src/sdo.c
author etisserant
Wed, 04 Jun 2008 10:59:55 +0200
changeset 472 4f5cb68098cf
parent 447 c9d01296d6d9
child 481 9dd36e4453ae
permissions -rw-r--r--
Updated SVG drawing to reflect recent changes in API.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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/*!
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** @file   sdo.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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/* #define DEBUG_WAR_CONSOLE_ON */
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/* #define DEBUG_ERR_CONSOLE_ON */
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#include "canfestival.h"
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#include "sysdep.h"
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/* Uncomment if your compiler does not support inline functions */
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#define NO_INLINE 
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#ifdef NO_INLINE
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  #define INLINE 
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#else
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  #define INLINE inline
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#endif
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/*Internals prototypes*/
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/*!
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** Called by writeNetworkDict
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**
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** @param d
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** @param nodeId
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** @param index
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** @param subIndex
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** @param count
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** @param dataType
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** @param data
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** @param Callback
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** @param endianize
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**
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** @return
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**/
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INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
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		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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/*!
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** Called by readNetworkDict
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**
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** @param d
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** @param nodeId
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** @param index
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** @param subIndex
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** @param dataType
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** @param Callback
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**
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** @return
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**/
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INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, 
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	UNS8 dataType, SDOCallback_t Callback);
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/***************************************************************************/
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/* SDO (un)packing macros */
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/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO   
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 */
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#define getSDOcs(byte) (byte >> 5)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits   
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 */
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#define getSDOn2(byte) ((byte >> 2) & 3)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits   
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 */
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#define getSDOn3(byte) ((byte >> 1) & 7)
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/** Returns the transfer type from the first byte of the SDO   
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 */
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#define getSDOe(byte) ((byte >> 1) & 1)
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/** Returns the size indicator from the first byte of the SDO   
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 */
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#define getSDOs(byte) (byte & 1)
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/** Returns the indicator of end transmission from the first byte of the SDO   
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 */
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#define getSDOc(byte) (byte & 1)
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/** Returns the toggle from the first byte of the SDO   
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 */
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#define getSDOt(byte) ((byte >> 4) & 1)
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/** Returns the index from the bytes 1 and 2 of the SDO   
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 */
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#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
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/** Returns the subIndex from the byte 3 of the SDO   
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 */
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#define getSDOsubIndex(byte3) (byte3)
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/*!                                                                                                                        
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**                                                                                                                         
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**                                                                                                                         
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** @param d                                                                                                                
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** @param id                                                                                                               
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**/  
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
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{
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    MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
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    MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
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    MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
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    MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex); 
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    /* Reset timer handler */
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    d->transfers[id].timer = TIMER_NONE;
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    /*Set aborted state*/
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    d->transfers[id].state = SDO_ABORTED_INTERNAL;
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    /* Sending a SDO abort */
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    sendSDOabort(d, d->transfers[id].whoami, 
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		 d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
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    d->transfers[id].abortCode = SDOABT_TIMED_OUT;
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    /* Call the user function to inform of the problem.*/
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    if(d->transfers[id].Callback)
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    	/*If ther is a callback, it is responsible to close SDO transfer (client)*/
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    	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
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    else if(d->transfers[id].whoami == SDO_SERVER)
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    	/*Else, if server, reset the line*/
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    	resetSDOline(d, (UNS8)id);
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}
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#define StopSDO_TIMER(id) \
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MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
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d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
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#define StartSDO_TIMER(id) \
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MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
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d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
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#define RestartSDO_TIMER(id) \
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MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
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if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
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/*!                                                                                                
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** Reset all sdo buffers                                                                                             
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**                                                                                                 
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** @param d                                                                                        
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**/  
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void resetSDO (CO_Data* d)
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{
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  UNS8 j;
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  /* transfer structure initialization */
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    for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) 
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      resetSDOline(d, j);
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}
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/*!                                                                                           
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**                                                                                            
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**                                                                                            
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** @param d                                                                                   
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** @param line                                                                                
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**                                                                                            
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** @return                                                                                    
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**/ 
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
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{
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  UNS8      size;
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  UNS32 errorCode;
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  MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
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  size = (UNS8)d->transfers[line].count;
0
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  errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, 
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			 (void *) d->transfers[line].data, &size, 1);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
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  return 0;
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}
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param line                                                                                     
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**                                                                                                 
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** @return                                                                                         
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**/  
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
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{
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  UNS8  size = 0;
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  UNS8  dataType;
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  UNS32 errorCode;
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  MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
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  MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
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  errorCode = getODentry(d, 	d->transfers[line].index,
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  				d->transfers[line].subIndex,
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  				(void *)d->transfers[line].data,
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  				&size, &dataType, 1);
0
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  d->transfers[line].count = size;
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  d->transfers[line].offset = 0;
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0
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  return 0;
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}
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param line                                                                                     
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** @param nbBytes                                                                                  
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** @param data                                                                                     
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**                                                                                                 
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** @return                                                                                         
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**/  
0
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
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  UNS8 i;
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  UNS8 offset;
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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    if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
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    MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
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    return 0xFF;
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  }
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  offset = (UNS8)d->transfers[line].offset;
0
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  for (i = 0 ; i < nbBytes ; i++) 
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    * (data + i) = d->transfers[line].data[offset + i];
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param line                                                                                     
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** @param nbBytes                                                                                  
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** @param data                                                                                     
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**                                                                                                 
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** @return                                                                                         
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**/   
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
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{
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  UNS8 i;
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  UNS8 offset;
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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  offset = (UNS8)d->transfers[line].offset;
0
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  for (i = 0 ; i < nbBytes ; i++) 
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    d->transfers[line].data[offset + i] = * (data + i);
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param nodeId                                                                                   
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** @param whoami                                                                                   
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** @param index                                                                                    
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** @param subIndex                                                                                 
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** @param abortCode                                                                                
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**                                                                                                 
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** @return                                                                                         
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**/ 
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, 
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		UNS8 subIndex, UNS32 abortCode)
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{
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  UNS8 err;
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  UNS8 line;
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  err = getSDOlineOnUse( d, nodeId, whoami, &line );
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  if (!err) /* If a line on use have been found.*/
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    MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
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  if ((! err) && (whoami == SDO_SERVER)) {
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    resetSDOline( d, line );
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    MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
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  }
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  if ((! err) && (whoami == SDO_CLIENT)) {
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    StopSDO_TIMER(line);
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    d->transfers[line].state = SDO_ABORTED_INTERNAL;
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  }
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  MSG_WAR(0x3A22, "Sending SDO abort ", 0);
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  err = sendSDOabort(d, whoami, index, subIndex, abortCode);
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  if (err) {
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    MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
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    return 0xFF;
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  }
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  return 0;
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}
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/*!                                                                                                
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**                                                                                                 
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**                                                                                                 
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** @param d                                                                                        
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** @param line                                                                                     
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**/  
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void resetSDOline ( CO_Data* d, UNS8 line )
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{
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  UNS8 i; 
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  MSG_WAR(0x3A25, "reset SDO line nb : ", line); 
0
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  initSDOline(d, line, 0, 0, 0, SDO_RESET);
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  for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
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    d->transfers[line].data[i] = 0;
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}
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/*!                                                                                                
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**                                                                                                 
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nico
parents: 174
diff changeset
   340
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   341
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   342
** @param line                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   343
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   344
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   345
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   346
** @param state                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   347
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   348
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   349
**/   
0
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etisserant
parents:
diff changeset
   350
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
   351
{
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
   352
  MSG_WAR(0x3A25, "init SDO line nb : ", line); 
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   353
  if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   354
  	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   355
  }else{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   356
  	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   357
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   358
  d->transfers[line].nodeId = nodeId; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   359
  d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   360
  d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   361
  d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   362
  d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   363
  d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   364
  d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   365
  d->transfers[line].dataType = 0;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   366
  d->transfers[line].Callback = NULL;  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   367
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   368
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   369
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   370
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   371
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   372
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   373
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   374
** @param whoami                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   375
** @param line                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   376
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   377
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   378
**/    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   379
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   380
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   381
	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   382
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   383
    
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   384
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   385
    if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   386
      *line = i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   387
      d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   388
      return 0;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   389
    } /* end if */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   390
  } /* end for */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   391
  MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   392
  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   393
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   394
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   395
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   396
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   397
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   398
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   399
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   400
** @param whoami                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   401
** @param line                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   402
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   403
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   404
**/      
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   405
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   406
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   407
	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   408
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   409
    
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   410
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   411
    if ( (d->transfers[i].state != SDO_RESET) &&
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   412
	 (d->transfers[i].nodeId == nodeId) && 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   413
	 (d->transfers[i].whoami == whoami) ) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   414
      *line = i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   415
      return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   416
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   417
  } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   420
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   421
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   422
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   423
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   424
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   425
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   426
** @param whoami                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   427
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   428
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   429
**/  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   430
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   431
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   432
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   433
  UNS8 line;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   434
  err = getSDOlineOnUse(d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   435
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   436
    MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   437
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   438
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   439
  resetSDOline(d, line);  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   440
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   441
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   442
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   443
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   444
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   445
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   446
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   447
** @param line                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   448
** @param nbBytes                                                                                  
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   449
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   450
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   451
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   452
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   453
{
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   454
  if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   455
    * nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   456
  else
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 87
diff changeset
   457
    * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   458
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   459
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   460
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   461
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   462
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   463
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   464
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   465
** @param line                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   466
** @param nbBytes                                                                                  
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   467
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   468
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   469
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   470
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   471
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   472
  if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   473
    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
   474
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   475
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   476
  d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   477
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   478
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   479
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   480
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   481
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   482
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   483
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   484
** @param whoami                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   485
** @param sdo                                                                                  
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   486
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   487
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   488
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   489
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   490
{	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   491
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   492
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   493
  UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   494
  Message m;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   495
  UNS8 i;
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   496
  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
   497
  UNS8 * pwNodeId = NULL;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   498
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   499
  MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   500
  if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   501
    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
   502
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   503
  }  				
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   504
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   505
  /*get the server->client cobid*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   506
  if ( whoami == SDO_SERVER )	{/*case server. Easy because today only one server SDO is authorized in CanFestival*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   507
    offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   508
    if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   509
      MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   510
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   511
    }
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   512
    pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   513
    MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   514
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   515
  else {			/*case client*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   516
    /* Get the client->server cobid.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   517
    UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   518
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   519
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   520
    if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   521
      MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   522
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   523
    }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   524
    /* First, have to find at the index where is defined the communication with the server node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   525
    while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   526
      MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   527
      if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   528
	MSG_ERR(0x1A28, "Subindex 3  not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   529
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   530
      }
306
3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents: 217
diff changeset
   531
      pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   532
      MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   533
      if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   534
	found = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   535
	break;          
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   536
      }      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   537
      offset ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   538
      sdoNum ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   539
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   540
    if (! found){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   541
      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
   542
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   543
    }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   544
    /* Second, read the cobid client->server */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   545
    pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   546
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   547
  /* message copy for sending */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   548
  m.cob_id = UNS16_LE(*pwCobId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   549
  m.rtr = NOT_A_REQUEST; 
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   550
  /* the length of SDO must be 8 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   551
  m.len = 8;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   552
  for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   553
    m.data[i] =  sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   554
  }
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   555
  return canSend(d->canHandle,&m);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   556
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   557
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   558
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   559
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   560
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   561
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   562
** @param whoami                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   563
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   564
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   565
** @param abortCode                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   566
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   567
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   568
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   569
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   570
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   571
  s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   572
  UNS8 ret;
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
   573
  MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   574
  sdo.nodeId = *d->bDeviceNodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   575
  sdo.body.data[0] = 0x80;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   576
  /* Index */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   577
  sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   578
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   579
  /* Subindex */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   580
  sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   581
  /* Data */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   582
  sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   583
  sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   584
  sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   585
  sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   586
  ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   587
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   588
  return ret;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   589
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   590
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   591
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   592
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   593
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   594
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   595
** @param m                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   596
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   597
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
   598
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   599
UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   600
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   601
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   602
  UNS8 line;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   603
  UNS8 nbBytes; /* received or to be transmited. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   604
  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
   605
  UNS8 *pNodeId = NULL;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   606
  UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   607
  UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   608
  s_SDO sdo;    /* SDO to transmit */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   609
  UNS16 index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   610
  UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   611
  UNS32 abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   612
  UNS8 i,j;
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   613
  UNS32 *pCobId = NULL;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   614
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   615
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   616
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   617
  MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   618
  whoami = SDO_UNKNOWN;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   619
  /* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   620
  /* Am-I a server ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   621
  offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   622
  lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   623
  j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   624
  if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   625
     if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   626
	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   627
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   628
	}
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   629
      pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   630
      if ( *pCobId == UNS16_LE(m->cob_id) ) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   631
	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   632
	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   633
	/* 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
   634
	/* 0x1200 where the cobid received is defined. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   635
	nodeId = j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   636
	break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   637
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   638
      j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   639
      offset++;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   640
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   641
  if (whoami == SDO_UNKNOWN) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   642
    /* Am-I client ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   643
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   644
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   645
    j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   646
    if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   647
       if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   648
	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   649
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   650
       }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   651
       /* a) Looking for the cobid received. */
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   652
       pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   653
       if (*pCobId == UNS16_LE(m->cob_id) ) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   654
	 /* 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
   655
	 pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   656
	 whoami = SDO_CLIENT;
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
   657
	 nodeId = *pNodeId;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   658
	 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   659
	 MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   660
	 break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   661
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   662
       j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   663
       offset++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   664
    } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   665
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   666
  if (whoami == SDO_UNKNOWN) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   667
    return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   668
  }
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   669
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   670
  /* Test if the size of the SDO is ok */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   671
  if ( (*m).len != 8) {
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   672
    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", UNS16_LE(m->cob_id));
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   673
    failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   674
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   675
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   676
  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   677
  if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   678
    MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   679
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   680
  else {
447
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-)
etisserant
parents: 435
diff changeset
   681
    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
   682
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   683
    
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   684
  /* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   685
  /* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   686
  /* cs = other : Not allowed -> abort. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   687
  switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   688
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   689
  case 0:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   690
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   691
    if (whoami == SDO_SERVER) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   692
      /* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   693
      /* A SDO transfert should have been yet initiated. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   694
      err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   695
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   696
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   697
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   698
	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   699
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   700
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   701
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   702
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   703
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   704
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   705
      MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   706
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   707
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   708
      /* Toggle test. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   709
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   710
	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   711
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   712
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   713
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   714
      /* Nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   715
      nbBytes = 7 - getSDOn3(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   716
      /* Store the data in the transfert structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   717
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   718
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   719
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   720
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   721
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   722
      /* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   723
      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
   724
      sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   725
      for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   726
	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   727
      MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   728
      sendSDO(d, whoami, sdo);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   729
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   730
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   731
      /* If it was the last segment, */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   732
      if (getSDOc(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   733
	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   734
	/* 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
   735
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   736
	if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   737
	  MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   738
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   739
	  return 0xFF;	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   740
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   741
	/* Release of the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   742
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   743
	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   744
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   745
    } /* end if SERVER */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   746
    else { /* if CLIENT */
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   747
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   748
      /* 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
   749
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   750
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   751
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   752
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   753
	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   754
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   755
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   756
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   757
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   758
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   759
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   760
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   761
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   762
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   763
	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   764
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   765
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   766
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   767
      /* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   768
      nbBytes = 7 - getSDOn3(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   769
      /* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   770
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   771
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   772
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   773
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   774
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   775
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   776
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   777
      /* If it was the last segment,*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   778
      if ( getSDOc(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   779
	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   780
	/* The code is safe for the case e=s=0 in initiate frame. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   781
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   782
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   783
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   784
	
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   785
	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   786
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   787
      else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   788
	     /* Sending the request for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   789
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   790
	sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   791
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   792
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   793
	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   794
	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   795
      }            
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   796
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   797
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   798
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   799
  case 1:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   800
    /* I am SERVER */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   801
    /* Receive of an initiate download */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   802
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   803
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   804
      subIndex = getSDOsubIndex(m->data[3]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   805
      MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   806
	      nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   807
      MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   808
      MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   809
      
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   810
      /* Search if a SDO transfert have been yet initiated */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   811
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   812
      if (! err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   813
	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   814
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   815
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   816
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   817
      /* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   818
      /* Try to open a new line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   819
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   820
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   821
	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
   822
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   823
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   824
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   825
      initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   826
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   827
      if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   828
	/* nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   829
	nbBytes = 4 - getSDOn2(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   830
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   831
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   832
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   833
	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   834
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   835
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   836
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   837
	}	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   838
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   839
	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   840
	/*The line will be reseted when it is downloading in the dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   841
	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   842
	/* Transfering line data to object dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   843
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   844
	if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   845
	  MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   846
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   847
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   848
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   849
	/* Release of the line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   850
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   851
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   852
      else {/* So, if it is not an expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   853
	if (getSDOs(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   854
	  /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   855
	  nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   856
	  err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   857
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   858
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   859
	    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   860
	  }	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   861
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   862
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   863
      /*Sending a SDO, cs=3*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   864
      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
   865
      sdo.body.data[0] = 3 << 5;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   866
      sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   867
      sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   868
      sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   869
      for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   870
		sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   871
      sendSDO(d, whoami, sdo);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   872
    } /* end if I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   873
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   874
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   875
      /* 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
   876
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   877
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   878
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   879
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   880
	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   881
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   882
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   883
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   884
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   885
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   886
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   887
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   888
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   889
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   890
	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   891
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   892
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   893
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   894
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   895
      /* 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
   896
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   897
      if (nbBytes == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   898
	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   899
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   900
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   901
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   902
	return 0x00;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   903
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   904
      /* At least one transfer to send.	*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   905
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   906
	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   907
	/* code to send the next segment. (cs = 0; c = 0) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   908
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   909
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   910
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   911
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   912
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   913
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   914
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   915
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   916
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   917
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   918
	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   919
	/* code to send the last segment. (cs = 0; c = 1)*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   920
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   921
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   922
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   923
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   924
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   925
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   926
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   927
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   928
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   929
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   930
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   931
      MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   932
      sendSDO(d, whoami, sdo); 
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   933
    } /* end if I am a CLIENT */			  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   934
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   935
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   936
  case 2:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   937
    /* I am SERVER */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   938
    /* Receive of an initiate upload.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   939
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   940
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   941
      subIndex = getSDOsubIndex(m->data[3]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   942
      MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   943
	      nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   944
      MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   945
      MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   946
      /* Search if a SDO transfert have been yet initiated*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   947
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   948
      if (! err) {
12
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   949
	    MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); 
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   950
        MSG_WAR(0x3A93, "nodeId = ", nodeId); 
12
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   951
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   952
	    return 0xFF;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   953
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   954
      /* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   955
      /* Try to open a new line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   956
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   957
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   958
	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
   959
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   960
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   961
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   962
      initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   963
      /* Transfer data from dictionary to the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   964
      errorCode = objdictToSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   965
     
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   966
      if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   967
	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   968
		errorCode); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   969
	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   970
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   971
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   972
      /* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   973
      getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   974
      sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   975
      if (nbBytes > 4) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   976
	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   977
	/* code to send the initiate upload response. (cs = 2) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   978
	sdo.body.data[0] = (2 << 5) | 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   979
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   980
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   981
	sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   982
        sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   983
	/* 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
   984
	/* in the object dictionary, at every index and subindex. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   985
	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   986
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   987
	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   988
	sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   989
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   990
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
   991
	/* Expedited upload. (cs = 2 ; e = 1) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   992
	sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;  
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   993
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   994
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   995
	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   996
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   997
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   998
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   999
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1000
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1001
	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1002
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1003
	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1004
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1005
	sendSDO(d, whoami, sdo); 
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1006
	/* Release the line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1007
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1008
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1009
    } /* end if I am SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1010
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1011
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1012
      /* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1013
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1014
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1015
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1016
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1017
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1018
	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1019
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1020
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1021
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1022
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1023
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1024
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1025
      subIndex = d->transfers[line].subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1026
      
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1027
      if (getSDOe(m->data[0])) { /* If SDO expedited */
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1028
	/* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1029
	  nbBytes = 4 - getSDOn2(m->data[0]);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1030
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1031
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1032
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1033
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1034
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1035
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1036
	/* SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict(). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1037
	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1038
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1039
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1040
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1041
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1042
	return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1043
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1044
      else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1045
	/* Storing the nb of data to receive. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1046
	if (getSDOs(m->data[0])) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1047
	  nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1048
	  err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1049
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1050
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1051
	    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1052
	  }	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1053
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1054
	/* Requesting next segment. (cs = 3) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1055
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1056
	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1057
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1058
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1059
	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1060
	sendSDO(d, whoami, sdo);  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1061
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1062
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1063
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1064
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1065
  case 3:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1066
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1067
    if (whoami == SDO_SERVER) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1068
      /* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1069
      /* A SDO transfert should have been yet initiated. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1070
      err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1071
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1072
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1073
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1074
	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1075
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1076
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1077
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1078
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1079
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1080
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1081
      MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1082
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1083
      subIndex = d->transfers[line].subIndex;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1084
      /* Toggle test.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1085
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1086
	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1087
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1088
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1089
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1090
      /* Uploading next segment. We need to know if it will be the last one. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1091
      getSDOlineRestBytes(d, line, &nbBytes);	  	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1092
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1093
	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1094
	/* code to send the next segment. (cs = 0; c = 0) */
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1095
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1096
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1097
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1098
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1099
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1100
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1101
	}
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1102
	/* Inverting the toggle for the next tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1103
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1104
	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1105
	sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1106
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1107
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1108
	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1109
	/* code to send the last segment. (cs = 0; c = 1) */	    
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
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) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1112
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
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
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1117
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1118
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1119
	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1120
	sendSDO(d, whoami, sdo);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1121
	/* Release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1122
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1123
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1124
    } /* end if SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1125
    else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1126
      /* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1127
      /* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1128
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1129
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1130
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1131
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1132
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1133
	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1134
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1135
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1136
      }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1137
      /* Reset the watchdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1138
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1139
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1140
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1141
      /* End transmission or requesting  next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1142
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1143
      if (nbBytes == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1144
	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1145
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1146
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1147
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1148
	return 0x00;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1149
      }	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1150
      if (nbBytes > 7) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1151
	/* more than one request to send */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1152
	/* code to send the next segment. (cs = 0; c = 0)	*/    
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1153
	sdo.nodeId = nodeId; /** The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1154
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1155
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1156
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1157
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1158
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1159
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1160
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1161
      else {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1162
	/* Last segment.*/
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1163
	/* code to send the last segment. (cs = 0; c = 1)	*/   
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1164
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1165
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1166
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1167
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1168
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1169
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1170
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1171
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1172
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1173
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1174
      MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1175
      sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1176
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1177
    } /* end if I am a CLIENT		*/	  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1178
    break;  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1179
82
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1180
   case 4:
435
509158e51940 Fixed suspicious code in sdo.c
etisserant
parents: 402
diff changeset
  1181
     abortCode = 
509158e51940 Fixed suspicious code in sdo.c
etisserant
parents: 402
diff changeset
  1182
      (UNS32)m->data[4] |
82
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1183
      ((UNS32)m->data[5] << 8) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1184
      ((UNS32)m->data[6] << 16) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1185
      ((UNS32)m->data[7] << 24);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1186
    /* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1187
    /* Looking for the line concerned. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1188
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1189
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1190
      if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1191
	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1192
	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1193
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1194
      else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1195
	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1196
      /* 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
  1197
      /* Its is ok, I think.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1198
    }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1199
    else { /* If I am CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1200
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1201
      if (!err) {
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1202
	/* The line *must* be released by the core program. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1203
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1204
	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
  1205
	d->transfers[line].abortCode = abortCode;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1206
	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
  1207
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
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(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1211
    } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1212
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1213
  default:
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1214
    /* Error : Unknown cs */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1215
    MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1216
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1217
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1218
  } /* End switch */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1219
  return 0;     
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1220
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1221
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1222
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1223
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1224
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1225
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1226
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1227
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1228
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1229
** @param count                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1230
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1231
** @param data                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1232
** @param Callback                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1233
** @param endianize                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1234
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1235
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1236
**/   
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1237
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1238
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1239
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1240
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1241
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1242
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1243
  s_SDO sdo;    /* SDO to transmit */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1244
  UNS8 i, j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1245
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1246
  UNS16     offset;
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1247
  UNS8      *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1248
  UNS8      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1249
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1250
  MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1251
  MSG_WAR(0x3AC1, "                                   At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1252
  MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1253
  MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1254
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1255
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1256
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1257
  if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1258
    MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1259
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1260
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1261
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1262
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1263
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1264
    MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1265
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1266
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1267
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1268
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1269
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1270
  if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1271
    MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1272
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1273
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1274
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1275
   while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1276
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1277
	 MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1278
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1279
     }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1280
     /* looking for the nodeId server */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1281
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1282
     nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1283
     MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1284
     MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1285
   
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1286
    if(nodeIdServer == nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1287
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1288
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1289
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1290
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1291
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1292
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1293
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1294
    MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1295
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1296
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1297
  MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1298
  initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1299
  d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1300
  d->transfers[line].dataType = dataType;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1301
  
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1302
  /* Copy data to transfers structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1303
  for (j = 0 ; j < count ; j++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1304
# ifdef CANOPEN_BIG_ENDIAN
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1305
    if (dataType == 0 && endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1306
      d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1307
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1308
      d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1309
#  else 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1310
    d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1311
#  endif
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1312
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1313
  /* Send the SDO to the server. Initiate download, cs=1. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1314
  sdo.nodeId = nodeId;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1315
  if (count <= 4) { /* Expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1316
    sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1317
    for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1318
      sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1319
    d->transfers[line].offset = count;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1320
  }	
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1321
  else { /** Normal transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1322
    sdo.body.data[0] = (1 << 5) | 1;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1323
    sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1324
    for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1325
      sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1326
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1327
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1328
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1329
  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
  1330
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1331
  d->transfers[line].Callback = Callback;
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1332
    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1333
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1334
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1335
    MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1336
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1337
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1338
    return 0xFF;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1339
  }
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1340
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1341
  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1342
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1343
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1344
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1345
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1346
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1347
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1348
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1349
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1350
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1351
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1352
** @param count                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1353
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1354
** @param data                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1355
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1356
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1357
**/   
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1358
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1359
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1360
{
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1361
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1362
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1363
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1364
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1365
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1366
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1367
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1368
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1369
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1370
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1371
** @param count                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1372
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1373
** @param data                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1374
** @param Callback                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1375
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1376
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1377
**/  
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1378
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, 
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1379
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1380
{
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1381
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);	
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1382
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1383
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1384
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1385
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1386
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1387
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1388
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1389
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1390
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1391
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1392
** @param Callback                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1393
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1394
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1395
**/ 
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1396
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
  1397
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1398
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1399
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1400
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1401
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1402
  s_SDO sdo;    /* SDO to transmit */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1403
  UNS8      *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1404
  UNS8      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1405
  UNS16     offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1406
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1407
  MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1408
  MSG_WAR(0x3AD6, "                                  At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1409
  MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1410
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1411
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1412
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1413
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1414
  if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1415
    MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1416
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1417
  }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1418
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1419
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1420
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1421
    MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1422
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1423
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1424
  else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1425
    MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1426
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1427
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1428
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1429
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1430
  if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1431
    MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1432
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1433
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1434
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1435
  while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1436
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1437
	 MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1438
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1439
     }
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1440
     /* looking for the nodeId server */
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1441
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1442
     nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1443
   
311
adf4a929cf8b Bug on type inconsistency in SDO Client fixed
lbessard
parents: 306
diff changeset
  1444
    if(nodeIdServer == nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1445
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1446
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1447
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1448
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1449
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1450
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1451
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1452
    MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1453
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1454
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1455
  MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1456
  initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1457
  getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1458
  sdo.nodeId = nodeId;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1459
  /* Send the SDO to the server. Initiate upload, cs=2. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1460
  d->transfers[line].dataType = dataType;				
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1461
  sdo.body.data[0] = (2 << 5);	
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1462
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1463
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1464
  sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1465
  for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1466
    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
  1467
  d->transfers[line].Callback = Callback;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1468
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1469
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1470
    MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1471
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1472
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1473
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1474
  }		
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1475
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1476
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1477
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1478
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1479
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1480
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1481
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1482
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1483
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1484
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1485
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1486
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1487
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1488
**/   
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1489
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1490
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1491
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1492
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1493
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1494
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1495
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1496
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1497
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1498
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1499
** @param index                                                                                    
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1500
** @param subIndex                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1501
** @param dataType                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1502
** @param Callback                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1503
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1504
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1505
**/ 
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1506
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1507
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1508
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1509
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1510
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1511
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1512
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1513
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1514
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1515
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1516
** @param data                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1517
** @param size                                                                                     
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1518
** @param abortCode                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1519
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1520
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1521
**/   
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1522
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1523
			       UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1524
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1525
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1526
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1527
  UNS8 line;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1528
  * size = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1529
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1530
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1531
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1532
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1533
    MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1534
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1535
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1536
  if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1537
    return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1538
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1539
  /* Transfert is finished. Put the value in the data. */
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 87
diff changeset
  1540
  * size = (UNS8)d->transfers[line].count;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1541
  for  ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1542
# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1543
    if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1544
      ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1545
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1546
      ( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1547
# else 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1548
    ( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1549
# endif
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1550
  } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1551
  return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1552
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1553
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1554
/*!                                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1555
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1556
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1557
** @param d                                                                                        
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1558
** @param nodeId                                                                                   
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1559
** @param abortCode                                                                                
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1560
**                                                                                                 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1561
** @return                                                                                         
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents: 174
diff changeset
  1562
**/  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1563
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1564
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1565
  UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1566
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1567
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1568
  * abortCode = 0;
215
f49e5a6b7804 Manual and Documentation finish
nico
parents: 208
diff changeset
  1569
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1570
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1571
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1572
    MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1573
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1574
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1575
  * abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1576
  return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1577
}