| author | greg |
| Tue, 29 Jan 2008 09:07:46 +0100 | |
| changeset 372 | 6110d75707c8 |
| parent 370 | 6fecf36df407 |
| child 378 | d2abf6c8c27b |
| permissions | -rw-r--r-- |
| 0 | 1 |
/* |
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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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| 208 | 22 |
/*! |
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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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| 0 | 34 |
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#include "objacces.h" |
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#include "sdo.h" |
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| 149 | 37 |
#include "canfestival.h" |
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#include "sysdep.h" |
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/* Uncomment if your compiler does not support inline functions */ |
| 86 | 41 |
#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 |
| 71 | 47 |
#endif |
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| 53 | 49 |
/*Internals prototypes*/ |
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| 208 | 51 |
/*! |
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** Called by writeNetworkDict |
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53 |
** |
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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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59 |
** @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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| 71 | 66 |
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); |
| 53 | 68 |
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| 208 | 69 |
/*! |
70 |
** Called by readNetworkDict |
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71 |
** |
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** @param d |
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73 |
** @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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| 71 | 81 |
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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/***************************************************************************/ |
| 71 | 86 |
/* SDO (un)packing macros */ |
| 0 | 87 |
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88 |
/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO |
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89 |
*/ |
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90 |
#define getSDOcs(byte) (byte >> 5) |
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91 |
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92 |
/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits |
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93 |
*/ |
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#define getSDOn2(byte) ((byte >> 2) & 3) |
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95 |
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96 |
/** 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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99 |
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100 |
/** 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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103 |
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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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107 |
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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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111 |
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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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115 |
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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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| 208 | 124 |
/*! |
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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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| 0 | 130 |
void SDOTimeoutAlarm(CO_Data* d, UNS32 id) |
131 |
{
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132 |
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 */ |
| 0 | 137 |
d->transfers[id].timer = TIMER_NONE; |
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/*Set aborted state*/ |
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0248c2b148bb
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d->transfers[id].state = SDO_ABORTED_INTERNAL; |
| 71 | 140 |
/* Sending a SDO abort */ |
| 0 | 141 |
sendSDOabort(d, d->transfers[id].whoami, |
142 |
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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0248c2b148bb
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/* Call the user function to inform of the problem.*/ |
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0248c2b148bb
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if(d->transfers[id].Callback) |
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0248c2b148bb
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etisserant
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/*If ther is a callback, it is responsible to close SDO transfer (client)*/ |
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0248c2b148bb
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(*d->transfers[id].Callback)(d,d->transfers[id].nodeId); |
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0248c2b148bb
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else if(d->transfers[id].whoami == SDO_SERVER) |
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0248c2b148bb
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/*Else, if server, reset the line*/ |
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0248c2b148bb
Removed SDOTimeout application callback.Please use SDO callbacks instead.
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resetSDOline(d, (UNS8)id); |
| 0 | 151 |
} |
152 |
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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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164 |
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| 208 | 165 |
/*! |
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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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| 0 | 170 |
void resetSDO (CO_Data* d) |
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{
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UNS8 j; |
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| 215 | 174 |
/* transfer structure initialization */ |
| 0 | 175 |
for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) |
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resetSDOline(d, j); |
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} |
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178 |
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| 208 | 179 |
/*! |
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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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| 0 | 187 |
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line) |
188 |
{
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UNS8 size; |
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UNS32 errorCode; |
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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
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0
diff
changeset
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MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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size = (UNS8)d->transfers[line].count; |
| 0 | 193 |
errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, |
194 |
(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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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
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MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line); |
| 0 | 198 |
return 0; |
199 |
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} |
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| 208 | 202 |
/*! |
203 |
** |
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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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| 0 | 210 |
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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| 12 | 216 |
MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index); |
217 |
MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex); |
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| 0 | 218 |
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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, 0); |
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||
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if (errorCode != OD_SUCCESSFUL) |
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return errorCode; |
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227 |
d->transfers[line].count = size; |
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d->transfers[line].offset = 0; |
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| 12 | 229 |
#if 0 |
| 208 | 230 |
/*Me laisser a, please ! (FD)*/ |
| 12 | 231 |
{
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UNS8 i; |
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for (i = 0 ; i < 10 ; i++) {
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MSG_WAR(i, "data= ", d->transfers[line].data[i]); |
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} |
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} |
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#endif |
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| 0 | 238 |
return 0; |
239 |
} |
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| 208 | 241 |
/*! |
242 |
** |
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243 |
** |
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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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249 |
** @return |
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**/ |
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| 0 | 251 |
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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||
255 |
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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etisserant
parents:
87
diff
changeset
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263 |
offset = (UNS8)d->transfers[line].offset; |
| 0 | 264 |
for (i = 0 ; i < nbBytes ; i++) |
265 |
* (data + i) = d->transfers[line].data[offset + i]; |
|
266 |
d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
|
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return 0; |
|
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} |
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269 |
||
| 208 | 270 |
/*! |
271 |
** |
|
272 |
** |
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273 |
** @param d |
|
274 |
** @param line |
|
275 |
** @param nbBytes |
|
276 |
** @param data |
|
277 |
** |
|
278 |
** @return |
|
279 |
**/ |
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| 0 | 280 |
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) |
281 |
{
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|
282 |
UNS8 i; |
|
283 |
UNS8 offset; |
|
284 |
||
285 |
if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
|
|
286 |
MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
287 |
return 0xFF; |
|
288 |
} |
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e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
87
diff
changeset
|
289 |
offset = (UNS8)d->transfers[line].offset; |
| 0 | 290 |
for (i = 0 ; i < nbBytes ; i++) |
291 |
d->transfers[line].data[offset + i] = * (data + i); |
|
292 |
d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
|
293 |
return 0; |
|
294 |
} |
|
295 |
||
| 208 | 296 |
/*! |
297 |
** |
|
298 |
** |
|
299 |
** @param d |
|
300 |
** @param nodeId |
|
301 |
** @param whoami |
|
302 |
** @param index |
|
303 |
** @param subIndex |
|
304 |
** @param abortCode |
|
305 |
** |
|
306 |
** @return |
|
307 |
**/ |
|
| 0 | 308 |
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, |
309 |
UNS8 subIndex, UNS32 abortCode) |
|
310 |
{
|
|
311 |
UNS8 err; |
|
312 |
UNS8 line; |
|
313 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
| 71 | 314 |
if (!err) /* If a line on use have been found.*/ |
| 0 | 315 |
MSG_WAR(0x3A20, "FailedSDO : line found : ", line); |
316 |
if ((! err) && (whoami == SDO_SERVER)) {
|
|
317 |
resetSDOline( d, line ); |
|
318 |
MSG_WAR(0x3A21, "FailedSDO : line released : ", line); |
|
319 |
} |
|
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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
|
320 |
if ((! err) && (whoami == SDO_CLIENT)) {
|
|
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
321 |
StopSDO_TIMER(line); |
| 0 | 322 |
d->transfers[line].state = SDO_ABORTED_INTERNAL; |
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
323 |
} |
| 0 | 324 |
MSG_WAR(0x3A22, "Sending SDO abort ", 0); |
325 |
err = sendSDOabort(d, whoami, index, subIndex, abortCode); |
|
326 |
if (err) {
|
|
327 |
MSG_WAR(0x3A23, "Unable to send the SDO abort", 0); |
|
328 |
return 0xFF; |
|
329 |
} |
|
330 |
return 0; |
|
331 |
} |
|
332 |
||
| 208 | 333 |
/*! |
334 |
** |
|
335 |
** |
|
336 |
** @param d |
|
337 |
** @param line |
|
338 |
**/ |
|
| 0 | 339 |
void resetSDOline ( CO_Data* d, UNS8 line ) |
340 |
{
|
|
341 |
UNS8 i; |
|
|
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
|
342 |
MSG_WAR(0x3A25, "reset SDO line nb : ", line); |
| 0 | 343 |
initSDOline(d, line, 0, 0, 0, SDO_RESET); |
344 |
for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++) |
|
345 |
d->transfers[line].data[i] = 0; |
|
346 |
} |
|
347 |
||
| 208 | 348 |
/*! |
349 |
** |
|
350 |
** |
|
351 |
** @param d |
|
352 |
** @param line |
|
353 |
** @param nodeId |
|
354 |
** @param index |
|
355 |
** @param subIndex |
|
356 |
** @param state |
|
357 |
** |
|
358 |
** @return |
|
359 |
**/ |
|
| 0 | 360 |
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state) |
361 |
{
|
|
|
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
|
362 |
MSG_WAR(0x3A25, "init SDO line nb : ", line); |
| 0 | 363 |
if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
|
364 |
StartSDO_TIMER(line) |
|
365 |
}else{
|
|
366 |
StopSDO_TIMER(line) |
|
367 |
} |
|
368 |
d->transfers[line].nodeId = nodeId; |
|
369 |
d->transfers[line].index = index; |
|
370 |
d->transfers[line].subIndex = subIndex; |
|
371 |
d->transfers[line].state = state; |
|
372 |
d->transfers[line].toggle = 0; |
|
373 |
d->transfers[line].count = 0; |
|
374 |
d->transfers[line].offset = 0; |
|
375 |
d->transfers[line].dataType = 0; |
|
| 32 | 376 |
d->transfers[line].Callback = NULL; |
| 0 | 377 |
return 0; |
378 |
} |
|
379 |
||
| 208 | 380 |
/*! |
381 |
** |
|
382 |
** |
|
383 |
** @param d |
|
384 |
** @param whoami |
|
385 |
** @param line |
|
386 |
** |
|
387 |
** @return |
|
388 |
**/ |
|
| 0 | 389 |
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line ) |
390 |
{
|
|
391 |
||
392 |
UNS8 i; |
|
393 |
||
394 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
395 |
if ( d->transfers[i].state == SDO_RESET ) {
|
|
396 |
*line = i; |
|
397 |
d->transfers[i].whoami = whoami; |
|
398 |
return 0; |
|
| 71 | 399 |
} /* end if */ |
400 |
} /* end for */ |
|
| 0 | 401 |
MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i); |
402 |
return 0xFF; |
|
403 |
} |
|
404 |
||
| 208 | 405 |
/*! |
406 |
** |
|
407 |
** |
|
408 |
** @param d |
|
409 |
** @param nodeId |
|
410 |
** @param whoami |
|
411 |
** @param line |
|
412 |
** |
|
413 |
** @return |
|
414 |
**/ |
|
| 0 | 415 |
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) |
416 |
{
|
|
417 |
||
418 |
UNS8 i; |
|
419 |
||
420 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
421 |
if ( (d->transfers[i].state != SDO_RESET) && |
|
422 |
(d->transfers[i].nodeId == nodeId) && |
|
423 |
(d->transfers[i].whoami == whoami) ) {
|
|
424 |
*line = i; |
|
425 |
return 0; |
|
426 |
} |
|
427 |
} |
|
428 |
return 0xFF; |
|
429 |
} |
|
430 |
||
| 208 | 431 |
/*! |
432 |
** |
|
433 |
** |
|
434 |
** @param d |
|
435 |
** @param nodeId |
|
436 |
** @param whoami |
|
437 |
** |
|
438 |
** @return |
|
439 |
**/ |
|
| 0 | 440 |
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami) |
441 |
{
|
|
442 |
UNS8 err; |
|
443 |
UNS8 line; |
|
444 |
err = getSDOlineOnUse(d, nodeId, whoami, &line); |
|
445 |
if (err) {
|
|
446 |
MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); |
|
447 |
return 0xFF; |
|
448 |
} |
|
449 |
resetSDOline(d, line); |
|
450 |
return 0; |
|
451 |
} |
|
452 |
||
| 208 | 453 |
/*! |
454 |
** |
|
455 |
** |
|
456 |
** @param d |
|
457 |
** @param line |
|
458 |
** @param nbBytes |
|
459 |
** |
|
460 |
** @return |
|
461 |
**/ |
|
| 0 | 462 |
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes) |
463 |
{
|
|
| 71 | 464 |
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */ |
| 0 | 465 |
* nbBytes = 0; |
466 |
else |
|
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
87
diff
changeset
|
467 |
* nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset; |
| 0 | 468 |
return 0; |
469 |
} |
|
470 |
||
| 208 | 471 |
/*! |
472 |
** |
|
473 |
** |
|
474 |
** @param d |
|
475 |
** @param line |
|
476 |
** @param nbBytes |
|
477 |
** |
|
478 |
** @return |
|
479 |
**/ |
|
| 0 | 480 |
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes) |
481 |
{
|
|
482 |
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
|
|
483 |
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
484 |
return 0xFF; |
|
485 |
} |
|
486 |
d->transfers[line].count = nbBytes; |
|
487 |
return 0; |
|
488 |
} |
|
489 |
||
| 208 | 490 |
/*! |
491 |
** |
|
492 |
** |
|
493 |
** @param d |
|
494 |
** @param whoami |
|
495 |
** @param sdo |
|
496 |
** |
|
497 |
** @return |
|
498 |
**/ |
|
| 0 | 499 |
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo) |
500 |
{
|
|
501 |
UNS16 offset; |
|
502 |
UNS16 lastIndex; |
|
503 |
UNS8 found = 0; |
|
504 |
Message m; |
|
505 |
UNS8 i; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
506 |
UNS16 * 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
|
507 |
UNS8 * pwNodeId = NULL; |
| 0 | 508 |
|
509 |
MSG_WAR(0x3A38, "sendSDO",0); |
|
510 |
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
|
|
511 |
MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
|
512 |
return 0xFF; |
|
513 |
} |
|
514 |
||
| 215 | 515 |
/*get the server->client cobid*/ |
516 |
if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
|
|
| 0 | 517 |
offset = d->firstIndex->SDO_SVR; |
518 |
if (offset == 0) {
|
|
519 |
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); |
|
520 |
return 0xFF; |
|
521 |
} |
|
|
217
94c3f89bc3cc
Fixed compile error because of missed type casting in certain compiler (http://www.iar.se/). Thanks to Raphael Studer
etisserant
parents:
215
diff
changeset
|
522 |
pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject; |
| 0 | 523 |
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); |
524 |
} |
|
| 215 | 525 |
else { /*case client*/
|
526 |
/* Get the client->server cobid.*/ |
|
| 0 | 527 |
UNS16 sdoNum = 0; |
528 |
offset = d->firstIndex->SDO_CLT; |
|
529 |
lastIndex = d->lastIndex->SDO_CLT; |
|
530 |
if (offset == 0) {
|
|
531 |
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); |
|
532 |
return 0xFF; |
|
533 |
} |
|
| 215 | 534 |
/* First, have to find at the index where is defined the communication with the server node */ |
| 0 | 535 |
while (offset <= lastIndex){
|
536 |
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum); |
|
537 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
538 |
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum); |
|
539 |
return 0xFF; |
|
540 |
} |
|
|
306
3586cfa84705
Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents:
217
diff
changeset
|
541 |
pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 542 |
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId); |
543 |
if(*pwNodeId == sdo.nodeId) {
|
|
544 |
found = 1; |
|
545 |
break; |
|
546 |
} |
|
547 |
offset ++; |
|
548 |
sdoNum ++; |
|
549 |
} |
|
550 |
if (! found){
|
|
551 |
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId); |
|
552 |
return 0xFF; |
|
553 |
} |
|
| 215 | 554 |
/* Second, read the cobid client->server */ |
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
555 |
pwCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject; |
| 0 | 556 |
} |
| 215 | 557 |
/* message copy for sending */ |
| 365 | 558 |
m.cob_id = *pwCobId; |
| 0 | 559 |
m.rtr = NOT_A_REQUEST; |
| 215 | 560 |
/* the length of SDO must be 8 */ |
| 0 | 561 |
m.len = 8; |
562 |
for (i = 0 ; i < 8 ; i++) {
|
|
563 |
m.data[i] = sdo.body.data[i]; |
|
564 |
} |
|
| 149 | 565 |
return canSend(d->canHandle,&m); |
| 0 | 566 |
} |
567 |
||
| 208 | 568 |
/*! |
569 |
** |
|
570 |
** |
|
571 |
** @param d |
|
572 |
** @param whoami |
|
573 |
** @param index |
|
574 |
** @param subIndex |
|
575 |
** @param abortCode |
|
576 |
** |
|
577 |
** @return |
|
578 |
**/ |
|
| 0 | 579 |
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode) |
580 |
{
|
|
581 |
s_SDO sdo; |
|
582 |
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
|
583 |
MSG_WAR(0x2A50,"Sending SDO abort ", abortCode); |
| 0 | 584 |
sdo.nodeId = *d->bDeviceNodeId; |
585 |
sdo.body.data[0] = 0x80; |
|
| 71 | 586 |
/* Index */ |
587 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
|
588 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
589 |
/* Subindex */ |
|
| 0 | 590 |
sdo.body.data[3] = subIndex; |
| 71 | 591 |
/* Data */ |
| 0 | 592 |
sdo.body.data[4] = (UNS8)(abortCode & 0xFF); |
593 |
sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF); |
|
594 |
sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF); |
|
595 |
sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF); |
|
596 |
ret = sendSDO(d, whoami, sdo); |
|
597 |
||
598 |
return ret; |
|
599 |
} |
|
600 |
||
| 208 | 601 |
/*! |
602 |
** |
|
603 |
** |
|
604 |
** @param d |
|
605 |
** @param m |
|
606 |
** |
|
607 |
** @return |
|
608 |
**/ |
|
| 0 | 609 |
UNS8 proceedSDO (CO_Data* d, Message *m) |
610 |
{
|
|
611 |
UNS8 err; |
|
612 |
UNS8 line; |
|
| 215 | 613 |
UNS8 nbBytes; /* received or to be transmited. */ |
614 |
UNS8 nodeId = 0; /* The node from which the SDO is received */ |
|
| 311 | 615 |
UNS8 *pNodeId = NULL; |
| 215 | 616 |
UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ |
617 |
UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ |
|
618 |
s_SDO sdo; /* SDO to transmit */ |
|
| 0 | 619 |
UNS16 index; |
620 |
UNS8 subIndex; |
|
621 |
UNS32 abortCode; |
|
622 |
UNS8 i,j; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
623 |
UNS16 *pCobId = NULL; |
| 0 | 624 |
UNS16 offset; |
625 |
UNS16 lastIndex; |
|
626 |
||
627 |
MSG_WAR(0x3A60, "proceedSDO ", 0); |
|
628 |
whoami = SDO_UNKNOWN; |
|
| 215 | 629 |
/* Looking for the cobId in the object dictionary. */ |
630 |
/* Am-I a server ? */ |
|
| 0 | 631 |
offset = d->firstIndex->SDO_SVR; |
632 |
lastIndex = d->lastIndex->SDO_SVR; |
|
633 |
j = 0; |
|
634 |
if(offset) while (offset <= lastIndex) {
|
|
635 |
if (d->objdict[offset].bSubCount <= 1) {
|
|
636 |
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j); |
|
637 |
return 0xFF; |
|
638 |
} |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
639 |
pCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject; |
| 365 | 640 |
if ( *pCobId == (*m).cob_id ) {
|
| 0 | 641 |
whoami = SDO_SERVER; |
642 |
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j); |
|
| 215 | 643 |
/* In case of server, the node id of the client may be unknown. So we put the index minus offset */ |
644 |
/* 0x1200 where the cobid received is defined. */ |
|
| 0 | 645 |
nodeId = j; |
646 |
break; |
|
647 |
} |
|
648 |
j++; |
|
649 |
offset++; |
|
| 215 | 650 |
} /* end while */ |
| 0 | 651 |
if (whoami == SDO_UNKNOWN) {
|
| 215 | 652 |
/* Am-I client ? */ |
| 0 | 653 |
offset = d->firstIndex->SDO_CLT; |
654 |
lastIndex = d->lastIndex->SDO_CLT; |
|
655 |
j = 0; |
|
656 |
if(offset) while (offset <= lastIndex) {
|
|
657 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
658 |
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j); |
|
659 |
return 0xFF; |
|
660 |
} |
|
| 215 | 661 |
/* a) Looking for the cobid received. */ |
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
662 |
pCobId = (UNS16*) d->objdict[offset].pSubindex[2].pObject; |
| 365 | 663 |
if (*pCobId == (*m).cob_id ) {
|
| 215 | 664 |
/* b) cobid found, so reading the node id of the server. */ |
| 311 | 665 |
pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 666 |
whoami = SDO_CLIENT; |
| 311 | 667 |
nodeId = *pNodeId; |
| 0 | 668 |
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
669 |
MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
|
670 |
break; |
|
671 |
} |
|
672 |
j++; |
|
673 |
offset++; |
|
| 71 | 674 |
} /* end while */ |
| 0 | 675 |
} |
676 |
if (whoami == SDO_UNKNOWN) {
|
|
| 215 | 677 |
return 0xFF;/* This SDO was not for us ! */ |
678 |
} |
|
679 |
||
680 |
/* Test if the size of the SDO is ok */ |
|
| 0 | 681 |
if ( (*m).len != 8) {
|
| 365 | 682 |
MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id); |
| 0 | 683 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR); |
684 |
return 0xFF; |
|
685 |
} |
|
686 |
||
687 |
if (whoami == SDO_CLIENT) {
|
|
688 |
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId); |
|
689 |
} |
|
690 |
else {
|
|
| 365 | 691 |
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id); |
| 0 | 692 |
} |
693 |
||
| 215 | 694 |
/* Testing the command specifier */ |
695 |
/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */ |
|
696 |
/* cs = other : Not allowed -> abort. */ |
|
| 0 | 697 |
switch (getSDOcs(m->data[0])) {
|
698 |
||
699 |
case 0: |
|
| 215 | 700 |
/* I am SERVER */ |
| 0 | 701 |
if (whoami == SDO_SERVER) {
|
| 215 | 702 |
/* Receiving a download segment data. */ |
703 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 704 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
705 |
if (!err) |
|
706 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
707 |
if (err) {
|
|
708 |
MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", |
|
709 |
nodeId); |
|
710 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
711 |
return 0xFF; |
|
712 |
} |
|
| 215 | 713 |
/* Reset the wathdog */ |
| 0 | 714 |
RestartSDO_TIMER(line) |
715 |
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); |
|
716 |
index = d->transfers[line].index; |
|
717 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 718 |
/* Toggle test. */ |
| 0 | 719 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
720 |
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
721 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
722 |
return 0xFF; |
|
723 |
} |
|
| 215 | 724 |
/* Nb of data to be downloaded */ |
| 0 | 725 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 215 | 726 |
/* Store the data in the transfert structure. */ |
| 0 | 727 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
728 |
if (err) {
|
|
729 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
730 |
return 0xFF; |
|
731 |
} |
|
| 215 | 732 |
/* Sending the SDO response, CS = 1 */ |
733 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */ |
|
| 0 | 734 |
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4); |
735 |
for (i = 1 ; i < 8 ; i++) |
|
736 |
sdo.body.data[i] = 0; |
|
737 |
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); |
|
738 |
sendSDO(d, whoami, sdo); |
|
| 215 | 739 |
/* Inverting the toggle for the next segment. */ |
| 0 | 740 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 215 | 741 |
/* If it was the last segment, */ |
| 0 | 742 |
if (getSDOc(m->data[0])) {
|
| 215 | 743 |
/* Transfering line data to object dictionary. */ |
744 |
/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */ |
|
| 0 | 745 |
errorCode = SDOlineToObjdict(d, line); |
746 |
if (errorCode) {
|
|
747 |
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
748 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
749 |
return 0xFF; |
|
750 |
} |
|
| 215 | 751 |
/* Release of the line */ |
| 0 | 752 |
resetSDOline(d, line); |
753 |
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); |
|
754 |
} |
|
| 71 | 755 |
} /* end if SERVER */ |
756 |
else { /* if CLIENT */
|
|
| 215 | 757 |
/* I am CLIENT */ |
758 |
/* It is a request for a previous upload segment. We should find a line opened for this.*/ |
|
| 0 | 759 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
760 |
if (!err) |
|
761 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
762 |
if (err) {
|
|
763 |
MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
764 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
765 |
return 0xFF; |
|
766 |
} |
|
| 215 | 767 |
/* Reset the wathdog */ |
| 0 | 768 |
RestartSDO_TIMER(line) |
769 |
index = d->transfers[line].index; |
|
770 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 771 |
/* test of the toggle; */ |
| 0 | 772 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
773 |
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
774 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
775 |
return 0xFF; |
|
776 |
} |
|
| 215 | 777 |
/* nb of data to be uploaded */ |
| 0 | 778 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 215 | 779 |
/* Storing the data in the line structure. */ |
| 0 | 780 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
781 |
if (err) {
|
|
782 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
783 |
return 0xFF; |
|
784 |
} |
|
| 215 | 785 |
/* Inverting the toggle for the next segment. */ |
| 0 | 786 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 215 | 787 |
/* If it was the last segment,*/ |
| 0 | 788 |
if ( getSDOc(m->data[0])) {
|
| 215 | 789 |
/* Put in state finished */ |
790 |
/* The code is safe for the case e=s=0 in initiate frame. */ |
|
| 0 | 791 |
StopSDO_TIMER(line) |
792 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 793 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
794 |
||
| 0 | 795 |
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId); |
796 |
} |
|
| 215 | 797 |
else { /* more segments to receive */
|
798 |
/* Sending the request for the next segment. */ |
|
| 0 | 799 |
sdo.nodeId = nodeId; |
800 |
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4); |
|
801 |
for (i = 1 ; i < 8 ; i++) |
|
802 |
sdo.body.data[i] = 0; |
|
803 |
sendSDO(d, whoami, sdo); |
|
804 |
MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId); |
|
805 |
} |
|
| 71 | 806 |
} /* End if CLIENT */ |
| 0 | 807 |
break; |
808 |
||
809 |
case 1: |
|
| 215 | 810 |
/* I am SERVER */ |
811 |
/* Receive of an initiate download */ |
|
| 0 | 812 |
if (whoami == SDO_SERVER) {
|
813 |
index = getSDOindex(m->data[1],m->data[2]); |
|
814 |
subIndex = getSDOsubIndex(m->data[3]); |
|
815 |
MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", |
|
816 |
nodeId); |
|
817 |
MSG_WAR(0x3A80, "Writing at index : ", index); |
|
818 |
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex); |
|
819 |
||
| 215 | 820 |
/* Search if a SDO transfert have been yet initiated */ |
| 0 | 821 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
822 |
if (! err) {
|
|
823 |
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); |
|
824 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
825 |
return 0xFF; |
|
826 |
} |
|
| 215 | 827 |
/* No line on use. Great ! */ |
828 |
/* Try to open a new line. */ |
|
| 0 | 829 |
err = getSDOfreeLine( d, whoami, &line ); |
830 |
if (err) {
|
|
831 |
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
832 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
833 |
return 0xFF; |
|
834 |
} |
|
835 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
836 |
||
| 215 | 837 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
838 |
/* nb of data to be downloaded */ |
|
| 0 | 839 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 215 | 840 |
/* Storing the data in the line structure. */ |
| 0 | 841 |
d->transfers[line].count = nbBytes; |
842 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
|
843 |
||
844 |
if (err) {
|
|
845 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
846 |
return 0xFF; |
|
847 |
} |
|
848 |
||
| 215 | 849 |
/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */ |
850 |
/*The line will be reseted when it is downloading in the dictionary. */ |
|
| 0 | 851 |
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId); |
| 215 | 852 |
/* Transfering line data to object dictionary. */ |
| 0 | 853 |
errorCode = SDOlineToObjdict(d, line); |
854 |
if (errorCode) {
|
|
855 |
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
856 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
857 |
return 0xFF; |
|
858 |
} |
|
| 215 | 859 |
/* Release of the line. */ |
| 0 | 860 |
resetSDOline(d, line); |
861 |
} |
|
| 215 | 862 |
else {/* So, if it is not an expedited transfert */
|
| 0 | 863 |
if (getSDOs(m->data[0])) {
|
| 215 | 864 |
/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */ |
865 |
nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */ |
|
| 0 | 866 |
err = setSDOlineRestBytes(d, nodeId, nbBytes); |
867 |
if (err) {
|
|
868 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
869 |
return 0xFF; |
|
870 |
} |
|
871 |
} |
|
872 |
} |
|
| 215 | 873 |
/*Sending a SDO, cs=3*/ |
874 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/ |
|
| 0 | 875 |
sdo.body.data[0] = 3 << 5; |
| 71 | 876 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
877 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 878 |
sdo.body.data[3] = subIndex; |
879 |
for (i = 4 ; i < 8 ; i++) |
|
880 |
sdo.body.data[i] = 0; |
|
881 |
sendSDO(d, whoami, sdo); |
|
| 71 | 882 |
} /* end if I am SERVER */ |
| 0 | 883 |
else {
|
| 215 | 884 |
/* I am CLIENT */ |
885 |
/* It is a response for a previous download segment. We should find a line opened for this. */ |
|
| 0 | 886 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
887 |
if (!err) |
|
888 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
889 |
if (err) {
|
|
890 |
MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
891 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
892 |
return 0xFF; |
|
893 |
} |
|
| 215 | 894 |
/* Reset the wathdog */ |
| 0 | 895 |
RestartSDO_TIMER(line) |
896 |
index = d->transfers[line].index; |
|
897 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 898 |
/* test of the toggle; */ |
| 0 | 899 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
900 |
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
901 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
902 |
return 0xFF; |
|
903 |
} |
|
904 |
||
| 215 | 905 |
/* End transmission or downloading next segment. We need to know if it will be the last one. */ |
| 0 | 906 |
getSDOlineRestBytes(d, line, &nbBytes); |
907 |
if (nbBytes == 0) {
|
|
908 |
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); |
|
909 |
StopSDO_TIMER(line) |
|
910 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 911 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 912 |
return 0x00; |
913 |
} |
|
| 215 | 914 |
/* At least one transfer to send. */ |
| 0 | 915 |
if (nbBytes > 7) {
|
| 215 | 916 |
/* several segments to download.*/ |
917 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 0 | 918 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 919 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 920 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
921 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
922 |
if (err) {
|
|
923 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
924 |
return 0xFF; |
|
925 |
} |
|
926 |
} |
|
927 |
else {
|
|
| 215 | 928 |
/* Last segment. */ |
929 |
/* code to send the last segment. (cs = 0; c = 1)*/ |
|
| 0 | 930 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 931 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 932 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
933 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
934 |
if (err) {
|
|
935 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
936 |
return 0xFF; |
|
937 |
} |
|
938 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
939 |
sdo.body.data[i] = 0; |
|
940 |
} |
|
941 |
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); |
|
942 |
sendSDO(d, whoami, sdo); |
|
| 215 | 943 |
} /* end if I am a CLIENT */ |
| 0 | 944 |
break; |
945 |
||
946 |
case 2: |
|
| 215 | 947 |
/* I am SERVER */ |
948 |
/* Receive of an initiate upload.*/ |
|
| 0 | 949 |
if (whoami == SDO_SERVER) {
|
950 |
index = getSDOindex(m->data[1],m->data[2]); |
|
951 |
subIndex = getSDOsubIndex(m->data[3]); |
|
952 |
MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", |
|
953 |
nodeId); |
|
954 |
MSG_WAR(0x3A90, "Reading at index : ", index); |
|
955 |
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex); |
|
| 215 | 956 |
/* Search if a SDO transfert have been yet initiated*/ |
| 0 | 957 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
958 |
if (! err) {
|
|
| 12 | 959 |
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); |
| 0 | 960 |
MSG_WAR(0x3A93, "nodeId = ", nodeId); |
| 12 | 961 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
962 |
return 0xFF; |
|
| 0 | 963 |
} |
| 215 | 964 |
/* No line on use. Great !*/ |
965 |
/* Try to open a new line.*/ |
|
| 0 | 966 |
err = getSDOfreeLine( d, whoami, &line ); |
967 |
if (err) {
|
|
968 |
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
969 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
970 |
return 0xFF; |
|
971 |
} |
|
972 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
| 215 | 973 |
/* Transfer data from dictionary to the line structure. */ |
| 0 | 974 |
errorCode = objdictToSDOline(d, line); |
975 |
||
976 |
if (errorCode) {
|
|
977 |
MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", |
|
978 |
errorCode); |
|
979 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
980 |
return 0xFF; |
|
981 |
} |
|
| 215 | 982 |
/* Preparing the response.*/ |
983 |
getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */ |
|
984 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 985 |
if (nbBytes > 4) {
|
| 215 | 986 |
/* normal transfert. (segmented). */ |
987 |
/* code to send the initiate upload response. (cs = 2) */ |
|
| 0 | 988 |
sdo.body.data[0] = (2 << 5) | 1; |
| 71 | 989 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
990 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 991 |
sdo.body.data[3] = subIndex; |
| 71 | 992 |
sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/ |
| 215 | 993 |
/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */ |
994 |
/* in the object dictionary, at every index and subindex. */ |
|
| 0 | 995 |
for (i = 5 ; i < 8 ; i++) |
996 |
sdo.body.data[i] = 0; |
|
997 |
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); |
|
998 |
sendSDO(d, whoami, sdo); |
|
999 |
} |
|
1000 |
else {
|
|
| 215 | 1001 |
/* Expedited upload. (cs = 2 ; e = 1) */ |
| 0 | 1002 |
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3; |
| 71 | 1003 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1004 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1005 |
sdo.body.data[3] = subIndex; |
1006 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 4); |
|
1007 |
if (err) {
|
|
1008 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1009 |
return 0xFF; |
|
1010 |
} |
|
1011 |
for (i = 4 + nbBytes ; i < 8 ; i++) |
|
1012 |
sdo.body.data[i] = 0; |
|
1013 |
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", |
|
1014 |
nodeId); |
|
1015 |
sendSDO(d, whoami, sdo); |
|
| 215 | 1016 |
/* Release the line.*/ |
| 0 | 1017 |
resetSDOline(d, line); |
1018 |
} |
|
| 215 | 1019 |
} /* end if I am SERVER*/ |
| 0 | 1020 |
else {
|
| 215 | 1021 |
/* I am CLIENT */ |
1022 |
/* It is the response for the previous initiate upload request.*/ |
|
1023 |
/* We should find a line opened for this. */ |
|
| 0 | 1024 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
1025 |
if (!err) |
|
1026 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
1027 |
if (err) {
|
|
1028 |
MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); |
|
1029 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1030 |
return 0xFF; |
|
1031 |
} |
|
| 215 | 1032 |
/* Reset the wathdog */ |
| 0 | 1033 |
RestartSDO_TIMER(line) |
1034 |
index = d->transfers[line].index; |
|
1035 |
subIndex = d->transfers[line].subIndex; |
|
1036 |
||
| 71 | 1037 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
| 215 | 1038 |
/* nb of data to be uploaded */ |
| 0 | 1039 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 215 | 1040 |
/* Storing the data in the line structure. */ |
| 0 | 1041 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
1042 |
if (err) {
|
|
1043 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1044 |
return 0xFF; |
|
1045 |
} |
|
| 215 | 1046 |
/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */ |
| 0 | 1047 |
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId); |
1048 |
StopSDO_TIMER(line) |
|
1049 |
d->transfers[line].count = nbBytes; |
|
1050 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 1051 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1052 |
return 0; |
1053 |
} |
|
| 215 | 1054 |
else { /* So, if it is not an expedited transfert */
|
1055 |
/* Storing the nb of data to receive. */ |
|
| 0 | 1056 |
if (getSDOs(m->data[0])) {
|
| 215 | 1057 |
nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */ |
| 0 | 1058 |
err = setSDOlineRestBytes(d, line, nbBytes); |
1059 |
if (err) {
|
|
1060 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1061 |
return 0xFF; |
|
1062 |
} |
|
1063 |
} |
|
| 215 | 1064 |
/* Requesting next segment. (cs = 3) */ |
| 0 | 1065 |
sdo.nodeId = nodeId; |
1066 |
sdo.body.data[0] = 3 << 5; |
|
1067 |
for (i = 1 ; i < 8 ; i++) |
|
1068 |
sdo.body.data[i] = 0; |
|
1069 |
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); |
|
1070 |
sendSDO(d, whoami, sdo); |
|
1071 |
} |
|
| 215 | 1072 |
} /* End if CLIENT */ |
| 0 | 1073 |
break; |
1074 |
||
1075 |
case 3: |
|
| 215 | 1076 |
/* I am SERVER */ |
| 0 | 1077 |
if (whoami == SDO_SERVER) {
|
| 215 | 1078 |
/* Receiving a upload segment. */ |
1079 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 1080 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
1081 |
if (!err) |
|
1082 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
1083 |
if (err) {
|
|
1084 |
MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", |
|
1085 |
nodeId); |
|
1086 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1087 |
return 0xFF; |
|
1088 |
} |
|
| 215 | 1089 |
/* Reset the wathdog */ |
| 0 | 1090 |
RestartSDO_TIMER(line) |
1091 |
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); |
|
1092 |
index = d->transfers[line].index; |
|
1093 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 1094 |
/* Toggle test.*/ |
| 0 | 1095 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
1096 |
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
1097 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
1098 |
return 0xFF; |
|
1099 |
} |
|
| 215 | 1100 |
/* Uploading next segment. We need to know if it will be the last one. */ |
| 0 | 1101 |
getSDOlineRestBytes(d, line, &nbBytes); |
1102 |
if (nbBytes > 7) {
|
|
| 215 | 1103 |
/* The segment to transfer is not the last one.*/ |
1104 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 71 | 1105 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 1106 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
1107 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
1108 |
if (err) {
|
|
1109 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1110 |
return 0xFF; |
|
1111 |
} |
|
| 215 | 1112 |
/* Inverting the toggle for the next tranfert. */ |
| 0 | 1113 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
1114 |
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); |
|
1115 |
sendSDO(d, whoami, sdo); |
|
1116 |
} |
|
1117 |
else {
|
|
| 215 | 1118 |
/* Last segment. */ |
1119 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
| 208 | 1120 |
sdo.nodeId = nodeId; /** The server node Id; */ |
| 0 | 1121 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
1122 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
1123 |
if (err) {
|
|
1124 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1125 |
return 0xFF; |
|
1126 |
} |
|
1127 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
1128 |
sdo.body.data[i] = 0; |
|
1129 |
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId); |
|
1130 |
sendSDO(d, whoami, sdo); |
|
| 215 | 1131 |
/* Release the line */ |
| 0 | 1132 |
resetSDOline(d, line); |
1133 |
} |
|
| 71 | 1134 |
} /* end if SERVER*/ |
| 0 | 1135 |
else {
|
| 215 | 1136 |
/* I am CLIENT */ |
1137 |
/* It is the response for the previous initiate download request. */ |
|
1138 |
/* We should find a line opened for this. */ |
|
| 0 | 1139 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
1140 |
if (!err) |
|
1141 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
1142 |
if (err) {
|
|
1143 |
MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); |
|
1144 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1145 |
return 0xFF; |
|
1146 |
} |
|
| 215 | 1147 |
/* Reset the watchdog */ |
| 0 | 1148 |
RestartSDO_TIMER(line) |
1149 |
index = d->transfers[line].index; |
|
1150 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 1151 |
/* End transmission or requesting next segment. */ |
| 0 | 1152 |
getSDOlineRestBytes(d, line, &nbBytes); |
1153 |
if (nbBytes == 0) {
|
|
1154 |
MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); |
|
1155 |
StopSDO_TIMER(line) |
|
1156 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 1157 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1158 |
return 0x00; |
1159 |
} |
|
1160 |
if (nbBytes > 7) {
|
|
| 215 | 1161 |
/* more than one request to send */ |
1162 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 208 | 1163 |
sdo.nodeId = nodeId; /** The server node Id; */ |
| 0 | 1164 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
1165 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
1166 |
if (err) {
|
|
1167 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1168 |
return 0xFF; |
|
1169 |
} |
|
1170 |
} |
|
1171 |
else {
|
|
| 215 | 1172 |
/* Last segment.*/ |
1173 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
1174 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 1175 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
1176 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
1177 |
if (err) {
|
|
1178 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1179 |
return 0xFF; |
|
1180 |
} |
|
1181 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
1182 |
sdo.body.data[i] = 0; |
|
1183 |
} |
|
1184 |
MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); |
|
1185 |
sendSDO(d, whoami, sdo); |
|
1186 |
||
| 71 | 1187 |
} /* end if I am a CLIENT */ |
| 0 | 1188 |
break; |
1189 |
||
| 82 | 1190 |
case 4: |
1191 |
abortCode = (*m).data[3] | |
|
1192 |
((UNS32)m->data[5] << 8) | |
|
1193 |
((UNS32)m->data[6] << 16) | |
|
1194 |
((UNS32)m->data[7] << 24); |
|
| 215 | 1195 |
/* Received SDO abort. */ |
1196 |
/* Looking for the line concerned. */ |
|
| 0 | 1197 |
if (whoami == SDO_SERVER) {
|
1198 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
1199 |
if (!err) {
|
|
1200 |
resetSDOline( d, line ); |
|
1201 |
MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode); |
|
1202 |
} |
|
1203 |
else |
|
1204 |
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
| 215 | 1205 |
/* Tips : The end user has no way to know that the server node has received an abort SDO. */ |
1206 |
/* Its is ok, I think.*/ |
|
| 0 | 1207 |
} |
| 215 | 1208 |
else { /* If I am CLIENT */
|
| 0 | 1209 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
1210 |
if (!err) {
|
|
| 215 | 1211 |
/* The line *must* be released by the core program. */ |
| 0 | 1212 |
StopSDO_TIMER(line) |
1213 |
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
|
1214 |
d->transfers[line].abortCode = abortCode; |
| 0 | 1215 |
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
|
1216 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1217 |
} |
1218 |
else |
|
1219 |
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
1220 |
} |
|
1221 |
break; |
|
1222 |
default: |
|
| 215 | 1223 |
/* Error : Unknown cs */ |
| 0 | 1224 |
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0])); |
1225 |
return 0xFF; |
|
1226 |
||
| 71 | 1227 |
} /* End switch */ |
| 0 | 1228 |
return 0; |
1229 |
} |
|
1230 |
||
| 208 | 1231 |
/*! |
1232 |
** |
|
1233 |
** |
|
1234 |
** @param d |
|
1235 |
** @param nodeId |
|
1236 |
** @param index |
|
1237 |
** @param subIndex |
|
1238 |
** @param count |
|
1239 |
** @param dataType |
|
1240 |
** @param data |
|
1241 |
** @param Callback |
|
1242 |
** @param endianize |
|
1243 |
** |
|
1244 |
** @return |
|
1245 |
**/ |
|
| 71 | 1246 |
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1247 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize) |
| 0 | 1248 |
{
|
1249 |
UNS8 err; |
|
1250 |
UNS8 SDOfound = 0; |
|
1251 |
UNS8 line; |
|
| 71 | 1252 |
s_SDO sdo; /* SDO to transmit */ |
| 0 | 1253 |
UNS8 i, j; |
1254 |
UNS16 lastIndex; |
|
1255 |
UNS16 offset; |
|
| 311 | 1256 |
UNS8 *pNodeIdServer; |
1257 |
UNS8 nodeIdServer; |
|
| 0 | 1258 |
|
1259 |
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId); |
|
1260 |
MSG_WAR(0x3AC1, " At index : ", index); |
|
1261 |
MSG_WAR(0x3AC2, " subIndex : ", subIndex); |
|
1262 |
MSG_WAR(0x3AC3, " nb bytes : ", count); |
|
1263 |
||
| 215 | 1264 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1265 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1266 |
if (!err) {
|
|
1267 |
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); |
|
1268 |
return 0xFF; |
|
1269 |
} |
|
| 215 | 1270 |
/* Taking the line ... */ |
| 0 | 1271 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1272 |
if (err) {
|
|
1273 |
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1274 |
return (0xFF); |
|
1275 |
} |
|
| 215 | 1276 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1277 |
offset = d->firstIndex->SDO_CLT; |
1278 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1279 |
if (offset == 0) {
|
|
1280 |
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); |
|
1281 |
return 0xFF; |
|
1282 |
} |
|
1283 |
i = 0; |
|
1284 |
while (offset <= lastIndex) {
|
|
1285 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1286 |
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); |
|
1287 |
return 0xFF; |
|
1288 |
} |
|
| 215 | 1289 |
/* looking for the nodeId server */ |
| 311 | 1290 |
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 1291 |
nodeIdServer = *pNodeIdServer; |
1292 |
MSG_WAR(0x1AD2, "index : ", 0x1280 + i); |
|
1293 |
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer); |
|
1294 |
||
| 311 | 1295 |
if(nodeIdServer == nodeId) {
|
| 0 | 1296 |
SDOfound = 1; |
1297 |
break; |
|
1298 |
} |
|
1299 |
offset++; |
|
1300 |
i++; |
|
| 71 | 1301 |
} /* end while */ |
| 0 | 1302 |
if (!SDOfound) {
|
1303 |
MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1304 |
return 0xFF; |
|
1305 |
} |
|
1306 |
MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i); |
|
1307 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
1308 |
d->transfers[line].count = count; |
|
1309 |
d->transfers[line].dataType = dataType; |
|
1310 |
||
| 215 | 1311 |
/* Copy data to transfers structure. */ |
| 0 | 1312 |
for (j = 0 ; j < count ; j++) {
|
1313 |
# ifdef CANOPEN_BIG_ENDIAN |
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1314 |
if (dataType == 0 && endianize) |
| 0 | 1315 |
d->transfers[line].data[count - 1 - j] = ((char *)data)[j]; |
| 71 | 1316 |
else /* String of bytes. */ |
| 0 | 1317 |
d->transfers[line].data[j] = ((char *)data)[j]; |
1318 |
# else |
|
1319 |
d->transfers[line].data[j] = ((char *)data)[j]; |
|
1320 |
# endif |
|
1321 |
} |
|
| 215 | 1322 |
/* Send the SDO to the server. Initiate download, cs=1. */ |
| 0 | 1323 |
sdo.nodeId = nodeId; |
| 215 | 1324 |
if (count <= 4) { /* Expedited transfert */
|
| 0 | 1325 |
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3; |
1326 |
for (i = 4 ; i < 8 ; i++) |
|
1327 |
sdo.body.data[i] = d->transfers[line].data[i - 4]; |
|
1328 |
d->transfers[line].offset = count; |
|
1329 |
} |
|
| 208 | 1330 |
else { /** Normal transfert */
|
| 0 | 1331 |
sdo.body.data[0] = (1 << 5) | 1; |
| 215 | 1332 |
sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */ |
| 0 | 1333 |
for (i = 5 ; i < 8 ; i++) |
1334 |
sdo.body.data[i] = 0; |
|
1335 |
} |
|
| 71 | 1336 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1337 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1338 |
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
|
1339 |
|
|
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1340 |
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
|
1341 |
|
| 0 | 1342 |
err = sendSDO(d, SDO_CLIENT, sdo); |
1343 |
if (err) {
|
|
1344 |
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 215 | 1345 |
/* release the line */ |
| 0 | 1346 |
resetSDOline(d, line); |
1347 |
return 0xFF; |
|
| 32 | 1348 |
} |
|
154
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1349 |
|
|
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1350 |
|
| 0 | 1351 |
return 0; |
1352 |
} |
|
| 53 | 1353 |
|
| 208 | 1354 |
/*! |
1355 |
** |
|
1356 |
** |
|
1357 |
** @param d |
|
1358 |
** @param nodeId |
|
1359 |
** @param index |
|
1360 |
** @param subIndex |
|
1361 |
** @param count |
|
1362 |
** @param dataType |
|
1363 |
** @param data |
|
1364 |
** |
|
1365 |
** @return |
|
1366 |
**/ |
|
| 32 | 1367 |
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
1368 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data) |
|
1369 |
{
|
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1370 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1); |
| 32 | 1371 |
} |
1372 |
||
| 208 | 1373 |
/*! |
1374 |
** |
|
1375 |
** |
|
1376 |
** @param d |
|
1377 |
** @param nodeId |
|
1378 |
** @param index |
|
1379 |
** @param subIndex |
|
1380 |
** @param count |
|
1381 |
** @param dataType |
|
1382 |
** @param data |
|
1383 |
** @param Callback |
|
1384 |
** |
|
1385 |
** @return |
|
1386 |
**/ |
|
| 32 | 1387 |
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, |
1388 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback) |
|
1389 |
{
|
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1390 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1); |
| 32 | 1391 |
} |
1392 |
||
| 208 | 1393 |
/*! |
1394 |
** |
|
1395 |
** |
|
1396 |
** @param d |
|
1397 |
** @param nodeId |
|
1398 |
** @param index |
|
1399 |
** @param subIndex |
|
1400 |
** @param dataType |
|
1401 |
** @param Callback |
|
1402 |
** |
|
1403 |
** @return |
|
1404 |
**/ |
|
| 71 | 1405 |
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
| 0 | 1406 |
{
|
1407 |
UNS8 err; |
|
1408 |
UNS8 SDOfound = 0; |
|
1409 |
UNS8 i; |
|
1410 |
UNS8 line; |
|
| 71 | 1411 |
s_SDO sdo; /* SDO to transmit */ |
| 311 | 1412 |
UNS8 *pNodeIdServer; |
1413 |
UNS8 nodeIdServer; |
|
| 0 | 1414 |
UNS16 offset; |
1415 |
UNS16 lastIndex; |
|
1416 |
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId); |
|
1417 |
MSG_WAR(0x3AD6, " At index : ", index); |
|
1418 |
MSG_WAR(0x3AD7, " subIndex : ", subIndex); |
|
1419 |
||
1420 |
||
| 215 | 1421 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1422 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1423 |
if (!err) {
|
|
1424 |
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); |
|
1425 |
return 0xFF; |
|
1426 |
} |
|
| 215 | 1427 |
/* Taking the line ... */ |
| 0 | 1428 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1429 |
if (err) {
|
|
1430 |
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1431 |
return (0xFF); |
|
1432 |
} |
|
1433 |
else |
|
1434 |
MSG_WAR(0x3AE0, "Transmission on line : ", line); |
|
1435 |
||
| 215 | 1436 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1437 |
offset = d->firstIndex->SDO_CLT; |
1438 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1439 |
if (offset == 0) {
|
|
1440 |
MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); |
|
1441 |
return 0xFF; |
|
1442 |
} |
|
1443 |
i = 0; |
|
1444 |
while (offset <= lastIndex) {
|
|
1445 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1446 |
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i); |
|
1447 |
return 0xFF; |
|
1448 |
} |
|
| 215 | 1449 |
/* looking for the nodeId server */ |
| 311 | 1450 |
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 1451 |
nodeIdServer = *pNodeIdServer; |
1452 |
||
| 311 | 1453 |
if(nodeIdServer == nodeId) {
|
| 0 | 1454 |
SDOfound = 1; |
1455 |
break; |
|
1456 |
} |
|
1457 |
offset++; |
|
1458 |
i++; |
|
| 71 | 1459 |
} /* end while */ |
| 0 | 1460 |
if (!SDOfound) {
|
1461 |
MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1462 |
return 0xFF; |
|
1463 |
} |
|
1464 |
MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i); |
|
1465 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
1466 |
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1467 |
sdo.nodeId = nodeId; |
|
| 215 | 1468 |
/* Send the SDO to the server. Initiate upload, cs=2. */ |
| 0 | 1469 |
d->transfers[line].dataType = dataType; |
1470 |
sdo.body.data[0] = (2 << 5); |
|
| 71 | 1471 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1472 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1473 |
sdo.body.data[3] = subIndex; |
1474 |
for (i = 4 ; i < 8 ; i++) |
|
1475 |
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
|
1476 |
d->transfers[line].Callback = Callback; |
| 0 | 1477 |
err = sendSDO(d, SDO_CLIENT, sdo); |
1478 |
if (err) {
|
|
1479 |
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 71 | 1480 |
/* release the line */ |
| 0 | 1481 |
resetSDOline(d, line); |
1482 |
return 0xFF; |
|
1483 |
} |
|
1484 |
return 0; |
|
1485 |
} |
|
1486 |
||
| 208 | 1487 |
/*! |
1488 |
** |
|
1489 |
** |
|
1490 |
** @param d |
|
1491 |
** @param nodeId |
|
1492 |
** @param index |
|
1493 |
** @param subIndex |
|
1494 |
** @param dataType |
|
1495 |
** |
|
1496 |
** @return |
|
1497 |
**/ |
|
| 32 | 1498 |
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType) |
1499 |
{
|
|
1500 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL); |
|
1501 |
} |
|
1502 |
||
| 208 | 1503 |
/*! |
1504 |
** |
|
1505 |
** |
|
1506 |
** @param d |
|
1507 |
** @param nodeId |
|
1508 |
** @param index |
|
1509 |
** @param subIndex |
|
1510 |
** @param dataType |
|
1511 |
** @param Callback |
|
1512 |
** |
|
1513 |
** @return |
|
1514 |
**/ |
|
| 32 | 1515 |
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
1516 |
{
|
|
1517 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); |
|
1518 |
} |
|
| 53 | 1519 |
|
| 208 | 1520 |
/*! |
1521 |
** |
|
1522 |
** |
|
1523 |
** @param d |
|
1524 |
** @param nodeId |
|
1525 |
** @param data |
|
1526 |
** @param size |
|
1527 |
** @param abortCode |
|
1528 |
** |
|
1529 |
** @return |
|
1530 |
**/ |
|
| 0 | 1531 |
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, |
1532 |
UNS32 * abortCode) |
|
1533 |
{
|
|
1534 |
UNS8 i; |
|
1535 |
UNS8 err; |
|
1536 |
UNS8 line; |
|
1537 |
* size = 0; |
|
1538 |
||
| 215 | 1539 |
/* Looking for the line tranfert. */ |
| 0 | 1540 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1541 |
if (err) {
|
|
1542 |
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); |
|
1543 |
return SDO_ABORTED_INTERNAL; |
|
1544 |
} |
|
1545 |
if (d->transfers[line].state != SDO_FINISHED) |
|
1546 |
return d->transfers[line].state; |
|
1547 |
||
| 215 | 1548 |
/* 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
|
1549 |
* size = (UNS8)d->transfers[line].count; |
| 0 | 1550 |
for ( i = 0 ; i < *size ; i++) {
|
1551 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1552 |
if (d->transfers[line].dataType != visible_string) |
|
1553 |
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i]; |
|
| 215 | 1554 |
else /* String of bytes. */ |
| 0 | 1555 |
( (char *) data)[i] = d->transfers[line].data[i]; |
1556 |
# else |
|
1557 |
( (char *) data)[i] = d->transfers[line].data[i]; |
|
1558 |
# endif |
|
1559 |
} |
|
1560 |
return SDO_FINISHED; |
|
1561 |
} |
|
1562 |
||
| 208 | 1563 |
/*! |
1564 |
** |
|
1565 |
** |
|
1566 |
** @param d |
|
1567 |
** @param nodeId |
|
1568 |
** @param abortCode |
|
1569 |
** |
|
1570 |
** @return |
|
1571 |
**/ |
|
| 0 | 1572 |
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode) |
1573 |
{
|
|
1574 |
UNS8 line = 0; |
|
1575 |
UNS8 err; |
|
1576 |
||
1577 |
* abortCode = 0; |
|
| 215 | 1578 |
/* Looking for the line tranfert. */ |
| 0 | 1579 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1580 |
if (err) {
|
|
1581 |
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); |
|
1582 |
return SDO_ABORTED_INTERNAL; |
|
1583 |
} |
|
1584 |
* abortCode = d->transfers[line].abortCode; |
|
1585 |
return d->transfers[line].state; |
|
1586 |
} |