| author | etisserant |
| Tue, 05 Feb 2008 10:18:25 +0100 | |
| changeset 383 | 7d8afedb8769 |
| parent 378 | d2abf6c8c27b |
| child 402 | 77f875d45250 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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/*! |
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** @file sdo.c |
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** @author Edouard TISSERANT and Francis DUPIN |
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** @date Tue Jun 5 09:32:32 2007 |
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** |
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** @brief |
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** |
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** |
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*/ |
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/* #define DEBUG_WAR_CONSOLE_ON */ |
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/* #define DEBUG_ERR_CONSOLE_ON */ |
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#include "canfestival.h" |
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#include "sysdep.h" |
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/* Uncomment if your compiler does not support inline functions */ |
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#define NO_INLINE |
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#ifdef NO_INLINE |
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#define INLINE |
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#else |
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#define INLINE inline |
| 71 | 45 |
#endif |
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/*Internals prototypes*/ |
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/*! |
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** Called by writeNetworkDict |
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** |
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** @param d |
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** @param nodeId |
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** @param index |
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** @param subIndex |
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** @param count |
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** @param dataType |
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** @param data |
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** @param Callback |
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** @param endianize |
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** |
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** @return |
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**/ |
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INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
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UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize); |
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| 208 | 67 |
/*! |
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** Called by readNetworkDict |
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** |
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** @param d |
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** @param nodeId |
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** @param index |
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** @param subIndex |
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** @param dataType |
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** @param Callback |
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** |
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** @return |
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**/ |
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INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, |
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UNS8 dataType, SDOCallback_t Callback); |
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/***************************************************************************/ |
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/* SDO (un)packing macros */ |
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/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO |
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*/ |
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#define getSDOcs(byte) (byte >> 5) |
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits |
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*/ |
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#define getSDOn2(byte) ((byte >> 2) & 3) |
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits |
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*/ |
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#define getSDOn3(byte) ((byte >> 1) & 7) |
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/** Returns the transfer type from the first byte of the SDO |
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*/ |
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#define getSDOe(byte) ((byte >> 1) & 1) |
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/** Returns the size indicator from the first byte of the SDO |
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*/ |
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#define getSDOs(byte) (byte & 1) |
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/** Returns the indicator of end transmission from the first byte of the SDO |
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*/ |
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#define getSDOc(byte) (byte & 1) |
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/** Returns the toggle from the first byte of the SDO |
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*/ |
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#define getSDOt(byte) ((byte >> 4) & 1) |
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/** Returns the index from the bytes 1 and 2 of the SDO |
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*/ |
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#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1)) |
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/** Returns the subIndex from the byte 3 of the SDO |
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*/ |
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#define getSDOsubIndex(byte3) (byte3) |
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/*! |
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** |
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** |
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** @param d |
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** @param id |
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**/ |
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id) |
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{
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MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0); |
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MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId); |
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MSG_WAR(0x2A02, " index : ", d->transfers[id].index); |
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MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex); |
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/* Reset timer handler */ |
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d->transfers[id].timer = TIMER_NONE; |
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/*Set aborted state*/ |
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d->transfers[id].state = SDO_ABORTED_INTERNAL; |
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/* Sending a SDO abort */ |
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sendSDOabort(d, d->transfers[id].whoami, |
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d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT); |
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d->transfers[id].abortCode = SDOABT_TIMED_OUT; |
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/* Call the user function to inform of the problem.*/ |
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0248c2b148bb
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if(d->transfers[id].Callback) |
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0248c2b148bb
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/*If ther is a callback, it is responsible to close SDO transfer (client)*/ |
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(*d->transfers[id].Callback)(d,d->transfers[id].nodeId); |
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0248c2b148bb
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else if(d->transfers[id].whoami == SDO_SERVER) |
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0248c2b148bb
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/*Else, if server, reset the line*/ |
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0248c2b148bb
Removed SDOTimeout application callback.Please use SDO callbacks instead.
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resetSDOline(d, (UNS8)id); |
| 0 | 149 |
} |
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#define StopSDO_TIMER(id) \ |
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MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\ |
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d->transfers[id].timer = DelAlarm(d->transfers[id].timer); |
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#define StartSDO_TIMER(id) \ |
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MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\ |
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d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0); |
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#define RestartSDO_TIMER(id) \ |
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MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\ |
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if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
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| 208 | 163 |
/*! |
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** Reset all sdo buffers |
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** |
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** @param d |
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**/ |
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void resetSDO (CO_Data* d) |
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{
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UNS8 j; |
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/* transfer structure initialization */ |
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for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) |
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resetSDOline(d, j); |
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} |
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/*! |
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** |
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** |
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** @param d |
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** @param line |
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** |
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** @return |
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**/ |
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line) |
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{
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UNS8 size; |
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UNS32 errorCode; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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diff
changeset
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MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line); |
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e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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size = (UNS8)d->transfers[line].count; |
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errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, |
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(void *) d->transfers[line].data, &size, 1); |
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if (errorCode != OD_SUCCESSFUL) |
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return errorCode; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
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MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line); |
| 0 | 196 |
return 0; |
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} |
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| 208 | 200 |
/*! |
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** |
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** |
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** @param d |
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** @param line |
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** |
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** @return |
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**/ |
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line) |
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{
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UNS8 size = 0; |
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UNS8 dataType; |
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UNS32 errorCode; |
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| 12 | 214 |
MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index); |
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MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex); |
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errorCode = getODentry(d, d->transfers[line].index, |
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d->transfers[line].subIndex, |
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(void *)d->transfers[line].data, |
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&size, &dataType, 0); |
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if (errorCode != OD_SUCCESSFUL) |
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return errorCode; |
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d->transfers[line].count = size; |
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d->transfers[line].offset = 0; |
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#if 0 |
| 208 | 228 |
/*Me laisser a, please ! (FD)*/ |
| 12 | 229 |
{
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UNS8 i; |
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for (i = 0 ; i < 10 ; i++) {
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MSG_WAR(i, "data= ", d->transfers[line].data[i]); |
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} |
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} |
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#endif |
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return 0; |
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} |
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| 208 | 239 |
/*! |
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** |
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** |
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** @param d |
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** @param line |
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** @param nbBytes |
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** @param data |
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** |
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** @return |
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**/ |
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| 0 | 249 |
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
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UNS8 i; |
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UNS8 offset; |
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if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
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return 0xFF; |
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} |
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if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
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MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes); |
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return 0xFF; |
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} |
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etisserant
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offset = (UNS8)d->transfers[line].offset; |
| 0 | 262 |
for (i = 0 ; i < nbBytes ; i++) |
263 |
* (data + i) = d->transfers[line].data[offset + i]; |
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d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
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return 0; |
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} |
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||
| 208 | 268 |
/*! |
269 |
** |
|
270 |
** |
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** @param d |
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** @param line |
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** @param nbBytes |
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** @param data |
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** |
|
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** @return |
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**/ |
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| 0 | 278 |
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) |
279 |
{
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|
280 |
UNS8 i; |
|
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UNS8 offset; |
|
282 |
||
283 |
if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
285 |
return 0xFF; |
|
286 |
} |
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e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
87
diff
changeset
|
287 |
offset = (UNS8)d->transfers[line].offset; |
| 0 | 288 |
for (i = 0 ; i < nbBytes ; i++) |
289 |
d->transfers[line].data[offset + i] = * (data + i); |
|
290 |
d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
|
291 |
return 0; |
|
292 |
} |
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293 |
||
| 208 | 294 |
/*! |
295 |
** |
|
296 |
** |
|
297 |
** @param d |
|
298 |
** @param nodeId |
|
299 |
** @param whoami |
|
300 |
** @param index |
|
301 |
** @param subIndex |
|
302 |
** @param abortCode |
|
303 |
** |
|
304 |
** @return |
|
305 |
**/ |
|
| 0 | 306 |
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, |
307 |
UNS8 subIndex, UNS32 abortCode) |
|
308 |
{
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|
309 |
UNS8 err; |
|
310 |
UNS8 line; |
|
311 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
| 71 | 312 |
if (!err) /* If a line on use have been found.*/ |
| 0 | 313 |
MSG_WAR(0x3A20, "FailedSDO : line found : ", line); |
314 |
if ((! err) && (whoami == SDO_SERVER)) {
|
|
315 |
resetSDOline( d, line ); |
|
316 |
MSG_WAR(0x3A21, "FailedSDO : line released : ", line); |
|
317 |
} |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
318 |
if ((! err) && (whoami == SDO_CLIENT)) {
|
|
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
319 |
StopSDO_TIMER(line); |
| 0 | 320 |
d->transfers[line].state = SDO_ABORTED_INTERNAL; |
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
321 |
} |
| 0 | 322 |
MSG_WAR(0x3A22, "Sending SDO abort ", 0); |
323 |
err = sendSDOabort(d, whoami, index, subIndex, abortCode); |
|
324 |
if (err) {
|
|
325 |
MSG_WAR(0x3A23, "Unable to send the SDO abort", 0); |
|
326 |
return 0xFF; |
|
327 |
} |
|
328 |
return 0; |
|
329 |
} |
|
330 |
||
| 208 | 331 |
/*! |
332 |
** |
|
333 |
** |
|
334 |
** @param d |
|
335 |
** @param line |
|
336 |
**/ |
|
| 0 | 337 |
void resetSDOline ( CO_Data* d, UNS8 line ) |
338 |
{
|
|
339 |
UNS8 i; |
|
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
340 |
MSG_WAR(0x3A25, "reset SDO line nb : ", line); |
| 0 | 341 |
initSDOline(d, line, 0, 0, 0, SDO_RESET); |
342 |
for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++) |
|
343 |
d->transfers[line].data[i] = 0; |
|
344 |
} |
|
345 |
||
| 208 | 346 |
/*! |
347 |
** |
|
348 |
** |
|
349 |
** @param d |
|
350 |
** @param line |
|
351 |
** @param nodeId |
|
352 |
** @param index |
|
353 |
** @param subIndex |
|
354 |
** @param state |
|
355 |
** |
|
356 |
** @return |
|
357 |
**/ |
|
| 0 | 358 |
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state) |
359 |
{
|
|
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
360 |
MSG_WAR(0x3A25, "init SDO line nb : ", line); |
| 0 | 361 |
if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
|
362 |
StartSDO_TIMER(line) |
|
363 |
}else{
|
|
364 |
StopSDO_TIMER(line) |
|
365 |
} |
|
366 |
d->transfers[line].nodeId = nodeId; |
|
367 |
d->transfers[line].index = index; |
|
368 |
d->transfers[line].subIndex = subIndex; |
|
369 |
d->transfers[line].state = state; |
|
370 |
d->transfers[line].toggle = 0; |
|
371 |
d->transfers[line].count = 0; |
|
372 |
d->transfers[line].offset = 0; |
|
373 |
d->transfers[line].dataType = 0; |
|
| 32 | 374 |
d->transfers[line].Callback = NULL; |
| 0 | 375 |
return 0; |
376 |
} |
|
377 |
||
| 208 | 378 |
/*! |
379 |
** |
|
380 |
** |
|
381 |
** @param d |
|
382 |
** @param whoami |
|
383 |
** @param line |
|
384 |
** |
|
385 |
** @return |
|
386 |
**/ |
|
| 0 | 387 |
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line ) |
388 |
{
|
|
389 |
||
390 |
UNS8 i; |
|
391 |
||
392 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
393 |
if ( d->transfers[i].state == SDO_RESET ) {
|
|
394 |
*line = i; |
|
395 |
d->transfers[i].whoami = whoami; |
|
396 |
return 0; |
|
| 71 | 397 |
} /* end if */ |
398 |
} /* end for */ |
|
| 0 | 399 |
MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i); |
400 |
return 0xFF; |
|
401 |
} |
|
402 |
||
| 208 | 403 |
/*! |
404 |
** |
|
405 |
** |
|
406 |
** @param d |
|
407 |
** @param nodeId |
|
408 |
** @param whoami |
|
409 |
** @param line |
|
410 |
** |
|
411 |
** @return |
|
412 |
**/ |
|
| 0 | 413 |
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) |
414 |
{
|
|
415 |
||
416 |
UNS8 i; |
|
417 |
||
418 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
|
|
419 |
if ( (d->transfers[i].state != SDO_RESET) && |
|
420 |
(d->transfers[i].nodeId == nodeId) && |
|
421 |
(d->transfers[i].whoami == whoami) ) {
|
|
422 |
*line = i; |
|
423 |
return 0; |
|
424 |
} |
|
425 |
} |
|
426 |
return 0xFF; |
|
427 |
} |
|
428 |
||
| 208 | 429 |
/*! |
430 |
** |
|
431 |
** |
|
432 |
** @param d |
|
433 |
** @param nodeId |
|
434 |
** @param whoami |
|
435 |
** |
|
436 |
** @return |
|
437 |
**/ |
|
| 0 | 438 |
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami) |
439 |
{
|
|
440 |
UNS8 err; |
|
441 |
UNS8 line; |
|
442 |
err = getSDOlineOnUse(d, nodeId, whoami, &line); |
|
443 |
if (err) {
|
|
444 |
MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); |
|
445 |
return 0xFF; |
|
446 |
} |
|
447 |
resetSDOline(d, line); |
|
448 |
return 0; |
|
449 |
} |
|
450 |
||
| 208 | 451 |
/*! |
452 |
** |
|
453 |
** |
|
454 |
** @param d |
|
455 |
** @param line |
|
456 |
** @param nbBytes |
|
457 |
** |
|
458 |
** @return |
|
459 |
**/ |
|
| 0 | 460 |
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes) |
461 |
{
|
|
| 71 | 462 |
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */ |
| 0 | 463 |
* nbBytes = 0; |
464 |
else |
|
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
87
diff
changeset
|
465 |
* nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset; |
| 0 | 466 |
return 0; |
467 |
} |
|
468 |
||
| 208 | 469 |
/*! |
470 |
** |
|
471 |
** |
|
472 |
** @param d |
|
473 |
** @param line |
|
474 |
** @param nbBytes |
|
475 |
** |
|
476 |
** @return |
|
477 |
**/ |
|
| 0 | 478 |
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes) |
479 |
{
|
|
480 |
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
|
|
481 |
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
482 |
return 0xFF; |
|
483 |
} |
|
484 |
d->transfers[line].count = nbBytes; |
|
485 |
return 0; |
|
486 |
} |
|
487 |
||
| 208 | 488 |
/*! |
489 |
** |
|
490 |
** |
|
491 |
** @param d |
|
492 |
** @param whoami |
|
493 |
** @param sdo |
|
494 |
** |
|
495 |
** @return |
|
496 |
**/ |
|
| 0 | 497 |
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo) |
498 |
{
|
|
499 |
UNS16 offset; |
|
500 |
UNS16 lastIndex; |
|
501 |
UNS8 found = 0; |
|
502 |
Message m; |
|
503 |
UNS8 i; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
504 |
UNS16 * pwCobId = NULL; |
|
306
3586cfa84705
Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents:
217
diff
changeset
|
505 |
UNS8 * pwNodeId = NULL; |
| 0 | 506 |
|
507 |
MSG_WAR(0x3A38, "sendSDO",0); |
|
508 |
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
|
|
509 |
MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
|
510 |
return 0xFF; |
|
511 |
} |
|
512 |
||
| 215 | 513 |
/*get the server->client cobid*/ |
514 |
if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
|
|
| 0 | 515 |
offset = d->firstIndex->SDO_SVR; |
516 |
if (offset == 0) {
|
|
517 |
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); |
|
518 |
return 0xFF; |
|
519 |
} |
|
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
370
diff
changeset
|
520 |
pwCobId = (UNS16*) d->objdict[offset].pSubindex[2].pObject; |
| 0 | 521 |
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); |
522 |
} |
|
| 215 | 523 |
else { /*case client*/
|
524 |
/* Get the client->server cobid.*/ |
|
| 0 | 525 |
UNS16 sdoNum = 0; |
526 |
offset = d->firstIndex->SDO_CLT; |
|
527 |
lastIndex = d->lastIndex->SDO_CLT; |
|
528 |
if (offset == 0) {
|
|
529 |
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); |
|
530 |
return 0xFF; |
|
531 |
} |
|
| 215 | 532 |
/* First, have to find at the index where is defined the communication with the server node */ |
| 0 | 533 |
while (offset <= lastIndex){
|
534 |
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum); |
|
535 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
536 |
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum); |
|
537 |
return 0xFF; |
|
538 |
} |
|
|
306
3586cfa84705
Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32*->UNS8*).
etisserant
parents:
217
diff
changeset
|
539 |
pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 540 |
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId); |
541 |
if(*pwNodeId == sdo.nodeId) {
|
|
542 |
found = 1; |
|
543 |
break; |
|
544 |
} |
|
545 |
offset ++; |
|
546 |
sdoNum ++; |
|
547 |
} |
|
548 |
if (! found){
|
|
549 |
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId); |
|
550 |
return 0xFF; |
|
551 |
} |
|
| 215 | 552 |
/* Second, read the cobid client->server */ |
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
553 |
pwCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject; |
| 0 | 554 |
} |
| 215 | 555 |
/* message copy for sending */ |
| 365 | 556 |
m.cob_id = *pwCobId; |
| 0 | 557 |
m.rtr = NOT_A_REQUEST; |
| 215 | 558 |
/* the length of SDO must be 8 */ |
| 0 | 559 |
m.len = 8; |
560 |
for (i = 0 ; i < 8 ; i++) {
|
|
561 |
m.data[i] = sdo.body.data[i]; |
|
562 |
} |
|
| 149 | 563 |
return canSend(d->canHandle,&m); |
| 0 | 564 |
} |
565 |
||
| 208 | 566 |
/*! |
567 |
** |
|
568 |
** |
|
569 |
** @param d |
|
570 |
** @param whoami |
|
571 |
** @param index |
|
572 |
** @param subIndex |
|
573 |
** @param abortCode |
|
574 |
** |
|
575 |
** @return |
|
576 |
**/ |
|
| 0 | 577 |
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode) |
578 |
{
|
|
579 |
s_SDO sdo; |
|
580 |
UNS8 ret; |
|
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
581 |
MSG_WAR(0x2A50,"Sending SDO abort ", abortCode); |
| 0 | 582 |
sdo.nodeId = *d->bDeviceNodeId; |
583 |
sdo.body.data[0] = 0x80; |
|
| 71 | 584 |
/* Index */ |
585 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
|
586 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
587 |
/* Subindex */ |
|
| 0 | 588 |
sdo.body.data[3] = subIndex; |
| 71 | 589 |
/* Data */ |
| 0 | 590 |
sdo.body.data[4] = (UNS8)(abortCode & 0xFF); |
591 |
sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF); |
|
592 |
sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF); |
|
593 |
sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF); |
|
594 |
ret = sendSDO(d, whoami, sdo); |
|
595 |
||
596 |
return ret; |
|
597 |
} |
|
598 |
||
| 208 | 599 |
/*! |
600 |
** |
|
601 |
** |
|
602 |
** @param d |
|
603 |
** @param m |
|
604 |
** |
|
605 |
** @return |
|
606 |
**/ |
|
| 0 | 607 |
UNS8 proceedSDO (CO_Data* d, Message *m) |
608 |
{
|
|
609 |
UNS8 err; |
|
610 |
UNS8 line; |
|
| 215 | 611 |
UNS8 nbBytes; /* received or to be transmited. */ |
612 |
UNS8 nodeId = 0; /* The node from which the SDO is received */ |
|
| 311 | 613 |
UNS8 *pNodeId = NULL; |
| 215 | 614 |
UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ |
615 |
UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ |
|
616 |
s_SDO sdo; /* SDO to transmit */ |
|
| 0 | 617 |
UNS16 index; |
618 |
UNS8 subIndex; |
|
619 |
UNS32 abortCode; |
|
620 |
UNS8 i,j; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
621 |
UNS16 *pCobId = NULL; |
| 0 | 622 |
UNS16 offset; |
623 |
UNS16 lastIndex; |
|
624 |
||
625 |
MSG_WAR(0x3A60, "proceedSDO ", 0); |
|
626 |
whoami = SDO_UNKNOWN; |
|
| 215 | 627 |
/* Looking for the cobId in the object dictionary. */ |
628 |
/* Am-I a server ? */ |
|
| 0 | 629 |
offset = d->firstIndex->SDO_SVR; |
630 |
lastIndex = d->lastIndex->SDO_SVR; |
|
631 |
j = 0; |
|
632 |
if(offset) while (offset <= lastIndex) {
|
|
633 |
if (d->objdict[offset].bSubCount <= 1) {
|
|
634 |
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j); |
|
635 |
return 0xFF; |
|
636 |
} |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
637 |
pCobId = (UNS16*) d->objdict[offset].pSubindex[1].pObject; |
| 365 | 638 |
if ( *pCobId == (*m).cob_id ) {
|
| 0 | 639 |
whoami = SDO_SERVER; |
640 |
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j); |
|
| 215 | 641 |
/* In case of server, the node id of the client may be unknown. So we put the index minus offset */ |
642 |
/* 0x1200 where the cobid received is defined. */ |
|
| 0 | 643 |
nodeId = j; |
644 |
break; |
|
645 |
} |
|
646 |
j++; |
|
647 |
offset++; |
|
| 215 | 648 |
} /* end while */ |
| 0 | 649 |
if (whoami == SDO_UNKNOWN) {
|
| 215 | 650 |
/* Am-I client ? */ |
| 0 | 651 |
offset = d->firstIndex->SDO_CLT; |
652 |
lastIndex = d->lastIndex->SDO_CLT; |
|
653 |
j = 0; |
|
654 |
if(offset) while (offset <= lastIndex) {
|
|
655 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
656 |
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j); |
|
657 |
return 0xFF; |
|
658 |
} |
|
| 215 | 659 |
/* a) Looking for the cobid received. */ |
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
660 |
pCobId = (UNS16*) d->objdict[offset].pSubindex[2].pObject; |
| 365 | 661 |
if (*pCobId == (*m).cob_id ) {
|
| 215 | 662 |
/* b) cobid found, so reading the node id of the server. */ |
| 311 | 663 |
pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 664 |
whoami = SDO_CLIENT; |
| 311 | 665 |
nodeId = *pNodeId; |
| 0 | 666 |
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
667 |
MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
|
668 |
break; |
|
669 |
} |
|
670 |
j++; |
|
671 |
offset++; |
|
| 71 | 672 |
} /* end while */ |
| 0 | 673 |
} |
674 |
if (whoami == SDO_UNKNOWN) {
|
|
| 215 | 675 |
return 0xFF;/* This SDO was not for us ! */ |
676 |
} |
|
677 |
||
678 |
/* Test if the size of the SDO is ok */ |
|
| 0 | 679 |
if ( (*m).len != 8) {
|
| 365 | 680 |
MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id); |
| 0 | 681 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR); |
682 |
return 0xFF; |
|
683 |
} |
|
684 |
||
685 |
if (whoami == SDO_CLIENT) {
|
|
686 |
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId); |
|
687 |
} |
|
688 |
else {
|
|
| 365 | 689 |
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id); |
| 0 | 690 |
} |
691 |
||
| 215 | 692 |
/* Testing the command specifier */ |
693 |
/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */ |
|
694 |
/* cs = other : Not allowed -> abort. */ |
|
| 0 | 695 |
switch (getSDOcs(m->data[0])) {
|
696 |
||
697 |
case 0: |
|
| 215 | 698 |
/* I am SERVER */ |
| 0 | 699 |
if (whoami == SDO_SERVER) {
|
| 215 | 700 |
/* Receiving a download segment data. */ |
701 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 702 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
703 |
if (!err) |
|
704 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
705 |
if (err) {
|
|
706 |
MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", |
|
707 |
nodeId); |
|
708 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
709 |
return 0xFF; |
|
710 |
} |
|
| 215 | 711 |
/* Reset the wathdog */ |
| 0 | 712 |
RestartSDO_TIMER(line) |
713 |
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); |
|
714 |
index = d->transfers[line].index; |
|
715 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 716 |
/* Toggle test. */ |
| 0 | 717 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
718 |
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
719 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
720 |
return 0xFF; |
|
721 |
} |
|
| 215 | 722 |
/* Nb of data to be downloaded */ |
| 0 | 723 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 215 | 724 |
/* Store the data in the transfert structure. */ |
| 0 | 725 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
726 |
if (err) {
|
|
727 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
728 |
return 0xFF; |
|
729 |
} |
|
| 215 | 730 |
/* Sending the SDO response, CS = 1 */ |
731 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */ |
|
| 0 | 732 |
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4); |
733 |
for (i = 1 ; i < 8 ; i++) |
|
734 |
sdo.body.data[i] = 0; |
|
735 |
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); |
|
736 |
sendSDO(d, whoami, sdo); |
|
| 215 | 737 |
/* Inverting the toggle for the next segment. */ |
| 0 | 738 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 215 | 739 |
/* If it was the last segment, */ |
| 0 | 740 |
if (getSDOc(m->data[0])) {
|
| 215 | 741 |
/* Transfering line data to object dictionary. */ |
742 |
/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */ |
|
| 0 | 743 |
errorCode = SDOlineToObjdict(d, line); |
744 |
if (errorCode) {
|
|
745 |
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
746 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
747 |
return 0xFF; |
|
748 |
} |
|
| 215 | 749 |
/* Release of the line */ |
| 0 | 750 |
resetSDOline(d, line); |
751 |
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); |
|
752 |
} |
|
| 71 | 753 |
} /* end if SERVER */ |
754 |
else { /* if CLIENT */
|
|
| 215 | 755 |
/* I am CLIENT */ |
756 |
/* It is a request for a previous upload segment. We should find a line opened for this.*/ |
|
| 0 | 757 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
758 |
if (!err) |
|
759 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
760 |
if (err) {
|
|
761 |
MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
762 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
763 |
return 0xFF; |
|
764 |
} |
|
| 215 | 765 |
/* Reset the wathdog */ |
| 0 | 766 |
RestartSDO_TIMER(line) |
767 |
index = d->transfers[line].index; |
|
768 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 769 |
/* test of the toggle; */ |
| 0 | 770 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
771 |
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
772 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
773 |
return 0xFF; |
|
774 |
} |
|
| 215 | 775 |
/* nb of data to be uploaded */ |
| 0 | 776 |
nbBytes = 7 - getSDOn3(m->data[0]); |
| 215 | 777 |
/* Storing the data in the line structure. */ |
| 0 | 778 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
779 |
if (err) {
|
|
780 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
781 |
return 0xFF; |
|
782 |
} |
|
| 215 | 783 |
/* Inverting the toggle for the next segment. */ |
| 0 | 784 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 215 | 785 |
/* If it was the last segment,*/ |
| 0 | 786 |
if ( getSDOc(m->data[0])) {
|
| 215 | 787 |
/* Put in state finished */ |
788 |
/* The code is safe for the case e=s=0 in initiate frame. */ |
|
| 0 | 789 |
StopSDO_TIMER(line) |
790 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 791 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
792 |
||
| 0 | 793 |
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId); |
794 |
} |
|
| 215 | 795 |
else { /* more segments to receive */
|
796 |
/* Sending the request for the next segment. */ |
|
| 0 | 797 |
sdo.nodeId = nodeId; |
798 |
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4); |
|
799 |
for (i = 1 ; i < 8 ; i++) |
|
800 |
sdo.body.data[i] = 0; |
|
801 |
sendSDO(d, whoami, sdo); |
|
802 |
MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId); |
|
803 |
} |
|
| 71 | 804 |
} /* End if CLIENT */ |
| 0 | 805 |
break; |
806 |
||
807 |
case 1: |
|
| 215 | 808 |
/* I am SERVER */ |
809 |
/* Receive of an initiate download */ |
|
| 0 | 810 |
if (whoami == SDO_SERVER) {
|
811 |
index = getSDOindex(m->data[1],m->data[2]); |
|
812 |
subIndex = getSDOsubIndex(m->data[3]); |
|
813 |
MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", |
|
814 |
nodeId); |
|
815 |
MSG_WAR(0x3A80, "Writing at index : ", index); |
|
816 |
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex); |
|
817 |
||
| 215 | 818 |
/* Search if a SDO transfert have been yet initiated */ |
| 0 | 819 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
820 |
if (! err) {
|
|
821 |
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); |
|
822 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
823 |
return 0xFF; |
|
824 |
} |
|
| 215 | 825 |
/* No line on use. Great ! */ |
826 |
/* Try to open a new line. */ |
|
| 0 | 827 |
err = getSDOfreeLine( d, whoami, &line ); |
828 |
if (err) {
|
|
829 |
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
830 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
831 |
return 0xFF; |
|
832 |
} |
|
833 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
834 |
||
| 215 | 835 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
836 |
/* nb of data to be downloaded */ |
|
| 0 | 837 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 215 | 838 |
/* Storing the data in the line structure. */ |
| 0 | 839 |
d->transfers[line].count = nbBytes; |
840 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
|
841 |
||
842 |
if (err) {
|
|
843 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
844 |
return 0xFF; |
|
845 |
} |
|
846 |
||
| 215 | 847 |
/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */ |
848 |
/*The line will be reseted when it is downloading in the dictionary. */ |
|
| 0 | 849 |
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId); |
| 215 | 850 |
/* Transfering line data to object dictionary. */ |
| 0 | 851 |
errorCode = SDOlineToObjdict(d, line); |
852 |
if (errorCode) {
|
|
853 |
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
854 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
855 |
return 0xFF; |
|
856 |
} |
|
| 215 | 857 |
/* Release of the line. */ |
| 0 | 858 |
resetSDOline(d, line); |
859 |
} |
|
| 215 | 860 |
else {/* So, if it is not an expedited transfert */
|
| 0 | 861 |
if (getSDOs(m->data[0])) {
|
| 215 | 862 |
/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */ |
863 |
nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */ |
|
| 0 | 864 |
err = setSDOlineRestBytes(d, nodeId, nbBytes); |
865 |
if (err) {
|
|
866 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
867 |
return 0xFF; |
|
868 |
} |
|
869 |
} |
|
870 |
} |
|
| 215 | 871 |
/*Sending a SDO, cs=3*/ |
872 |
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/ |
|
| 0 | 873 |
sdo.body.data[0] = 3 << 5; |
| 71 | 874 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
875 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 876 |
sdo.body.data[3] = subIndex; |
877 |
for (i = 4 ; i < 8 ; i++) |
|
878 |
sdo.body.data[i] = 0; |
|
879 |
sendSDO(d, whoami, sdo); |
|
| 71 | 880 |
} /* end if I am SERVER */ |
| 0 | 881 |
else {
|
| 215 | 882 |
/* I am CLIENT */ |
883 |
/* It is a response for a previous download segment. We should find a line opened for this. */ |
|
| 0 | 884 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
885 |
if (!err) |
|
886 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
887 |
if (err) {
|
|
888 |
MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
889 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
890 |
return 0xFF; |
|
891 |
} |
|
| 215 | 892 |
/* Reset the wathdog */ |
| 0 | 893 |
RestartSDO_TIMER(line) |
894 |
index = d->transfers[line].index; |
|
895 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 896 |
/* test of the toggle; */ |
| 0 | 897 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
898 |
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
899 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
900 |
return 0xFF; |
|
901 |
} |
|
902 |
||
| 215 | 903 |
/* End transmission or downloading next segment. We need to know if it will be the last one. */ |
| 0 | 904 |
getSDOlineRestBytes(d, line, &nbBytes); |
905 |
if (nbBytes == 0) {
|
|
906 |
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); |
|
907 |
StopSDO_TIMER(line) |
|
908 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 909 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 910 |
return 0x00; |
911 |
} |
|
| 215 | 912 |
/* At least one transfer to send. */ |
| 0 | 913 |
if (nbBytes > 7) {
|
| 215 | 914 |
/* several segments to download.*/ |
915 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 0 | 916 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 917 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 918 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
919 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
920 |
if (err) {
|
|
921 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
922 |
return 0xFF; |
|
923 |
} |
|
924 |
} |
|
925 |
else {
|
|
| 215 | 926 |
/* Last segment. */ |
927 |
/* code to send the last segment. (cs = 0; c = 1)*/ |
|
| 0 | 928 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
| 71 | 929 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 930 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
931 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
932 |
if (err) {
|
|
933 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
934 |
return 0xFF; |
|
935 |
} |
|
936 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
937 |
sdo.body.data[i] = 0; |
|
938 |
} |
|
939 |
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); |
|
940 |
sendSDO(d, whoami, sdo); |
|
| 215 | 941 |
} /* end if I am a CLIENT */ |
| 0 | 942 |
break; |
943 |
||
944 |
case 2: |
|
| 215 | 945 |
/* I am SERVER */ |
946 |
/* Receive of an initiate upload.*/ |
|
| 0 | 947 |
if (whoami == SDO_SERVER) {
|
948 |
index = getSDOindex(m->data[1],m->data[2]); |
|
949 |
subIndex = getSDOsubIndex(m->data[3]); |
|
950 |
MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", |
|
951 |
nodeId); |
|
952 |
MSG_WAR(0x3A90, "Reading at index : ", index); |
|
953 |
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex); |
|
| 215 | 954 |
/* Search if a SDO transfert have been yet initiated*/ |
| 0 | 955 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
956 |
if (! err) {
|
|
| 12 | 957 |
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); |
| 0 | 958 |
MSG_WAR(0x3A93, "nodeId = ", nodeId); |
| 12 | 959 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
960 |
return 0xFF; |
|
| 0 | 961 |
} |
| 215 | 962 |
/* No line on use. Great !*/ |
963 |
/* Try to open a new line.*/ |
|
| 0 | 964 |
err = getSDOfreeLine( d, whoami, &line ); |
965 |
if (err) {
|
|
966 |
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
967 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
968 |
return 0xFF; |
|
969 |
} |
|
970 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
| 215 | 971 |
/* Transfer data from dictionary to the line structure. */ |
| 0 | 972 |
errorCode = objdictToSDOline(d, line); |
973 |
||
974 |
if (errorCode) {
|
|
975 |
MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", |
|
976 |
errorCode); |
|
977 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
978 |
return 0xFF; |
|
979 |
} |
|
| 215 | 980 |
/* Preparing the response.*/ |
981 |
getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */ |
|
982 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 983 |
if (nbBytes > 4) {
|
| 215 | 984 |
/* normal transfert. (segmented). */ |
985 |
/* code to send the initiate upload response. (cs = 2) */ |
|
| 0 | 986 |
sdo.body.data[0] = (2 << 5) | 1; |
| 71 | 987 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
988 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 989 |
sdo.body.data[3] = subIndex; |
| 71 | 990 |
sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/ |
| 215 | 991 |
/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */ |
992 |
/* in the object dictionary, at every index and subindex. */ |
|
| 0 | 993 |
for (i = 5 ; i < 8 ; i++) |
994 |
sdo.body.data[i] = 0; |
|
995 |
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); |
|
996 |
sendSDO(d, whoami, sdo); |
|
997 |
} |
|
998 |
else {
|
|
| 215 | 999 |
/* Expedited upload. (cs = 2 ; e = 1) */ |
| 0 | 1000 |
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3; |
| 71 | 1001 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1002 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1003 |
sdo.body.data[3] = subIndex; |
1004 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 4); |
|
1005 |
if (err) {
|
|
1006 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1007 |
return 0xFF; |
|
1008 |
} |
|
1009 |
for (i = 4 + nbBytes ; i < 8 ; i++) |
|
1010 |
sdo.body.data[i] = 0; |
|
1011 |
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", |
|
1012 |
nodeId); |
|
1013 |
sendSDO(d, whoami, sdo); |
|
| 215 | 1014 |
/* Release the line.*/ |
| 0 | 1015 |
resetSDOline(d, line); |
1016 |
} |
|
| 215 | 1017 |
} /* end if I am SERVER*/ |
| 0 | 1018 |
else {
|
| 215 | 1019 |
/* I am CLIENT */ |
1020 |
/* It is the response for the previous initiate upload request.*/ |
|
1021 |
/* We should find a line opened for this. */ |
|
| 0 | 1022 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
1023 |
if (!err) |
|
1024 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
1025 |
if (err) {
|
|
1026 |
MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); |
|
1027 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1028 |
return 0xFF; |
|
1029 |
} |
|
| 215 | 1030 |
/* Reset the wathdog */ |
| 0 | 1031 |
RestartSDO_TIMER(line) |
1032 |
index = d->transfers[line].index; |
|
1033 |
subIndex = d->transfers[line].subIndex; |
|
1034 |
||
| 71 | 1035 |
if (getSDOe(m->data[0])) { /* If SDO expedited */
|
| 215 | 1036 |
/* nb of data to be uploaded */ |
| 0 | 1037 |
nbBytes = 4 - getSDOn2(m->data[0]); |
| 215 | 1038 |
/* Storing the data in the line structure. */ |
| 0 | 1039 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
1040 |
if (err) {
|
|
1041 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1042 |
return 0xFF; |
|
1043 |
} |
|
| 215 | 1044 |
/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */ |
| 0 | 1045 |
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId); |
1046 |
StopSDO_TIMER(line) |
|
1047 |
d->transfers[line].count = nbBytes; |
|
1048 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 1049 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1050 |
return 0; |
1051 |
} |
|
| 215 | 1052 |
else { /* So, if it is not an expedited transfert */
|
1053 |
/* Storing the nb of data to receive. */ |
|
| 0 | 1054 |
if (getSDOs(m->data[0])) {
|
| 215 | 1055 |
nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */ |
| 0 | 1056 |
err = setSDOlineRestBytes(d, line, nbBytes); |
1057 |
if (err) {
|
|
1058 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1059 |
return 0xFF; |
|
1060 |
} |
|
1061 |
} |
|
| 215 | 1062 |
/* Requesting next segment. (cs = 3) */ |
| 0 | 1063 |
sdo.nodeId = nodeId; |
1064 |
sdo.body.data[0] = 3 << 5; |
|
1065 |
for (i = 1 ; i < 8 ; i++) |
|
1066 |
sdo.body.data[i] = 0; |
|
1067 |
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); |
|
1068 |
sendSDO(d, whoami, sdo); |
|
1069 |
} |
|
| 215 | 1070 |
} /* End if CLIENT */ |
| 0 | 1071 |
break; |
1072 |
||
1073 |
case 3: |
|
| 215 | 1074 |
/* I am SERVER */ |
| 0 | 1075 |
if (whoami == SDO_SERVER) {
|
| 215 | 1076 |
/* Receiving a upload segment. */ |
1077 |
/* A SDO transfert should have been yet initiated. */ |
|
| 0 | 1078 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
1079 |
if (!err) |
|
1080 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
1081 |
if (err) {
|
|
1082 |
MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", |
|
1083 |
nodeId); |
|
1084 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1085 |
return 0xFF; |
|
1086 |
} |
|
| 215 | 1087 |
/* Reset the wathdog */ |
| 0 | 1088 |
RestartSDO_TIMER(line) |
1089 |
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); |
|
1090 |
index = d->transfers[line].index; |
|
1091 |
subIndex = d->transfers[line].subIndex; |
|
| 215 | 1092 |
/* Toggle test.*/ |
| 0 | 1093 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
1094 |
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
1095 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
1096 |
return 0xFF; |
|
1097 |
} |
|
| 215 | 1098 |
/* Uploading next segment. We need to know if it will be the last one. */ |
| 0 | 1099 |
getSDOlineRestBytes(d, line, &nbBytes); |
1100 |
if (nbBytes > 7) {
|
|
| 215 | 1101 |
/* The segment to transfer is not the last one.*/ |
1102 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 71 | 1103 |
sdo.nodeId = nodeId; /* The server node Id; */ |
| 0 | 1104 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
1105 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
1106 |
if (err) {
|
|
1107 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1108 |
return 0xFF; |
|
1109 |
} |
|
| 215 | 1110 |
/* Inverting the toggle for the next tranfert. */ |
| 0 | 1111 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
1112 |
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); |
|
1113 |
sendSDO(d, whoami, sdo); |
|
1114 |
} |
|
1115 |
else {
|
|
| 215 | 1116 |
/* Last segment. */ |
1117 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
| 208 | 1118 |
sdo.nodeId = nodeId; /** The server node Id; */ |
| 0 | 1119 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
1120 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
1121 |
if (err) {
|
|
1122 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1123 |
return 0xFF; |
|
1124 |
} |
|
1125 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
1126 |
sdo.body.data[i] = 0; |
|
1127 |
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId); |
|
1128 |
sendSDO(d, whoami, sdo); |
|
| 215 | 1129 |
/* Release the line */ |
| 0 | 1130 |
resetSDOline(d, line); |
1131 |
} |
|
| 71 | 1132 |
} /* end if SERVER*/ |
| 0 | 1133 |
else {
|
| 215 | 1134 |
/* I am CLIENT */ |
1135 |
/* It is the response for the previous initiate download request. */ |
|
1136 |
/* We should find a line opened for this. */ |
|
| 0 | 1137 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
1138 |
if (!err) |
|
1139 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
1140 |
if (err) {
|
|
1141 |
MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); |
|
1142 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
1143 |
return 0xFF; |
|
1144 |
} |
|
| 215 | 1145 |
/* Reset the watchdog */ |
| 0 | 1146 |
RestartSDO_TIMER(line) |
1147 |
index = d->transfers[line].index; |
|
1148 |
subIndex = d->transfers[line].subIndex; |
|
| 71 | 1149 |
/* End transmission or requesting next segment. */ |
| 0 | 1150 |
getSDOlineRestBytes(d, line, &nbBytes); |
1151 |
if (nbBytes == 0) {
|
|
1152 |
MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); |
|
1153 |
StopSDO_TIMER(line) |
|
1154 |
d->transfers[line].state = SDO_FINISHED; |
|
| 32 | 1155 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1156 |
return 0x00; |
1157 |
} |
|
1158 |
if (nbBytes > 7) {
|
|
| 215 | 1159 |
/* more than one request to send */ |
1160 |
/* code to send the next segment. (cs = 0; c = 0) */ |
|
| 208 | 1161 |
sdo.nodeId = nodeId; /** The server node Id; */ |
| 0 | 1162 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
1163 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
1164 |
if (err) {
|
|
1165 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1166 |
return 0xFF; |
|
1167 |
} |
|
1168 |
} |
|
1169 |
else {
|
|
| 215 | 1170 |
/* Last segment.*/ |
1171 |
/* code to send the last segment. (cs = 0; c = 1) */ |
|
1172 |
sdo.nodeId = nodeId; /* The server node Id; */ |
|
| 0 | 1173 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
1174 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
1175 |
if (err) {
|
|
1176 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
1177 |
return 0xFF; |
|
1178 |
} |
|
1179 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
1180 |
sdo.body.data[i] = 0; |
|
1181 |
} |
|
1182 |
MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); |
|
1183 |
sendSDO(d, whoami, sdo); |
|
1184 |
||
| 71 | 1185 |
} /* end if I am a CLIENT */ |
| 0 | 1186 |
break; |
1187 |
||
| 82 | 1188 |
case 4: |
1189 |
abortCode = (*m).data[3] | |
|
1190 |
((UNS32)m->data[5] << 8) | |
|
1191 |
((UNS32)m->data[6] << 16) | |
|
1192 |
((UNS32)m->data[7] << 24); |
|
| 215 | 1193 |
/* Received SDO abort. */ |
1194 |
/* Looking for the line concerned. */ |
|
| 0 | 1195 |
if (whoami == SDO_SERVER) {
|
1196 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
1197 |
if (!err) {
|
|
1198 |
resetSDOline( d, line ); |
|
1199 |
MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode); |
|
1200 |
} |
|
1201 |
else |
|
1202 |
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
| 215 | 1203 |
/* Tips : The end user has no way to know that the server node has received an abort SDO. */ |
1204 |
/* Its is ok, I think.*/ |
|
| 0 | 1205 |
} |
| 215 | 1206 |
else { /* If I am CLIENT */
|
| 0 | 1207 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
1208 |
if (!err) {
|
|
| 215 | 1209 |
/* The line *must* be released by the core program. */ |
| 0 | 1210 |
StopSDO_TIMER(line) |
1211 |
d->transfers[line].state = SDO_ABORTED_RCV; |
|
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
163
diff
changeset
|
1212 |
d->transfers[line].abortCode = abortCode; |
| 0 | 1213 |
MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode); |
|
163
212a9ea3b968
Added SDO network dictionnary access callback when aborded.
etisserant
parents:
154
diff
changeset
|
1214 |
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); |
| 0 | 1215 |
} |
1216 |
else |
|
1217 |
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
1218 |
} |
|
1219 |
break; |
|
1220 |
default: |
|
| 215 | 1221 |
/* Error : Unknown cs */ |
| 0 | 1222 |
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0])); |
1223 |
return 0xFF; |
|
1224 |
||
| 71 | 1225 |
} /* End switch */ |
| 0 | 1226 |
return 0; |
1227 |
} |
|
1228 |
||
| 208 | 1229 |
/*! |
1230 |
** |
|
1231 |
** |
|
1232 |
** @param d |
|
1233 |
** @param nodeId |
|
1234 |
** @param index |
|
1235 |
** @param subIndex |
|
1236 |
** @param count |
|
1237 |
** @param dataType |
|
1238 |
** @param data |
|
1239 |
** @param Callback |
|
1240 |
** @param endianize |
|
1241 |
** |
|
1242 |
** @return |
|
1243 |
**/ |
|
| 71 | 1244 |
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1245 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize) |
| 0 | 1246 |
{
|
1247 |
UNS8 err; |
|
1248 |
UNS8 SDOfound = 0; |
|
1249 |
UNS8 line; |
|
| 71 | 1250 |
s_SDO sdo; /* SDO to transmit */ |
| 0 | 1251 |
UNS8 i, j; |
1252 |
UNS16 lastIndex; |
|
1253 |
UNS16 offset; |
|
| 311 | 1254 |
UNS8 *pNodeIdServer; |
1255 |
UNS8 nodeIdServer; |
|
| 0 | 1256 |
|
1257 |
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId); |
|
1258 |
MSG_WAR(0x3AC1, " At index : ", index); |
|
1259 |
MSG_WAR(0x3AC2, " subIndex : ", subIndex); |
|
1260 |
MSG_WAR(0x3AC3, " nb bytes : ", count); |
|
1261 |
||
| 215 | 1262 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1263 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1264 |
if (!err) {
|
|
1265 |
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); |
|
1266 |
return 0xFF; |
|
1267 |
} |
|
| 215 | 1268 |
/* Taking the line ... */ |
| 0 | 1269 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1270 |
if (err) {
|
|
1271 |
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1272 |
return (0xFF); |
|
1273 |
} |
|
| 215 | 1274 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1275 |
offset = d->firstIndex->SDO_CLT; |
1276 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1277 |
if (offset == 0) {
|
|
1278 |
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); |
|
1279 |
return 0xFF; |
|
1280 |
} |
|
1281 |
i = 0; |
|
1282 |
while (offset <= lastIndex) {
|
|
1283 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1284 |
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); |
|
1285 |
return 0xFF; |
|
1286 |
} |
|
| 215 | 1287 |
/* looking for the nodeId server */ |
| 311 | 1288 |
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 1289 |
nodeIdServer = *pNodeIdServer; |
1290 |
MSG_WAR(0x1AD2, "index : ", 0x1280 + i); |
|
1291 |
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer); |
|
1292 |
||
| 311 | 1293 |
if(nodeIdServer == nodeId) {
|
| 0 | 1294 |
SDOfound = 1; |
1295 |
break; |
|
1296 |
} |
|
1297 |
offset++; |
|
1298 |
i++; |
|
| 71 | 1299 |
} /* end while */ |
| 0 | 1300 |
if (!SDOfound) {
|
1301 |
MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1302 |
return 0xFF; |
|
1303 |
} |
|
1304 |
MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i); |
|
1305 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
1306 |
d->transfers[line].count = count; |
|
1307 |
d->transfers[line].dataType = dataType; |
|
1308 |
||
| 215 | 1309 |
/* Copy data to transfers structure. */ |
| 0 | 1310 |
for (j = 0 ; j < count ; j++) {
|
1311 |
# ifdef CANOPEN_BIG_ENDIAN |
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1312 |
if (dataType == 0 && endianize) |
| 0 | 1313 |
d->transfers[line].data[count - 1 - j] = ((char *)data)[j]; |
| 71 | 1314 |
else /* String of bytes. */ |
| 0 | 1315 |
d->transfers[line].data[j] = ((char *)data)[j]; |
1316 |
# else |
|
1317 |
d->transfers[line].data[j] = ((char *)data)[j]; |
|
1318 |
# endif |
|
1319 |
} |
|
| 215 | 1320 |
/* Send the SDO to the server. Initiate download, cs=1. */ |
| 0 | 1321 |
sdo.nodeId = nodeId; |
| 215 | 1322 |
if (count <= 4) { /* Expedited transfert */
|
| 0 | 1323 |
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3; |
1324 |
for (i = 4 ; i < 8 ; i++) |
|
1325 |
sdo.body.data[i] = d->transfers[line].data[i - 4]; |
|
1326 |
d->transfers[line].offset = count; |
|
1327 |
} |
|
| 208 | 1328 |
else { /** Normal transfert */
|
| 0 | 1329 |
sdo.body.data[0] = (1 << 5) | 1; |
| 215 | 1330 |
sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */ |
| 0 | 1331 |
for (i = 5 ; i < 8 ; i++) |
1332 |
sdo.body.data[i] = 0; |
|
1333 |
} |
|
| 71 | 1334 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1335 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1336 |
sdo.body.data[3] = subIndex; |
|
154
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1337 |
|
|
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1338 |
d->transfers[line].Callback = Callback; |
|
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1339 |
|
| 0 | 1340 |
err = sendSDO(d, SDO_CLIENT, sdo); |
1341 |
if (err) {
|
|
1342 |
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 215 | 1343 |
/* release the line */ |
| 0 | 1344 |
resetSDOline(d, line); |
1345 |
return 0xFF; |
|
| 32 | 1346 |
} |
|
154
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1347 |
|
|
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1348 |
|
| 0 | 1349 |
return 0; |
1350 |
} |
|
| 53 | 1351 |
|
| 208 | 1352 |
/*! |
1353 |
** |
|
1354 |
** |
|
1355 |
** @param d |
|
1356 |
** @param nodeId |
|
1357 |
** @param index |
|
1358 |
** @param subIndex |
|
1359 |
** @param count |
|
1360 |
** @param dataType |
|
1361 |
** @param data |
|
1362 |
** |
|
1363 |
** @return |
|
1364 |
**/ |
|
| 32 | 1365 |
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
1366 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data) |
|
1367 |
{
|
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1368 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1); |
| 32 | 1369 |
} |
1370 |
||
| 208 | 1371 |
/*! |
1372 |
** |
|
1373 |
** |
|
1374 |
** @param d |
|
1375 |
** @param nodeId |
|
1376 |
** @param index |
|
1377 |
** @param subIndex |
|
1378 |
** @param count |
|
1379 |
** @param dataType |
|
1380 |
** @param data |
|
1381 |
** @param Callback |
|
1382 |
** |
|
1383 |
** @return |
|
1384 |
**/ |
|
| 32 | 1385 |
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, |
1386 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback) |
|
1387 |
{
|
|
|
174
cd1638bc0cb0
Added _writenetworkdictionary option to avoir endianiation
etisserant
parents:
172
diff
changeset
|
1388 |
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1); |
| 32 | 1389 |
} |
1390 |
||
| 208 | 1391 |
/*! |
1392 |
** |
|
1393 |
** |
|
1394 |
** @param d |
|
1395 |
** @param nodeId |
|
1396 |
** @param index |
|
1397 |
** @param subIndex |
|
1398 |
** @param dataType |
|
1399 |
** @param Callback |
|
1400 |
** |
|
1401 |
** @return |
|
1402 |
**/ |
|
| 71 | 1403 |
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
| 0 | 1404 |
{
|
1405 |
UNS8 err; |
|
1406 |
UNS8 SDOfound = 0; |
|
1407 |
UNS8 i; |
|
1408 |
UNS8 line; |
|
| 71 | 1409 |
s_SDO sdo; /* SDO to transmit */ |
| 311 | 1410 |
UNS8 *pNodeIdServer; |
1411 |
UNS8 nodeIdServer; |
|
| 0 | 1412 |
UNS16 offset; |
1413 |
UNS16 lastIndex; |
|
1414 |
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId); |
|
1415 |
MSG_WAR(0x3AD6, " At index : ", index); |
|
1416 |
MSG_WAR(0x3AD7, " subIndex : ", subIndex); |
|
1417 |
||
1418 |
||
| 215 | 1419 |
/* Verify that there is no SDO communication yet. */ |
| 0 | 1420 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1421 |
if (!err) {
|
|
1422 |
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); |
|
1423 |
return 0xFF; |
|
1424 |
} |
|
| 215 | 1425 |
/* Taking the line ... */ |
| 0 | 1426 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
1427 |
if (err) {
|
|
1428 |
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1429 |
return (0xFF); |
|
1430 |
} |
|
1431 |
else |
|
1432 |
MSG_WAR(0x3AE0, "Transmission on line : ", line); |
|
1433 |
||
| 215 | 1434 |
/* Check which SDO to use to communicate with the node */ |
| 0 | 1435 |
offset = d->firstIndex->SDO_CLT; |
1436 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1437 |
if (offset == 0) {
|
|
1438 |
MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); |
|
1439 |
return 0xFF; |
|
1440 |
} |
|
1441 |
i = 0; |
|
1442 |
while (offset <= lastIndex) {
|
|
1443 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1444 |
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i); |
|
1445 |
return 0xFF; |
|
1446 |
} |
|
| 215 | 1447 |
/* looking for the nodeId server */ |
| 311 | 1448 |
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; |
| 0 | 1449 |
nodeIdServer = *pNodeIdServer; |
1450 |
||
| 311 | 1451 |
if(nodeIdServer == nodeId) {
|
| 0 | 1452 |
SDOfound = 1; |
1453 |
break; |
|
1454 |
} |
|
1455 |
offset++; |
|
1456 |
i++; |
|
| 71 | 1457 |
} /* end while */ |
| 0 | 1458 |
if (!SDOfound) {
|
1459 |
MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1460 |
return 0xFF; |
|
1461 |
} |
|
1462 |
MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i); |
|
1463 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
1464 |
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1465 |
sdo.nodeId = nodeId; |
|
| 215 | 1466 |
/* Send the SDO to the server. Initiate upload, cs=2. */ |
| 0 | 1467 |
d->transfers[line].dataType = dataType; |
1468 |
sdo.body.data[0] = (2 << 5); |
|
| 71 | 1469 |
sdo.body.data[1] = index & 0xFF; /* LSB */ |
1470 |
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ |
|
| 0 | 1471 |
sdo.body.data[3] = subIndex; |
1472 |
for (i = 4 ; i < 8 ; i++) |
|
1473 |
sdo.body.data[i] = 0; |
|
|
154
1b3165f2d17d
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents:
149
diff
changeset
|
1474 |
d->transfers[line].Callback = Callback; |
| 0 | 1475 |
err = sendSDO(d, SDO_CLIENT, sdo); |
1476 |
if (err) {
|
|
1477 |
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId); |
|
| 71 | 1478 |
/* release the line */ |
| 0 | 1479 |
resetSDOline(d, line); |
1480 |
return 0xFF; |
|
1481 |
} |
|
1482 |
return 0; |
|
1483 |
} |
|
1484 |
||
| 208 | 1485 |
/*! |
1486 |
** |
|
1487 |
** |
|
1488 |
** @param d |
|
1489 |
** @param nodeId |
|
1490 |
** @param index |
|
1491 |
** @param subIndex |
|
1492 |
** @param dataType |
|
1493 |
** |
|
1494 |
** @return |
|
1495 |
**/ |
|
| 32 | 1496 |
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType) |
1497 |
{
|
|
1498 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL); |
|
1499 |
} |
|
1500 |
||
| 208 | 1501 |
/*! |
1502 |
** |
|
1503 |
** |
|
1504 |
** @param d |
|
1505 |
** @param nodeId |
|
1506 |
** @param index |
|
1507 |
** @param subIndex |
|
1508 |
** @param dataType |
|
1509 |
** @param Callback |
|
1510 |
** |
|
1511 |
** @return |
|
1512 |
**/ |
|
| 32 | 1513 |
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) |
1514 |
{
|
|
1515 |
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); |
|
1516 |
} |
|
| 53 | 1517 |
|
| 208 | 1518 |
/*! |
1519 |
** |
|
1520 |
** |
|
1521 |
** @param d |
|
1522 |
** @param nodeId |
|
1523 |
** @param data |
|
1524 |
** @param size |
|
1525 |
** @param abortCode |
|
1526 |
** |
|
1527 |
** @return |
|
1528 |
**/ |
|
| 0 | 1529 |
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, |
1530 |
UNS32 * abortCode) |
|
1531 |
{
|
|
1532 |
UNS8 i; |
|
1533 |
UNS8 err; |
|
1534 |
UNS8 line; |
|
1535 |
* size = 0; |
|
1536 |
||
| 215 | 1537 |
/* Looking for the line tranfert. */ |
| 0 | 1538 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1539 |
if (err) {
|
|
1540 |
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); |
|
1541 |
return SDO_ABORTED_INTERNAL; |
|
1542 |
} |
|
1543 |
if (d->transfers[line].state != SDO_FINISHED) |
|
1544 |
return d->transfers[line].state; |
|
1545 |
||
| 215 | 1546 |
/* Transfert is finished. Put the value in the data. */ |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
87
diff
changeset
|
1547 |
* size = (UNS8)d->transfers[line].count; |
| 0 | 1548 |
for ( i = 0 ; i < *size ; i++) {
|
1549 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1550 |
if (d->transfers[line].dataType != visible_string) |
|
1551 |
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i]; |
|
| 215 | 1552 |
else /* String of bytes. */ |
| 0 | 1553 |
( (char *) data)[i] = d->transfers[line].data[i]; |
1554 |
# else |
|
1555 |
( (char *) data)[i] = d->transfers[line].data[i]; |
|
1556 |
# endif |
|
1557 |
} |
|
1558 |
return SDO_FINISHED; |
|
1559 |
} |
|
1560 |
||
| 208 | 1561 |
/*! |
1562 |
** |
|
1563 |
** |
|
1564 |
** @param d |
|
1565 |
** @param nodeId |
|
1566 |
** @param abortCode |
|
1567 |
** |
|
1568 |
** @return |
|
1569 |
**/ |
|
| 0 | 1570 |
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode) |
1571 |
{
|
|
1572 |
UNS8 line = 0; |
|
1573 |
UNS8 err; |
|
1574 |
||
1575 |
* abortCode = 0; |
|
| 215 | 1576 |
/* Looking for the line tranfert. */ |
| 0 | 1577 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
1578 |
if (err) {
|
|
1579 |
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); |
|
1580 |
return SDO_ABORTED_INTERNAL; |
|
1581 |
} |
|
1582 |
* abortCode = d->transfers[line].abortCode; |
|
1583 |
return d->transfers[line].state; |
|
1584 |
} |