canfestival: src/sdo.c@4939452b1bf1 (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;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	194	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	195	(void *) d->transfers[line].data, &size, 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	196	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	197	return errorCode;
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	198	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	199	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	200
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	201	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	202
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	203	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	204	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	205	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	206	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	207	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	208	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	209	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	210	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	211	UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	213	UNS32 size = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	214	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	215	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	216
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	217	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	218	MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	219
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	220	errorCode = getODentry(d, d->transfers[line].index,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	221	d->transfers[line].subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	222	(void *)d->transfers[line].data,
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	223	&size, &dataType, 1);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	224
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	225	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	226	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	227
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	228	d->transfers[line].count = size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	229	d->transfers[line].offset = 0;
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	230
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	231	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	232	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	233
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	234	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	235	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	236	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	237	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	238	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	239	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	240	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	241	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	242	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	243	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	244	UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	245	UNS8 i;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	246	UNS32 offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	247
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	248	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	253	MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	254	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	}
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	256	offset = d->transfers[line].offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	257	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	258	* (data + i) = d->transfers[line].data[offset + i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	259	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	260	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	261	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	262
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	263	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	264	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	265	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	266	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	267	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	268	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	269	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	270	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	271	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	272	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	273	UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	274	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275	UNS8 i;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	276	UNS32 offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	277
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	278	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	279	MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	280	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	281	}
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	282	offset = d->transfers[line].offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	283	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	284	d->transfers[line].data[offset + i] = * (data + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	285	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	286	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	287	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	288
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	289	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	290	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	291	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	292	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	293	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	294	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	295	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	296	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	297	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	298	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	299	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	300	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	301	UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	302	UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	303	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	304	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306	err = getSDOlineOnUse( d, nodeId, whoami, &line );
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	307	if (!err) /* If a line on use have been found.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	308	MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	309	if ((! err) && (whoami == SDO_SERVER)) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	310	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	311	MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	312	}
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	313	if ((! err) && (whoami == SDO_CLIENT)) {
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	314	StopSDO_TIMER(line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	315	d->transfers[line].state = SDO_ABORTED_INTERNAL;
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	316	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	317	MSG_WAR(0x3A22, "Sending SDO abort ", 0);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	318	err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	319	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	320	MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	321	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	322	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	323	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	324	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	325
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	326	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	327	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	328	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	329	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	330	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	331	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	332	void resetSDOline ( CO_Data* d, UNS8 line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	333	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	334	UNS32 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	335	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	336	initSDOline(d, line, 0, 0, 0, SDO_RESET);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	337	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	338	d->transfers[line].data[i] = 0;
501 9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	339	d->transfers[line].whoami = 0;
9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	340	d->transfers[line].abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	341	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	342
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	343	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	344	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	345	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	346	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	347	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	348	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	349	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	350	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	351	** @param state
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	352	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	353	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	354	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	355	UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	356	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	357	MSG_WAR(0x3A25, "init SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	358	if (state == SDO_DOWNLOAD_IN_PROGRESS \|\| state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	359	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	360	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	361	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	362	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	363	d->transfers[line].nodeId = nodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	364	d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	365	d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	366	d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	367	d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	368	d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	369	d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	370	d->transfers[line].dataType = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	371	d->transfers[line].Callback = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	372	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	373	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	374
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	375	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	376	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	377	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	378	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	379	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	380	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	381	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	382	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	383	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	384	UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	385	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	386
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	387	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	388
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	389	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	390	if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	391	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	392	d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	393	return 0;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	394	} /* end if */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	395	} /* end for */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	396	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	397	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	398	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	399
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	400	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	401	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	402	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	403	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	404	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	405	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	406	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	407	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	408	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	409	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	410	UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	411	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	412
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	413	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	414
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	415	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	416	if ( (d->transfers[i].state != SDO_RESET) &&
627 4939452b1bf1 Fixed SDO loop in some situations. edouard parents: 604 diff changeset	417	(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	418	(d->transfers[i].nodeId == nodeId) &&
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	419	(d->transfers[i].whoami == whoami) ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	420	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	421	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	422	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	423	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	424	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	425	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	426
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	427	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	428	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	429	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	430	** @param 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	431	** @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	432	** @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	433	**
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	** @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	435	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	436	UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	437	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	438	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	439	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	440	err = getSDOlineOnUse(d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	441	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	442	MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	443	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	444	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	445	resetSDOline(d, line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	446	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	447	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	448
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	449	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	450	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	451	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	452	** @param 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	453	** @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	454	** @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	455	**
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	** @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	457	**/
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	458	UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	459	{
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	460	/* 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	461	if (d->transfers[line].count == 0)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	462	* nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	463	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	464	* nbBytes = d->transfers[line].count - d->transfers[line].offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	465	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	466	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	467
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	468	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	469	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	470	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	471	** @param 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	472	** @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	473	** @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	474	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	475	** @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	476	**/
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	477	UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	478	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	479	if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	480	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	481	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	482	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	483	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	484	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	485	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	486
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	487	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	488	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	489	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	490	** @param 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	491	** @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	492	** @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	493	**
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	** @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	495	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	496	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	497	{
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	498	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	499	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	500	UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	501	Message m;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	502	UNS8 i;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	503	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	504	UNS8 * pwNodeId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	505
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	506	MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	507	if( !((d->nodeState == Operational) \|\| (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	508	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	509	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	510	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	511
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	512	/get the server->client cobid/
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	513	if ( whoami == SDO_SERVER ) {/case server. only one SDO server/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	514	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	515	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	516	MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	517	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	518	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	519	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	520	MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	521	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	522	else { /case client/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	523	/* Get the client->server cobid.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	524	UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	525	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	526	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	527	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	528	MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	529	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	530	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	531	/* find index for communication server node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	532	while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	533	MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	534	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	535	MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	536	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	537	}
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	538	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	539	MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	540	if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	541	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	542	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	543	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	544	offset ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	545	sdoNum ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	546	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	547	if (! found){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	548	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	549	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	550	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	551	/* read the client->server cobid */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	552	pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	553	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	554	/* message copy for sending */
597 ea32aa303987 Fixed wrong cast in sdo.c and wrong message length in nodeguarding edouard parents: 587 diff changeset	555	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	556	m.rtr = NOT_A_REQUEST;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	557	/* the length of SDO must be 8 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	558	m.len = 8;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	559	for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	560	m.data[i] = sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	561	}
149 fe50ada8020b Changes in the API: etisserant parents: 145 diff changeset	562	return canSend(d->canHandle,&m);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	563	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	564
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	565	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	566	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	567	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	568	** @param 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	569	** @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	570	** @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	571	** @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	572	** @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	573	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	574	** @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	575	**/
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	576	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	577	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	578	s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	579	UNS8 ret;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	580
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	581	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	582	if(whoami == SDO_SERVER)
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	583	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	584	sdo.nodeId = *d->bDeviceNodeId;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	585	}
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	586	else
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	587	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	588	sdo.nodeId = nodeID;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	589	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	590	sdo.body.data[0] = 0x80;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	591	/* Index */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	592	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	593	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	594	/* Subindex */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	595	sdo.body.data[3] = subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	596	/* Data */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	597	sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	598	sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	599	sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	600	sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	601	ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	602
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	603	return ret;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	604	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	605
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	606	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	607	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	608	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	609	** @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	610	** @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	611	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	612	** @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	613	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	614	UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	615	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	616	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	617	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	618	UNS32 nbBytes; /* received or to be transmited. */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	619	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	620	UNS8 *pNodeId = NULL;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	621	UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	622	UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	623	s_SDO sdo; /* SDO to transmit */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	624	UNS16 index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	625	UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	626	UNS32 abortCode;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	627	UNS32 i;
c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	628	UNS8 j;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	629	UNS32 *pCobId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	630	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	631	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	632
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	633	MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	634	whoami = SDO_UNKNOWN;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	635	/* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	636	/* Am-I a server ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	637	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	638	lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	639	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	640	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	641	if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	642	MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	643	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	644	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	645	pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	646	if ( *pCobId == UNS16_LE(m->cob_id) ) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	647	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	648	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	649	/* 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	650	/* 0x1200 where the cobid received is defined. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	651	nodeId = j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	652	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	653	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	654	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	655	offset++;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	656	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	657	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	658	/* Am-I client ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	659	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	660	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	661	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	662	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	663	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	664	MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	665	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	666	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	667	/* a) Looking for the cobid received. */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	668	pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	669	if (*pCobId == UNS16_LE(m->cob_id) ) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	670	/* 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	671	pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	672	whoami = SDO_CLIENT;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	673	nodeId = *pNodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	674	MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	675	MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	676	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	677	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	678	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	679	offset++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	680	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	681	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	682	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	683	return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	684	}
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	685
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	686	/* Test if the size of the SDO is ok */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	687	if ( (*m).len != 8) {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	688	MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	689	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	690	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	691	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	692
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	693	if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	694	MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	695	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	696	else {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	697	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	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
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	700	/* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	701	/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	702	/* cs = other : Not allowed -> abort. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	703	switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	704
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	705	case 0:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	706	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	707	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	708	/* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	709	/* 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	710	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	711	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	712	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	713	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	714	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	715	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	716	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	717	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	718	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	719	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	720	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	721	MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	722	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	723	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	724	/* Toggle test. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	725	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	726	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	727	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	728	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	729	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	730	/* Nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	731	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	732	/* Store the data in the transfert structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	733	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	734	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	735	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	736	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	737	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	738	/* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	739	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	740	sdo.body.data[0] = (1 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	741	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	742	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	743	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	744	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	745	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	746	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	747	/* If it was the last segment, */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	748	if (getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	749	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	750	/* 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	751	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	752	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	753	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	754	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	755	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	756	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	757	/* Release of the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	758	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	759	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	760	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	761	} /* end if SERVER */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	762	else { /* if CLIENT */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	763	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	764	/* 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	765	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	766	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	767	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	768	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	769	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	770	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	771	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	772	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	773	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	774	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	775	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	776	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	777	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	778	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	779	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	780	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	781	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	782	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	783	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	784	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	785	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	786	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	787	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	788	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	789	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	790	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	791	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	792	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	793	/* If it was the last segment,*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	794	if ( getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	795	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	796	/* The code is safe for the case e=s=0 in initiate frame. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	797	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	798	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	799	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	800
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	801	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	802	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	803	else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	804	/* Sending the request for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	805	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	806	sdo.body.data[0] = (3 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	807	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	808	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	809	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	810	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	811	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	812	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	813	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	814
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	815	case 1:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	816	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	817	/* Receive of an initiate download */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	818	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	819	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	820	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	821	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	822	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	823	MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	824	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	825
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	826	/* Search if a SDO transfert have been yet initiated */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	827	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	828	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	829	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	830	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	831	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	832	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	833	/* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	834	/* Try to open a new line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	835	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	836	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	837	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	838	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	839	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	840	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	841	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	842
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	843	if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	844	/* nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	845	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	846	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	847	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	848	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	849
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	850	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	851	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	852	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	853	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	854
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	855	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	856	/The line will be reseted when it is downloading in the dictionary. /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	857	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	858	/* Transfering line data to object dictionary. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	859	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	860	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	861	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	862	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	863	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	864	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	865	/* Release of the line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	866	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	867	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	868	else {/* So, if it is not an expedited transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	869	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	870	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	871	err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	872	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	873	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	874	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	875	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	876	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	877	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	878	/Sending a SDO, cs=3/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	879	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	880	sdo.body.data[0] = 3 << 5;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	881	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	882	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	883	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	884	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	885	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	886	sendSDO(d, whoami, sdo);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	887	} /* end if I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	888	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	889	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	890	/* 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	891	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	892	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	893	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	894	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	895	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	896	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	897	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	898	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	899	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	900	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	901	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	902	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	903	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	904	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	905	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	906	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	907	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	908	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	909
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	910	/* 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	911	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	912	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	913	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	914	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	915	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	916	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	917	return 0x00;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	918	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	919	/* At least one transfer to send. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	920	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	921	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	922	/* code to send the next segment. (cs = 0; c = 0) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	923	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	924	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	925	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	926	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	927	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	928	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	929	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	930	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	931	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	932	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	933	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	934	/* code to send the last segment. (cs = 0; c = 1)*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	935	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	936	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	937	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	938	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	939	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	940	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	941	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	942	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	943	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	944	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	945	}
506 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	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	947	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	948	} /* end if I am a CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	949	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	950
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	951	case 2:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	952	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	953	/* Receive of an initiate upload.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	954	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	955	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	956	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	957	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	958	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	959	MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	960	MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	961	/* Search if a SDO transfert have been yet initiated*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	962	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	963	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	964	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	965	MSG_WAR(0x3A93, "nodeId = ", nodeId);
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	966	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	967	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	968	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	969	/* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	970	/* Try to open a new line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	971	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	972	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	973	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	974	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	975	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	976	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	977	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	978	/* Transfer data from dictionary to the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	979	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	980
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	981	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	982	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	983	errorCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	984	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	985	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	986	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	987	/* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	988	getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	989	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	990	if (nbBytes > 4) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	991	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	992	/* code to send the initiate upload response. (cs = 2) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	993	sdo.body.data[0] = (2 << 5) \| 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	994	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	995	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	996	sdo.body.data[3] = subIndex;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	997	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	998	/* 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	999	/* in the object dictionary, at every index and subindex. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1000	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1001	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	1002	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	1003	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1004	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1005	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1006	/* Expedited upload. (cs = 2 ; e = 1) */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1007	sdo.body.data[0] = (UNS8)((2 << 5) \| ((4 - nbBytes) << 2) \| 3);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1008	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1009	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1010	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	1011	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1012	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1013	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1014	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1015	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1016	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1017	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	1018	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	1019	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	1020	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1021	/* Release the line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1022	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1023	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1024	} /* end if I am SERVER*/
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	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1027	/* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1028	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1029	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1030	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1031	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1032	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	1033	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	1034	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1035	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1036	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1037	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1038	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1039	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1040	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	1041
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1042	if (getSDOe(m->data[0])) { /* If SDO expedited */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1043	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1044	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1045	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1046	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1047	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1048	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1049	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1050	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1051	/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1052	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1053	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1054	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1055	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1056	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1057	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1058	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1059	else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1060	/* Storing the nb of data to receive. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1061	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	1062	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	1063	err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1064	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1065	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1066	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	1067	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1068	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1069	/* Requesting next segment. (cs = 3) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1070	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1071	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1072	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1073	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	1074	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	1075	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1076	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1077	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1078	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1079
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1080	case 3:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1081	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1082	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1083	/* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1084	/* 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	1085	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1086	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1087	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1088	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	1089	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	1090	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1091	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1092	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1093	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1094	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1095	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	1096	MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1097	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1098	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1099	/* Toggle test.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1100	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	1101	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1102	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1103	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1104	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1105	/* 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	1106	getSDOlineRestBytes(d, line, &nbBytes);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1107	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1108	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1109	/* code to send the next segment. (cs = 0; c = 0) */
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1110	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1111	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	1112	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1113	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1114	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1115	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1116	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1117	/* Inverting the toggle for the next tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1118	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	1119	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	1120	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	1121	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1122	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1123	/* 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	1124	/* code to send the last segment. (cs = 0; c = 1) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1125	sdo.nodeId = nodeId; /** The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1126	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	1127	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1128	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1129	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1130	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1131	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1132	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1133	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	1134	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1135	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1136	/* Release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1137	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1138	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1139	} /* end if SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1140	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1141	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1142	/* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1143	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1144	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1145	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1146	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1147	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	1148	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	1149	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1150	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1151	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1152	/* Reset the watchdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1153	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1154	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1155	subIndex = d->transfers[line].subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1156	/* End transmission or requesting next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1157	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1158	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	1159	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1160	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1161	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1162	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1163	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	1164	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1165	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1166	/* 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	1167	/* code to send the next segment. (cs = 0; c = 0) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1168	sdo.nodeId = nodeId; /** The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1169	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	1170	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1171	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1172	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1173	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1174	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1175	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1176	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1177	/* 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	1178	/* code to send the last segment. (cs = 0; c = 1) */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1179	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1180	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	1181	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1182	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1183	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1184	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1185	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1186	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1187	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1188	}
506 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(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	1190	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	1191
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1192	} /* 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	1193	break;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1194
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1195	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	1196	abortCode =
435 509158e51940 Fixed suspicious code in sdo.c etisserant parents: 402 diff changeset	1197	(UNS32)m->data[4] \|
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1198	((UNS32)m->data[5] << 8) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1199	((UNS32)m->data[6] << 16) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1200	((UNS32)m->data[7] << 24);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1201	/* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1202	/* Looking for the line concerned. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1203	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1204	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1205	if (!err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1206	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1207	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1208	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1209	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1210	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1211	/* 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	1212	/* Its is ok, I think.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1213	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1214	else { /* If I am CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1215	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1216	if (!err) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1217	/* The line must be released by the core program. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1218	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1219	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	1220	d->transfers[line].abortCode = abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1221	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	1222	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1223	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1224	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1225	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	1226	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1227	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1228	default:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1229	/* Error : Unknown cs */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1230	MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1231	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1232
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1233	} /* 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	1234	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	1235	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1236
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1237	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1238	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1239	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1240	** @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	1241	** @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	1242	** @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	1243	** @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	1244	** @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	1245	** @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	1246	** @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	1247	** @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	1248	** @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	1249	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1250	** @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	1251	**/
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	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	1253	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1254	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1255	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1256	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1257	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1258	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	1259	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	1260	UNS32 j;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1261	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1262	UNS16 offset;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1263	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1264	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1265
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1266	MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1267	MSG_WAR(0x3AC1, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1268	MSG_WAR(0x3AC2, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1269	MSG_WAR(0x3AC3, " nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1270
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1271	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1272	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1273	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	1274	MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1275	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1276	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1277	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1278	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1279	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	1280	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	1281	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1282	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1283	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1284	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1285	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1286	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	1287	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1288	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1289	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1290	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1291	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1292	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1293	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1294	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1295	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1296	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1297	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1298	nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1299	MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1300	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	1301
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1302	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1303	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1304	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1305	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1306	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1307	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1308	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1309	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1310	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	1311	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1312	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1313	MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1314	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1315	d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1316	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	1317
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1318	/* Copy data to transfers structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1319	for (j = 0 ; j < count ; j++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1320	# ifdef CANOPEN_BIG_ENDIAN
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1321	if (dataType == 0 && endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1322	d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1323	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1324	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	1325	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1326	d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1327	# endif
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1328	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1329	/* Send the SDO to the server. Initiate download, cs=1. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1330	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1331	if (count <= 4) { /* Expedited transfert */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1332	sdo.body.data[0] = (UNS8)((1 << 5) \| ((4 - count) << 2) \| 3);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1333	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1334	sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1335	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	1336	}
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1337	else { /** Normal transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1338	sdo.body.data[0] = (1 << 5) \| 1;
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1339	for (i = 0 ; i < 4 ; i++)
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1340	sdo.body.data[i+4] = (UNS8)((count << (i<<3))); /* i8 /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1341	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1342	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1343	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1344	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	1345
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1346	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	1347
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1348	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1349	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1350	MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1351	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1352	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1353	return 0xFF;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1354	}
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1355
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1356
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1357	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1358	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1359
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1360	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1361	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1362	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1363	** @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	1364	** @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	1365	** @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	1366	** @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	1367	** @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	1368	** @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	1369	** @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	1370	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1371	** @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	1372	**/
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	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	1374	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1375	{
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1376	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1377	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1378
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1379	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1380	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1381	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1382	** @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	1383	** @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	1384	** @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	1385	** @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	1386	** @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	1387	** @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	1388	** @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	1389	** @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	1390	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1391	** @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	1392	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1393	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	1394	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1395	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1396	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	1397	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1398
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1399	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	1400	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	1401	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1402	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	1403	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	1404	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	1405	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	1406	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	1407
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1408	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	1409	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	1410	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1411	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	1412	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	1413	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	1414	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1415	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	1416	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	1417	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1418	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	1419	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	1420	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1421	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	1422	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1423	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	1424	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	1425	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1426	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	1427	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	1428	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1429	(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	1430	(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	1431	(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	1432	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	1433	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1434	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	1435	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1436	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	1437	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1438	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	1439	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1440	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	1441	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1442	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	1443	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1444	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	1445	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1446	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1447
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1448	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1449	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1450	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1451	** @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	1452	** @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	1453	** @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	1454	** @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	1455	** @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	1456	** @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	1457	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1458	** @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	1459	**/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1460	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	1461	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1462	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1463	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1464	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1465	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1466	s_SDO sdo; /* SDO to transmit */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1467	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1468	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1469	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1470	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1471	MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1472	MSG_WAR(0x3AD6, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1473	MSG_WAR(0x3AD7, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1474
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1475
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1476	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1477	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1478	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	1479	MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1480	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1481	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1482	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1483	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1484	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	1485	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	1486	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1487	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1488	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1489	MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1490
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1491	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1492	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1493	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1494	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	1495	MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1496	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1497	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1498	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1499	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1500	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1501	MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1502	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1503	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1504	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1505	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1506	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	1507
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1508	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1509	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1510	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1511	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1512	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1513	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1514	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1515	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1516	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	1517	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1518	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1519	MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1520	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1521	getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1522	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1523	/* 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	1524	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	1525	sdo.body.data[0] = (2 << 5);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1526	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1527	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1528	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1529	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1530	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	1531	d->transfers[line].Callback = Callback;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1532	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1533	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1534	MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1535	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1536	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1537	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	1538	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1539	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1540	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1541
506 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	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1543	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1544	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1545	** @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	1546	** @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	1547	** @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	1548	** @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	1549	** @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	1550	**
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	** @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	1552	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1553	UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1554	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1555	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1556	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1557
506 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	**
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	** @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	1562	** @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	1563	** @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	1564	** @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	1565	** @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	1566	** @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	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	** @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	1569	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1570	UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1571	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1572	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1573	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1574
506 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	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	1576	{
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	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	1578	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	1579	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	1580	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	1581	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	1582
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1583	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	1584	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	1585	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1586	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	1587	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	1588	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	1589	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1590	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	1591	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	1592	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1593	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	1594	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	1595	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1596	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	1597	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1598	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	1599	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	1600	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1601	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	1602	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	1603	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1604	(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	1605	(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	1606	(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	1607	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	1608	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1609	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	1610	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1611	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	1612	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1613	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	1614	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1615	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	1616	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1617	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	1618	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1619	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	1620	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1621	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1622
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1623	/*!
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1624	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1625	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1626	** @param d
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1627	** @param nodeId
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1628	** @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	1629	** @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	1630	** @param abortCode
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1631	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1632	** @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	1633	**/
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	1634	UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1635	UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1636	{
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	1637	UNS32 i;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1638	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1639	UNS8 line;
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	1640	* abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1641
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1642	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1643	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1644	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	1645	MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1646	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1647	}
503 8435a9ee54f8 Fixed (again) return of abortcode value in SDO's getReadResultNetworkDict etisserant parents: 501 diff changeset	1648	* abortCode = d->transfers[line].abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1649	if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1650	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1651
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1652	/* 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	1653	if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1654	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	1655	/* 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	1656	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	1657	*size = d->transfers[line].count;
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1658	/* Copy payload to data pointer */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1659	for ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1660	# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1661	if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1662	( (char ) data)[size - 1 - i] = d->transfers[line].data[i];
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1663	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1664	( (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	1665	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1666	( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1667	# 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	1668	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1669	return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1670	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1671
506 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	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1673	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1674	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1675	** @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	1676	** @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	1677	** @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	1678	**
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	** @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	1680	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1681	UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1682	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1683	UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1684	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1685
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1686	* abortCode = 0;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1687	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1688	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1689	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	1690	MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1691	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1692	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1693	* abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1694	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1695	}

author	edouard
	Fri, 10 Sep 2010 13:44:56 +0200
changeset 627	4939452b1bf1
parent 604	96e632bc1e58
child 636	033fe6f1ec3c
permissions	-rw-r--r--