include/sdo.h
author edouard
Fri, 10 Sep 2010 13:44:56 +0200
changeset 627 4939452b1bf1
parent 561 f9be4262c68d
child 636 033fe6f1ec3c
permissions -rwxr-xr-x
Fixed SDO loop in some situations.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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/** @defgroup comobj Communication Objects
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 *  @ingroup userapi
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 */
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/** @defgroup sdo Service Data Object (SDO)
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 *  SDOs provide the access to entries in the CANopen Object Dictionary.
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 * 	An SDO is made up of at least two CAN messages with different identifiers.
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 * 	SDO s are always confirmed point-to-point communications services. 
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 *  @ingroup comobj
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 */
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#ifndef __sdo_h__
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#define __sdo_h__
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struct struct_s_transfer;
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#include "timer.h"
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8afa33692372 SDO callbacks.
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typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
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/* The Transfer structure
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Used to store the different segments of
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 - a SDO received before writing in the dictionary
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 - the reading of the dictionary to put on a SDO to transmit
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*/
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struct struct_s_transfer {
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  UNS8           nodeId;     /**<own ID if server, or node ID of the server if client */
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  UNS8           whoami;     /**< Takes the values SDO_CLIENT or SDO_SERVER */
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  UNS8           state;      /**< state of the transmission : Takes the values SDO_... */
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  UNS8           toggle;	
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  UNS32          abortCode;  /**< Sent or received */
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  /**< index and subindex of the dictionary where to store */
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  /**< (for a received SDO) or to read (for a transmit SDO) */
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  UNS16          index;
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  UNS8           subIndex;
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  UNS32          count;      /**< Number of data received or to be sent. */
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  UNS32          offset;     /**< stack pointer of data[]
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                              * Used only to tranfer part of a line to or from a SDO.
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                              * offset is always pointing on the next free cell of data[].
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                              * WARNING s_transfer.data is subject to ENDIANISATION
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                              * (with respect to CANOPEN_BIG_ENDIAN)
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                              */
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  UNS8           data [SDO_MAX_LENGTH_TRANSFERT];
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  UNS8           dataType;   /**< Defined in objdictdef.h Value is visible_string
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                              * if it is a string, any other value if it is not a string,
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                              * like 0. In fact, it is used only if client.
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                              */
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  TIMER_HANDLE   timer;      /**< Time counter to implement a timeout in milliseconds.
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                              * It is automatically incremented whenever
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                              * the line state is in SDO_DOWNLOAD_IN_PROGRESS or
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                              * SDO_UPLOAD_IN_PROGRESS, and reseted to 0
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                              * when the response SDO have been received.
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                              */
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  SDOCallback_t Callback;   /**< The user callback func to be called at SDO transaction end */
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};
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typedef struct struct_s_transfer s_transfer;
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#include "data.h"
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struct BODY{
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    UNS8 data[8]; /**< The 8 bytes data of the SDO */
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};
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/* The SDO structure ...*/
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struct struct_s_SDO {
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  UNS8 nodeId;		/**< In any case, Node ID of the server (case sender or receiver).*/
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  struct BODY body;
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};
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typedef struct struct_s_SDO s_SDO;
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/** 
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 * @brief Reset of a SDO exchange on timeout.
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 * Send a SDO abort.
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 * @param *d Pointer on a CAN object data structure
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 * @param id
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 */
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
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/** 
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 * @brief Reset all SDO buffers.
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 * @param *d Pointer on a CAN object data structure
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 */
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void resetSDO (CO_Data* d);
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/** 
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 * @brief Copy the data received from the SDO line transfert to the object dictionary.
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 * @param *d Pointer on a CAN object data structure
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 * @param line SDO line
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 * @return SDO error code if error. Else, returns 0.
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 */
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
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/** 
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 * @brief Copy the data from the object dictionary to the SDO line for a network transfert.
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 * @param *d Pointer on a CAN object data structure
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 * @param line SDO line
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 * @return SDO error code if error. Else, returns 0.
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 */
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
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/** 
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 * @brief Copy data from an existant line in the argument "* data"
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 * @param d Pointer on a CAN object data structure
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 * @param line SDO line
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 * @param nbBytes
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 * @param *data Pointer on the data
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 * @return 0xFF if error. Else, returns 0.
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 */
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
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/** 
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 * @brief Add data to an existant line
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 * @param d Pointer on a CAN object data structure
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 * @param line SDO line
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 * @param nbBytes
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 * @param *data Pointer on the data
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 * @return 0xFF if error. Else, returns 0.
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 */
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
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/** 
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 * @brief Called when an internal SDO abort occurs.
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 * Release the line * Only if server *
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 * If client, the line must be released manually in the core application.
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 * The reason of that is to permit the program to read the transfers structure before its reset,
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 * because many informations are stored on it : index, subindex, data received or trasmited, ...
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 * In all cases, sends a SDO abort.
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 * @param *d Pointer on a CAN object data structure
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 * @param nodeId
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 * @param whoami
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 * @param index
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 * @param subIndex
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 * @param abortCode
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 * @return 0
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 */
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
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/** 
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 * @brief Reset an unused line.
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 * @param *d Pointer on a CAN object data structure
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 * @param line SDO line
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void resetSDOline (CO_Data* d, UNS8 line);
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/** 
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 * @brief Initialize some fields of the structure.
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 * @param *d Pointer on a CAN object data structure
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 * @param line
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 * @param nodeId
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 * @param index
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 * @param subIndex
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 * @param state
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 * @return 0
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 */
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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
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/** 
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 * @brief Search for an unused line in the transfers array
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 * to store a new SDO.
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 * ie a line which value of the field "state" is "SDO_RESET"
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 * An unused line have the field "state" at the value SDO_RESET
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 * @param *d Pointer on a CAN object data structure
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 * @param whoami Create the line for a SDO_SERVER or SDO_CLIENT.
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 * @param *line Pointer on a SDO line 
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 * @return 0xFF if all the lines are on use. Else, return 0.
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 */
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UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
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/** 
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 * @brief Search for the line, in the transfers array, which contains the
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 * beginning of the reception of a fragmented SDO
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 * @param *d Pointer on a CAN object data structure
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 * @param nodeId correspond to the message node-id
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 * @param whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
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 * @param *line Pointer on a SDO line 
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 * @return 0xFF if error.  Else, return 0
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 */
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UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
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/** 
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 * @brief Close a transmission.
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 * @param *d Pointer on a CAN object data structure
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 * @param nodeId Node id of the server if both server or client
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 * @param whoami Line opened as SDO_CLIENT or SDO_SERVER
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UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
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/** 
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 * @brief Bytes in the line structure which must be transmited (or received)
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 * @param *d Pointer on a CAN object data structure
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 * @param line SDO line 
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 * @param *nbBytes Pointer on nbBytes
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 * @return 0.
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 */
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UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes);
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/** 
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 * @brief Store in the line structure the nb of bytes which must be transmited (or received)
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 * @param *d Pointer on a CAN object data structure
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 * @param line SDO line 
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 * @param nbBytes
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 * @return 0 if success, 0xFF if error.
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 */
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UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes);
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/**
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 * @brief Transmit a SDO frame on the bus bus_id
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 * @param *d Pointer on a CAN object data structure
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 * @param whoami Takes 2 values : SDO_CLIENT or SDO_SERVER
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 * @param sdo SDO Structure which contains the sdo to transmit
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 * @return canSend(bus_id,&m) or 0xFF if error.
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 */
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UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
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/** 
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 * @brief Transmit a SDO error to the client. The reasons may be :
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 * Read/Write to a undefined object
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 * Read/Write to a undefined subindex
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 * Read/write a not valid length object
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 * Write a read only object
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 * @param *d Pointer on a CAN object data structure
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 * @param whoami takes 2 values : SDO_CLIENT or SDO_SERVER
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 * @param nodeId
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 * @param index
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 * @param subIndex
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 * @param abortCode
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 * @return 0
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 */
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UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 abortCode);
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/** 
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 * @brief Treat a SDO frame reception
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 * call the function sendSDO
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 * @param *d Pointer on a CAN object data structure
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 * @param *m Pointer on a CAN message structure 
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 * @return code : 
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 * 		   - 0xFF if error
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 *         - 0x80 if transfert aborted by the server
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 *         - 0x0  ok
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UNS8 proceedSDO (CO_Data* d, Message *m);
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/** 
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 * @ingroup sdo
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 * @brief Used to send a SDO request frame to write the data at the index and subIndex indicated
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 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param count number of bytes to write in the dictionnary.
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @param *data Pointer to data
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFE is returned when no sdo client to communicate with node.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data);
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/** 
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 * @ingroup sdo
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 * @brief Used to send a SDO request frame to write in a distant node dictionnary.
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 * @details The function Callback which must be defined in the user code is called at the
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 * end of the exchange. (on succes or abort).
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 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param count number of bytes to write in the dictionnary.
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @param *data Pointer to data
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 * @param Callback Callback function
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFE is returned when no sdo client to communicate with node.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
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		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback);
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/**
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 * @ingroup sdo 
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 * @brief Used to send a SDO request frame to write in a distant node dictionnary.
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 * @details The function Callback which must be defined in the user code is called at the
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 * end of the exchange. (on succes or abort). First free SDO client parameter is
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 * automatically initialized for specific node if not already defined.
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 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param count number of bytes to write in the dictionnary.
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @param *data Pointer to data
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 * @param Callback Callback function
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 * @param endianize When not 0, data is endianized into network byte order
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 *                  when 0, data is not endianized and copied in machine native
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 *                  endianness
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
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		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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/**
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 * @ingroup sdo 
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 * @brief Used to send a SDO request frame to read.
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 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFE is returned when no sdo client to communicate with node.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType);
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/** 
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 * @ingroup sdo
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 * @brief Used to send a SDO request frame to read in a distant node dictionnary.
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 * @details The function Callback which must be defined in the user code is called at the
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 * end of the exchange. (on succes or abort).
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 * @param *d Pointer on a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @param Callback Callback function
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFE is returned when no sdo client to communicate with node.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
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/** 
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 * @ingroup sdo
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 * @brief Used to send a SDO request frame to read in a distant node dictionnary.
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 * @details The function Callback which must be defined in the user code is called at the
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 * end of the exchange. (on succes or abort). First free SDO client parameter is
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 * automatically initialized for specific node if not already defined.
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 * @param *d Pointer on a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param index At index indicated
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 * @param subIndex At subIndex indicated
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 * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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 * @param Callback Callback function
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 * @return 
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 * - 0 is returned upon success.
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 * - 0xFF is returned when error occurs.
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 */
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UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
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/** 
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 * @ingroup sdo
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 * @brief Use this function after calling readNetworkDict to get the result.
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 * 
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 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param *data Pointer to the datas
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 * @param *size Pointer to the size
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 * @param *abortCode Pointer to the abortcode. (0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
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 * 
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 * 
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 * @return
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 *           - SDO_FINISHED             // datas are available
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 *           - SDO_ABORTED_RCV          // Transfert failed (abort SDO received)
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 *           - SDO_ABORTED_INTERNAL     // Transfert failed (internal abort)
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   401
 *           - SDO_UPLOAD_IN_PROGRESS   // Datas are not yet available
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   402
 *           - SDO_DOWNLOAD_IN_PROGRESS // Download is in progress
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   403
 * \n\n
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   404
 * example :
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   405
 * @code
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 * UNS32 data;
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   407
 * UNS8 size;
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 * readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
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 * while (getReadResultNetworkDict (0, 0x05, &data, &size) == SDO_UPLOAD_IN_PROGRESS);
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 * @endcode
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*/
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UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size, UNS32 * abortCode);
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/**
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 * @ingroup sdo
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   416
 * @brief Use this function after calling writeNetworkDict function to get the result of the write.
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   417
 * @details It is mandatory to call this function because it is releasing the line used for the transfer.
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   418
 * @param *d Pointer to a CAN object data structure
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 * @param nodeId Node Id of the slave
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 * @param *abortCode Pointer to the abortcode
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 * - 0 = not available. 
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 * - SDO abort code (received if return SDO_ABORTED_RCV)
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 * 
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 * @return : 
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 *           - SDO_FINISHED             // datas are available
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   426
 *           - SDO_ABORTED_RCV          // Transfert failed (abort SDO received)
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   427
 *           - SDO_ABORTED_INTERNAL     // Transfert failed (Internal abort)
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   428
 *           - SDO_DOWNLOAD_IN_PROGRESS // Datas are not yet available
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   429
 *           - SDO_UPLOAD_IN_PROGRESS   // Upload in progress
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   430
 * \n\n
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   431
 * example :
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   432
 * @code
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 * UNS32 data = 0x50;
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   434
 * UNS8 size;
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   435
 * UNS32 abortCode;
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   436
 * writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
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 * while (getWriteResultNetworkDict (0, 0x05, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS);
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   438
 * @endcode
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*/
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UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
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#endif