| author | frdupin |
| Tue, 30 Jan 2007 10:28:44 +0100 | |
| changeset 85 | 6a5f4ac34396 |
| parent 84 | 19def60bd29c |
| child 86 | 683702a46416 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/* |
2 |
This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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7 |
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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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| 84 | 23 |
/* #define DEBUG_WAR_CONSOLE_ON */ |
24 |
/* #define DEBUG_ERR_CONSOLE_ON */ |
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| 0 | 25 |
|
26 |
#include "objacces.h" |
|
27 |
#include "sdo.h" |
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28 |
||
| 71 | 29 |
/* Uncomment if your compiler does not support inline functions */ |
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#define NO_INLINE |
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31 |
||
32 |
#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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37 |
||
| 53 | 38 |
/*Internals prototypes*/ |
39 |
||
40 |
/** Called by writeNetworkDict */ |
|
| 71 | 41 |
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
| 53 | 42 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback); |
43 |
||
44 |
/** Called by readNetworkDict */ |
|
| 71 | 45 |
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, |
| 53 | 46 |
UNS8 dataType, SDOCallback_t Callback); |
47 |
||
48 |
||
| 0 | 49 |
/***************************************************************************/ |
| 71 | 50 |
/* SDO (un)packing macros */ |
| 0 | 51 |
|
52 |
/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO |
|
53 |
*/ |
|
54 |
#define getSDOcs(byte) (byte >> 5) |
|
55 |
||
56 |
/** 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) |
|
59 |
||
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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) |
|
63 |
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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) |
|
67 |
||
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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) |
|
71 |
||
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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) |
|
75 |
||
76 |
/** Returns the toggle from the first byte of the SDO |
|
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*/ |
|
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#define getSDOt(byte) ((byte >> 4) & 1) |
|
79 |
||
80 |
/** 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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83 |
||
84 |
/** Returns the subIndex from the byte 3 of the SDO |
|
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*/ |
|
| 71 | 86 |
|
| 0 | 87 |
#define getSDOsubIndex(byte3) (byte3) |
88 |
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/*************************************************************************** |
|
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** |
|
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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); |
|
| 71 | 98 |
/* Reset timer handler */ |
| 0 | 99 |
d->transfers[id].timer = TIMER_NONE; |
| 71 | 100 |
/* Call the user function to inform of the problem.*/ |
| 0 | 101 |
(*d->SDOtimeoutError)(id); |
| 71 | 102 |
/* Sending a SDO abort */ |
| 0 | 103 |
sendSDOabort(d, d->transfers[id].whoami, |
104 |
d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT); |
|
| 71 | 105 |
/* Reset the line*/ |
| 0 | 106 |
resetSDOline(d, id); |
107 |
} |
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108 |
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109 |
#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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117 |
#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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121 |
/***************************************************************************/ |
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/** Reset all sdo buffers |
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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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127 |
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128 |
/* 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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132 |
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133 |
/***************************************************************************/ |
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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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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
|
138 |
MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line); |
| 0 | 139 |
size = d->transfers[line].count; |
140 |
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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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
|
144 |
MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line); |
| 0 | 145 |
return 0; |
146 |
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147 |
} |
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148 |
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149 |
/***************************************************************************/ |
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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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| 12 | 156 |
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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| 0 | 158 |
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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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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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| 12 | 169 |
#if 0 |
| 71 | 170 |
/*Me laisser ça, please ! (FD)*/ |
| 12 | 171 |
{
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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 | 178 |
return 0; |
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} |
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/***************************************************************************/ |
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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 = d->transfers[line].offset; |
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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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201 |
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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 = d->transfers[line].offset; |
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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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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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| 71 | 226 |
if (!err) /* If a line on use have been found.*/ |
| 0 | 227 |
MSG_WAR(0x3A20, "FailedSDO : line found : ", line); |
228 |
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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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
|
232 |
if ((! err) && (whoami == SDO_CLIENT)) {
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|
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
|
233 |
StopSDO_TIMER(line); |
| 0 | 234 |
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
|
235 |
} |
| 0 | 236 |
MSG_WAR(0x3A22, "Sending SDO abort ", 0); |
237 |
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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void resetSDOline ( CO_Data* d, UNS8 line ) |
|
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{
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UNS8 i; |
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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
|
249 |
MSG_WAR(0x3A25, "reset SDO line nb : ", line); |
| 0 | 250 |
initSDOline(d, line, 0, 0, 0, SDO_RESET); |
251 |
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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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state) |
|
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{
|
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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
|
258 |
MSG_WAR(0x3A25, "init SDO line nb : ", line); |
| 0 | 259 |
if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
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260 |
StartSDO_TIMER(line) |
|
261 |
}else{
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StopSDO_TIMER(line) |
|
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} |
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d->transfers[line].nodeId = nodeId; |
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d->transfers[line].index = index; |
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d->transfers[line].subIndex = subIndex; |
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d->transfers[line].state = state; |
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d->transfers[line].toggle = 0; |
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d->transfers[line].count = 0; |
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d->transfers[line].offset = 0; |
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d->transfers[line].dataType = 0; |
|
| 32 | 272 |
d->transfers[line].Callback = NULL; |
| 0 | 273 |
return 0; |
274 |
} |
|
275 |
||
276 |
/***************************************************************************/ |
|
277 |
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line ) |
|
278 |
{
|
|
279 |
||
280 |
UNS8 i; |
|
281 |
||
282 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
283 |
if ( d->transfers[i].state == SDO_RESET ) {
|
|
284 |
*line = i; |
|
285 |
d->transfers[i].whoami = whoami; |
|
286 |
return 0; |
|
| 71 | 287 |
} /* end if */ |
288 |
} /* end for */ |
|
| 0 | 289 |
MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i); |
290 |
return 0xFF; |
|
291 |
} |
|
292 |
||
293 |
/***************************************************************************/ |
|
294 |
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) |
|
295 |
{
|
|
296 |
||
297 |
UNS8 i; |
|
298 |
||
299 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
300 |
if ( (d->transfers[i].state != SDO_RESET) && |
|
301 |
(d->transfers[i].nodeId == nodeId) && |
|
302 |
(d->transfers[i].whoami == whoami) ) {
|
|
303 |
*line = i; |
|
304 |
return 0; |
|
305 |
} |
|
306 |
} |
|
307 |
return 0xFF; |
|
308 |
} |
|
309 |
||
310 |
/***************************************************************************/ |
|
311 |
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami) |
|
312 |
{
|
|
313 |
UNS8 err; |
|
314 |
UNS8 line; |
|
315 |
err = getSDOlineOnUse(d, nodeId, whoami, &line); |
|
316 |
if (err) {
|
|
317 |
MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); |
|
318 |
return 0xFF; |
|
319 |
} |
|
320 |
resetSDOline(d, line); |
|
321 |
return 0; |
|
322 |
} |
|
323 |
||
324 |
/***************************************************************************/ |
|
325 |
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes) |
|
326 |
{
|
|
| 71 | 327 |
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */ |
| 0 | 328 |
* nbBytes = 0; |
329 |
else |
|
330 |
* nbBytes = d->transfers[line].count - d->transfers[line].offset; |
|
331 |
return 0; |
|
332 |
} |
|
333 |
||
334 |
/***************************************************************************/ |
|
335 |
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes) |
|
336 |
{
|
|
337 |
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
|
|
338 |
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
339 |
return 0xFF; |
|
340 |
} |
|
341 |
d->transfers[line].count = nbBytes; |
|
342 |
return 0; |
|
343 |
} |
|
344 |
||
345 |
||
346 |
/***************************************************************************/ |
|
347 |
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo) |
|
348 |
{
|
|
349 |
UNS16 offset; |
|
350 |
UNS16 lastIndex; |
|
351 |
UNS8 found = 0; |
|
352 |
Message m; |
|
353 |
UNS8 i; |
|
354 |
UNS32 * pwCobId = NULL; |
|
355 |
UNS8 * pwNodeId = NULL; |
|
356 |
||
357 |
MSG_WAR(0x3A38, "sendSDO",0); |
|
358 |
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
|
|
359 |
MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
|
360 |
return 0xFF; |
|
361 |
} |
|
362 |
||
363 |
/*get the server->client cobid*/ |
|
364 |
if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
|
|
365 |
offset = d->firstIndex->SDO_SVR; |
|
366 |
if (offset == 0) {
|
|
367 |
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); |
|
368 |
return 0xFF; |
|
369 |
} |
|
370 |
pwCobId = d->objdict[offset].pSubindex[2].pObject; |
|
371 |
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); |
|
372 |
} |
|
373 |
else { /*case client*/
|
|
374 |
/* Get the client->server cobid.*/ |
|
375 |
UNS16 sdoNum = 0; |
|
376 |
offset = d->firstIndex->SDO_CLT; |
|
377 |
lastIndex = d->lastIndex->SDO_CLT; |
|
378 |
if (offset == 0) {
|
|
379 |
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); |
|
380 |
return 0xFF; |
|
381 |
} |
|
382 |
/* First, have to find at the index where is defined the communication with the server node */ |
|
383 |
while (offset <= lastIndex){
|
|
384 |
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum); |
|
385 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
386 |
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum); |
|
387 |
return 0xFF; |
|
388 |
} |
|
389 |
pwNodeId = d->objdict[offset].pSubindex[3].pObject; |
|
390 |
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId); |
|
391 |
if(*pwNodeId == sdo.nodeId) {
|
|
392 |
found = 1; |
|
393 |
break; |
|
394 |
} |
|
395 |
offset ++; |
|
396 |
sdoNum ++; |
|
397 |
} |
|
398 |
if (! found){
|
|
399 |
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId); |
|
400 |
return 0xFF; |
|
401 |
} |
|
402 |
/* Second, read the cobid client->server */ |
|
403 |
pwCobId = d->objdict[offset].pSubindex[1].pObject; |
|
404 |
} |
|
405 |
/* message copy for sending */ |
|
406 |
m.cob_id.w = *pwCobId; |
|
407 |
m.rtr = NOT_A_REQUEST; |
|
| 71 | 408 |
/* the length of SDO must be 8 */ |
| 0 | 409 |
m.len = 8; |
410 |
for (i = 0 ; i < 8 ; i++) {
|
|
411 |
m.data[i] = sdo.body.data[i]; |
|
412 |
} |
|
413 |
return (*d->canSend)(&m); |
|
414 |
} |
|
415 |
||
416 |
/***************************************************************************/ |
|
417 |
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode) |
|
418 |
{
|
|
419 |
s_SDO sdo; |
|
420 |
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
|
421 |
MSG_WAR(0x2A50,"Sending SDO abort ", abortCode); |
| 0 | 422 |
sdo.nodeId = *d->bDeviceNodeId; |
423 |
sdo.body.data[0] = 0x80; |
|
| 71 | 424 |
/* Index */ |
425 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
|
426 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
427 |
/* Subindex */ |
|
| 0 | 428 |
sdo.body.data[3] = subIndex; |
| 71 | 429 |
/* Data */ |
| 0 | 430 |
sdo.body.data[4] = (UNS8)(abortCode & 0xFF); |
431 |
sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF); |
|
432 |
sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF); |
|
433 |
sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF); |
|
434 |
ret = sendSDO(d, whoami, sdo); |
|
435 |
||
436 |
return ret; |
|
437 |
} |
|
438 |
||
439 |
/***************************************************************************/ |
|
440 |
UNS8 proceedSDO (CO_Data* d, Message *m) |
|
441 |
{
|
|
442 |
UNS8 err; |
|
443 |
UNS8 line; |
|
| 71 | 444 |
UNS8 nbBytes; /* received or to be transmited. */ |
445 |
UNS8 nodeId = 0; /* The node from which the SDO is received */ |
|
| 0 | 446 |
UNS8 *pNodeId = NULL; |
| 71 | 447 |
UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ |
448 |
UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ |
|
449 |
s_SDO sdo; /* SDO to transmit */ |
|
| 0 | 450 |
UNS16 index; |
451 |
UNS8 subIndex; |
|
452 |
UNS32 abortCode; |
|
453 |
UNS8 i,j; |
|
454 |
UNS32 * pCobId = NULL; |
|
455 |
UNS16 offset; |
|
456 |
UNS16 lastIndex; |
|
457 |
||
458 |
MSG_WAR(0x3A60, "proceedSDO ", 0); |
|
459 |
whoami = SDO_UNKNOWN; |
|
| 71 | 460 |
/* Looking for the cobId in the object dictionary. */ |
461 |
/* Am-I a server ? */ |
|
| 0 | 462 |
offset = d->firstIndex->SDO_SVR; |
463 |
lastIndex = d->lastIndex->SDO_SVR; |
|
464 |
j = 0; |
|
465 |
if(offset) while (offset <= lastIndex) {
|
|
466 |
if (d->objdict[offset].bSubCount <= 1) {
|
|
467 |
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j); |
|
468 |
return 0xFF; |
|
469 |
} |
|
470 |
pCobId = d->objdict[offset].pSubindex[1].pObject; |
|
471 |
if ( *pCobId == (*m).cob_id.w ) {
|
|
472 |
whoami = SDO_SERVER; |
|
473 |
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j); |
|
| 71 | 474 |
/* In case of server, the node id of the client may be unknown. So we put the index minus offset */ |
475 |
/* 0x1200 where the cobid received is defined. */ |
|
| 0 | 476 |
nodeId = j; |
477 |
break; |
|
478 |
} |
|
479 |
j++; |
|
480 |
offset++; |
|
| 71 | 481 |
} /* end while */ |
| 0 | 482 |
if (whoami == SDO_UNKNOWN) {
|
| 71 | 483 |
/* Am-I client ? */ |
| 0 | 484 |
offset = d->firstIndex->SDO_CLT; |
485 |
lastIndex = d->lastIndex->SDO_CLT; |
|
486 |
j = 0; |
|
487 |
if(offset) while (offset <= lastIndex) {
|
|
488 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
489 |
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j); |
|
490 |
return 0xFF; |
|
491 |
} |
|
| 71 | 492 |
/* a) Looking for the cobid received. */ |
| 0 | 493 |
pCobId = d->objdict[offset].pSubindex[2].pObject; |
494 |
if (*pCobId == (*m).cob_id.w ) {
|
|
| 71 | 495 |
/* b) cobid found, so reading the node id of the server. */ |
| 0 | 496 |
pNodeId = d->objdict[offset].pSubindex[3].pObject; |
497 |
whoami = SDO_CLIENT; |
|
498 |
nodeId = *pNodeId; |
|
499 |
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
|
500 |
MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
|
501 |
break; |
|
502 |
} |
|
503 |
j++; |
|
504 |
offset++; |
|
| 71 | 505 |
} /* end while */ |
| 0 | 506 |
} |
507 |
if (whoami == SDO_UNKNOWN) {
|
|
| 71 | 508 |
return 0xFF;/* This SDO was not for us ! */ |
509 |
} |
|
510 |
||
511 |
/* Test if the size of the SDO is ok */ |
|
| 0 | 512 |
if ( (*m).len != 8) {
|
513 |
MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id.w); |
|
514 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR); |
|
515 |
return 0xFF; |
|
516 |
} |
|
517 |
||
518 |
if (whoami == SDO_CLIENT) {
|
|
519 |
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId); |
|
520 |
} |
|
521 |
else {
|
|
522 |
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w); |
|
523 |
} |
|
524 |
||
| 71 | 525 |
/* Testing the command specifier */ |
526 |
/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */ |
|
527 |
/* cs = other : Not allowed -> abort. */ |
|
| 0 | 528 |
switch (getSDOcs(m->data[0])) {
|
529 |
||
530 |
case 0: |
|
| 71 | 531 |
/* I am SERVER */ |
| 0 | 532 |
if (whoami == SDO_SERVER) {
|
| 71 | 533 |
/* Receiving a download segment data. */ |
534 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 535 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
536 |
if (!err) |
|
537 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
538 |
if (err) {
|
|
539 |
MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", |
|
540 |
nodeId); |
|
541 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
542 |
return 0xFF; |
|
543 |
} |
|
| 71 | 544 |
/* Reset the wathdog */ |
| 0 | 545 |
RestartSDO_TIMER(line) |
546 |
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); |
|
547 |
index = d->transfers[line].index; |
|
548 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 549 |
/* Toggle test. */ |
| 0 | 550 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
551 |
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
552 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
553 |
return 0xFF; |
|
554 |
} |
|
| 71 | 555 |
/* Nb of data to be downloaded */ |
| 0 | 556 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 71 | 557 |
/* Store the data in the transfert structure. */ |
| 0 | 558 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
559 |
if (err) {
|
|
560 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
561 |
return 0xFF; |
|
562 |
} |
|
| 71 | 563 |
/* Sending the SDO response, CS = 1 */ |
564 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */ |
|
| 0 | 565 |
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4); |
566 |
for (i = 1 ; i < 8 ; i++) |
|
567 |
sdo.body.data[i] = 0; |
|
568 |
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); |
|
569 |
sendSDO(d, whoami, sdo); |
|
| 71 | 570 |
/* Inverting the toggle for the next segment. */ |
| 0 | 571 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 572 |
/* If it was the last segment, */ |
| 0 | 573 |
if (getSDOc(m->data[0])) {
|
| 71 | 574 |
/* Transfering line data to object dictionary. */ |
575 |
/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */ |
|
| 0 | 576 |
errorCode = SDOlineToObjdict(d, line); |
577 |
if (errorCode) {
|
|
578 |
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
579 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
580 |
return 0xFF; |
|
581 |
} |
|
| 71 | 582 |
/* Release of the line */ |
| 0 | 583 |
resetSDOline(d, line); |
584 |
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); |
|
585 |
} |
|
| 71 | 586 |
} /* end if SERVER */ |
587 |
else { /* if CLIENT */
|
|
588 |
/* I am CLIENT */ |
|
589 |
/* It is a request for a previous upload segment. We should find a line opened for this.*/ |
|
| 0 | 590 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
591 |
if (!err) |
|
592 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
593 |
if (err) {
|
|
594 |
MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
595 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
596 |
return 0xFF; |
|
597 |
} |
|
| 71 | 598 |
/* Reset the wathdog */ |
| 0 | 599 |
RestartSDO_TIMER(line) |
600 |
index = d->transfers[line].index; |
|
601 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 602 |
/* test of the toggle; */ |
| 0 | 603 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
604 |
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
605 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
606 |
return 0xFF; |
|
607 |
} |
|
| 71 | 608 |
/* nb of data to be uploaded */ |
| 0 | 609 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 71 | 610 |
/* Storing the data in the line structure. */ |
| 0 | 611 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
612 |
if (err) {
|
|
613 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
614 |
return 0xFF; |
|
615 |
} |
|
| 71 | 616 |
/* Inverting the toggle for the next segment. */ |
| 0 | 617 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 618 |
/* If it was the last segment,*/ |
| 0 | 619 |
if ( getSDOc(m->data[0])) {
|
| 71 | 620 |
/* Put in state finished */ |
621 |
/* The code is safe for the case e=s=0 in initiate frame. */ |
|
| 0 | 622 |
StopSDO_TIMER(line) |
623 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 624 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
625 |
||
| 0 | 626 |
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId); |
627 |
} |
|
| 71 | 628 |
else { /* more segments to receive */
|
629 |
/* Sending the request for the next segment. */ |
|
| 0 | 630 |
sdo.nodeId = nodeId; |
631 |
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4); |
|
632 |
for (i = 1 ; i < 8 ; i++) |
|
633 |
sdo.body.data[i] = 0; |
|
634 |
sendSDO(d, whoami, sdo); |
|
635 |
MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId); |
|
636 |
} |
|
| 71 | 637 |
} /* End if CLIENT */ |
| 0 | 638 |
break; |
639 |
||
640 |
case 1: |
|
| 71 | 641 |
/* I am SERVER */ |
642 |
/* Receive of an initiate download */ |
|
| 0 | 643 |
if (whoami == SDO_SERVER) {
|
644 |
index = getSDOindex(m->data[1],m->data[2]); |
|
645 |
subIndex = getSDOsubIndex(m->data[3]); |
|
646 |
MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", |
|
647 |
nodeId); |
|
648 |
MSG_WAR(0x3A80, "Writing at index : ", index); |
|
649 |
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex); |
|
650 |
||
| 71 | 651 |
/* Search if a SDO transfert have been yet initiated */ |
| 0 | 652 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
653 |
if (! err) {
|
|
654 |
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); |
|
655 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
656 |
return 0xFF; |
|
657 |
} |
|
| 71 | 658 |
/* No line on use. Great ! */ |
659 |
/* Try to open a new line. */ |
|
| 0 | 660 |
err = getSDOfreeLine( d, whoami, &line ); |
661 |
if (err) {
|
|
662 |
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
663 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
664 |
return 0xFF; |
|
665 |
} |
|
666 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
667 |
||
| 71 | 668 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
669 |
/* nb of data to be downloaded */ |
|
| 0 | 670 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 71 | 671 |
/* Storing the data in the line structure. */ |
| 0 | 672 |
d->transfers[line].count = nbBytes; |
673 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
|
674 |
||
675 |
if (err) {
|
|
676 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
677 |
return 0xFF; |
|
678 |
} |
|
679 |
||
| 71 | 680 |
/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */ |
681 |
/* The line will be reseted when it is downloading in the dictionary. */ |
|
| 0 | 682 |
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId); |
| 71 | 683 |
/* Transfering line data to object dictionary. */ |
| 0 | 684 |
errorCode = SDOlineToObjdict(d, line); |
685 |
if (errorCode) {
|
|
686 |
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
687 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
688 |
return 0xFF; |
|
689 |
} |
|
| 71 | 690 |
/* Release of the line. */ |
| 0 | 691 |
resetSDOline(d, line); |
692 |
} |
|
| 71 | 693 |
else {/* So, if it is not an expedited transfert */
|
| 0 | 694 |
if (getSDOs(m->data[0])) {
|
| 71 | 695 |
/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */ |
696 |
nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */ |
|
| 0 | 697 |
err = setSDOlineRestBytes(d, nodeId, nbBytes); |
698 |
if (err) {
|
|
699 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
700 |
return 0xFF; |
|
701 |
} |
|
702 |
} |
|
703 |
} |
|
| 71 | 704 |
/*Sending a SDO, cs=3*/ |
705 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/ |
|
| 0 | 706 |
sdo.body.data[0] = 3 << 5; |
| 71 | 707 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
708 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 709 |
sdo.body.data[3] = subIndex; |
710 |
for (i = 4 ; i < 8 ; i++) |
|
711 |
sdo.body.data[i] = 0; |
|
712 |
sendSDO(d, whoami, sdo); |
|
| 71 | 713 |
} /* end if I am SERVER */ |
| 0 | 714 |
else {
|
| 71 | 715 |
/* I am CLIENT */ |
716 |
/* It is a response for a previous download segment. We should find a line opened for this. */ |
|
| 0 | 717 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
718 |
if (!err) |
|
719 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
720 |
if (err) {
|
|
721 |
MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
722 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
723 |
return 0xFF; |
|
724 |
} |
|
| 71 | 725 |
/* Reset the wathdog */ |
| 0 | 726 |
RestartSDO_TIMER(line) |
727 |
index = d->transfers[line].index; |
|
728 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 729 |
/* test of the toggle; */ |
| 0 | 730 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
731 |
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
732 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
733 |
return 0xFF; |
|
734 |
} |
|
735 |
||
| 71 | 736 |
/* End transmission or downloading next segment. We need to know if it will be the last one. */ |
| 0 | 737 |
getSDOlineRestBytes(d, line, &nbBytes); |
738 |
if (nbBytes == 0) {
|
|
739 |
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); |
|
740 |
StopSDO_TIMER(line) |
|
741 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 742 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 743 |
return 0x00; |
744 |
} |
|
| 71 | 745 |
/* At least one transfer to send. */ |
| 0 | 746 |
if (nbBytes > 7) {
|
| 71 | 747 |
/* several segments to download.*/ |
748 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 0 | 749 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 750 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 751 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
752 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
753 |
if (err) {
|
|
754 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
755 |
return 0xFF; |
|
756 |
} |
|
757 |
} |
|
758 |
else {
|
|
| 71 | 759 |
/* Last segment. */ |
760 |
/* code to send the last segment. (cs = 0; c = 1)*/ |
|
| 0 | 761 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 762 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 763 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
764 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
765 |
if (err) {
|
|
766 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
767 |
return 0xFF; |
|
768 |
} |
|
769 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
770 |
sdo.body.data[i] = 0; |
|
771 |
} |
|
772 |
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); |
|
773 |
sendSDO(d, whoami, sdo); |
|
| 71 | 774 |
} /* end if I am a CLIENT */ |
| 0 | 775 |
break; |
776 |
||
777 |
case 2: |
|
| 71 | 778 |
/* I am SERVER */ |
779 |
/* Receive of an initiate upload.*/ |
|
| 0 | 780 |
if (whoami == SDO_SERVER) {
|
781 |
index = getSDOindex(m->data[1],m->data[2]); |
|
782 |
subIndex = getSDOsubIndex(m->data[3]); |
|
783 |
MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", |
|
784 |
nodeId); |
|
785 |
MSG_WAR(0x3A90, "Reading at index : ", index); |
|
786 |
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex); |
|
| 71 | 787 |
/* Search if a SDO transfert have been yet initiated*/ |
| 0 | 788 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
789 |
if (! err) {
|
|
| 12 | 790 |
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); |
| 0 | 791 |
MSG_WAR(0x3A93, "nodeId = ", nodeId); |
| 12 | 792 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
793 |
return 0xFF; |
|
| 0 | 794 |
} |
| 71 | 795 |
/* No line on use. Great !*/ |
796 |
/* Try to open a new line.*/ |
|
| 0 | 797 |
err = getSDOfreeLine( d, whoami, &line ); |
798 |
if (err) {
|
|
799 |
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
800 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
801 |
return 0xFF; |
|
802 |
} |
|
803 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
| 71 | 804 |
/* Transfer data from dictionary to the line structure. */ |
| 0 | 805 |
errorCode = objdictToSDOline(d, line); |
806 |
||
807 |
if (errorCode) {
|
|
808 |
MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", |
|
809 |
errorCode); |
|
810 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
811 |
return 0xFF; |
|
812 |
} |
|
| 71 | 813 |
/* Preparing the response.*/ |
814 |
getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */ |
|
815 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 816 |
if (nbBytes > 4) {
|
| 71 | 817 |
/* normal transfert. (segmented). */ |
818 |
/* code to send the initiate upload response. (cs = 2) */ |
|
| 0 | 819 |
sdo.body.data[0] = (2 << 5) | 1; |
| 71 | 820 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
821 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 822 |
sdo.body.data[3] = subIndex; |
| 71 | 823 |
sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/ |
824 |
/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */ |
|
825 |
/* in the object dictionary, at every index and subindex. */ |
|
| 0 | 826 |
for (i = 5 ; i < 8 ; i++) |
827 |
sdo.body.data[i] = 0; |
|
828 |
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); |
|
829 |
sendSDO(d, whoami, sdo); |
|
830 |
} |
|
831 |
else {
|
|
| 71 | 832 |
/* Expedited upload. (cs = 2 ; e = 1) */ |
| 0 | 833 |
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3; |
| 71 | 834 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
835 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 836 |
sdo.body.data[3] = subIndex; |
837 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 4); |
|
838 |
if (err) {
|
|
839 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
840 |
return 0xFF; |
|
841 |
} |
|
842 |
for (i = 4 + nbBytes ; i < 8 ; i++) |
|
843 |
sdo.body.data[i] = 0; |
|
844 |
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", |
|
845 |
nodeId); |
|
846 |
sendSDO(d, whoami, sdo); |
|
| 71 | 847 |
/* Release the line.*/ |
| 0 | 848 |
resetSDOline(d, line); |
849 |
} |
|
| 71 | 850 |
} /* end if I am SERVER*/ |
| 0 | 851 |
else {
|
| 71 | 852 |
/* I am CLIENT */ |
853 |
/* It is the response for the previous initiate upload request.*/ |
|
854 |
/* We should find a line opened for this. */ |
|
| 0 | 855 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
856 |
if (!err) |
|
857 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
858 |
if (err) {
|
|
859 |
MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); |
|
860 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
861 |
return 0xFF; |
|
862 |
} |
|
| 71 | 863 |
/* Reset the wathdog */ |
| 0 | 864 |
RestartSDO_TIMER(line) |
865 |
index = d->transfers[line].index; |
|
866 |
subIndex = d->transfers[line].subIndex; |
|
867 |
||
| 71 | 868 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
869 |
/* nb of data to be uploaded */ |
|
| 0 | 870 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 71 | 871 |
/* Storing the data in the line structure. */ |
| 0 | 872 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
873 |
if (err) {
|
|
874 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
875 |
return 0xFF; |
|
876 |
} |
|
| 71 | 877 |
/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */ |
| 0 | 878 |
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId); |
879 |
StopSDO_TIMER(line) |
|
880 |
d->transfers[line].count = nbBytes; |
|
881 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 882 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 883 |
return 0; |
884 |
} |
|
| 71 | 885 |
else { /* So, if it is not an expedited transfert */
|
886 |
/* Storing the nb of data to receive. */ |
|
| 0 | 887 |
if (getSDOs(m->data[0])) {
|
| 71 | 888 |
nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */ |
| 0 | 889 |
err = setSDOlineRestBytes(d, line, nbBytes); |
890 |
if (err) {
|
|
891 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
892 |
return 0xFF; |
|
893 |
} |
|
894 |
} |
|
| 71 | 895 |
/* Requesting next segment. (cs = 3) */ |
| 0 | 896 |
sdo.nodeId = nodeId; |
897 |
sdo.body.data[0] = 3 << 5; |
|
898 |
for (i = 1 ; i < 8 ; i++) |
|
899 |
sdo.body.data[i] = 0; |
|
900 |
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); |
|
901 |
sendSDO(d, whoami, sdo); |
|
902 |
} |
|
| 71 | 903 |
} /* End if CLIENT */ |
| 0 | 904 |
break; |
905 |
||
906 |
case 3: |
|
| 71 | 907 |
/* I am SERVER */ |
| 0 | 908 |
if (whoami == SDO_SERVER) {
|
| 71 | 909 |
/* Receiving a upload segment. */ |
910 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 911 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
912 |
if (!err) |
|
913 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
914 |
if (err) {
|
|
915 |
MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", |
|
916 |
nodeId); |
|
917 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
918 |
return 0xFF; |
|
919 |
} |
|
| 71 | 920 |
/* Reset the wathdog */ |
| 0 | 921 |
RestartSDO_TIMER(line) |
922 |
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); |
|
923 |
index = d->transfers[line].index; |
|
924 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 925 |
/* Toggle test.*/ |
| 0 | 926 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
927 |
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
928 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
929 |
return 0xFF; |
|
930 |
} |
|
| 71 | 931 |
/* Uploading next segment. We need to know if it will be the last one. */ |
| 0 | 932 |
getSDOlineRestBytes(d, line, &nbBytes); |
933 |
if (nbBytes > 7) {
|
|
| 71 | 934 |
/* The segment to transfer is not the last one.*/ |
935 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
936 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 937 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
938 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
939 |
if (err) {
|
|
940 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
941 |
return 0xFF; |
|
942 |
} |
|
| 71 | 943 |
/* Inverting the toggle for the next tranfert. */ |
| 0 | 944 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
945 |
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); |
|
946 |
sendSDO(d, whoami, sdo); |
|
947 |
} |
|
948 |
else {
|
|
| 71 | 949 |
/* Last segment. */ |
950 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
951 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 952 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
953 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
954 |
if (err) {
|
|
955 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
956 |
return 0xFF; |
|
957 |
} |
|
958 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
959 |
sdo.body.data[i] = 0; |
|
960 |
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId); |
|
961 |
sendSDO(d, whoami, sdo); |
|
| 71 | 962 |
/* Release the line */ |
| 0 | 963 |
resetSDOline(d, line); |
964 |
} |
|
| 71 | 965 |
} /* end if SERVER*/ |
| 0 | 966 |
else {
|
| 71 | 967 |
/* I am CLIENT */ |
968 |
/* It is the response for the previous initiate download request. */ |
|
969 |
/* We should find a line opened for this. */ |
|
| 0 | 970 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
971 |
if (!err) |
|
972 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
973 |
if (err) {
|
|
974 |
MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); |
|
975 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
976 |
return 0xFF; |
|
977 |
} |
|
| 71 | 978 |
/* Reset the wathdog */ |
| 0 | 979 |
RestartSDO_TIMER(line) |
980 |
index = d->transfers[line].index; |
|
981 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 982 |
/* End transmission or requesting next segment. */ |
| 0 | 983 |
getSDOlineRestBytes(d, line, &nbBytes); |
984 |
if (nbBytes == 0) {
|
|
985 |
MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); |
|
986 |
StopSDO_TIMER(line) |
|
987 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 988 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 989 |
return 0x00; |
990 |
} |
|
991 |
if (nbBytes > 7) {
|
|
| 71 | 992 |
/* more than one request to send */ |
993 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
994 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 995 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
996 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
997 |
if (err) {
|
|
998 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
999 |
return 0xFF; |
|
1000 |
} |
|
1001 |
} |
|
1002 |
else {
|
|
| 71 | 1003 |
/* Last segment.*/ |
1004 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
1005 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 1006 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
1007 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
1008 |
if (err) {
|
|
1009 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1010 |
return 0xFF; |
|
1011 |
} |
|
1012 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
1013 |
sdo.body.data[i] = 0; |
|
1014 |
} |
|
1015 |
MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); |
|
1016 |
sendSDO(d, whoami, sdo); |
|
1017 |
||
| 71 | 1018 |
} /* end if I am a CLIENT */ |
| 0 | 1019 |
break; |
1020 |
||
| 82 | 1021 |
case 4: |
1022 |
abortCode = (*m).data[3] | |
|
1023 |
((UNS32)m->data[5] << 8) | |
|
1024 |
((UNS32)m->data[6] << 16) | |
|
1025 |
((UNS32)m->data[7] << 24); |
|
| 71 | 1026 |
/* Received SDO abort. */ |
1027 |
/* Looking for the line concerned. */ |
|
| 0 | 1028 |
if (whoami == SDO_SERVER) {
|
1029 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
1030 |
if (!err) {
|
|
1031 |
resetSDOline( d, line ); |
|
1032 |
MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode); |
|
1033 |
} |
|
1034 |
else |
|
1035 |
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
| 71 | 1036 |
/* Tips : The end user has no way to know that the server node has received an abort SDO. */ |
1037 |
/* Its is ok, I think.*/ |
|
| 0 | 1038 |
} |
| 71 | 1039 |
else { /* If I am CLIENT */
|
| 0 | 1040 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
1041 |
if (!err) {
|
|
| 71 | 1042 |
/* The line *must* be released by the core program. */ |
| 0 | 1043 |
StopSDO_TIMER(line) |
1044 |
d->transfers[line].state = SDO_ABORTED_RCV; |
|
1045 |
MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode); |
|
1046 |
} |
|
1047 |
else |
|
1048 |
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
1049 |
} |
|
1050 |
break; |
|
1051 |
default: |
|
| 71 | 1052 |
/* Error : Unknown cs */ |
| 0 | 1053 |
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0])); |
1054 |
return 0xFF; |
|
1055 |
||
| 71 | 1056 |
} /* End switch */ |
| 0 | 1057 |
return 0; |
1058 |
} |
|
1059 |
||
1060 |
/*******************************************************************)******/ |
|
| 71 | 1061 |
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
| 32 | 1062 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback) |
| 0 | 1063 |
{
|
1064 |
UNS8 err; |
|
1065 |
UNS8 SDOfound = 0; |
|
1066 |
UNS8 line; |
|
| 71 | 1067 |
s_SDO sdo; /* SDO to transmit */ |
| 0 | 1068 |
UNS8 i, j; |
1069 |
UNS16 lastIndex; |
|
1070 |
UNS16 offset; |
|
1071 |
UNS8 *pNodeIdServer; |
|
1072 |
UNS8 nodeIdServer; |
|
1073 |
||
1074 |
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId); |
|
1075 |
MSG_WAR(0x3AC1, " At index : ", index); |
|
1076 |
MSG_WAR(0x3AC2, " subIndex : ", subIndex); |
|
1077 |
MSG_WAR(0x3AC3, " nb bytes : ", count); |
|
1078 |
||
| 71 | 1079 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1080 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1081 |
if (!err) {
|
|
1082 |
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); |
|
1083 |
return 0xFF; |
|
1084 |
} |
|
| 71 | 1085 |
/* Taking the line ... */ |
| 0 | 1086 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1087 |
if (err) {
|
|
1088 |
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1089 |
return (0xFF); |
|
1090 |
} |
|
| 71 | 1091 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1092 |
offset = d->firstIndex->SDO_CLT; |
1093 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1094 |
if (offset == 0) {
|
|
1095 |
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); |
|
1096 |
return 0xFF; |
|
1097 |
} |
|
1098 |
i = 0; |
|
1099 |
while (offset <= lastIndex) {
|
|
1100 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1101 |
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); |
|
1102 |
return 0xFF; |
|
1103 |
} |
|
| 71 | 1104 |
/* looking for the nodeId server */ |
| 0 | 1105 |
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject; |
1106 |
nodeIdServer = *pNodeIdServer; |
|
1107 |
MSG_WAR(0x1AD2, "index : ", 0x1280 + i); |
|
1108 |
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer); |
|
1109 |
||
1110 |
if(nodeIdServer == nodeId) {
|
|
1111 |
SDOfound = 1; |
|
1112 |
break; |
|
1113 |
} |
|
1114 |
offset++; |
|
1115 |
i++; |
|
| 71 | 1116 |
} /* end while */ |
| 0 | 1117 |
if (!SDOfound) {
|
1118 |
MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1119 |
return 0xFF; |
|
1120 |
} |
|
1121 |
MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i); |
|
1122 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
1123 |
d->transfers[line].count = count; |
|
1124 |
d->transfers[line].dataType = dataType; |
|
1125 |
||
| 71 | 1126 |
/* Copy data to transfers structure. */ |
| 0 | 1127 |
for (j = 0 ; j < count ; j++) {
|
1128 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1129 |
if (dataType == 0) |
|
1130 |
d->transfers[line].data[count - 1 - j] = ((char *)data)[j]; |
|
| 71 | 1131 |
else /* String of bytes. */ |
| 0 | 1132 |
d->transfers[line].data[j] = ((char *)data)[j]; |
1133 |
# else |
|
1134 |
d->transfers[line].data[j] = ((char *)data)[j]; |
|
1135 |
# endif |
|
1136 |
} |
|
| 71 | 1137 |
/* Send the SDO to the server. Initiate download, cs=1. */ |
| 0 | 1138 |
sdo.nodeId = nodeId; |
| 71 | 1139 |
if (count <= 4) { /* Expedited transfert */
|
| 0 | 1140 |
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3; |
1141 |
for (i = 4 ; i < 8 ; i++) |
|
1142 |
sdo.body.data[i] = d->transfers[line].data[i - 4]; |
|
1143 |
d->transfers[line].offset = count; |
|
1144 |
} |
|
| 71 | 1145 |
else { /* Normal transfert */
|
| 0 | 1146 |
sdo.body.data[0] = (1 << 5) | 1; |
| 71 | 1147 |
sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */ |
| 0 | 1148 |
for (i = 5 ; i < 8 ; i++) |
1149 |
sdo.body.data[i] = 0; |
|
1150 |
} |
|
| 71 | 1151 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1152 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1153 |
sdo.body.data[3] = subIndex; |
1154 |
||
1155 |
err = sendSDO(d, SDO_CLIENT, sdo); |
|
1156 |
if (err) {
|
|
1157 |
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 71 | 1158 |
/* release the line */ |
| 0 | 1159 |
resetSDOline(d, line); |
1160 |
return 0xFF; |
|
| 32 | 1161 |
} |
1162 |
d->transfers[line].Callback = Callback; |
|
| 0 | 1163 |
return 0; |
1164 |
} |
|
| 53 | 1165 |
|
1166 |
/*--------------------------------------------------------------------------*/ |
|
1167 |
||
| 32 | 1168 |
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
1169 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data) |
|
1170 |
{
|
|
1171 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL); |
|
1172 |
} |
|
1173 |
||
| 53 | 1174 |
/*--------------------------------------------------------------------------*/ |
1175 |
||
| 32 | 1176 |
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, |
1177 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback) |
|
1178 |
{
|
|
1179 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback); |
|
1180 |
} |
|
1181 |
||
1182 |
||
1183 |
/***************************************************************************/ |
|
| 71 | 1184 |
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
| 0 | 1185 |
{
|
1186 |
UNS8 err; |
|
1187 |
UNS8 SDOfound = 0; |
|
1188 |
UNS8 i; |
|
1189 |
UNS8 line; |
|
| 71 | 1190 |
s_SDO sdo; /* SDO to transmit */ |
| 0 | 1191 |
UNS8 *pNodeIdServer; |
1192 |
UNS8 nodeIdServer; |
|
1193 |
UNS16 offset; |
|
1194 |
UNS16 lastIndex; |
|
1195 |
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId); |
|
1196 |
MSG_WAR(0x3AD6, " At index : ", index); |
|
1197 |
MSG_WAR(0x3AD7, " subIndex : ", subIndex); |
|
1198 |
||
1199 |
||
| 71 | 1200 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1201 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1202 |
if (!err) {
|
|
1203 |
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); |
|
1204 |
return 0xFF; |
|
1205 |
} |
|
| 71 | 1206 |
/* Taking the line ... */ |
| 0 | 1207 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1208 |
if (err) {
|
|
1209 |
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1210 |
return (0xFF); |
|
1211 |
} |
|
1212 |
else |
|
1213 |
MSG_WAR(0x3AE0, "Transmission on line : ", line); |
|
1214 |
||
| 71 | 1215 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1216 |
offset = d->firstIndex->SDO_CLT; |
1217 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1218 |
if (offset == 0) {
|
|
1219 |
MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); |
|
1220 |
return 0xFF; |
|
1221 |
} |
|
1222 |
i = 0; |
|
1223 |
while (offset <= lastIndex) {
|
|
1224 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1225 |
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i); |
|
1226 |
return 0xFF; |
|
1227 |
} |
|
| 71 | 1228 |
/* looking for the nodeId server */ |
| 0 | 1229 |
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject; |
1230 |
nodeIdServer = *pNodeIdServer; |
|
1231 |
||
1232 |
if(nodeIdServer == nodeId) {
|
|
1233 |
SDOfound = 1; |
|
1234 |
break; |
|
1235 |
} |
|
1236 |
offset++; |
|
1237 |
i++; |
|
| 71 | 1238 |
} /* end while */ |
| 0 | 1239 |
if (!SDOfound) {
|
1240 |
MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1241 |
return 0xFF; |
|
1242 |
} |
|
1243 |
MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i); |
|
1244 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
1245 |
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1246 |
sdo.nodeId = nodeId; |
|
| 71 | 1247 |
/* Send the SDO to the server. Initiate upload, cs=2. */ |
| 0 | 1248 |
d->transfers[line].dataType = dataType; |
1249 |
sdo.body.data[0] = (2 << 5); |
|
| 71 | 1250 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1251 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1252 |
sdo.body.data[3] = subIndex; |
1253 |
for (i = 4 ; i < 8 ; i++) |
|
1254 |
sdo.body.data[i] = 0; |
|
1255 |
err = sendSDO(d, SDO_CLIENT, sdo); |
|
1256 |
if (err) {
|
|
1257 |
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 71 | 1258 |
/* release the line */ |
| 0 | 1259 |
resetSDOline(d, line); |
1260 |
return 0xFF; |
|
1261 |
} |
|
| 32 | 1262 |
d->transfers[line].Callback = Callback; |
| 0 | 1263 |
return 0; |
1264 |
} |
|
1265 |
||
| 53 | 1266 |
/*--------------------------------------------------------------------------*/ |
1267 |
||
| 32 | 1268 |
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType) |
1269 |
{
|
|
1270 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL); |
|
1271 |
} |
|
1272 |
||
| 53 | 1273 |
/*--------------------------------------------------------------------------*/ |
| 32 | 1274 |
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
1275 |
{
|
|
1276 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); |
|
1277 |
} |
|
| 53 | 1278 |
|
| 0 | 1279 |
/***************************************************************************/ |
1280 |
||
1281 |
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, |
|
1282 |
UNS32 * abortCode) |
|
1283 |
{
|
|
1284 |
UNS8 i; |
|
1285 |
UNS8 err; |
|
1286 |
UNS8 line; |
|
1287 |
* size = 0; |
|
1288 |
||
| 71 | 1289 |
/* Looking for the line tranfert. */ |
| 0 | 1290 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1291 |
if (err) {
|
|
1292 |
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); |
|
1293 |
return SDO_ABORTED_INTERNAL; |
|
1294 |
} |
|
1295 |
if (d->transfers[line].state != SDO_FINISHED) |
|
1296 |
return d->transfers[line].state; |
|
1297 |
||
| 71 | 1298 |
/* Transfert is finished. Put the value in the data. */ |
| 0 | 1299 |
* size = d->transfers[line].count; |
1300 |
for ( i = 0 ; i < *size ; i++) {
|
|
1301 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1302 |
if (d->transfers[line].dataType != visible_string) |
|
1303 |
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i]; |
|
| 71 | 1304 |
else /* String of bytes. */ |
| 0 | 1305 |
( (char *) data)[i] = d->transfers[line].data[i]; |
1306 |
# else |
|
1307 |
( (char *) data)[i] = d->transfers[line].data[i]; |
|
1308 |
# endif |
|
1309 |
} |
|
1310 |
return SDO_FINISHED; |
|
1311 |
} |
|
1312 |
||
1313 |
/***************************************************************************/ |
|
1314 |
||
1315 |
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode) |
|
1316 |
{
|
|
1317 |
UNS8 line = 0; |
|
1318 |
UNS8 err; |
|
1319 |
||
1320 |
* abortCode = 0; |
|
| 71 | 1321 |
/* Looking for the line tranfert. */ |
| 0 | 1322 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1323 |
if (err) {
|
|
1324 |
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); |
|
1325 |
return SDO_ABORTED_INTERNAL; |
|
1326 |
} |
|
1327 |
* abortCode = d->transfers[line].abortCode; |
|
1328 |
return d->transfers[line].state; |
|
1329 |
} |
|
|
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
|
1330 |