/* Try to open a new line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	928	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	929	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	930	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	931	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	932	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	933	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	934	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	935
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	936	if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	937	/* nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	938	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	939	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	940	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	941	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	942
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	943	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	944	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	945	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	946	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	947
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	948	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	949	/The line will be reseted when it is downloading in the dictionary. /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	950	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	951	/* Transfering line data to object dictionary. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	952	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	953	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	954	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	955	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	956	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	957	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	958	/* Release of the line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	959	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	960	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	961	else {/* So, if it is not an expedited transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	962	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	963	nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	964	err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	965	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	966	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	967	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	968	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	969	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	970	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	971	/Sending a SDO, cs=3/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	972	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	973	sdo.body.data[0] = 3 << 5;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	974	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	975	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	976	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	977	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	978	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	979	sendSDO(d, whoami, sdo);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	980	} /* end if I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	981	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	982	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	983	/* 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	984	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	985	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	986	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	987	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	988	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	989	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	990	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	991	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	992	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	993	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	994	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	995	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	996	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	997	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	998	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	999	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1000	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1001	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1002
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1003	/* 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	1004	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1005	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	1006	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1007	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1008	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1009	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1010	return 0x00;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1011	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1012	/* At least one transfer to send. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1013	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1014	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1015	/* code to send the next segment. (cs = 0; c = 0) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1016	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1017	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1018	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	1019	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1020	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1021	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1022	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1023	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1024	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1025	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1026	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1027	/* code to send the last segment. (cs = 0; c = 1)*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1028	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1029	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1030	sdo.body.data[0] = (UNS8)((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	1031	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1032	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1033	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1034	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1035	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1036	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1037	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1038	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1039	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	1040	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	1041	} /* end if I am a CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1042	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1043
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1044	case 2:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1045	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1046	/* Receive of an initiate upload.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1047	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1048	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1049	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	1050	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	1051	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1052	MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1053	MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1054	/* Search if a SDO transfert have been yet initiated*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1055	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1056	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	1057	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	1058	MSG_WAR(0x3A93, "nodeId = ", nodeId);
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	1059	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	1060	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1061	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1062	/* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1063	/* Try to open a new line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1064	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1065	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1066	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	1067	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1068	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1069	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1070	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1071	/* Transfer data from dictionary to the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1072	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	1073
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1074	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	1075	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	1076	errorCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1077	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1078	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1079	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1080	/* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1081	getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1082	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1083	if (nbBytes > 4) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1084	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1085	/* code to send the initiate upload response. (cs = 2) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1086	sdo.body.data[0] = (2 << 5) \| 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1087	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1088	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1089	sdo.body.data[3] = subIndex;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1090	sdo.body.data[4] = (UNS8)nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1091	/* 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	1092	/* in the object dictionary, at every index and subindex. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1093	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1094	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	1095	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	1096	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1097	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1098	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1099	/* Expedited upload. (cs = 2 ; e = 1) */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1100	sdo.body.data[0] = (UNS8)((2 << 5) \| ((4 - nbBytes) << 2) \| 3);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1101	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1102	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1103	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	1104	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1105	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1106	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1107	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1108	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1109	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1110	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	1111	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	1112	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	1113	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1114	/* Release the line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1115	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1116	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1117	} /* end if I am SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1118	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1119	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1120	/* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1121	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1122	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1123	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1124	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1125	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	1126	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	1127	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1128	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1129	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1130	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1131	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1132	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1133	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	1134
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1135	if (getSDOe(m->data[0])) { /* If SDO expedited */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1136	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1137	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1138	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1139	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1140	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1141	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1142	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1143	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1144	/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1145	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1146	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1147	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1148	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1149	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1150	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1151	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1152	else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1153	/* Storing the nb of data to receive. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1154	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	1155	nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1156	err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1157	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1158	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1159	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	1160	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1161	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1162	/* Requesting next segment. (cs = 3) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1163	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1164	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1165	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1166	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	1167	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	1168	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1169	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1170	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1171	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1172
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1173	case 3:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1174	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1175	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1176	/* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1177	/* 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	1178	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1179	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1180	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1181	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	1182	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	1183	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1184	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_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	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1187	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1188	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	1189	MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1190	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1191	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1192	/* Toggle test.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1193	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	1194	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1195	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1196	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1197	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1198	/* 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	1199	getSDOlineRestBytes(d, line, &nbBytes);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1200	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1201	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1202	/* code to send the next segment. (cs = 0; c = 0) */
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1203	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1204	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	1205	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1206	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1207	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1208	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1209	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1210	/* Inverting the toggle for the next tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1211	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	1212	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	1213	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	1214	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1215	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1216	/* 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	1217	/* code to send the last segment. (cs = 0; c = 1) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1218	sdo.nodeId = nodeId; /** The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1219	sdo.body.data[0] = (UNS8)((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	1220	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1221	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1222	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1223	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1224	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1225	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1226	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	1227	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1228	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1229	/* Release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1230	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1231	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1232	} /* end if SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1233	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1234	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1235	/* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1236	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1237	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1238	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1239	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1240	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	1241	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	1242	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1243	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1244	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1245	/* Reset the watchdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1246	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1247	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1248	subIndex = d->transfers[line].subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1249	/* End transmission or requesting next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1250	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1251	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	1252	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1253	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1254	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1255	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1256	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	1257	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1258	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1259	/* 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	1260	/* code to send the next segment. (cs = 0; c = 0) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1261	sdo.nodeId = nodeId; /** The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1262	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	1263	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1264	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1265	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1266	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1267	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1268	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1269	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1270	/* 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	1271	/* code to send the last segment. (cs = 0; c = 1) */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1272	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1273	sdo.body.data[0] = (UNS8)((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	1274	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1275	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1276	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1277	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1278	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1279	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1280	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1281	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1282	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	1283	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	1284
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1285	} /* 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	1286	break;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1287
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1288	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	1289	abortCode =
435 509158e51940 Fixed suspicious code in sdo.c etisserant parents: 402 diff changeset	1290	(UNS32)m->data[4] \|
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1291	((UNS32)m->data[5] << 8) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1292	((UNS32)m->data[6] << 16) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1293	((UNS32)m->data[7] << 24);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1294	/* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1295	/* Looking for the line concerned. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1296	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1297	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1298	if (!err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1299	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1300	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1301	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1302	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1303	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1304	/* 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	1305	/* Its is ok, I think.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1306	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1307	else { /* If I am CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1308	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1309	if (!err) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1310	/* The line must be released by the core program. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1311	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1312	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	1313	d->transfers[line].abortCode = abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1314	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	1315	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1316	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1317	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1318	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	1319	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1320	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1321	default:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1322	/* Error : Unknown cs */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1323	MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1324	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1325
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1326	} /* 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	1327	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	1328	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1329
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1330	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1331	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1332	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1333	** @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	1334	** @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	1335	** @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	1336	** @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	1337	** @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	1338	** @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	1339	** @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	1340	** @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	1341	** @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	1342	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1343	** @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	1344	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1345	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	1346	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1347	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1348	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1349	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1350	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1351	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	1352	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	1353	UNS32 j;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1354	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1355	UNS16 offset;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1356	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1357	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1358
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1359	MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1360	MSG_WAR(0x3AC1, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1361	MSG_WAR(0x3AC2, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1362	MSG_WAR(0x3AC3, " nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1363
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1364	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1365	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1366	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	1367	MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1368	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1369	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1370	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1371	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1372	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	1373	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	1374	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1375	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1376	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1377	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1378	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1379	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	1380	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1381	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1382	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1383	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1384	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1385	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1386	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1387	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1388	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1389	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1390	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1391	nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1392	MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1393	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	1394
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1395	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1396	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1397	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1398	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1399	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1400	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1401	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1402	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1403	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	1404	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1405	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1406	MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1407	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1408	d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1409	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	1410
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1411	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1412	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1413	UNS8* lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1414	if (count > SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1415	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1416	d->transfers[line].dynamicData = (UNS8*) malloc(count);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1417	d->transfers[line].dynamicDataSize = count;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1418	if (d->transfers[line].dynamicData == NULL)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1419	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1420	MSG_ERR(0x1AC9, "SDO. Error. Could not allocate enough bytes : ", count);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1421	return 0xFE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1422	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1423	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1424	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1425	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1426
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1427	/* Copy data to transfers structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1428	for (j = 0 ; j < count ; j++) {
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1429	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1430	# ifdef CANOPEN_BIG_ENDIAN
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1431	if (dataType == 0 && endianize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1432	lineData[count - 1 - j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1433	else /* String of bytes. */
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1434	lineData[j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1435	# else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1436	lineData[j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1437	# endif
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1438	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1439	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1440	# ifdef CANOPEN_BIG_ENDIAN
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1441	if (dataType == 0 && endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1442	d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1443	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1444	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	1445	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1446	d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1447	# endif
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1448	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1449	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1450	/* Send the SDO to the server. Initiate download, cs=1. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1451	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1452	if (count <= 4) { /* Expedited transfert */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1453	sdo.body.data[0] = (UNS8)((1 << 5) \| ((4 - count) << 2) \| 3);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1454	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1455	sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1456	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	1457	}
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1458	else { /** Normal transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1459	sdo.body.data[0] = (1 << 5) \| 1;
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1460	for (i = 0 ; i < 4 ; i++)
651 2a36570aa68c FIXED: - bug while normal sdo transfer initialization (setting the byte count) Christian Taedcke parents: 636 diff changeset	1461	sdo.body.data[i+4] = (UNS8)((count >> (i<<3))); /* i8 /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1462	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1463	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1464	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1465	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	1466
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1467	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	1468
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1469	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1470	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1471	MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1472	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1473	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1474	return 0xFF;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1475	}
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1476
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1477
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1478	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1479	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1480
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1481	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1482	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1483	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1484	** @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	1485	** @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	1486	** @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	1487	** @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	1488	** @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	1489	** @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	1490	** @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	1491	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1492	** @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	1493	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1494	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	1495	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1496	{
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1497	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1498	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1499
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1500	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1501	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1502	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1503	** @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	1504	** @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	1505	** @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	1506	** @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	1507	** @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	1508	** @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	1509	** @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	1510	** @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	1511	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1512	** @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	1513	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1514	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	1515	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1516	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1517	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	1518	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1519
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1520	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	1521	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	1522	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1523	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	1524	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	1525	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	1526	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	1527	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	1528
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1529	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	1530	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	1531	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1532	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	1533	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	1534	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	1535	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1536	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	1537	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	1538	}
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	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	1540	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	1541	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1542	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	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	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	1545	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	1546	}
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	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	1548	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	1549	{
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	(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	1551	(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	1552	(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	1553	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	1554	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1555	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	1556	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1557	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	1558	}
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	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	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	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	1562	}
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	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	1564	{
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	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	1566	}
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	}
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	/*!
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1571	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1572	** @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	1573	** @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	1574	** @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	1575	** @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	1576	** @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	1577	** @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	1578	**
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	** @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	1580	**/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1581	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	1582	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1583	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1584	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1585	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1586	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1587	s_SDO sdo; /* SDO to transmit */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1588	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1589	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1590	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1591	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1592	MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1593	MSG_WAR(0x3AD6, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1594	MSG_WAR(0x3AD7, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1595
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1596
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1597	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1598	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1599	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	1600	MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1601	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1602	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1603	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1604	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1605	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	1606	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	1607	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1608	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1609	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1610	MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1611
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1612	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1613	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1614	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1615	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	1616	MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1617	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1618	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1619	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1620	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1621	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1622	MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1623	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1624	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1625	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1626	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1627	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	1628
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1629	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1630	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1631	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1632	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1633	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1634	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1635	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1636	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1637	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	1638	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1639	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1640	MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1641	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1642	getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1643	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1644	/* 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	1645	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	1646	sdo.body.data[0] = (2 << 5);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1647	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1648	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1649	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1650	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1651	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	1652	d->transfers[line].Callback = Callback;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1653	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1654	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1655	MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1656	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1657	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1658	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	1659	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1660	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1661	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1662
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1663	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1664	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1665	**
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	** @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	1667	** @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	1668	** @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	1669	** @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	1670	** @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	1671	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1672	** @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	1673	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1674	UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1675	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1676	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1677	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1678
506 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	**
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	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1682	** @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	1683	** @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	1684	** @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	1685	** @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	1686	** @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	1687	** @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	1688	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1689	** @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	1690	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1691	UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1692	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1693	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1694	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1695
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1696	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	1697	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1698	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	1699	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	1700	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	1701	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	1702	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	1703
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1704	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	1705	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	1706	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1707	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	1708	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	1709	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	1710	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1711	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	1712	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	1713	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1714	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	1715	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	1716	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1717	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	1718	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1719	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	1720	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	1721	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1722	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	1723	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	1724	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1725	(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	1726	(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	1727	(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	1728	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	1729	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1730	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	1731	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1732	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	1733	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1734	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	1735	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1736	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	1737	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1738	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	1739	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1740	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	1741	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1742	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1743
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1744	/*!
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1745	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1746	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1747	** @param d
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1748	** @param nodeId
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1749	** @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	1750	** @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	1751	** @param abortCode
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1752	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1753	** @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	1754	**/
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	1755	UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1756	UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1757	{
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	1758	UNS32 i;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1759	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1760	UNS8 line;
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	1761	* abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1762
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1763	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1764	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1765	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	1766	MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1767	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1768	}
503 8435a9ee54f8 Fixed (again) return of abortcode value in SDO's getReadResultNetworkDict etisserant parents: 501 diff changeset	1769	* abortCode = d->transfers[line].abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1770	if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1771	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1772
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1773	/* 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	1774	if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1775	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	1776	/* 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	1777	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	1778	*size = d->transfers[line].count;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1779
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1780	/* Copy payload to data pointer */
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1781	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1782	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1783	UNS8 *lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1784
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1785	if (d->transfers[line].dynamicData && d->transfers[line].dynamicDataSize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1786	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1787	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1788	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1789	for ( i = 0 ; i < *size ; i++) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1790	# ifdef CANOPEN_BIG_ENDIAN
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1791	if (d->transfers[line].dataType != visible_string)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1792	( (char ) data)[size - 1 - i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1793	else /* String of bytes. */
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1794	( (char *) data)[i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1795	# else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1796	( (char *) data)[i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1797	# endif
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1798	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1799	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1800	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1801	for ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1802	# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1803	if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1804	( (char ) data)[size - 1 - i] = d->transfers[line].data[i];
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1805	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1806	( (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	1807	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1808	( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1809	# 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	1810	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1811	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1812	return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1813	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1814
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1815	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1816	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1817	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1818	** @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	1819	** @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	1820	** @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	1821	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1822	** @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	1823	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1824	UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1825	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1826	UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1827	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1828
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1829	* abortCode = 0;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1830	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1831	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1832	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	1833	MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1834	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1835	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1836	* abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1837	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1838	}

author	Christian Taedcke <Christian.Taedcke@ica-traffic.de>
	Fri, 19 Feb 2010 15:52:27 +0100
changeset 652	3b5789c34499
parent 651	2a36570aa68c
child 656	f923456f01e5
permissions	-rw-r--r--