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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/sdo.c Source File</title>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/sdo.c</h1><a href="sdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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34 |
<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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36 |
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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210
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<a name="l00032"></a>00032 <span class="comment">/* #define DEBUG_WAR_CONSOLE_ON */</span>
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<a name="l00033"></a>00033 <span class="comment">/* #define DEBUG_ERR_CONSOLE_ON */</span>
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41 |
<a name="l00034"></a>00034
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42 |
<a name="l00035"></a>00035 <span class="preprocessor">#include "objacces.h"</span>
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43 |
<a name="l00036"></a>00036 <span class="preprocessor">#include "sdo.h"</span>
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44 |
<a name="l00037"></a>00037 <span class="preprocessor">#include "canfestival.h"</span>
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45 |
<a name="l00038"></a>00038
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<a name="l00039"></a>00039 <span class="comment">/* Uncomment if your compiler does not support inline functions */</span>
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47 |
<a name="l00040"></a><a class="code" href="sdo_8c.html#b5ce7bd7fe4169a9f709815f03f9870b">00040</a> <span class="preprocessor">#define NO_INLINE </span>
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48 |
<a name="l00041"></a>00041 <span class="preprocessor"></span>
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49 |
<a name="l00042"></a>00042 <span class="preprocessor">#ifdef NO_INLINE</span>
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50 |
<a name="l00043"></a><a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">00043</a> <span class="preprocessor"></span><span class="preprocessor"> #define INLINE </span>
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51 |
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#else</span>
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<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor"> #define INLINE inline</span>
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53 |
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00047"></a>00047 <span class="preprocessor"></span>
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<a name="l00048"></a>00048 <span class="comment">/*Internals prototypes*/</span>
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207
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<a name="l00049"></a>00049
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210
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<a name="l00065"></a>00065 <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
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<a name="l00066"></a>00066 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
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<a name="l00067"></a>00067
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<a name="l00080"></a>00080 <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
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<a name="l00081"></a>00081 UNS8 dataType, SDOCallback_t Callback);
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<a name="l00082"></a>00082
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<a name="l00083"></a>00083
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<a name="l00084"></a>00084 <span class="comment">/***************************************************************************/</span>
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<a name="l00085"></a>00085 <span class="comment">/* SDO (un)packing macros */</span>
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66 |
<a name="l00086"></a>00086
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<a name="l00089"></a><a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">00089</a> <span class="preprocessor">#define getSDOcs(byte) (byte >> 5)</span>
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<a name="l00090"></a>00090 <span class="preprocessor"></span>
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<a name="l00093"></a><a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">00093</a> <span class="preprocessor">#define getSDOn2(byte) ((byte >> 2) & 3)</span>
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70 |
<a name="l00094"></a>00094 <span class="preprocessor"></span>
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<a name="l00097"></a><a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">00097</a> <span class="preprocessor">#define getSDOn3(byte) ((byte >> 1) & 7)</span>
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72 |
<a name="l00098"></a>00098 <span class="preprocessor"></span>
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73 |
<a name="l00101"></a><a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">00101</a> <span class="preprocessor">#define getSDOe(byte) ((byte >> 1) & 1)</span>
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74 |
<a name="l00102"></a>00102 <span class="preprocessor"></span>
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75 |
<a name="l00105"></a><a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">00105</a> <span class="preprocessor">#define getSDOs(byte) (byte & 1)</span>
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76 |
<a name="l00106"></a>00106 <span class="preprocessor"></span>
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77 |
<a name="l00109"></a><a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">00109</a> <span class="preprocessor">#define getSDOc(byte) (byte & 1)</span>
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<a name="l00110"></a>00110 <span class="preprocessor"></span>
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79 |
<a name="l00113"></a><a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">00113</a> <span class="preprocessor">#define getSDOt(byte) ((byte >> 4) & 1)</span>
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<a name="l00114"></a>00114 <span class="preprocessor"></span>
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81 |
<a name="l00117"></a><a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">00117</a> <span class="preprocessor">#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))</span>
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82 |
<a name="l00118"></a>00118 <span class="preprocessor"></span>
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83 |
<a name="l00121"></a><a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">00121</a> <span class="preprocessor">#define getSDOsubIndex(byte3) (byte3)</span>
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84 |
<a name="l00122"></a>00122 <span class="preprocessor"></span>
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85 |
<a name="l00129"></a><a class="code" href="sdo_8c.html#9309025e29b59e09026abcd3b45a5b61">00129</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#9309025e29b59e09026abcd3b45a5b61">SDOTimeoutAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
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86 |
<a name="l00130"></a>00130 {
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87 |
<a name="l00131"></a>00131 MSG_ERR(0x1A01, <span class="stringliteral">"SDO timeout. SDO response not received."</span>, 0);
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88 |
<a name="l00132"></a>00132 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, d->transfers[<span class="keywordtype">id</span>].nodeId);
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89 |
<a name="l00133"></a>00133 MSG_WAR(0x2A02, <span class="stringliteral">" index : "</span>, d->transfers[<span class="keywordtype">id</span>].index);
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90 |
<a name="l00134"></a>00134 MSG_WAR(0x2A02, <span class="stringliteral">" subIndex : "</span>, d->transfers[<span class="keywordtype">id</span>].subIndex);
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91 |
<a name="l00135"></a>00135 <span class="comment">/* Reset timer handler */</span>
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92 |
<a name="l00136"></a>00136 d->transfers[id].timer = TIMER_NONE;
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93 |
<a name="l00137"></a>00137 <span class="comment">/*Set aborted state*/</span>
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94 |
<a name="l00138"></a>00138 d->transfers[id].state = SDO_ABORTED_INTERNAL;
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95 |
<a name="l00139"></a>00139 <span class="comment">/* Sending a SDO abort */</span>
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96 |
<a name="l00140"></a>00140 <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, d->transfers[<span class="keywordtype">id</span>].whoami,
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97 |
<a name="l00141"></a>00141 d->transfers[<span class="keywordtype">id</span>].index, d->transfers[<span class="keywordtype">id</span>].subIndex, SDOABT_TIMED_OUT);
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98 |
<a name="l00142"></a>00142 d->transfers[id].abortCode = SDOABT_TIMED_OUT;
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99 |
<a name="l00143"></a>00143 <span class="comment">/* Call the user function to inform of the problem.*/</span>
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100 |
<a name="l00144"></a>00144 <span class="keywordflow">if</span>(d->transfers[<span class="keywordtype">id</span>].Callback)
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101 |
<a name="l00145"></a>00145 <span class="comment">/*If ther is a callback, it is responsible to close SDO transfer (client)*/</span>
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102 |
<a name="l00146"></a>00146 (*d->transfers[id].Callback)(d,d->transfers[<span class="keywordtype">id</span>].nodeId);
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103 |
<a name="l00147"></a>00147 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(d->transfers[<span class="keywordtype">id</span>].whoami == SDO_SERVER)
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104 |
<a name="l00148"></a>00148 <span class="comment">/*Else, if server, reset the line*/</span>
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105 |
<a name="l00149"></a>00149 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, (UNS8)<span class="keywordtype">id</span>);
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<a name="l00150"></a>00150 }
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107 |
<a name="l00151"></a>00151
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108 |
<a name="l00152"></a><a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">00152</a> <span class="preprocessor">#define StopSDO_TIMER(id) \</span>
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109 |
<a name="l00153"></a>00153 <span class="preprocessor">MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\</span>
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110 |
<a name="l00154"></a>00154 <span class="preprocessor">d->transfers[id].timer = DelAlarm(d->transfers[id].timer);</span>
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111 |
<a name="l00155"></a>00155 <span class="preprocessor"></span>
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112 |
<a name="l00156"></a><a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">00156</a> <span class="preprocessor">#define StartSDO_TIMER(id) \</span>
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<a name="l00157"></a>00157 <span class="preprocessor">MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\</span>
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114 |
<a name="l00158"></a>00158 <span class="preprocessor">d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);</span>
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<a name="l00159"></a>00159 <span class="preprocessor"></span>
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116 |
<a name="l00160"></a><a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">00160</a> <span class="preprocessor">#define RestartSDO_TIMER(id) \</span>
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117 |
<a name="l00161"></a>00161 <span class="preprocessor">MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\</span>
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118 |
<a name="l00162"></a>00162 <span class="preprocessor">if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }</span>
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119 |
<a name="l00163"></a>00163 <span class="preprocessor"></span>
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120 |
<a name="l00169"></a><a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">00169</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">resetSDO</a> (CO_Data* d)
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121 |
<a name="l00170"></a>00170 {
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122 |
<a name="l00171"></a>00171 UNS8 j;
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123 |
<a name="l00172"></a>00172
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124 |
<a name="l00174"></a>00174 <span class="keywordflow">for</span> (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
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125 |
<a name="l00175"></a>00175 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, j);
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126 |
<a name="l00176"></a>00176 }
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127 |
<a name="l00177"></a>00177
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128 |
<a name="l00186"></a><a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">00186</a> UNS32 <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a> (CO_Data* d, UNS8 line)
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129 |
<a name="l00187"></a>00187 {
|
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130 |
<a name="l00188"></a>00188 UNS8 size;
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131 |
<a name="l00189"></a>00189 UNS32 errorCode;
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132 |
<a name="l00190"></a>00190 MSG_WAR(0x3A08, <span class="stringliteral">"Enter in SDOlineToObjdict "</span>, line);
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133 |
<a name="l00191"></a>00191 size = (UNS8)d->transfers[line].count;
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134 |
<a name="l00192"></a>00192 errorCode = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, d->transfers[line].index, d->transfers[line].subIndex,
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135 |
<a name="l00193"></a>00193 (<span class="keywordtype">void</span> *) d->transfers[line].data, &size, 1);
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136 |
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
|
|
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137 |
<a name="l00195"></a>00195 <span class="keywordflow">return</span> errorCode;
|
|
|
138 |
<a name="l00196"></a>00196 MSG_WAR(0x3A08, <span class="stringliteral">"exit of SDOlineToObjdict "</span>, line);
|
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139 |
<a name="l00197"></a>00197 <span class="keywordflow">return</span> 0;
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140 |
<a name="l00198"></a>00198
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141 |
<a name="l00199"></a>00199 }
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142 |
<a name="l00200"></a>00200
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143 |
<a name="l00209"></a><a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">00209</a> UNS32 <a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">objdictToSDOline</a> (CO_Data* d, UNS8 line)
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144 |
<a name="l00210"></a>00210 {
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145 |
<a name="l00211"></a>00211 UNS8 size = 0;
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146 |
<a name="l00212"></a>00212 UNS8 dataType;
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147 |
<a name="l00213"></a>00213 UNS32 errorCode;
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148 |
<a name="l00214"></a>00214
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149 |
<a name="l00215"></a>00215 MSG_WAR(0x3A05, <span class="stringliteral">"objdict->line index : "</span>, d->transfers[line].index);
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150 |
<a name="l00216"></a>00216 MSG_WAR(0x3A06, <span class="stringliteral">" subIndex : "</span>, d->transfers[line].subIndex);
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151 |
<a name="l00217"></a>00217
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152 |
<a name="l00218"></a>00218 errorCode = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, d->transfers[line].index,
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153 |
<a name="l00219"></a>00219 d->transfers[line].subIndex,
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154 |
<a name="l00220"></a>00220 (<span class="keywordtype">void</span> *)d->transfers[line].data,
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155 |
<a name="l00221"></a>00221 &size, &dataType, 0);
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156 |
<a name="l00222"></a>00222
|
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157 |
<a name="l00223"></a>00223 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
|
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158 |
<a name="l00224"></a>00224 <span class="keywordflow">return</span> errorCode;
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207
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159 |
<a name="l00225"></a>00225
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210
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160 |
<a name="l00226"></a>00226 d->transfers[line].count = size;
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|
|
161 |
<a name="l00227"></a>00227 d->transfers[line].offset = 0;
|
|
|
162 |
<a name="l00228"></a>00228 <span class="preprocessor">#if 0</span>
|
|
|
163 |
<a name="l00229"></a>00229 <span class="preprocessor"></span> <span class="comment">/*Me laisser a, please ! (FD)*/</span>
|
|
|
164 |
<a name="l00230"></a>00230 {
|
|
|
165 |
<a name="l00231"></a>00231 UNS8 i;
|
|
|
166 |
<a name="l00232"></a>00232 <span class="keywordflow">for</span> (i = 0 ; i < 10 ; i++) {
|
|
|
167 |
<a name="l00233"></a>00233 MSG_WAR(i, <span class="stringliteral">"data= "</span>, d->transfers[line].data[i]);
|
|
|
168 |
<a name="l00234"></a>00234 }
|
|
|
169 |
<a name="l00235"></a>00235 }
|
|
|
170 |
<a name="l00236"></a>00236 <span class="preprocessor">#endif</span>
|
|
|
171 |
<a name="l00237"></a>00237 <span class="preprocessor"></span> <span class="keywordflow">return</span> 0;
|
|
|
172 |
<a name="l00238"></a>00238 }
|
|
|
173 |
<a name="l00239"></a>00239
|
|
|
174 |
<a name="l00250"></a><a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">00250</a> UNS8 <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a> (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
|
|
|
175 |
<a name="l00251"></a>00251 UNS8 i;
|
|
|
176 |
<a name="l00252"></a>00252 UNS8 offset;
|
|
|
177 |
<a name="l00253"></a>00253
|
|
|
178 |
<a name="l00254"></a>00254 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
|
|
|
179 |
<a name="l00255"></a>00255 MSG_ERR(0x1A10,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
|
|
|
180 |
<a name="l00256"></a>00256 <span class="keywordflow">return</span> 0xFF;
|
|
|
181 |
<a name="l00257"></a>00257 }
|
|
|
182 |
<a name="l00258"></a>00258 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
|
|
|
183 |
<a name="l00259"></a>00259 MSG_ERR(0x1A11,<span class="stringliteral">"SDO Size of data too large. Exceed count"</span>, nbBytes);
|
|
|
184 |
<a name="l00260"></a>00260 <span class="keywordflow">return</span> 0xFF;
|
|
|
185 |
<a name="l00261"></a>00261 }
|
|
|
186 |
<a name="l00262"></a>00262 offset = (UNS8)d->transfers[line].offset;
|
|
|
187 |
<a name="l00263"></a>00263 for (i = 0 ; i < nbBytes ; i++)
|
|
|
188 |
<a name="l00264"></a>00264 * (data + i) = d->transfers[line].data[offset + i];
|
|
|
189 |
<a name="l00265"></a>00265 d->transfers[line].offset = d->transfers[line].offset + nbBytes;
|
|
|
190 |
<a name="l00266"></a>00266 <span class="keywordflow">return</span> 0;
|
|
|
191 |
<a name="l00267"></a>00267 }
|
|
|
192 |
<a name="l00268"></a>00268
|
|
|
193 |
<a name="l00279"></a><a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">00279</a> UNS8 <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a> (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
|
|
|
194 |
<a name="l00280"></a>00280 {
|
|
|
195 |
<a name="l00281"></a>00281 UNS8 i;
|
|
|
196 |
<a name="l00282"></a>00282 UNS8 offset;
|
|
|
197 |
<a name="l00283"></a>00283
|
|
|
198 |
<a name="l00284"></a>00284 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
|
|
|
199 |
<a name="l00285"></a>00285 MSG_ERR(0x1A15,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
|
|
|
200 |
<a name="l00286"></a>00286 <span class="keywordflow">return</span> 0xFF;
|
|
|
201 |
<a name="l00287"></a>00287 }
|
|
|
202 |
<a name="l00288"></a>00288 offset = (UNS8)d->transfers[line].offset;
|
|
|
203 |
<a name="l00289"></a>00289 for (i = 0 ; i < nbBytes ; i++)
|
|
|
204 |
<a name="l00290"></a>00290 d->transfers[line].data[offset + i] = * (data + i);
|
|
|
205 |
<a name="l00291"></a>00291 d->transfers[line].offset = d->transfers[line].offset + nbBytes;
|
|
|
206 |
<a name="l00292"></a>00292 <span class="keywordflow">return</span> 0;
|
|
|
207 |
<a name="l00293"></a>00293 }
|
|
|
208 |
<a name="l00294"></a>00294
|
|
|
209 |
<a name="l00307"></a><a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">00307</a> UNS8 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
|
|
|
210 |
<a name="l00308"></a>00308 UNS8 subIndex, UNS32 abortCode)
|
|
|
211 |
<a name="l00309"></a>00309 {
|
|
|
212 |
<a name="l00310"></a>00310 UNS8 err;
|
|
|
213 |
<a name="l00311"></a>00311 UNS8 line;
|
|
|
214 |
<a name="l00312"></a>00312 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
215 |
<a name="l00313"></a>00313 <span class="keywordflow">if</span> (!err) <span class="comment">/* If a line on use have been found.*/</span>
|
|
|
216 |
<a name="l00314"></a>00314 MSG_WAR(0x3A20, <span class="stringliteral">"FailedSDO : line found : "</span>, line);
|
|
|
217 |
<a name="l00315"></a>00315 <span class="keywordflow">if</span> ((! err) && (whoami == SDO_SERVER)) {
|
|
|
218 |
<a name="l00316"></a>00316 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
|
|
|
219 |
<a name="l00317"></a>00317 MSG_WAR(0x3A21, <span class="stringliteral">"FailedSDO : line released : "</span>, line);
|
|
|
220 |
<a name="l00318"></a>00318 }
|
|
|
221 |
<a name="l00319"></a>00319 <span class="keywordflow">if</span> ((! err) && (whoami == SDO_CLIENT)) {
|
|
|
222 |
<a name="l00320"></a>00320 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line);
|
|
|
223 |
<a name="l00321"></a>00321 d->transfers[line].state = SDO_ABORTED_INTERNAL;
|
|
|
224 |
<a name="l00322"></a>00322 }
|
|
|
225 |
<a name="l00323"></a>00323 MSG_WAR(0x3A22, <span class="stringliteral">"Sending SDO abort "</span>, 0);
|
|
|
226 |
<a name="l00324"></a>00324 err = <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, whoami, index, subIndex, abortCode);
|
|
|
227 |
<a name="l00325"></a>00325 <span class="keywordflow">if</span> (err) {
|
|
|
228 |
<a name="l00326"></a>00326 MSG_WAR(0x3A23, <span class="stringliteral">"Unable to send the SDO abort"</span>, 0);
|
|
|
229 |
<a name="l00327"></a>00327 <span class="keywordflow">return</span> 0xFF;
|
|
|
230 |
<a name="l00328"></a>00328 }
|
|
|
231 |
<a name="l00329"></a>00329 <span class="keywordflow">return</span> 0;
|
|
|
232 |
<a name="l00330"></a>00330 }
|
|
|
233 |
<a name="l00331"></a>00331
|
|
|
234 |
<a name="l00338"></a><a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">00338</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a> ( CO_Data* d, UNS8 line )
|
|
|
235 |
<a name="l00339"></a>00339 {
|
|
|
236 |
<a name="l00340"></a>00340 UNS8 i;
|
|
|
237 |
<a name="l00341"></a>00341 MSG_WAR(0x3A25, <span class="stringliteral">"reset SDO line nb : "</span>, line);
|
|
|
238 |
<a name="l00342"></a>00342 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, 0, 0, 0, SDO_RESET);
|
|
|
239 |
<a name="l00343"></a>00343 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
|
|
|
240 |
<a name="l00344"></a>00344 d->transfers[line].data[i] = 0;
|
|
|
241 |
<a name="l00345"></a>00345 }
|
|
|
242 |
<a name="l00346"></a>00346
|
|
|
243 |
<a name="l00359"></a><a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">00359</a> UNS8 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a> (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
|
|
|
244 |
<a name="l00360"></a>00360 {
|
|
|
245 |
<a name="l00361"></a>00361 MSG_WAR(0x3A25, <span class="stringliteral">"init SDO line nb : "</span>, line);
|
|
|
246 |
<a name="l00362"></a>00362 <span class="keywordflow">if</span> (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
|
|
|
247 |
<a name="l00363"></a>00363 <a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">StartSDO_TIMER</a>(line)
|
|
|
248 |
<a name="l00364"></a>00364 }<span class="keywordflow">else</span>{
|
|
|
249 |
<a name="l00365"></a>00365 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
250 |
<a name="l00366"></a>00366 }
|
|
|
251 |
<a name="l00367"></a>00367 d->transfers[line].nodeId = nodeId;
|
|
|
252 |
<a name="l00368"></a>00368 d->transfers[line].index = index;
|
|
|
253 |
<a name="l00369"></a>00369 d->transfers[line].subIndex = subIndex;
|
|
|
254 |
<a name="l00370"></a>00370 d->transfers[line].state = state;
|
|
|
255 |
<a name="l00371"></a>00371 d->transfers[line].toggle = 0;
|
|
|
256 |
<a name="l00372"></a>00372 d->transfers[line].count = 0;
|
|
|
257 |
<a name="l00373"></a>00373 d->transfers[line].offset = 0;
|
|
|
258 |
<a name="l00374"></a>00374 d->transfers[line].dataType = 0;
|
|
|
259 |
<a name="l00375"></a>00375 d->transfers[line].Callback = NULL;
|
|
|
260 |
<a name="l00376"></a>00376 <span class="keywordflow">return</span> 0;
|
|
|
261 |
<a name="l00377"></a>00377 }
|
|
|
262 |
<a name="l00378"></a>00378
|
|
|
263 |
<a name="l00388"></a><a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">00388</a> UNS8 <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a> ( CO_Data* d, UNS8 whoami, UNS8 *line )
|
|
|
264 |
<a name="l00389"></a>00389 {
|
|
|
265 |
<a name="l00390"></a>00390
|
|
|
266 |
<a name="l00391"></a>00391 UNS8 i;
|
|
|
267 |
<a name="l00392"></a>00392
|
|
|
268 |
<a name="l00393"></a>00393 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
|
269 |
<a name="l00394"></a>00394 <span class="keywordflow">if</span> ( d->transfers[i].state == SDO_RESET ) {
|
|
|
270 |
<a name="l00395"></a>00395 *line = i;
|
|
|
271 |
<a name="l00396"></a>00396 d->transfers[i].whoami = whoami;
|
|
|
272 |
<a name="l00397"></a>00397 <span class="keywordflow">return</span> 0;
|
|
|
273 |
<a name="l00398"></a>00398 } <span class="comment">/* end if */</span>
|
|
|
274 |
<a name="l00399"></a>00399 } <span class="comment">/* end for */</span>
|
|
|
275 |
<a name="l00400"></a>00400 MSG_ERR(0x1A25, <span class="stringliteral">"Too many SDO in progress. Aborted."</span>, i);
|
|
|
276 |
<a name="l00401"></a>00401 <span class="keywordflow">return</span> 0xFF;
|
|
|
277 |
<a name="l00402"></a>00402 }
|
|
|
278 |
<a name="l00403"></a>00403
|
|
|
279 |
<a name="l00414"></a><a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">00414</a> UNS8 <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
|
|
|
280 |
<a name="l00415"></a>00415 {
|
|
|
281 |
<a name="l00416"></a>00416
|
|
|
282 |
<a name="l00417"></a>00417 UNS8 i;
|
|
|
283 |
<a name="l00418"></a>00418
|
|
|
284 |
<a name="l00419"></a>00419 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
|
285 |
<a name="l00420"></a>00420 <span class="keywordflow">if</span> ( (d->transfers[i].state != SDO_RESET) &&
|
|
|
286 |
<a name="l00421"></a>00421 (d->transfers[i].nodeId == nodeId) &&
|
|
|
287 |
<a name="l00422"></a>00422 (d->transfers[i].whoami == whoami) ) {
|
|
|
288 |
<a name="l00423"></a>00423 *line = i;
|
|
|
289 |
<a name="l00424"></a>00424 <span class="keywordflow">return</span> 0;
|
|
|
290 |
<a name="l00425"></a>00425 }
|
|
|
291 |
<a name="l00426"></a>00426 }
|
|
|
292 |
<a name="l00427"></a>00427 <span class="keywordflow">return</span> 0xFF;
|
|
|
293 |
<a name="l00428"></a>00428 }
|
|
|
294 |
<a name="l00429"></a>00429
|
|
|
295 |
<a name="l00439"></a><a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">00439</a> UNS8 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami)
|
|
|
296 |
<a name="l00440"></a>00440 {
|
|
|
297 |
<a name="l00441"></a>00441 UNS8 err;
|
|
|
298 |
<a name="l00442"></a>00442 UNS8 line;
|
|
|
299 |
<a name="l00443"></a>00443 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, whoami, &line);
|
|
|
300 |
<a name="l00444"></a>00444 <span class="keywordflow">if</span> (err) {
|
|
|
301 |
<a name="l00445"></a>00445 MSG_WAR(0x2A30, <span class="stringliteral">"No SDO communication to close for node : "</span>, nodeId);
|
|
|
302 |
<a name="l00446"></a>00446 <span class="keywordflow">return</span> 0xFF;
|
|
|
303 |
<a name="l00447"></a>00447 }
|
|
|
304 |
<a name="l00448"></a>00448 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
305 |
<a name="l00449"></a>00449 <span class="keywordflow">return</span> 0;
|
|
|
306 |
<a name="l00450"></a>00450 }
|
|
|
307 |
<a name="l00451"></a>00451
|
|
|
308 |
<a name="l00461"></a><a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">00461</a> UNS8 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a> (CO_Data* d, UNS8 line, UNS8 * nbBytes)
|
|
|
309 |
<a name="l00462"></a>00462 {
|
|
|
310 |
<a name="l00463"></a>00463 <span class="keywordflow">if</span> (d->transfers[line].count == 0) <span class="comment">/* if received initiate SDO protocol with e=0 and s=0 */</span>
|
|
|
311 |
<a name="l00464"></a>00464 * nbBytes = 0;
|
|
|
312 |
<a name="l00465"></a>00465 <span class="keywordflow">else</span>
|
|
|
313 |
<a name="l00466"></a>00466 * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
|
|
|
314 |
<a name="l00467"></a>00467 <span class="keywordflow">return</span> 0;
|
|
|
315 |
<a name="l00468"></a>00468 }
|
|
|
316 |
<a name="l00469"></a>00469
|
|
|
317 |
<a name="l00479"></a><a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">00479</a> UNS8 <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a> (CO_Data* d, UNS8 line, UNS8 nbBytes)
|
|
|
318 |
<a name="l00480"></a>00480 {
|
|
|
319 |
<a name="l00481"></a>00481 <span class="keywordflow">if</span> (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
|
|
|
320 |
<a name="l00482"></a>00482 MSG_ERR(0x1A35,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
|
|
|
321 |
<a name="l00483"></a>00483 <span class="keywordflow">return</span> 0xFF;
|
|
|
322 |
<a name="l00484"></a>00484 }
|
|
|
323 |
<a name="l00485"></a>00485 d->transfers[line].count = nbBytes;
|
|
|
324 |
<a name="l00486"></a>00486 <span class="keywordflow">return</span> 0;
|
|
|
325 |
<a name="l00487"></a>00487 }
|
|
|
326 |
<a name="l00488"></a>00488
|
|
|
327 |
<a name="l00498"></a><a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">00498</a> UNS8 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a> (CO_Data* d, UNS8 whoami, s_SDO sdo)
|
|
|
328 |
<a name="l00499"></a>00499 {
|
|
|
329 |
<a name="l00500"></a>00500 UNS16 offset;
|
|
|
330 |
<a name="l00501"></a>00501 UNS16 lastIndex;
|
|
|
331 |
<a name="l00502"></a>00502 UNS8 found = 0;
|
|
|
332 |
<a name="l00503"></a>00503 Message m;
|
|
|
333 |
<a name="l00504"></a>00504 UNS8 i;
|
|
|
334 |
<a name="l00505"></a>00505 UNS32 * pwCobId = NULL;
|
|
|
335 |
<a name="l00506"></a>00506 UNS32 * pwNodeId = NULL;
|
|
|
336 |
<a name="l00507"></a>00507
|
|
|
337 |
<a name="l00508"></a>00508 MSG_WAR(0x3A38, <span class="stringliteral">"sendSDO"</span>,0);
|
|
|
338 |
<a name="l00509"></a>00509 <span class="keywordflow">if</span>( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
|
|
|
339 |
<a name="l00510"></a>00510 MSG_WAR(0x2A39, <span class="stringliteral">"unable to send the SDO (not in op or pre-op mode"</span>, d->nodeState);
|
|
|
340 |
<a name="l00511"></a>00511 <span class="keywordflow">return</span> 0xFF;
|
|
|
341 |
<a name="l00512"></a>00512 }
|
|
|
342 |
<a name="l00513"></a>00513
|
|
|
343 |
<a name="l00515"></a>00515 <span class="keywordflow">if</span> ( whoami == SDO_SERVER ) {
|
|
|
344 |
<a name="l00516"></a>00516 offset = d->firstIndex->SDO_SVR;
|
|
|
345 |
<a name="l00517"></a>00517 <span class="keywordflow">if</span> (offset == 0) {
|
|
|
346 |
<a name="l00518"></a>00518 MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO server found"</span>, 0);
|
|
|
347 |
<a name="l00519"></a>00519 <span class="keywordflow">return</span> 0xFF;
|
|
|
348 |
<a name="l00520"></a>00520 }
|
|
|
349 |
<a name="l00521"></a>00521 pwCobId = d->objdict[offset].pSubindex[2].pObject;
|
|
|
350 |
<a name="l00522"></a>00522 MSG_WAR(0x3A41, <span class="stringliteral">"I am server. cobId : "</span>, *pwCobId);
|
|
|
351 |
<a name="l00523"></a>00523 }
|
|
|
352 |
<a name="l00524"></a>00524 <span class="keywordflow">else</span> {
|
|
|
353 |
<a name="l00526"></a>00526 UNS16 sdoNum = 0;
|
|
|
354 |
<a name="l00527"></a>00527 offset = d->firstIndex->SDO_CLT;
|
|
|
355 |
<a name="l00528"></a>00528 lastIndex = d->lastIndex->SDO_CLT;
|
|
|
356 |
<a name="l00529"></a>00529 <span class="keywordflow">if</span> (offset == 0) {
|
|
|
357 |
<a name="l00530"></a>00530 MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO client index found"</span>, 0);
|
|
|
358 |
<a name="l00531"></a>00531 <span class="keywordflow">return</span> 0xFF;
|
|
|
359 |
<a name="l00532"></a>00532 }
|
|
|
360 |
<a name="l00534"></a>00534 <span class="keywordflow">while</span> (offset <= lastIndex){
|
|
|
361 |
<a name="l00535"></a>00535 MSG_WAR(0x3A43,<span class="stringliteral">"Reading index : "</span>, 0x1280 + sdoNum);
|
|
|
362 |
<a name="l00536"></a>00536 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
|
|
|
363 |
<a name="l00537"></a>00537 MSG_ERR(0x1A28, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + sdoNum);
|
|
|
364 |
<a name="l00538"></a>00538 <span class="keywordflow">return</span> 0xFF;
|
|
|
365 |
<a name="l00539"></a>00539 }
|
|
|
366 |
<a name="l00540"></a>00540 pwNodeId = d->objdict[offset].pSubindex[3].pObject;
|
|
|
367 |
<a name="l00541"></a>00541 MSG_WAR(0x3A44, <span class="stringliteral">"Found nodeId server = "</span>, *pwNodeId);
|
|
|
368 |
<a name="l00542"></a>00542 <span class="keywordflow">if</span>(*pwNodeId == sdo.nodeId) {
|
|
|
369 |
<a name="l00543"></a>00543 found = 1;
|
|
|
370 |
<a name="l00544"></a>00544 <span class="keywordflow">break</span>;
|
|
|
371 |
<a name="l00545"></a>00545 }
|
|
|
372 |
<a name="l00546"></a>00546 offset ++;
|
|
|
373 |
<a name="l00547"></a>00547 sdoNum ++;
|
|
|
374 |
<a name="l00548"></a>00548 }
|
|
|
375 |
<a name="l00549"></a>00549 <span class="keywordflow">if</span> (! found){
|
|
|
376 |
<a name="l00550"></a>00550 MSG_WAR (0x2A45, <span class="stringliteral">"No SDO client corresponds to the mesage to send to node "</span>, sdo.nodeId);
|
|
|
377 |
<a name="l00551"></a>00551 <span class="keywordflow">return</span> 0xFF;
|
|
|
378 |
<a name="l00552"></a>00552 }
|
|
|
379 |
<a name="l00554"></a>00554 pwCobId = d->objdict[offset].pSubindex[1].pObject;
|
|
|
380 |
<a name="l00555"></a>00555 }
|
|
|
381 |
<a name="l00557"></a>00557 m.cob_id.w = *pwCobId;
|
|
|
382 |
<a name="l00558"></a>00558 m.rtr = NOT_A_REQUEST;
|
|
|
383 |
<a name="l00560"></a>00560 m.len = 8;
|
|
|
384 |
<a name="l00561"></a>00561 <span class="keywordflow">for</span> (i = 0 ; i < 8 ; i++) {
|
|
|
385 |
<a name="l00562"></a>00562 m.data[i] = sdo.body.data[i];
|
|
|
386 |
<a name="l00563"></a>00563 }
|
|
|
387 |
<a name="l00564"></a>00564 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
|
|
|
388 |
<a name="l00565"></a>00565 }
|
|
|
389 |
<a name="l00566"></a>00566
|
|
|
390 |
<a name="l00578"></a><a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">00578</a> UNS8 <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a> (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
|
|
|
391 |
<a name="l00579"></a>00579 {
|
|
|
392 |
<a name="l00580"></a>00580 s_SDO sdo;
|
|
|
393 |
<a name="l00581"></a>00581 UNS8 ret;
|
|
|
394 |
<a name="l00582"></a>00582 MSG_WAR(0x2A50,<span class="stringliteral">"Sending SDO abort "</span>, abortCode);
|
|
|
395 |
<a name="l00583"></a>00583 sdo.nodeId = *d->bDeviceNodeId;
|
|
|
396 |
<a name="l00584"></a>00584 sdo.body.data[0] = 0x80;
|
|
|
397 |
<a name="l00585"></a>00585 <span class="comment">/* Index */</span>
|
|
|
398 |
<a name="l00586"></a>00586 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
399 |
<a name="l00587"></a>00587 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
400 |
<a name="l00588"></a>00588 <span class="comment">/* Subindex */</span>
|
|
|
401 |
<a name="l00589"></a>00589 sdo.body.data[3] = subIndex;
|
|
|
402 |
<a name="l00590"></a>00590 <span class="comment">/* Data */</span>
|
|
|
403 |
<a name="l00591"></a>00591 sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
|
|
|
404 |
<a name="l00592"></a>00592 sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
|
|
|
405 |
<a name="l00593"></a>00593 sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
|
|
|
406 |
<a name="l00594"></a>00594 sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
|
|
|
407 |
<a name="l00595"></a>00595 ret = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
408 |
<a name="l00596"></a>00596
|
|
|
409 |
<a name="l00597"></a>00597 <span class="keywordflow">return</span> ret;
|
|
|
410 |
<a name="l00598"></a>00598 }
|
|
|
411 |
<a name="l00599"></a>00599
|
|
|
412 |
<a name="l00608"></a><a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">00608</a> UNS8 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a> (CO_Data* d, Message *m)
|
|
|
413 |
<a name="l00609"></a>00609 {
|
|
|
414 |
<a name="l00610"></a>00610 UNS8 err;
|
|
|
415 |
<a name="l00611"></a>00611 UNS8 line;
|
|
|
416 |
<a name="l00612"></a>00612 UNS8 nbBytes;
|
|
|
417 |
<a name="l00613"></a>00613 UNS8 nodeId = 0;
|
|
|
418 |
<a name="l00614"></a>00614 UNS32 nodeId_32;
|
|
|
419 |
<a name="l00615"></a>00615 UNS32 *pNodeId = NULL;
|
|
|
420 |
<a name="l00616"></a>00616 UNS8 whoami = SDO_UNKNOWN;
|
|
|
421 |
<a name="l00617"></a>00617 UNS32 errorCode;
|
|
|
422 |
<a name="l00618"></a>00618 s_SDO sdo;
|
|
|
423 |
<a name="l00619"></a>00619 UNS16 index;
|
|
|
424 |
<a name="l00620"></a>00620 UNS8 subIndex;
|
|
|
425 |
<a name="l00621"></a>00621 UNS32 abortCode;
|
|
|
426 |
<a name="l00622"></a>00622 UNS8 i,j;
|
|
|
427 |
<a name="l00623"></a>00623 UNS32 * pCobId = NULL;
|
|
|
428 |
<a name="l00624"></a>00624 UNS16 offset;
|
|
|
429 |
<a name="l00625"></a>00625 UNS16 lastIndex;
|
|
|
430 |
<a name="l00626"></a>00626
|
|
|
431 |
<a name="l00627"></a>00627 MSG_WAR(0x3A60, <span class="stringliteral">"proceedSDO "</span>, 0);
|
|
|
432 |
<a name="l00628"></a>00628 whoami = SDO_UNKNOWN;
|
|
|
433 |
<a name="l00631"></a>00631 offset = d->firstIndex->SDO_SVR;
|
|
|
434 |
<a name="l00632"></a>00632 lastIndex = d->lastIndex->SDO_SVR;
|
|
|
435 |
<a name="l00633"></a>00633 j = 0;
|
|
|
436 |
<a name="l00634"></a>00634 <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
|
437 |
<a name="l00635"></a>00635 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 1) {
|
|
|
438 |
<a name="l00636"></a>00636 MSG_ERR(0x1A61, <span class="stringliteral">"Subindex 1 not found at index "</span>, 0x1200 + j);
|
|
|
439 |
<a name="l00637"></a>00637 <span class="keywordflow">return</span> 0xFF;
|
|
|
440 |
<a name="l00638"></a>00638 }
|
|
|
441 |
<a name="l00639"></a>00639 pCobId = d->objdict[offset].pSubindex[1].pObject;
|
|
|
442 |
<a name="l00640"></a>00640 <span class="keywordflow">if</span> ( *pCobId == (*m).cob_id.w ) {
|
|
|
443 |
<a name="l00641"></a>00641 whoami = SDO_SERVER;
|
|
|
444 |
<a name="l00642"></a>00642 MSG_WAR(0x3A62, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1200 + j);
|
|
|
445 |
<a name="l00645"></a>00645 nodeId = j;
|
|
|
446 |
<a name="l00646"></a>00646 <span class="keywordflow">break</span>;
|
|
|
447 |
<a name="l00647"></a>00647 }
|
|
|
448 |
<a name="l00648"></a>00648 j++;
|
|
|
449 |
<a name="l00649"></a>00649 offset++;
|
|
|
450 |
<a name="l00650"></a>00650 }
|
|
|
451 |
<a name="l00651"></a>00651 <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
|
|
|
452 |
<a name="l00653"></a>00653 offset = d->firstIndex->SDO_CLT;
|
|
|
453 |
<a name="l00654"></a>00654 lastIndex = d->lastIndex->SDO_CLT;
|
|
|
454 |
<a name="l00655"></a>00655 j = 0;
|
|
|
455 |
<a name="l00656"></a>00656 <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
|
456 |
<a name="l00657"></a>00657 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
|
|
|
457 |
<a name="l00658"></a>00658 MSG_ERR(0x1A63, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + j);
|
|
|
458 |
<a name="l00659"></a>00659 <span class="keywordflow">return</span> 0xFF;
|
|
|
459 |
<a name="l00660"></a>00660 }
|
|
|
460 |
<a name="l00662"></a>00662 pCobId = d->objdict[offset].pSubindex[2].pObject;
|
|
|
461 |
<a name="l00663"></a>00663 <span class="keywordflow">if</span> (*pCobId == (*m).cob_id.w ) {
|
|
|
462 |
<a name="l00665"></a>00665 pNodeId = d->objdict[offset].pSubindex[3].pObject;
|
|
|
463 |
<a name="l00666"></a>00666 whoami = SDO_CLIENT;
|
|
|
464 |
<a name="l00667"></a>00667 nodeId_32 = *pNodeId;
|
|
|
465 |
<a name="l00668"></a>00668 nodeId = (UNS8)nodeId_32;
|
|
|
466 |
<a name="l00669"></a>00669 MSG_WAR(0x3A64, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1280 + j);
|
|
|
467 |
<a name="l00670"></a>00670 MSG_WAR(0x3A65, <span class="stringliteral">" Server nodeId : "</span>, nodeId);
|
|
|
468 |
<a name="l00671"></a>00671 <span class="keywordflow">break</span>;
|
|
|
469 |
<a name="l00672"></a>00672 }
|
|
|
470 |
<a name="l00673"></a>00673 j++;
|
|
|
471 |
<a name="l00674"></a>00674 offset++;
|
|
|
472 |
<a name="l00675"></a>00675 } <span class="comment">/* end while */</span>
|
|
|
473 |
<a name="l00676"></a>00676 }
|
|
|
474 |
<a name="l00677"></a>00677 <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
|
|
|
475 |
<a name="l00678"></a>00678 <span class="keywordflow">return</span> 0xFF;
|
|
|
476 |
<a name="l00679"></a>00679 }
|
|
|
477 |
<a name="l00680"></a>00680
|
|
|
478 |
<a name="l00682"></a>00682 <span class="keywordflow">if</span> ( (*m).len != 8) {
|
|
|
479 |
<a name="l00683"></a>00683 MSG_ERR(0x1A67, <span class="stringliteral">"Error size SDO. CobId : "</span>, (*m).cob_id.w);
|
|
|
480 |
<a name="l00684"></a>00684 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
|
|
|
481 |
<a name="l00685"></a>00685 <span class="keywordflow">return</span> 0xFF;
|
|
|
482 |
<a name="l00686"></a>00686 }
|
|
|
483 |
<a name="l00687"></a>00687
|
|
|
484 |
<a name="l00688"></a>00688 <span class="keywordflow">if</span> (whoami == SDO_CLIENT) {
|
|
|
485 |
<a name="l00689"></a>00689 MSG_WAR(0x3A68, <span class="stringliteral">"I am CLIENT. Received SDO from nodeId : "</span>, nodeId);
|
|
|
486 |
<a name="l00690"></a>00690 }
|
|
|
487 |
<a name="l00691"></a>00691 <span class="keywordflow">else</span> {
|
|
|
488 |
<a name="l00692"></a>00692 MSG_WAR(0x3A69, <span class="stringliteral">"I am SERVER. Received SDO cobId : "</span>, (*m).cob_id.w);
|
|
|
489 |
<a name="l00693"></a>00693 }
|
|
|
490 |
<a name="l00694"></a>00694
|
|
|
491 |
<a name="l00698"></a>00698 <span class="keywordflow">switch</span> (<a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">getSDOcs</a>(m->data[0])) {
|
|
|
492 |
<a name="l00699"></a>00699
|
|
|
493 |
<a name="l00700"></a>00700 <span class="keywordflow">case</span> 0:
|
|
|
494 |
<a name="l00702"></a>00702 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
|
|
|
495 |
<a name="l00705"></a>00705 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
496 |
<a name="l00706"></a>00706 <span class="keywordflow">if</span> (!err)
|
|
|
497 |
<a name="l00707"></a>00707 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
|
|
|
498 |
<a name="l00708"></a>00708 <span class="keywordflow">if</span> (err) {
|
|
|
499 |
<a name="l00709"></a>00709 MSG_ERR(0x1A70, <span class="stringliteral">"SDO error : Received download segment for unstarted trans. index 0x1200 + "</span>,
|
|
|
500 |
<a name="l00710"></a>00710 nodeId);
|
|
|
501 |
<a name="l00711"></a>00711 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
502 |
<a name="l00712"></a>00712 <span class="keywordflow">return</span> 0xFF;
|
|
|
503 |
<a name="l00713"></a>00713 }
|
|
|
504 |
<a name="l00715"></a>00715 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
505 |
<a name="l00716"></a>00716 MSG_WAR(0x3A71, <span class="stringliteral">"Received SDO download segment defined at index 0x1200 + "</span>, nodeId);
|
|
|
506 |
<a name="l00717"></a>00717 index = d->transfers[line].index;
|
|
|
507 |
<a name="l00718"></a>00718 subIndex = d->transfers[line].subIndex;
|
|
|
508 |
<a name="l00720"></a>00720 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
|
|
|
509 |
<a name="l00721"></a>00721 MSG_ERR(0x1A72, <span class="stringliteral">"SDO error : Toggle error : "</span>, <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0]));
|
|
|
510 |
<a name="l00722"></a>00722 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
|
|
|
511 |
<a name="l00723"></a>00723 <span class="keywordflow">return</span> 0xFF;
|
|
|
512 |
<a name="l00724"></a>00724 }
|
|
|
513 |
<a name="l00726"></a>00726 nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m->data[0]);
|
|
|
514 |
<a name="l00728"></a>00728 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
|
|
207
|
515 |
<a name="l00729"></a>00729 <span class="keywordflow">if</span> (err) {
|
|
210
|
516 |
<a name="l00730"></a>00730 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
517 |
<a name="l00731"></a>00731 <span class="keywordflow">return</span> 0xFF;
|
|
|
518 |
<a name="l00732"></a>00732 }
|
|
|
519 |
<a name="l00734"></a>00734 sdo.nodeId = *d->bDeviceNodeId;
|
|
|
520 |
<a name="l00735"></a>00735 sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
|
|
|
521 |
<a name="l00736"></a>00736 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
|
|
|
522 |
<a name="l00737"></a>00737 sdo.body.data[i] = 0;
|
|
|
523 |
<a name="l00738"></a>00738 MSG_WAR(0x3A73, <span class="stringliteral">"SDO. Send response to download request defined at index 0x1200 + "</span>, nodeId);
|
|
|
524 |
<a name="l00739"></a>00739 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
525 |
<a name="l00741"></a>00741 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
|
|
|
526 |
<a name="l00743"></a>00743 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m->data[0])) {
|
|
|
527 |
<a name="l00746"></a>00746 errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
|
|
|
528 |
<a name="l00747"></a>00747 <span class="keywordflow">if</span> (errorCode) {
|
|
|
529 |
<a name="l00748"></a>00748 MSG_ERR(0x1A54, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0);
|
|
|
530 |
<a name="l00749"></a>00749 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
|
|
|
531 |
<a name="l00750"></a>00750 <span class="keywordflow">return</span> 0xFF;
|
|
|
532 |
<a name="l00751"></a>00751 }
|
|
|
533 |
<a name="l00753"></a>00753 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
534 |
<a name="l00754"></a>00754 MSG_WAR(0x3A74, <span class="stringliteral">"SDO. End of download defined at index 0x1200 + "</span>, nodeId);
|
|
|
535 |
<a name="l00755"></a>00755 }
|
|
|
536 |
<a name="l00756"></a>00756 } <span class="comment">/* end if SERVER */</span>
|
|
|
537 |
<a name="l00757"></a>00757 <span class="keywordflow">else</span> { <span class="comment">/* if CLIENT */</span>
|
|
|
538 |
<a name="l00760"></a>00760 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
|
|
|
539 |
<a name="l00761"></a>00761 <span class="keywordflow">if</span> (!err)
|
|
|
540 |
<a name="l00762"></a>00762 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
|
|
|
541 |
<a name="l00763"></a>00763 <span class="keywordflow">if</span> (err) {
|
|
|
542 |
<a name="l00764"></a>00764 MSG_ERR(0x1A75, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId);
|
|
|
543 |
<a name="l00765"></a>00765 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
544 |
<a name="l00766"></a>00766 <span class="keywordflow">return</span> 0xFF;
|
|
|
545 |
<a name="l00767"></a>00767 }
|
|
|
546 |
<a name="l00769"></a>00769 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
547 |
<a name="l00770"></a>00770 index = d->transfers[line].index;
|
|
|
548 |
<a name="l00771"></a>00771 subIndex = d->transfers[line].subIndex;
|
|
|
549 |
<a name="l00773"></a>00773 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
|
|
|
550 |
<a name="l00774"></a>00774 MSG_ERR(0x1A76, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId);
|
|
|
551 |
<a name="l00775"></a>00775 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
|
|
|
552 |
<a name="l00776"></a>00776 <span class="keywordflow">return</span> 0xFF;
|
|
|
553 |
<a name="l00777"></a>00777 }
|
|
|
554 |
<a name="l00779"></a>00779 nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m->data[0]);
|
|
|
555 |
<a name="l00781"></a>00781 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
|
|
|
556 |
<a name="l00782"></a>00782 <span class="keywordflow">if</span> (err) {
|
|
|
557 |
<a name="l00783"></a>00783 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
558 |
<a name="l00784"></a>00784 <span class="keywordflow">return</span> 0xFF;
|
|
|
559 |
<a name="l00785"></a>00785 }
|
|
|
560 |
<a name="l00787"></a>00787 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
|
|
|
561 |
<a name="l00789"></a>00789 <span class="keywordflow">if</span> ( <a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m->data[0])) {
|
|
|
562 |
<a name="l00792"></a>00792 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
563 |
<a name="l00793"></a>00793 d->transfers[line].state = SDO_FINISHED;
|
|
|
564 |
<a name="l00794"></a>00794 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
|
|
|
565 |
<a name="l00795"></a>00795
|
|
|
566 |
<a name="l00796"></a>00796 MSG_WAR(0x3A77, <span class="stringliteral">"SDO. End of upload from node : "</span>, nodeId);
|
|
|
567 |
<a name="l00797"></a>00797 }
|
|
|
568 |
<a name="l00798"></a>00798 <span class="keywordflow">else</span> {
|
|
|
569 |
<a name="l00800"></a>00800 sdo.nodeId = nodeId;
|
|
|
570 |
<a name="l00801"></a>00801 sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
|
|
|
571 |
<a name="l00802"></a>00802 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
|
|
|
572 |
<a name="l00803"></a>00803 sdo.body.data[i] = 0;
|
|
|
573 |
<a name="l00804"></a>00804 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
574 |
<a name="l00805"></a>00805 MSG_WAR(0x3A78, <span class="stringliteral">"SDO send upload segment request to nodeId"</span>, nodeId);
|
|
|
575 |
<a name="l00806"></a>00806 }
|
|
|
576 |
<a name="l00807"></a>00807 } <span class="comment">/* End if CLIENT */</span>
|
|
|
577 |
<a name="l00808"></a>00808 <span class="keywordflow">break</span>;
|
|
|
578 |
<a name="l00809"></a>00809
|
|
|
579 |
<a name="l00810"></a>00810 <span class="keywordflow">case</span> 1:
|
|
|
580 |
<a name="l00813"></a>00813 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
|
|
|
581 |
<a name="l00814"></a>00814 index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m->data[1],m->data[2]);
|
|
|
582 |
<a name="l00815"></a>00815 subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m->data[3]);
|
|
|
583 |
<a name="l00816"></a>00816 MSG_WAR(0x3A79, <span class="stringliteral">"Received SDO Initiate Download (to store data) defined at index 0x1200 + "</span>,
|
|
|
584 |
<a name="l00817"></a>00817 nodeId);
|
|
|
585 |
<a name="l00818"></a>00818 MSG_WAR(0x3A80, <span class="stringliteral">"Writing at index : "</span>, index);
|
|
|
586 |
<a name="l00819"></a>00819 MSG_WAR(0x3A80, <span class="stringliteral">"Writing at subIndex : "</span>, subIndex);
|
|
|
587 |
<a name="l00820"></a>00820
|
|
|
588 |
<a name="l00822"></a>00822 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
589 |
<a name="l00823"></a>00823 <span class="keywordflow">if</span> (! err) {
|
|
|
590 |
<a name="l00824"></a>00824 MSG_ERR(0x1A81, <span class="stringliteral">"SDO error : Transmission yet started."</span>, 0);
|
|
|
591 |
<a name="l00825"></a>00825 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
592 |
<a name="l00826"></a>00826 <span class="keywordflow">return</span> 0xFF;
|
|
|
593 |
<a name="l00827"></a>00827 }
|
|
|
594 |
<a name="l00830"></a>00830 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &line );
|
|
|
595 |
<a name="l00831"></a>00831 <span class="keywordflow">if</span> (err) {
|
|
|
596 |
<a name="l00832"></a>00832 MSG_ERR(0x1A82, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
|
|
|
597 |
<a name="l00833"></a>00833 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
598 |
<a name="l00834"></a>00834 <span class="keywordflow">return</span> 0xFF;
|
|
|
599 |
<a name="l00835"></a>00835 }
|
|
|
600 |
<a name="l00836"></a>00836 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
|
|
|
601 |
<a name="l00837"></a>00837
|
|
|
602 |
<a name="l00838"></a>00838 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m->data[0])) {
|
|
|
603 |
<a name="l00840"></a>00840 nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m->data[0]);
|
|
|
604 |
<a name="l00842"></a>00842 d->transfers[line].count = nbBytes;
|
|
|
605 |
<a name="l00843"></a>00843 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
|
|
|
606 |
<a name="l00844"></a>00844
|
|
|
607 |
<a name="l00845"></a>00845 <span class="keywordflow">if</span> (err) {
|
|
|
608 |
<a name="l00846"></a>00846 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
609 |
<a name="l00847"></a>00847 <span class="keywordflow">return</span> 0xFF;
|
|
|
610 |
<a name="l00848"></a>00848 }
|
|
|
611 |
<a name="l00849"></a>00849
|
|
|
612 |
<a name="l00852"></a>00852 MSG_WAR(0x3A83, <span class="stringliteral">"SDO Initiate Download is an expedited transfert. Finished.: "</span>, nodeId);
|
|
|
613 |
<a name="l00854"></a>00854 errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
|
|
|
614 |
<a name="l00855"></a>00855 <span class="keywordflow">if</span> (errorCode) {
|
|
|
615 |
<a name="l00856"></a>00856 MSG_ERR(0x1A84, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0);
|
|
|
616 |
<a name="l00857"></a>00857 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
|
|
|
617 |
<a name="l00858"></a>00858 <span class="keywordflow">return</span> 0xFF;
|
|
|
618 |
<a name="l00859"></a>00859 }
|
|
|
619 |
<a name="l00861"></a>00861 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
620 |
<a name="l00862"></a>00862 }
|
|
|
621 |
<a name="l00863"></a>00863 <span class="keywordflow">else</span> {
|
|
|
622 |
<a name="l00864"></a>00864 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m->data[0])) {
|
|
|
623 |
<a name="l00866"></a>00866 nbBytes = m->data[4];
|
|
|
624 |
<a name="l00867"></a>00867 err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, nodeId, nbBytes);
|
|
|
625 |
<a name="l00868"></a>00868 <span class="keywordflow">if</span> (err) {
|
|
|
626 |
<a name="l00869"></a>00869 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
627 |
<a name="l00870"></a>00870 <span class="keywordflow">return</span> 0xFF;
|
|
|
628 |
<a name="l00871"></a>00871 }
|
|
|
629 |
<a name="l00872"></a>00872 }
|
|
|
630 |
<a name="l00873"></a>00873 }
|
|
|
631 |
<a name="l00875"></a>00875 sdo.nodeId = *d->bDeviceNodeId;
|
|
|
632 |
<a name="l00876"></a>00876 sdo.body.data[0] = 3 << 5;
|
|
|
633 |
<a name="l00877"></a>00877 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
634 |
<a name="l00878"></a>00878 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
635 |
<a name="l00879"></a>00879 sdo.body.data[3] = subIndex;
|
|
|
636 |
<a name="l00880"></a>00880 <span class="keywordflow">for</span> (i = 4 ; i < 8 ; i++)
|
|
|
637 |
<a name="l00881"></a>00881 sdo.body.data[i] = 0;
|
|
|
638 |
<a name="l00882"></a>00882 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
639 |
<a name="l00883"></a>00883 } <span class="comment">/* end if I am SERVER */</span>
|
|
|
640 |
<a name="l00884"></a>00884 <span class="keywordflow">else</span> {
|
|
|
641 |
<a name="l00887"></a>00887 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
|
|
|
642 |
<a name="l00888"></a>00888 <span class="keywordflow">if</span> (!err)
|
|
|
643 |
<a name="l00889"></a>00889 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
|
|
|
644 |
<a name="l00890"></a>00890 <span class="keywordflow">if</span> (err) {
|
|
|
645 |
<a name="l00891"></a>00891 MSG_ERR(0x1A85, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId);
|
|
|
646 |
<a name="l00892"></a>00892 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
647 |
<a name="l00893"></a>00893 <span class="keywordflow">return</span> 0xFF;
|
|
|
648 |
<a name="l00894"></a>00894 }
|
|
|
649 |
<a name="l00896"></a>00896 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
650 |
<a name="l00897"></a>00897 index = d->transfers[line].index;
|
|
|
651 |
<a name="l00898"></a>00898 subIndex = d->transfers[line].subIndex;
|
|
|
652 |
<a name="l00900"></a>00900 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
|
|
|
653 |
<a name="l00901"></a>00901 MSG_ERR(0x1A86, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId);
|
|
|
654 |
<a name="l00902"></a>00902 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
|
|
|
655 |
<a name="l00903"></a>00903 <span class="keywordflow">return</span> 0xFF;
|
|
|
656 |
<a name="l00904"></a>00904 }
|
|
|
657 |
<a name="l00905"></a>00905
|
|
|
658 |
<a name="l00907"></a>00907 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
|
|
|
659 |
<a name="l00908"></a>00908 <span class="keywordflow">if</span> (nbBytes == 0) {
|
|
|
660 |
<a name="l00909"></a>00909 MSG_WAR(0x3A87, <span class="stringliteral">"SDO End download. segment response received. OK. from nodeId"</span>, nodeId);
|
|
|
661 |
<a name="l00910"></a>00910 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
662 |
<a name="l00911"></a>00911 d->transfers[line].state = SDO_FINISHED;
|
|
|
663 |
<a name="l00912"></a>00912 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
|
|
|
664 |
<a name="l00913"></a>00913 <span class="keywordflow">return</span> 0x00;
|
|
|
665 |
<a name="l00914"></a>00914 }
|
|
|
666 |
<a name="l00916"></a>00916 <span class="keywordflow">if</span> (nbBytes > 7) {
|
|
|
667 |
<a name="l00919"></a>00919 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
|
|
|
668 |
<a name="l00920"></a>00920 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
|
|
|
669 |
<a name="l00921"></a>00921 sdo.body.data[0] = (d->transfers[line].toggle << 4);
|
|
|
670 |
<a name="l00922"></a>00922 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
|
|
|
671 |
<a name="l00923"></a>00923 <span class="keywordflow">if</span> (err) {
|
|
|
672 |
<a name="l00924"></a>00924 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
673 |
<a name="l00925"></a>00925 <span class="keywordflow">return</span> 0xFF;
|
|
|
674 |
<a name="l00926"></a>00926 }
|
|
|
675 |
<a name="l00927"></a>00927 }
|
|
|
676 |
<a name="l00928"></a>00928 <span class="keywordflow">else</span> {
|
|
|
677 |
<a name="l00931"></a>00931 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
|
|
|
678 |
<a name="l00932"></a>00932 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
|
|
|
679 |
<a name="l00933"></a>00933 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
|
|
|
680 |
<a name="l00934"></a>00934 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
|
|
|
681 |
<a name="l00935"></a>00935 <span class="keywordflow">if</span> (err) {
|
|
|
682 |
<a name="l00936"></a>00936 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
683 |
<a name="l00937"></a>00937 <span class="keywordflow">return</span> 0xFF;
|
|
|
684 |
<a name="l00938"></a>00938 }
|
|
|
685 |
<a name="l00939"></a>00939 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
|
|
|
686 |
<a name="l00940"></a>00940 sdo.body.data[i] = 0;
|
|
|
687 |
<a name="l00941"></a>00941 }
|
|
|
688 |
<a name="l00942"></a>00942 MSG_WAR(0x3A88, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId);
|
|
|
689 |
<a name="l00943"></a>00943 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
690 |
<a name="l00944"></a>00944 }
|
|
|
691 |
<a name="l00945"></a>00945 <span class="keywordflow">break</span>;
|
|
|
692 |
<a name="l00946"></a>00946
|
|
|
693 |
<a name="l00947"></a>00947 <span class="keywordflow">case</span> 2:
|
|
|
694 |
<a name="l00950"></a>00950 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
|
|
|
695 |
<a name="l00951"></a>00951 index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m->data[1],m->data[2]);
|
|
|
696 |
<a name="l00952"></a>00952 subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m->data[3]);
|
|
|
697 |
<a name="l00953"></a>00953 MSG_WAR(0x3A89, <span class="stringliteral">"Received SDO Initiate upload (to send data) defined at index 0x1200 + "</span>,
|
|
|
698 |
<a name="l00954"></a>00954 nodeId);
|
|
|
699 |
<a name="l00955"></a>00955 MSG_WAR(0x3A90, <span class="stringliteral">"Reading at index : "</span>, index);
|
|
|
700 |
<a name="l00956"></a>00956 MSG_WAR(0x3A91, <span class="stringliteral">"Reading at subIndex : "</span>, subIndex);
|
|
|
701 |
<a name="l00958"></a>00958 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
702 |
<a name="l00959"></a>00959 <span class="keywordflow">if</span> (! err) {
|
|
|
703 |
<a name="l00960"></a>00960 MSG_ERR(0x1A92, <span class="stringliteral">"SDO error : Transmission yet started at line : "</span>, line);
|
|
|
704 |
<a name="l00961"></a>00961 MSG_WAR(0x3A93, <span class="stringliteral">"nodeId = "</span>, nodeId);
|
|
|
705 |
<a name="l00962"></a>00962 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
706 |
<a name="l00963"></a>00963 <span class="keywordflow">return</span> 0xFF;
|
|
|
707 |
<a name="l00964"></a>00964 }
|
|
|
708 |
<a name="l00967"></a>00967 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &line );
|
|
|
709 |
<a name="l00968"></a>00968 <span class="keywordflow">if</span> (err) {
|
|
|
710 |
<a name="l00969"></a>00969 MSG_ERR(0x1A71, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
|
|
|
711 |
<a name="l00970"></a>00970 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
712 |
<a name="l00971"></a>00971 <span class="keywordflow">return</span> 0xFF;
|
|
|
713 |
<a name="l00972"></a>00972 }
|
|
|
714 |
<a name="l00973"></a>00973 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
|
|
|
715 |
<a name="l00975"></a>00975 errorCode = <a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">objdictToSDOline</a>(d, line);
|
|
|
716 |
<a name="l00976"></a>00976
|
|
|
717 |
<a name="l00977"></a>00977 <span class="keywordflow">if</span> (errorCode) {
|
|
|
718 |
<a name="l00978"></a>00978 MSG_ERR(0x1A94, <span class="stringliteral">"SDO error : Unable to copy the data from object dictionary. Err code : "</span>,
|
|
|
719 |
<a name="l00979"></a>00979 errorCode);
|
|
|
720 |
<a name="l00980"></a>00980 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
|
|
|
721 |
<a name="l00981"></a>00981 <span class="keywordflow">return</span> 0xFF;
|
|
|
722 |
<a name="l00982"></a>00982 }
|
|
|
723 |
<a name="l00984"></a>00984 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
|
|
|
724 |
<a name="l00985"></a>00985 sdo.nodeId = nodeId;
|
|
|
725 |
<a name="l00986"></a>00986 <span class="keywordflow">if</span> (nbBytes > 4) {
|
|
|
726 |
<a name="l00989"></a>00989 sdo.body.data[0] = (2 << 5) | 1;
|
|
|
727 |
<a name="l00990"></a>00990 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
728 |
<a name="l00991"></a>00991 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
729 |
<a name="l00992"></a>00992 sdo.body.data[3] = subIndex;
|
|
|
730 |
<a name="l00993"></a>00993 sdo.body.data[4] = nbBytes; <span class="comment">/* Limitation of canfestival2 : Max tranfert is 256 bytes.*/</span>
|
|
|
731 |
<a name="l00996"></a>00996 <span class="keywordflow">for</span> (i = 5 ; i < 8 ; i++)
|
|
|
732 |
<a name="l00997"></a>00997 sdo.body.data[i] = 0;
|
|
|
733 |
<a name="l00998"></a>00998 MSG_WAR(0x3A95, <span class="stringliteral">"SDO. Sending normal upload initiate response defined at index 0x1200 + "</span>, nodeId);
|
|
|
734 |
<a name="l00999"></a>00999 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
735 |
<a name="l01000"></a>01000 }
|
|
|
736 |
<a name="l01001"></a>01001 <span class="keywordflow">else</span> {
|
|
|
737 |
<a name="l01003"></a>01003 sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
|
|
|
738 |
<a name="l01004"></a>01004 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
739 |
<a name="l01005"></a>01005 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
740 |
<a name="l01006"></a>01006 sdo.body.data[3] = subIndex;
|
|
|
741 |
<a name="l01007"></a>01007 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 4);
|
|
|
742 |
<a name="l01008"></a>01008 <span class="keywordflow">if</span> (err) {
|
|
|
743 |
<a name="l01009"></a>01009 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
744 |
<a name="l01010"></a>01010 <span class="keywordflow">return</span> 0xFF;
|
|
|
745 |
<a name="l01011"></a>01011 }
|
|
|
746 |
<a name="l01012"></a>01012 <span class="keywordflow">for</span> (i = 4 + nbBytes ; i < 8 ; i++)
|
|
|
747 |
<a name="l01013"></a>01013 sdo.body.data[i] = 0;
|
|
|
748 |
<a name="l01014"></a>01014 MSG_WAR(0x3A96, <span class="stringliteral">"SDO. Sending expedited upload initiate response defined at index 0x1200 + "</span>,
|
|
|
749 |
<a name="l01015"></a>01015 nodeId);
|
|
|
750 |
<a name="l01016"></a>01016 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
751 |
<a name="l01018"></a>01018 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
752 |
<a name="l01019"></a>01019 }
|
|
|
753 |
<a name="l01020"></a>01020 }
|
|
|
754 |
<a name="l01021"></a>01021 <span class="keywordflow">else</span> {
|
|
|
755 |
<a name="l01025"></a>01025 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
|
|
|
756 |
<a name="l01026"></a>01026 <span class="keywordflow">if</span> (!err)
|
|
|
757 |
<a name="l01027"></a>01027 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
|
|
|
758 |
<a name="l01028"></a>01028 <span class="keywordflow">if</span> (err) {
|
|
|
759 |
<a name="l01029"></a>01029 MSG_ERR(0x1A97, <span class="stringliteral">"SDO error : Received response for unknown upload request from nodeId"</span>, nodeId);
|
|
|
760 |
<a name="l01030"></a>01030 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
761 |
<a name="l01031"></a>01031 <span class="keywordflow">return</span> 0xFF;
|
|
|
762 |
<a name="l01032"></a>01032 }
|
|
|
763 |
<a name="l01034"></a>01034 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
764 |
<a name="l01035"></a>01035 index = d->transfers[line].index;
|
|
|
765 |
<a name="l01036"></a>01036 subIndex = d->transfers[line].subIndex;
|
|
|
766 |
<a name="l01037"></a>01037
|
|
|
767 |
<a name="l01038"></a>01038 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m->data[0])) { <span class="comment">/* If SDO expedited */</span>
|
|
|
768 |
<a name="l01040"></a>01040 nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m->data[0]);
|
|
|
769 |
<a name="l01042"></a>01042 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
|
|
|
770 |
<a name="l01043"></a>01043 <span class="keywordflow">if</span> (err) {
|
|
|
771 |
<a name="l01044"></a>01044 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
772 |
<a name="l01045"></a>01045 <span class="keywordflow">return</span> 0xFF;
|
|
|
773 |
<a name="l01046"></a>01046 }
|
|
|
774 |
<a name="l01048"></a>01048 MSG_WAR(0x3A98, <span class="stringliteral">"SDO expedited upload finished. Response received from node : "</span>, nodeId);
|
|
|
775 |
<a name="l01049"></a>01049 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
776 |
<a name="l01050"></a>01050 d->transfers[line].count = nbBytes;
|
|
|
777 |
<a name="l01051"></a>01051 d->transfers[line].state = SDO_FINISHED;
|
|
|
778 |
<a name="l01052"></a>01052 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
|
|
|
779 |
<a name="l01053"></a>01053 <span class="keywordflow">return</span> 0;
|
|
|
780 |
<a name="l01054"></a>01054 }
|
|
|
781 |
<a name="l01055"></a>01055 <span class="keywordflow">else</span> {
|
|
|
782 |
<a name="l01057"></a>01057 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m->data[0])) {
|
|
|
783 |
<a name="l01058"></a>01058 nbBytes = m->data[4];
|
|
|
784 |
<a name="l01059"></a>01059 err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, line, nbBytes);
|
|
|
785 |
<a name="l01060"></a>01060 <span class="keywordflow">if</span> (err) {
|
|
|
786 |
<a name="l01061"></a>01061 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
787 |
<a name="l01062"></a>01062 <span class="keywordflow">return</span> 0xFF;
|
|
|
788 |
<a name="l01063"></a>01063 }
|
|
|
789 |
<a name="l01064"></a>01064 }
|
|
|
790 |
<a name="l01066"></a>01066 sdo.nodeId = nodeId;
|
|
|
791 |
<a name="l01067"></a>01067 sdo.body.data[0] = 3 << 5;
|
|
|
792 |
<a name="l01068"></a>01068 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
|
|
|
793 |
<a name="l01069"></a>01069 sdo.body.data[i] = 0;
|
|
|
794 |
<a name="l01070"></a>01070 MSG_WAR(0x3A99, <span class="stringliteral">"SDO. Sending upload segment request to node : "</span>, nodeId);
|
|
|
795 |
<a name="l01071"></a>01071 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
796 |
<a name="l01072"></a>01072 }
|
|
|
797 |
<a name="l01073"></a>01073 }
|
|
|
798 |
<a name="l01074"></a>01074 <span class="keywordflow">break</span>;
|
|
|
799 |
<a name="l01075"></a>01075
|
|
|
800 |
<a name="l01076"></a>01076 <span class="keywordflow">case</span> 3:
|
|
|
801 |
<a name="l01078"></a>01078 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
|
|
|
802 |
<a name="l01081"></a>01081 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
803 |
<a name="l01082"></a>01082 <span class="keywordflow">if</span> (!err)
|
|
|
804 |
<a name="l01083"></a>01083 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
|
|
|
805 |
<a name="l01084"></a>01084 <span class="keywordflow">if</span> (err) {
|
|
|
806 |
<a name="l01085"></a>01085 MSG_ERR(0x1AA0, <span class="stringliteral">"SDO error : Received upload segment for unstarted trans. index 0x1200 + "</span>,
|
|
|
807 |
<a name="l01086"></a>01086 nodeId);
|
|
|
808 |
<a name="l01087"></a>01087 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
809 |
<a name="l01088"></a>01088 <span class="keywordflow">return</span> 0xFF;
|
|
|
810 |
<a name="l01089"></a>01089 }
|
|
|
811 |
<a name="l01091"></a>01091 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
812 |
<a name="l01092"></a>01092 MSG_WAR(0x3AA1, <span class="stringliteral">"Received SDO upload segment defined at index 0x1200 + "</span>, nodeId);
|
|
|
813 |
<a name="l01093"></a>01093 index = d->transfers[line].index;
|
|
|
814 |
<a name="l01094"></a>01094 subIndex = d->transfers[line].subIndex;
|
|
|
815 |
<a name="l01096"></a>01096 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
|
|
|
816 |
<a name="l01097"></a>01097 MSG_ERR(0x1AA2, <span class="stringliteral">"SDO error : Toggle error : "</span>, <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0]));
|
|
|
817 |
<a name="l01098"></a>01098 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
|
|
|
818 |
<a name="l01099"></a>01099 <span class="keywordflow">return</span> 0xFF;
|
|
|
819 |
<a name="l01100"></a>01100 }
|
|
|
820 |
<a name="l01102"></a>01102 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
|
|
|
821 |
<a name="l01103"></a>01103 <span class="keywordflow">if</span> (nbBytes > 7) {
|
|
|
822 |
<a name="l01106"></a>01106 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
|
|
|
823 |
<a name="l01107"></a>01107 sdo.body.data[0] = (d->transfers[line].toggle << 4);
|
|
|
824 |
<a name="l01108"></a>01108 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
|
|
|
825 |
<a name="l01109"></a>01109 <span class="keywordflow">if</span> (err) {
|
|
|
826 |
<a name="l01110"></a>01110 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
827 |
<a name="l01111"></a>01111 <span class="keywordflow">return</span> 0xFF;
|
|
|
828 |
<a name="l01112"></a>01112 }
|
|
|
829 |
<a name="l01114"></a>01114 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
|
|
|
830 |
<a name="l01115"></a>01115 MSG_WAR(0x3AA3, <span class="stringliteral">"SDO. Sending upload segment defined at index 0x1200 + "</span>, nodeId);
|
|
|
831 |
<a name="l01116"></a>01116 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
832 |
<a name="l01117"></a>01117 }
|
|
|
833 |
<a name="l01118"></a>01118 <span class="keywordflow">else</span> {
|
|
|
834 |
<a name="l01121"></a>01121 sdo.nodeId = nodeId;
|
|
|
835 |
<a name="l01122"></a>01122 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
|
|
|
836 |
<a name="l01123"></a>01123 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
|
|
|
837 |
<a name="l01124"></a>01124 <span class="keywordflow">if</span> (err) {
|
|
|
838 |
<a name="l01125"></a>01125 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
839 |
<a name="l01126"></a>01126 <span class="keywordflow">return</span> 0xFF;
|
|
|
840 |
<a name="l01127"></a>01127 }
|
|
|
841 |
<a name="l01128"></a>01128 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
|
|
|
842 |
<a name="l01129"></a>01129 sdo.body.data[i] = 0;
|
|
|
843 |
<a name="l01130"></a>01130 MSG_WAR(0x3AA4, <span class="stringliteral">"SDO. Sending last upload segment defined at index 0x1200 + "</span>, nodeId);
|
|
|
844 |
<a name="l01131"></a>01131 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
|
845 |
<a name="l01133"></a>01133 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
846 |
<a name="l01134"></a>01134 }
|
|
|
847 |
<a name="l01135"></a>01135 } <span class="comment">/* end if SERVER*/</span>
|
|
|
848 |
<a name="l01136"></a>01136 <span class="keywordflow">else</span> {
|
|
|
849 |
<a name="l01140"></a>01140 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
|
|
|
850 |
<a name="l01141"></a>01141 <span class="keywordflow">if</span> (!err)
|
|
|
851 |
<a name="l01142"></a>01142 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
|
|
|
852 |
<a name="l01143"></a>01143 <span class="keywordflow">if</span> (err) {
|
|
|
853 |
<a name="l01144"></a>01144 MSG_ERR(0x1AA5, <span class="stringliteral">"SDO error : Received response for unknown download request from nodeId"</span>, nodeId);
|
|
|
854 |
<a name="l01145"></a>01145 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
|
|
|
855 |
<a name="l01146"></a>01146 <span class="keywordflow">return</span> 0xFF;
|
|
|
856 |
<a name="l01147"></a>01147 }
|
|
|
857 |
<a name="l01149"></a>01149 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
|
|
|
858 |
<a name="l01150"></a>01150 index = d->transfers[line].index;
|
|
|
859 |
<a name="l01151"></a>01151 subIndex = d->transfers[line].subIndex;
|
|
|
860 |
<a name="l01152"></a>01152 <span class="comment">/* End transmission or requesting next segment. */</span>
|
|
|
861 |
<a name="l01153"></a>01153 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
|
|
|
862 |
<a name="l01154"></a>01154 <span class="keywordflow">if</span> (nbBytes == 0) {
|
|
|
863 |
<a name="l01155"></a>01155 MSG_WAR(0x3AA6, <span class="stringliteral">"SDO End download expedited. Response received. from nodeId"</span>, nodeId);
|
|
|
864 |
<a name="l01156"></a>01156 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
865 |
<a name="l01157"></a>01157 d->transfers[line].state = SDO_FINISHED;
|
|
|
866 |
<a name="l01158"></a>01158 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
|
|
|
867 |
<a name="l01159"></a>01159 <span class="keywordflow">return</span> 0x00;
|
|
|
868 |
<a name="l01160"></a>01160 }
|
|
|
869 |
<a name="l01161"></a>01161 <span class="keywordflow">if</span> (nbBytes > 7) {
|
|
|
870 |
<a name="l01164"></a>01164 sdo.nodeId = nodeId;
|
|
|
871 |
<a name="l01165"></a>01165 sdo.body.data[0] = (d->transfers[line].toggle << 4);
|
|
|
872 |
<a name="l01166"></a>01166 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
|
|
|
873 |
<a name="l01167"></a>01167 <span class="keywordflow">if</span> (err) {
|
|
|
874 |
<a name="l01168"></a>01168 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
875 |
<a name="l01169"></a>01169 <span class="keywordflow">return</span> 0xFF;
|
|
|
876 |
<a name="l01170"></a>01170 }
|
|
|
877 |
<a name="l01171"></a>01171 }
|
|
|
878 |
<a name="l01172"></a>01172 <span class="keywordflow">else</span> {
|
|
|
879 |
<a name="l01175"></a>01175 sdo.nodeId = nodeId;
|
|
|
880 |
<a name="l01176"></a>01176 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
|
|
|
881 |
<a name="l01177"></a>01177 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
|
|
|
882 |
<a name="l01178"></a>01178 <span class="keywordflow">if</span> (err) {
|
|
|
883 |
<a name="l01179"></a>01179 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
|
|
|
884 |
<a name="l01180"></a>01180 <span class="keywordflow">return</span> 0xFF;
|
|
|
885 |
<a name="l01181"></a>01181 }
|
|
|
886 |
<a name="l01182"></a>01182 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
|
|
|
887 |
<a name="l01183"></a>01183 sdo.body.data[i] = 0;
|
|
|
888 |
<a name="l01184"></a>01184 }
|
|
|
889 |
<a name="l01185"></a>01185 MSG_WAR(0x3AA7, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId);
|
|
|
890 |
<a name="l01186"></a>01186 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
|
|
207
|
891 |
<a name="l01187"></a>01187
|
|
210
|
892 |
<a name="l01188"></a>01188 } <span class="comment">/* end if I am a CLIENT */</span>
|
|
|
893 |
<a name="l01189"></a>01189 <span class="keywordflow">break</span>;
|
|
|
894 |
<a name="l01190"></a>01190
|
|
|
895 |
<a name="l01191"></a>01191 <span class="keywordflow">case</span> 4:
|
|
|
896 |
<a name="l01192"></a>01192 abortCode = (*m).data[3] |
|
|
|
897 |
<a name="l01193"></a>01193 ((UNS32)m->data[5] << 8) |
|
|
|
898 |
<a name="l01194"></a>01194 ((UNS32)m->data[6] << 16) |
|
|
|
899 |
<a name="l01195"></a>01195 ((UNS32)m->data[7] << 24);
|
|
|
900 |
<a name="l01198"></a>01198 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
|
|
|
901 |
<a name="l01199"></a>01199 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
902 |
<a name="l01200"></a>01200 <span class="keywordflow">if</span> (!err) {
|
|
|
903 |
<a name="l01201"></a>01201 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
|
|
|
904 |
<a name="l01202"></a>01202 MSG_WAR(0x3AA8, <span class="stringliteral">"SD0. Received SDO abort. Line released. Code : "</span>, abortCode);
|
|
|
905 |
<a name="l01203"></a>01203 }
|
|
|
906 |
<a name="l01204"></a>01204 <span class="keywordflow">else</span>
|
|
|
907 |
<a name="l01205"></a>01205 MSG_WAR(0x3AA9, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
|
|
|
908 |
<a name="l01208"></a>01208 }
|
|
|
909 |
<a name="l01209"></a>01209 <span class="keywordflow">else</span> {
|
|
|
910 |
<a name="l01210"></a>01210 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
|
|
|
911 |
<a name="l01211"></a>01211 <span class="keywordflow">if</span> (!err) {
|
|
|
912 |
<a name="l01213"></a>01213 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
|
|
|
913 |
<a name="l01214"></a>01214 d->transfers[line].state = SDO_ABORTED_RCV;
|
|
|
914 |
<a name="l01215"></a>01215 d->transfers[line].abortCode = abortCode;
|
|
|
915 |
<a name="l01216"></a>01216 MSG_WAR(0x3AB0, <span class="stringliteral">"SD0. Received SDO abort. Line state ABORTED. Code : "</span>, abortCode);
|
|
|
916 |
<a name="l01217"></a>01217 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
|
|
|
917 |
<a name="l01218"></a>01218 }
|
|
|
918 |
<a name="l01219"></a>01219 <span class="keywordflow">else</span>
|
|
|
919 |
<a name="l01220"></a>01220 MSG_WAR(0x3AB1, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
|
|
|
920 |
<a name="l01221"></a>01221 }
|
|
|
921 |
<a name="l01222"></a>01222 <span class="keywordflow">break</span>;
|
|
|
922 |
<a name="l01223"></a>01223 <span class="keywordflow">default</span>:
|
|
|
923 |
<a name="l01225"></a>01225 MSG_ERR(0x1AB2, <span class="stringliteral">"SDO. Received unknown command specifier : "</span>, <a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">getSDOcs</a>(m->data[0]));
|
|
|
924 |
<a name="l01226"></a>01226 <span class="keywordflow">return</span> 0xFF;
|
|
|
925 |
<a name="l01227"></a>01227
|
|
|
926 |
<a name="l01228"></a>01228 } <span class="comment">/* End switch */</span>
|
|
|
927 |
<a name="l01229"></a>01229 <span class="keywordflow">return</span> 0;
|
|
|
928 |
<a name="l01230"></a>01230 }
|
|
|
929 |
<a name="l01231"></a>01231
|
|
|
930 |
<a name="l01247"></a><a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">01247</a> <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
|
|
|
931 |
<a name="l01248"></a>01248 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize)
|
|
|
932 |
<a name="l01249"></a>01249 {
|
|
|
933 |
<a name="l01250"></a>01250 UNS8 err;
|
|
|
934 |
<a name="l01251"></a>01251 UNS8 SDOfound = 0;
|
|
|
935 |
<a name="l01252"></a>01252 UNS8 line;
|
|
|
936 |
<a name="l01253"></a>01253 s_SDO sdo; <span class="comment">/* SDO to transmit */</span>
|
|
|
937 |
<a name="l01254"></a>01254 UNS8 i, j;
|
|
|
938 |
<a name="l01255"></a>01255 UNS16 lastIndex;
|
|
|
939 |
<a name="l01256"></a>01256 UNS16 offset;
|
|
|
940 |
<a name="l01257"></a>01257 UNS32 *pNodeIdServer;
|
|
|
941 |
<a name="l01258"></a>01258 UNS32 nodeIdServer;
|
|
|
942 |
<a name="l01259"></a>01259
|
|
|
943 |
<a name="l01260"></a>01260 MSG_WAR(0x3AC0, <span class="stringliteral">"Send SDO to write in the dictionary of node : "</span>, nodeId);
|
|
|
944 |
<a name="l01261"></a>01261 MSG_WAR(0x3AC1, <span class="stringliteral">" At index : "</span>, index);
|
|
|
945 |
<a name="l01262"></a>01262 MSG_WAR(0x3AC2, <span class="stringliteral">" subIndex : "</span>, subIndex);
|
|
|
946 |
<a name="l01263"></a>01263 MSG_WAR(0x3AC3, <span class="stringliteral">" nb bytes : "</span>, count);
|
|
|
947 |
<a name="l01264"></a>01264
|
|
|
948 |
<a name="l01266"></a>01266 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
|
|
|
949 |
<a name="l01267"></a>01267 <span class="keywordflow">if</span> (!err) {
|
|
|
950 |
<a name="l01268"></a>01268 MSG_ERR(0x1AC4, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId);
|
|
|
951 |
<a name="l01269"></a>01269 <span class="keywordflow">return</span> 0xFF;
|
|
|
952 |
<a name="l01270"></a>01270 }
|
|
|
953 |
<a name="l01272"></a>01272 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &line );
|
|
|
954 |
<a name="l01273"></a>01273 <span class="keywordflow">if</span> (err) {
|
|
|
955 |
<a name="l01274"></a>01274 MSG_ERR(0x1AC5, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted for node : "</span>, nodeId);
|
|
|
956 |
<a name="l01275"></a>01275 <span class="keywordflow">return</span> (0xFF);
|
|
|
957 |
<a name="l01276"></a>01276 }
|
|
|
958 |
<a name="l01278"></a>01278 offset = d->firstIndex->SDO_CLT;
|
|
|
959 |
<a name="l01279"></a>01279 lastIndex = d->lastIndex->SDO_CLT;
|
|
|
960 |
<a name="l01280"></a>01280 <span class="keywordflow">if</span> (offset == 0) {
|
|
|
961 |
<a name="l01281"></a>01281 MSG_ERR(0x1AC6, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0);
|
|
|
962 |
<a name="l01282"></a>01282 <span class="keywordflow">return</span> 0xFF;
|
|
|
963 |
<a name="l01283"></a>01283 }
|
|
|
964 |
<a name="l01284"></a>01284 i = 0;
|
|
|
965 |
<a name="l01285"></a>01285 <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
|
966 |
<a name="l01286"></a>01286 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
|
|
|
967 |
<a name="l01287"></a>01287 MSG_ERR(0x1AC8, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + i);
|
|
|
968 |
<a name="l01288"></a>01288 <span class="keywordflow">return</span> 0xFF;
|
|
|
969 |
<a name="l01289"></a>01289 }
|
|
|
970 |
<a name="l01291"></a>01291 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
|
|
|
971 |
<a name="l01292"></a>01292 nodeIdServer = *pNodeIdServer;
|
|
|
972 |
<a name="l01293"></a>01293 MSG_WAR(0x1AD2, <span class="stringliteral">"index : "</span>, 0x1280 + i);
|
|
|
973 |
<a name="l01294"></a>01294 MSG_WAR(0x1AD3, <span class="stringliteral">"nodeIdServer : "</span>, nodeIdServer);
|
|
|
974 |
<a name="l01295"></a>01295
|
|
|
975 |
<a name="l01296"></a>01296 <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
|
|
|
976 |
<a name="l01297"></a>01297 SDOfound = 1;
|
|
|
977 |
<a name="l01298"></a>01298 <span class="keywordflow">break</span>;
|
|
|
978 |
<a name="l01299"></a>01299 }
|
|
|
979 |
<a name="l01300"></a>01300 offset++;
|
|
|
980 |
<a name="l01301"></a>01301 i++;
|
|
|
981 |
<a name="l01302"></a>01302 } <span class="comment">/* end while */</span>
|
|
|
982 |
<a name="l01303"></a>01303 <span class="keywordflow">if</span> (!SDOfound) {
|
|
|
983 |
<a name="l01304"></a>01304 MSG_ERR(0x1AC9, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
|
|
|
984 |
<a name="l01305"></a>01305 <span class="keywordflow">return</span> 0xFF;
|
|
|
985 |
<a name="l01306"></a>01306 }
|
|
|
986 |
<a name="l01307"></a>01307 MSG_WAR(0x3AD0,<span class="stringliteral">" SDO client defined at index : "</span>, 0x1280 + i);
|
|
|
987 |
<a name="l01308"></a>01308 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
|
|
|
988 |
<a name="l01309"></a>01309 d->transfers[line].count = count;
|
|
|
989 |
<a name="l01310"></a>01310 d->transfers[line].dataType = dataType;
|
|
|
990 |
<a name="l01311"></a>01311
|
|
|
991 |
<a name="l01313"></a>01313 <span class="keywordflow">for</span> (j = 0 ; j < count ; j++) {
|
|
|
992 |
<a name="l01314"></a>01314 # ifdef CANOPEN_BIG_ENDIAN
|
|
|
993 |
<a name="l01315"></a>01315 <span class="keywordflow">if</span> (dataType == 0 && endianize)
|
|
|
994 |
<a name="l01316"></a>01316 d->transfers[line].data[count - 1 - j] = ((<span class="keywordtype">char</span> *)data)[j];
|
|
|
995 |
<a name="l01317"></a>01317 <span class="keywordflow">else</span> <span class="comment">/* String of bytes. */</span>
|
|
|
996 |
<a name="l01318"></a>01318 d->transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
|
|
|
997 |
<a name="l01319"></a>01319 # <span class="keywordflow">else</span>
|
|
|
998 |
<a name="l01320"></a>01320 d->transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
|
|
|
999 |
<a name="l01321"></a>01321 # endif
|
|
|
1000 |
<a name="l01322"></a>01322 }
|
|
|
1001 |
<a name="l01324"></a>01324 sdo.nodeId = nodeId;
|
|
|
1002 |
<a name="l01325"></a>01325 <span class="keywordflow">if</span> (count <= 4) {
|
|
|
1003 |
<a name="l01326"></a>01326 sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
|
|
|
1004 |
<a name="l01327"></a>01327 for (i = 4 ; i < 8 ; i++)
|
|
|
1005 |
<a name="l01328"></a>01328 sdo.body.data[i] = d->transfers[line].data[i - 4];
|
|
|
1006 |
<a name="l01329"></a>01329 d->transfers[line].offset = count;
|
|
|
1007 |
<a name="l01330"></a>01330 }
|
|
|
1008 |
<a name="l01331"></a>01331 <span class="keywordflow">else</span> {
|
|
|
1009 |
<a name="l01332"></a>01332 sdo.body.data[0] = (1 << 5) | 1;
|
|
|
1010 |
<a name="l01333"></a>01333 sdo.body.data[4] = count;
|
|
|
1011 |
<a name="l01334"></a>01334 <span class="keywordflow">for</span> (i = 5 ; i < 8 ; i++)
|
|
|
1012 |
<a name="l01335"></a>01335 sdo.body.data[i] = 0;
|
|
|
1013 |
<a name="l01336"></a>01336 }
|
|
|
1014 |
<a name="l01337"></a>01337 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
1015 |
<a name="l01338"></a>01338 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
1016 |
<a name="l01339"></a>01339 sdo.body.data[3] = subIndex;
|
|
|
1017 |
<a name="l01340"></a>01340
|
|
|
1018 |
<a name="l01341"></a>01341 d->transfers[line].Callback = Callback;
|
|
|
1019 |
<a name="l01342"></a>01342
|
|
|
1020 |
<a name="l01343"></a>01343 err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
|
|
|
1021 |
<a name="l01344"></a>01344 <span class="keywordflow">if</span> (err) {
|
|
|
1022 |
<a name="l01345"></a>01345 MSG_ERR(0x1AD1, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
|
|
|
1023 |
<a name="l01347"></a>01347 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
1024 |
<a name="l01348"></a>01348 <span class="keywordflow">return</span> 0xFF;
|
|
|
1025 |
<a name="l01349"></a>01349 }
|
|
|
1026 |
<a name="l01350"></a>01350
|
|
|
1027 |
<a name="l01351"></a>01351
|
|
|
1028 |
<a name="l01352"></a>01352 <span class="keywordflow">return</span> 0;
|
|
|
1029 |
<a name="l01353"></a>01353 }
|
|
|
1030 |
<a name="l01354"></a>01354
|
|
|
1031 |
<a name="l01368"></a><a class="code" href="sdo_8c.html#bc20ed246e00053dcf71faa8f45ee39c">01368</a> UNS8 <a class="code" href="sdo_8c.html#bc20ed246e00053dcf71faa8f45ee39c">writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
|
|
|
1032 |
<a name="l01369"></a>01369 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data)
|
|
|
1033 |
<a name="l01370"></a>01370 {
|
|
|
1034 |
<a name="l01371"></a>01371 <span class="keywordflow">return</span> <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
|
|
|
1035 |
<a name="l01372"></a>01372 }
|
|
|
1036 |
<a name="l01373"></a>01373
|
|
|
1037 |
<a name="l01388"></a><a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">01388</a> UNS8 <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
|
|
|
1038 |
<a name="l01389"></a>01389 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback)
|
|
|
1039 |
<a name="l01390"></a>01390 {
|
|
|
1040 |
<a name="l01391"></a>01391 <span class="keywordflow">return</span> <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
|
|
|
1041 |
<a name="l01392"></a>01392 }
|
|
|
1042 |
<a name="l01393"></a>01393
|
|
|
1043 |
<a name="l01406"></a><a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">01406</a> <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
|
|
|
1044 |
<a name="l01407"></a>01407 {
|
|
|
1045 |
<a name="l01408"></a>01408 UNS8 err;
|
|
|
1046 |
<a name="l01409"></a>01409 UNS8 SDOfound = 0;
|
|
|
1047 |
<a name="l01410"></a>01410 UNS8 i;
|
|
|
1048 |
<a name="l01411"></a>01411 UNS8 line;
|
|
|
1049 |
<a name="l01412"></a>01412 s_SDO sdo; <span class="comment">/* SDO to transmit */</span>
|
|
|
1050 |
<a name="l01413"></a>01413 UNS32 *pNodeIdServer;
|
|
|
1051 |
<a name="l01414"></a>01414 UNS32 nodeIdServer;
|
|
|
1052 |
<a name="l01415"></a>01415 UNS16 offset;
|
|
|
1053 |
<a name="l01416"></a>01416 UNS16 lastIndex;
|
|
|
1054 |
<a name="l01417"></a>01417 MSG_WAR(0x3AD5, <span class="stringliteral">"Send SDO to read in the dictionary of node : "</span>, nodeId);
|
|
|
1055 |
<a name="l01418"></a>01418 MSG_WAR(0x3AD6, <span class="stringliteral">" At index : "</span>, index);
|
|
|
1056 |
<a name="l01419"></a>01419 MSG_WAR(0x3AD7, <span class="stringliteral">" subIndex : "</span>, subIndex);
|
|
|
1057 |
<a name="l01420"></a>01420
|
|
|
1058 |
<a name="l01421"></a>01421
|
|
|
1059 |
<a name="l01423"></a>01423 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
|
|
|
1060 |
<a name="l01424"></a>01424 <span class="keywordflow">if</span> (!err) {
|
|
|
1061 |
<a name="l01425"></a>01425 MSG_ERR(0x1AD8, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId);
|
|
|
1062 |
<a name="l01426"></a>01426 <span class="keywordflow">return</span> 0xFF;
|
|
|
1063 |
<a name="l01427"></a>01427 }
|
|
|
1064 |
<a name="l01429"></a>01429 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &line );
|
|
|
1065 |
<a name="l01430"></a>01430 <span class="keywordflow">if</span> (err) {
|
|
|
1066 |
<a name="l01431"></a>01431 MSG_ERR(0x1AD9, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted for node : "</span>, nodeId);
|
|
|
1067 |
<a name="l01432"></a>01432 <span class="keywordflow">return</span> (0xFF);
|
|
|
1068 |
<a name="l01433"></a>01433 }
|
|
|
1069 |
<a name="l01434"></a>01434 <span class="keywordflow">else</span>
|
|
|
1070 |
<a name="l01435"></a>01435 MSG_WAR(0x3AE0, <span class="stringliteral">"Transmission on line : "</span>, line);
|
|
|
1071 |
<a name="l01436"></a>01436
|
|
|
1072 |
<a name="l01438"></a>01438 offset = d->firstIndex->SDO_CLT;
|
|
|
1073 |
<a name="l01439"></a>01439 lastIndex = d->lastIndex->SDO_CLT;
|
|
|
1074 |
<a name="l01440"></a>01440 <span class="keywordflow">if</span> (offset == 0) {
|
|
|
1075 |
<a name="l01441"></a>01441 MSG_ERR(0x1AE1, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0);
|
|
|
1076 |
<a name="l01442"></a>01442 <span class="keywordflow">return</span> 0xFF;
|
|
|
1077 |
<a name="l01443"></a>01443 }
|
|
|
1078 |
<a name="l01444"></a>01444 i = 0;
|
|
|
1079 |
<a name="l01445"></a>01445 <span class="keywordflow">while</span> (offset <= lastIndex) {
|
|
|
1080 |
<a name="l01446"></a>01446 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
|
|
|
1081 |
<a name="l01447"></a>01447 MSG_ERR(0x1AE2, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + i);
|
|
|
1082 |
<a name="l01448"></a>01448 <span class="keywordflow">return</span> 0xFF;
|
|
|
1083 |
<a name="l01449"></a>01449 }
|
|
|
1084 |
<a name="l01451"></a>01451 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
|
|
|
1085 |
<a name="l01452"></a>01452 nodeIdServer = *pNodeIdServer;
|
|
|
1086 |
<a name="l01453"></a>01453
|
|
|
1087 |
<a name="l01454"></a>01454 <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
|
|
|
1088 |
<a name="l01455"></a>01455 SDOfound = 1;
|
|
|
1089 |
<a name="l01456"></a>01456 <span class="keywordflow">break</span>;
|
|
|
1090 |
<a name="l01457"></a>01457 }
|
|
|
1091 |
<a name="l01458"></a>01458 offset++;
|
|
|
1092 |
<a name="l01459"></a>01459 i++;
|
|
|
1093 |
<a name="l01460"></a>01460 } <span class="comment">/* end while */</span>
|
|
|
1094 |
<a name="l01461"></a>01461 <span class="keywordflow">if</span> (!SDOfound) {
|
|
|
1095 |
<a name="l01462"></a>01462 MSG_ERR(0x1AE3, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
|
|
|
1096 |
<a name="l01463"></a>01463 <span class="keywordflow">return</span> 0xFF;
|
|
|
1097 |
<a name="l01464"></a>01464 }
|
|
|
1098 |
<a name="l01465"></a>01465 MSG_WAR(0x3AE4,<span class="stringliteral">" SDO client defined at index : "</span>, 0x1280 + i);
|
|
|
1099 |
<a name="l01466"></a>01466 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
|
|
|
1100 |
<a name="l01467"></a>01467 <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
|
|
|
1101 |
<a name="l01468"></a>01468 sdo.nodeId = nodeId;
|
|
|
1102 |
<a name="l01470"></a>01470 d->transfers[line].dataType = dataType;
|
|
|
1103 |
<a name="l01471"></a>01471 sdo.body.data[0] = (2 << 5);
|
|
|
1104 |
<a name="l01472"></a>01472 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
|
|
|
1105 |
<a name="l01473"></a>01473 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
|
|
|
1106 |
<a name="l01474"></a>01474 sdo.body.data[3] = subIndex;
|
|
|
1107 |
<a name="l01475"></a>01475 <span class="keywordflow">for</span> (i = 4 ; i < 8 ; i++)
|
|
|
1108 |
<a name="l01476"></a>01476 sdo.body.data[i] = 0;
|
|
|
1109 |
<a name="l01477"></a>01477 d->transfers[line].Callback = Callback;
|
|
|
1110 |
<a name="l01478"></a>01478 err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
|
|
|
1111 |
<a name="l01479"></a>01479 <span class="keywordflow">if</span> (err) {
|
|
|
1112 |
<a name="l01480"></a>01480 MSG_ERR(0x1AE5, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
|
|
|
1113 |
<a name="l01481"></a>01481 <span class="comment">/* release the line */</span>
|
|
|
1114 |
<a name="l01482"></a>01482 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
|
|
|
1115 |
<a name="l01483"></a>01483 <span class="keywordflow">return</span> 0xFF;
|
|
|
1116 |
<a name="l01484"></a>01484 }
|
|
|
1117 |
<a name="l01485"></a>01485 <span class="keywordflow">return</span> 0;
|
|
|
1118 |
<a name="l01486"></a>01486 }
|
|
|
1119 |
<a name="l01487"></a>01487
|
|
|
1120 |
<a name="l01499"></a><a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">01499</a> UNS8 <a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
|
|
|
1121 |
<a name="l01500"></a>01500 {
|
|
|
1122 |
<a name="l01501"></a>01501 <span class="keywordflow">return</span> <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (d, nodeId, index, subIndex, dataType, NULL);
|
|
|
1123 |
<a name="l01502"></a>01502 }
|
|
|
1124 |
<a name="l01503"></a>01503
|
|
|
1125 |
<a name="l01516"></a><a class="code" href="sdo_8c.html#542a5cdd20c00aa130a39fe68295e769">01516</a> UNS8 <a class="code" href="sdo_8c.html#542a5cdd20c00aa130a39fe68295e769">readNetworkDictCallback</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
|
|
|
1126 |
<a name="l01517"></a>01517 {
|
|
|
1127 |
<a name="l01518"></a>01518 <span class="keywordflow">return</span> <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (d, nodeId, index, subIndex, dataType, Callback);
|
|
|
1128 |
<a name="l01519"></a>01519 }
|
|
|
1129 |
<a name="l01520"></a>01520
|
|
|
1130 |
<a name="l01532"></a><a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">01532</a> UNS8 <a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">getReadResultNetworkDict</a> (CO_Data* d, UNS8 nodeId, <span class="keywordtype">void</span>* data, UNS8 *size,
|
|
|
1131 |
<a name="l01533"></a>01533 UNS32 * abortCode)
|
|
|
1132 |
<a name="l01534"></a>01534 {
|
|
|
1133 |
<a name="l01535"></a>01535 UNS8 i;
|
|
|
1134 |
<a name="l01536"></a>01536 UNS8 err;
|
|
|
1135 |
<a name="l01537"></a>01537 UNS8 line;
|
|
|
1136 |
<a name="l01538"></a>01538 * size = 0;
|
|
|
1137 |
<a name="l01539"></a>01539
|
|
|
1138 |
<a name="l01541"></a>01541 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
|
|
|
1139 |
<a name="l01542"></a>01542 <span class="keywordflow">if</span> (err) {
|
|
|
1140 |
<a name="l01543"></a>01543 MSG_ERR(0x1AF0, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId);
|
|
|
1141 |
<a name="l01544"></a>01544 <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
|
|
|
1142 |
<a name="l01545"></a>01545 }
|
|
|
1143 |
<a name="l01546"></a>01546 <span class="keywordflow">if</span> (d->transfers[line].state != SDO_FINISHED)
|
|
|
1144 |
<a name="l01547"></a>01547 <span class="keywordflow">return</span> d->transfers[line].state;
|
|
|
1145 |
<a name="l01548"></a>01548
|
|
|
1146 |
<a name="l01550"></a>01550 * size = (UNS8)d->transfers[line].count;
|
|
|
1147 |
<a name="l01551"></a>01551 for ( i = 0 ; i < *size ; i++) {
|
|
|
1148 |
<a name="l01552"></a>01552 # ifdef CANOPEN_BIG_ENDIAN
|
|
|
1149 |
<a name="l01553"></a>01553 <span class="keywordflow">if</span> (d->transfers[line].dataType != visible_string)
|
|
|
1150 |
<a name="l01554"></a>01554 ( (<span class="keywordtype">char</span> *) data)[*size - 1 - i] = d->transfers[line].data[i];
|
|
|
1151 |
<a name="l01555"></a>01555 <span class="keywordflow">else</span>
|
|
|
1152 |
<a name="l01556"></a>01556 ( (<span class="keywordtype">char</span> *) data)[i] = d->transfers[line].data[i];
|
|
|
1153 |
<a name="l01557"></a>01557 # else
|
|
|
1154 |
<a name="l01558"></a>01558 ( (<span class="keywordtype">char</span> *) data)[i] = d->transfers[line].data[i];
|
|
|
1155 |
<a name="l01559"></a>01559 # endif
|
|
|
1156 |
<a name="l01560"></a>01560 }
|
|
|
1157 |
<a name="l01561"></a>01561 <span class="keywordflow">return</span> SDO_FINISHED;
|
|
|
1158 |
<a name="l01562"></a>01562 }
|
|
|
1159 |
<a name="l01563"></a>01563
|
|
|
1160 |
<a name="l01573"></a><a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">01573</a> UNS8 <a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
|
|
|
1161 |
<a name="l01574"></a>01574 {
|
|
|
1162 |
<a name="l01575"></a>01575 UNS8 line = 0;
|
|
|
1163 |
<a name="l01576"></a>01576 UNS8 err;
|
|
|
1164 |
<a name="l01577"></a>01577
|
|
|
1165 |
<a name="l01578"></a>01578 * abortCode = 0;
|
|
|
1166 |
<a name="l01580"></a>01580 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
|
|
|
1167 |
<a name="l01581"></a>01581 <span class="keywordflow">if</span> (err) {
|
|
|
1168 |
<a name="l01582"></a>01582 MSG_ERR(0x1AF1, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId);
|
|
|
1169 |
<a name="l01583"></a>01583 <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
|
|
|
1170 |
<a name="l01584"></a>01584 }
|
|
|
1171 |
<a name="l01585"></a>01585 * abortCode = d->transfers[line].abortCode;
|
|
|
1172 |
<a name="l01586"></a>01586 <span class="keywordflow">return</span> d->transfers[line].state;
|
|
|
1173 |
<a name="l01587"></a>01587 }
|
|
|
1174 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
|
|
207
|
1175 |
<a href="http://www.doxygen.org/index.html">
|
|
|
1176 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
1177 |
</body>
|
|
|
1178 |
</html>
|