canfestival: src/sdo.c@88c2ea321049 (annotated)

0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1	/*
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	2	This file is part of CanFestival, a library implementing CanOpen Stack.
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	3
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	5
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	6	See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	7
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	8	This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	9	modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	10	License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	11	version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	12
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	13	This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	16	Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	17
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	18	You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	19	License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	21	*/
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	22	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	23	** @file sdo.c
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	24	** @author Edouard TISSERANT and Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	25	** @date Tue Jun 5 09:32:32 2007
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	26	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	27	** @brief
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	28	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	29	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	30	*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	31
84 19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	32	/* #define DEBUG_WAR_CONSOLE_ON */
19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	33	/* #define DEBUG_ERR_CONSOLE_ON */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	34
383 7d8afedb8769 Fixed missing includes causing warnings etisserant parents: 378 diff changeset	35	#include "canfestival.h"
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	36	#include "sysdep.h"
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	37
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	38	/* Uncomment if your compiler does not support inline functions */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	39	#define NO_INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	40
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	41	#ifdef NO_INLINE
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	42	#define INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	43	#else
86 683702a46416 big endian bogue : nodeIdServer in now in 32 bits frdupin parents: 84 diff changeset	44	#define INLINE inline
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	45	#endif
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	46
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	47	/Internals prototypes/
73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	48
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	49	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	50	** Called by writeNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	51	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	52	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	53	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	54	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	55	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	56	** @param count
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	57	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	58	** @param data
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	59	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	60	** @param endianize
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	61	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	62	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	63	**/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	64	INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	65	UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	66
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	67	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	68	** Called by readNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	69	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	70	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	71	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	72	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	73	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	74	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	75	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	76	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	77	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	78	**/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	79	INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	80	UNS8 dataType, SDOCallback_t Callback);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	81
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	82
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	83	/***************************************************************************/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	84	/* SDO (un)packing macros */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	85
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	86	/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	87	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	88	#define getSDOcs(byte) (byte >> 5)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	89
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	90	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	91	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	92	#define getSDOn2(byte) ((byte >> 2) & 3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	93
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	94	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	95	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	96	#define getSDOn3(byte) ((byte >> 1) & 7)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	97
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	98	/** Returns the transfer type from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	99	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	100	#define getSDOe(byte) ((byte >> 1) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	101
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	102	/** Returns the size indicator from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	103	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	104	#define getSDOs(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	105
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	106	/** Returns the indicator of end transmission from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	107	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	108	#define getSDOc(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	109
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	110	/** Returns the toggle from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	111	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	112	#define getSDOt(byte) ((byte >> 4) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	113
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	114	/** Returns the index from the bytes 1 and 2 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	115	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	116	#define getSDOindex(byte1, byte2) ((byte2 << 8) \| (byte1))
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	117
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	118	/** Returns the subIndex from the byte 3 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	119	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	120	#define getSDOsubIndex(byte3) (byte3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	121
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	122	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	123	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	124	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	125	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	126	** @param id
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	127	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	128	void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	129	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	130	MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	131	MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	132	MSG_WAR(0x2A02, " index : ", d->transfers[id].index);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	133	MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	134	/* Reset timer handler */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	135	d->transfers[id].timer = TIMER_NONE;
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	136	/Set aborted state/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	137	d->transfers[id].state = SDO_ABORTED_INTERNAL;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	138	/* Sending a SDO abort */
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	139	sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	140	d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	141	d->transfers[id].abortCode = SDOABT_TIMED_OUT;
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	142	/* Call the user function to inform of the problem.*/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	143	if(d->transfers[id].Callback)
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	144	/If ther is a callback, it is responsible to close SDO transfer (client)/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	145	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	146	else if(d->transfers[id].whoami == SDO_SERVER)
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	147	/Else, if server, reset the line/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	148	resetSDOline(d, (UNS8)id);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	149	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	150
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	151	#define StopSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	152	MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	153	d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	154
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	155	#define StartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	156	MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	157	d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	158
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	159	#define RestartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	160	MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	161	if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	162
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	163	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	164	** Reset all sdo buffers
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	165	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	166	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	167	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	168	void resetSDO (CO_Data* d)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	169	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	170	UNS8 j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	171
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	172	/* transfer structure initialization */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	173	for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	174	resetSDOline(d, j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	175	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	176
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	177	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	178	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	179	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	180	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	181	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	182	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	183	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	184	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	185	UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	186	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	187	UNS8 size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	188	UNS32 errorCode;
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	189	MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 87 diff changeset	190	size = (UNS8)d->transfers[line].count;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	191	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	192	(void *) d->transfers[line].data, &size, 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	193	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	194	return errorCode;
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	195	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	196	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	197
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	198	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	199
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	200	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	201	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	202	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	203	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	204	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	205	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	206	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	207	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	208	UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	209	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	210	UNS8 size = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	211	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	213
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	214	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	215	MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	216
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	217	errorCode = getODentry(d, d->transfers[line].index,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	218	d->transfers[line].subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	219	(void *)d->transfers[line].data,
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	220	&size, &dataType, 1);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	221
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	222	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	223	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	224
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	225	d->transfers[line].count = size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	226	d->transfers[line].offset = 0;
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	227
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	228	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	229	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	230
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	231	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	232	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	233	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	234	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	235	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	236	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	237	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	238	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	239	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	240	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	241	UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	242	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	243	UNS8 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	244
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	245	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	246	MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	247	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	248	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250	MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	}
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 87 diff changeset	253	offset = (UNS8)d->transfers[line].offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	254	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	* (data + i) = d->transfers[line].data[offset + i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	256	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	257	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	258	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	259
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	260	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	261	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	262	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	263	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	264	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	265	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	266	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	267	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	268	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	269	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	270	UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	271	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	272	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	273	UNS8 offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	274
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	276	MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	277	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	278	}
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 87 diff changeset	279	offset = (UNS8)d->transfers[line].offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	280	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	281	d->transfers[line].data[offset + i] = * (data + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	282	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	283	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	284	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	285
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	286	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	287	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	288	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	289	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	290	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	291	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	292	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	293	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	294	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	295	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	296	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	297	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	298	UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	299	UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	300	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	301	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	302	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	303	err = getSDOlineOnUse( d, nodeId, whoami, &line );
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	304	if (!err) /* If a line on use have been found.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306	if ((! err) && (whoami == SDO_SERVER)) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	307	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	308	MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	309	}
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	310	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	311	StopSDO_TIMER(line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	312	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	313	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	314	MSG_WAR(0x3A22, "Sending SDO abort ", 0);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	315	err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	316	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	317	MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	318	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	319	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	320	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	321	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	322
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	323	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	324	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	325	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	326	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	327	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	328	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	329	void resetSDOline ( CO_Data* d, UNS8 line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	330	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	331	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	332	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	333	initSDOline(d, line, 0, 0, 0, SDO_RESET);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	334	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	335	d->transfers[line].data[i] = 0;
501 9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	336	d->transfers[line].whoami = 0;
9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	337	d->transfers[line].abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	338	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	339
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	340	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	341	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	342	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	343	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	344	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	345	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	346	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	347	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	348	** @param state
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	349	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	350	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	351	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	352	UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	353	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	354	MSG_WAR(0x3A25, "init SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	355	if (state == SDO_DOWNLOAD_IN_PROGRESS \|\| state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	356	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	357	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	358	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	359	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	360	d->transfers[line].nodeId = nodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	361	d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	362	d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	363	d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	364	d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	365	d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	366	d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	367	d->transfers[line].dataType = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	368	d->transfers[line].Callback = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	369	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	370	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	371
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	372	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	373	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	374	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	375	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	376	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	377	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	378	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	379	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	380	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	381	UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	382	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	383
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	384	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	385
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	386	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	387	if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	388	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	389	d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	390	return 0;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	391	} /* end if */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	392	} /* end for */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	393	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	394	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	395	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	396
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	397	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	398	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	399	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	400	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	401	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	402	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	403	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	404	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	405	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	406	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	407	UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	408	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	409
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	410	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	411
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	412	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	413	if ( (d->transfers[i].state != SDO_RESET) &&
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	414	(d->transfers[i].nodeId == nodeId) &&
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	415	(d->transfers[i].whoami == whoami) ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	416	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	417	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	418	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	419	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	420	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	421	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	422
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	423	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	424	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	425	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	426	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	427	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	428	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	429	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	430	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	431	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	432	UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	433	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	434	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	435	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	436	err = getSDOlineOnUse(d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	437	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	438	MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	439	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	440	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	441	resetSDOline(d, line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	442	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	443	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	444
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	445	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	446	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	447	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	448	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	449	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	450	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	451	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	452	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	453	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	454	UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	455	{
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	456	if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	457	* nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	458	else
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 87 diff changeset	459	* nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	460	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	461	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	462
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	463	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	464	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	465	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	466	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	467	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	468	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	469	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	470	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	471	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	472	UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	473	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	474	if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	475	MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	476	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	477	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	478	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	479	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	480	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	481
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	482	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	483	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	484	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	485	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	486	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	487	** @param sdo
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	488	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	489	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	490	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	491	UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	492	{
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	493	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	494	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	495	UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	496	Message m;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	497	UNS8 i;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	498	UNS32 * pwCobId = NULL;
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	499	UNS8 * pwNodeId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	500
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	501	MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	502	if( !((d->nodeState == Operational) \|\| (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	503	MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	504	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	505	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	506
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	507	/get the server->client cobid/
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	508	if ( whoami == SDO_SERVER ) {/case server. only one SDO server/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	509	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	510	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	511	MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	512	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	513	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	514	pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	515	MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	516	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	517	else { /case client/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	518	/* Get the client->server cobid.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	519	UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	520	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	521	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	522	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	523	MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	524	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	525	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	526	/* find index for communication server node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	527	while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	528	MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	529	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	530	MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	531	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	532	}
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	533	pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	534	MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	535	if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	536	found = 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	537	break;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	538	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	539	offset ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	540	sdoNum ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	541	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	542	if (! found){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	543	MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	544	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	545	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	546	/* read the client->server cobid */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	547	pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	548	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	549	/* message copy for sending */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	550	m.cob_id = UNS16_LE(*pwCobId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	551	m.rtr = NOT_A_REQUEST;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	552	/* the length of SDO must be 8 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	553	m.len = 8;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	554	for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	555	m.data[i] = sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	556	}
149 fe50ada8020b Changes in the API: etisserant parents: 145 diff changeset	557	return canSend(d->canHandle,&m);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	558	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	559
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	560	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	561	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	562	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	563	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	564	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	565	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	566	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	567	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	568	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	569	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	570	**/
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	571	UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	572	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	573	s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	574	UNS8 ret;
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	575	UNS8* pNodeIdServer;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	576	UNS8 nodeIdServer;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	577	UNS16 offset;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	578
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	579	MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	580	if(whoami == SDO_SERVER)
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	581	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	582	sdo.nodeId = *d->bDeviceNodeId;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	583	}
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	584	else
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	585	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	586	sdo.nodeId = nodeID;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	587	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	588	sdo.body.data[0] = 0x80;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	589	/* Index */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	590	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	591	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	592	/* Subindex */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	593	sdo.body.data[3] = subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	594	/* Data */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	595	sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	596	sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	597	sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	598	sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	599	ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	600
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	601	return ret;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	602	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	603
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	604	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	605	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	606	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	607	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	608	** @param m
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	609	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	610	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	611	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	612	UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	613	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	614	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	615	UNS8 line;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	616	UNS8 nbBytes; /* received or to be transmited. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	617	UNS8 nodeId = 0; /* The node from which the SDO is received */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	618	UNS8 *pNodeId = NULL;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	619	UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	620	UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	621	s_SDO sdo; /* SDO to transmit */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	622	UNS16 index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	623	UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	624	UNS32 abortCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	625	UNS8 i,j;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	626	UNS32 *pCobId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	627	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	628	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	629
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	630	MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	631	whoami = SDO_UNKNOWN;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	632	/* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	633	/* Am-I a server ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	634	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	635	lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	636	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	637	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	638	if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	639	MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	640	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	641	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	642	pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	643	if ( *pCobId == UNS16_LE(m->cob_id) ) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	644	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	645	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	646	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	647	/* 0x1200 where the cobid received is defined. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	648	nodeId = j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	649	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	650	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	651	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	652	offset++;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	653	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	654	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	655	/* Am-I client ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	656	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	657	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	658	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	659	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	660	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	661	MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	662	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	663	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	664	/* a) Looking for the cobid received. */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	665	pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	666	if (*pCobId == UNS16_LE(m->cob_id) ) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	667	/* b) cobid found, so reading the node id of the server. */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	668	pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	669	whoami = SDO_CLIENT;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	670	nodeId = *pNodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	671	MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	672	MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	673	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	674	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	675	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	676	offset++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	677	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	678	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	679	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	680	return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	681	}
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	682
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	683	/* Test if the size of the SDO is ok */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	684	if ( (*m).len != 8) {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	685	MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	686	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	687	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	688	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	689
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	690	if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	691	MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	692	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	693	else {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	694	MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	695	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	696
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	697	/* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	698	/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	699	/* cs = other : Not allowed -> abort. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	700	switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	701
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	702	case 0:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	703	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	704	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	705	/* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	706	/* A SDO transfert should have been yet initiated. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	707	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	708	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	709	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	710	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	711	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	712	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	713	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	714	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	715	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	716	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	717	RestartSDO_TIMER(line)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	718	MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	719	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	720	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	721	/* Toggle test. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	722	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	723	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	724	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	725	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	726	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	727	/* Nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	728	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	729	/* Store the data in the transfert structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	730	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	731	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	732	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	733	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	734	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	735	/* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	736	sdo.nodeId = d->bDeviceNodeId; / The node id of the server, (here it is the sender). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	737	sdo.body.data[0] = (1 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	738	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	739	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	740	MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	741	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	742	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	743	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	744	/* If it was the last segment, */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	745	if (getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	746	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	747	/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	748	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	749	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	750	MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	751	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	752	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	753	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	754	/* Release of the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	755	resetSDOline(d, line);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	756	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	757	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	758	} /* end if SERVER */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	759	else { /* if CLIENT */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	760	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	761	/* It is a request for a previous upload segment. We should find a line opened for this.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	762	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	763	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	764	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	765	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	766	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	767	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	768	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	769	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	770	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	771	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	772	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	773	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	774	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	775	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	776	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	777	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	778	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	779	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	780	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	781	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	782	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	783	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	784	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	785	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	786	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	787	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	788	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	789	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	790	/* If it was the last segment,*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	791	if ( getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	792	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	793	/* The code is safe for the case e=s=0 in initiate frame. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	794	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	795	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	796	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	797
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	798	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	799	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	800	else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	801	/* Sending the request for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	802	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	803	sdo.body.data[0] = (3 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	804	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	805	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	806	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	807	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	808	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	809	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	810	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	811
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	812	case 1:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	813	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	814	/* Receive of an initiate download */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	815	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	816	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	817	subIndex = getSDOsubIndex(m->data[3]);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	818	MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	819	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	820	MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	821	MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	822
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	823	/* Search if a SDO transfert have been yet initiated */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	824	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	825	if (! err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	826	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	827	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	828	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	829	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	830	/* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	831	/* Try to open a new line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	832	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	833	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	834	MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	835	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	836	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	837	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	838	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	839
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	840	if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	841	/* nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	842	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	843	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	844	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	845	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	846
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	847	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	848	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	849	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	850	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	851
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	852	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	853	/The line will be reseted when it is downloading in the dictionary. /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	854	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	855	/* Transfering line data to object dictionary. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	856	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	857	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	858	MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	859	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	860	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	861	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	862	/* Release of the line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	863	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	864	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	865	else {/* So, if it is not an expedited transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	866	if (getSDOs(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	867	/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	868	nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	869	err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	870	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	871	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	872	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	873	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	874	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	875	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	876	/Sending a SDO, cs=3/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	877	sdo.nodeId = d->bDeviceNodeId; / The node id of the server, (here it is the sender).*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	878	sdo.body.data[0] = 3 << 5;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	879	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	880	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	881	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	882	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	883	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	884	sendSDO(d, whoami, sdo);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	885	} /* end if I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	886	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	887	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	888	/* It is a response for a previous download segment. We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	889	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	890	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	891	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	892	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	893	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	894	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	895	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	896	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	897	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	898	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	899	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	900	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	901	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	902	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	903	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	904	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	905	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	906	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	907
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	908	/* End transmission or downloading next segment. We need to know if it will be the last one. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	909	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	910	if (nbBytes == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	911	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	912	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	913	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	914	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	915	return 0x00;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	916	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	917	/* At least one transfer to send. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	918	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	919	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	920	/* code to send the next segment. (cs = 0; c = 0) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	921	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	922	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	923	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	924	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	925	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	926	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	927	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	928	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	929	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	930	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	931	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	932	/* code to send the last segment. (cs = 0; c = 1)*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	933	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	934	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	935	sdo.body.data[0] = (d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	936	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	937	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	938	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	939	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	940	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	941	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	942	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	943	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	944	MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	945	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	946	} /* end if I am a CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	947	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	948
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	949	case 2:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	950	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	951	/* Receive of an initiate upload.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	952	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	953	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	954	subIndex = getSDOsubIndex(m->data[3]);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	955	MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	956	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	957	MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	958	MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	959	/* Search if a SDO transfert have been yet initiated*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	960	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	961	if (! err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	962	MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	963	MSG_WAR(0x3A93, "nodeId = ", nodeId);
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	964	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	965	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	966	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	967	/* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	968	/* Try to open a new line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	969	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	970	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	971	MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	972	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	973	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	974	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	975	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	976	/* Transfer data from dictionary to the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	977	errorCode = objdictToSDOline(d, line);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	978
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	979	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	980	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	981	errorCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	982	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	983	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	984	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	985	/* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	986	getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	987	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	988	if (nbBytes > 4) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	989	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	990	/* code to send the initiate upload response. (cs = 2) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	991	sdo.body.data[0] = (2 << 5) \| 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	992	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	993	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	994	sdo.body.data[3] = subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	995	sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	996	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	997	/* in the object dictionary, at every index and subindex. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	998	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	999	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1000	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1001	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1002	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1003	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1004	/* Expedited upload. (cs = 2 ; e = 1) */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1005	sdo.body.data[0] = (2 << 5) \| ((4 - nbBytes) << 2) \| 3;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1006	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1007	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1008	sdo.body.data[3] = subIndex;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1009	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1010	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1011	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1012	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1013	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1014	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1015	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1016	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1017	nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1018	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1019	/* Release the line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1020	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1021	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1022	} /* end if I am SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1023	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1024	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1025	/* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1026	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1027	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1028	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1029	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1030	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1031	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1032	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1033	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1034	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1035	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1036	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1037	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1038	subIndex = d->transfers[line].subIndex;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1039
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1040	if (getSDOe(m->data[0])) { /* If SDO expedited */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1041	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1042	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1043	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1044	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1045	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1046	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1047	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1048	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1049	/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1050	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1051	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1052	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1053	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1054	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1055	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1056	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1057	else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1058	/* Storing the nb of data to receive. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1059	if (getSDOs(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1060	nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1061	err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1062	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1063	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1064	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1065	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1066	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1067	/* Requesting next segment. (cs = 3) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1068	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1069	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1070	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1071	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1072	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1073	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1074	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1075	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1076	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1077
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1078	case 3:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1079	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1080	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1081	/* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1082	/* A SDO transfert should have been yet initiated. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1083	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1084	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1085	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1086	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1087	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1088	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1089	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1090	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1091	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1092	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1093	RestartSDO_TIMER(line)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1094	MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1095	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1096	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1097	/* Toggle test.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1098	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1099	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1100	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1101	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1102	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1103	/* Uploading next segment. We need to know if it will be the last one. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1104	getSDOlineRestBytes(d, line, &nbBytes);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1105	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1106	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1107	/* code to send the next segment. (cs = 0; c = 0) */
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1108	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1109	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1110	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1111	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1112	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1113	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1114	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1115	/* Inverting the toggle for the next tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1116	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1117	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1118	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1119	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1120	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1121	/* Last segment. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1122	/* code to send the last segment. (cs = 0; c = 1) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1123	sdo.nodeId = nodeId; /** The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1124	sdo.body.data[0] = (d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1125	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1126	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1127	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1128	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1129	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1130	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1131	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1132	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1133	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1134	/* Release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1135	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1136	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1137	} /* end if SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1138	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1139	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1140	/* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1141	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1142	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1143	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1144	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1145	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1146	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1147	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1148	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1149	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1150	/* Reset the watchdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1151	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1152	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1153	subIndex = d->transfers[line].subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1154	/* End transmission or requesting next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1155	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1156	if (nbBytes == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1157	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1158	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1159	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1160	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1161	return 0x00;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1162	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1163	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1164	/* more than one request to send */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1165	/* code to send the next segment. (cs = 0; c = 0) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1166	sdo.nodeId = nodeId; /** The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1167	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1168	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1169	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1170	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1171	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1172	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1173	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1174	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1175	/* Last segment.*/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1176	/* code to send the last segment. (cs = 0; c = 1) */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1177	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1178	sdo.body.data[0] = (d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1179	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1180	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1181	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1182	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1183	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1184	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1185	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1186	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1187	MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1188	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1189
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1190	} /* end if I am a CLIENT */
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1191	break;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1192
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1193	case 4:
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1194	abortCode =
435 509158e51940 Fixed suspicious code in sdo.c etisserant parents: 402 diff changeset	1195	(UNS32)m->data[4] \|
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1196	((UNS32)m->data[5] << 8) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1197	((UNS32)m->data[6] << 16) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1198	((UNS32)m->data[7] << 24);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1199	/* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1200	/* Looking for the line concerned. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1201	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1202	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1203	if (!err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1204	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1205	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1206	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1207	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1208	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1209	/* Tips : The end user has no way to know that the server node has received an abort SDO. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1210	/* Its is ok, I think.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1211	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1212	else { /* If I am CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1213	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1214	if (!err) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1215	/* The line must be released by the core program. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1216	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1217	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	1218	d->transfers[line].abortCode = abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1219	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	1220	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1221	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1222	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1223	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1224	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1225	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1226	default:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1227	/* Error : Unknown cs */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1228	MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1229	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1230
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1231	} /* End switch */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1232	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1233	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1234
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1235	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1236	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1237	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1238	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1239	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1240	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1241	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1242	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1243	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1244	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1245	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1246	** @param endianize
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1247	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1248	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1249	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1250	INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1251	UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1252	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1253	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1254	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1255	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1256	s_SDO sdo; /* SDO to transmit */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1257	UNS8 i, j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1258	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1259	UNS16 offset;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1260	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1261	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1262
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1263	MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1264	MSG_WAR(0x3AC1, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1265	MSG_WAR(0x3AC2, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1266	MSG_WAR(0x3AC3, " nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1267
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1268	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1269	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1270	if (!err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1271	MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1272	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1273	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1274	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1275	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1276	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1277	MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1278	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1279	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1280	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1281	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1282	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1283	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1284	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1285	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1286	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1287	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1288	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1289	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1290	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1291	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1292	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1293	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1294	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1295	nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1296	MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1297	MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1298
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1299	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1300	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1301	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1302	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1303	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1304	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1305	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1306	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1307	MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1308	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1309	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1310	MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1311	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1312	d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1313	d->transfers[line].dataType = dataType;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1314
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1315	/* Copy data to transfers structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1316	for (j = 0 ; j < count ; j++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1317	# ifdef CANOPEN_BIG_ENDIAN
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1318	if (dataType == 0 && endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1319	d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1320	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1321	d->transfers[line].data[j] = ((char *)data)[j];
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1322	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1323	d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1324	# endif
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1325	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1326	/* Send the SDO to the server. Initiate download, cs=1. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1327	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1328	if (count <= 4) { /* Expedited transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1329	sdo.body.data[0] = (1 << 5) \| ((4 - count) << 2) \| 3;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1330	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1331	sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1332	d->transfers[line].offset = count;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1333	}
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1334	else { /** Normal transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1335	sdo.body.data[0] = (1 << 5) \| 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1336	sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1337	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1338	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1339	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1340	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1341	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1342	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	1343
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1344	d->transfers[line].Callback = Callback;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1345
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1346	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1347	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1348	MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1349	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1350	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1351	return 0xFF;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1352	}
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1353
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1354
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1355	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1356	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1357
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1358	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1359	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1360	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1361	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1362	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1363	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1364	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1365	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1366	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1367	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1368	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1369	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1370	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1371	UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1372	UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1373	{
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1374	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1375	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1376
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1377	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1378	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1379	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1380	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1381	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1382	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1383	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1384	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1385	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1386	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1387	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1388	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1389	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1390	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1391	UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1392	UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1393	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1394	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1395	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1396
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1397	UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1398	UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1399	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1400	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1401	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1402	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1403	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1404	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1405
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1406	ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1407	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1408	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1409	offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1410	lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1411	if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1412	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1413	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1414	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1415	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1416	i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1417	while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1418	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1419	if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1420	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1421	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1422	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1423	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1424	nodeIdServer = (UNS8) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1425	if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1426	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1427	(UNS32)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1428	(UNS32)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1429	(UNS8) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1430	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1431	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1432	offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1433	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1434	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1435	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1436	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1437	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1438	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1439	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1440	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1441	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1442	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1443	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1444	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1445
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1446	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1447	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1448	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1449	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1450	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1451	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1452	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1453	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1454	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1455	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1456	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1457	**/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1458	INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1459	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1460	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1461	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1462	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1463	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1464	s_SDO sdo; /* SDO to transmit */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1465	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1466	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1467	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1468	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1469	MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1470	MSG_WAR(0x3AD6, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1471	MSG_WAR(0x3AD7, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1472
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1473
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1474	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1475	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1476	if (!err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1477	MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1478	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1479	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1480	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1481	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1482	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1483	MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1484	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1485	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1486	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1487	MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1488
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1489	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1490	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1491	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1492	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1493	MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1494	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1495	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1496	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1497	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1498	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1499	MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1500	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1501	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1502	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1503	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1504	nodeIdServer = *pNodeIdServer;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1505
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1506	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1507	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1508	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1509	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1510	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1511	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1512	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1513	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1514	MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1515	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1516	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1517	MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1518	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1519	getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1520	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1521	/* Send the SDO to the server. Initiate upload, cs=2. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1522	d->transfers[line].dataType = dataType;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1523	sdo.body.data[0] = (2 << 5);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1524	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1525	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1526	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1527	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1528	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	1529	d->transfers[line].Callback = Callback;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1530	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1531	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1532	MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1533	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1534	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1535	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1536	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1537	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1538	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1539
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1540	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1541	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1542	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1543	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1544	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1545	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1546	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1547	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1548	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1549	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1550	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1551	UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1552	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1553	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1554	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1555
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1556	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1557	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1558	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1559	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1560	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1561	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1562	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1563	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1564	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1565	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1566	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1567	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1568	UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1569	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1570	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1571	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1572
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1573	UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1574	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1575	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1576	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1577	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1578	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1579	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1580
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1581	ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1582	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1583	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1584	offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1585	lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1586	if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1587	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1588	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1589	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1590	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1591	i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1592	while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1593	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1594	if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1595	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1596	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1597	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1598	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1599	nodeIdServer = (UNS8) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1600	if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1601	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1602	(UNS32)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1603	(UNS32)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1604	(UNS8) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1605	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1606	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1607	offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1608	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1609	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1610	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1611	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1612	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1613	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1614	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1615	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1616	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1617	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1618	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1619	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1620
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1621	/*!
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1622	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1623	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1624	** @param d
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1625	** @param nodeId
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1626	** @param data
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1627	** @param size pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1628	** @param abortCode
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1629	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1630	** @return
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1631	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1632	UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1633	UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1634	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1635	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1636	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1637	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1638	* size = 0;
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	1639	* abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1640
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1641	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1642	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1643	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1644	MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1645	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1646	}
503 8435a9ee54f8 Fixed (again) return of abortcode value in SDO's getReadResultNetworkDict etisserant parents: 501 diff changeset	1647	* abortCode = d->transfers[line].abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1648	if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1649	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1650
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1651	/* Transfert is finished. Put the value in the data. */
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1652	/* use transfers[line].count as max size */
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1653	if( (UNS8)d->transfers[line].count < *size )
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1654	*size = (UNS8)d->transfers[line].count;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1655	for ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1656	# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1657	if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1658	( (char ) data)[size - 1 - i] = d->transfers[line].data[i];
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1659	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1660	( (char *) data)[i] = d->transfers[line].data[i];
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1661	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1662	( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1663	# endif
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1664	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1665	return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1666	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1667
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1668	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1669	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1670	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1671	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1672	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1673	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1674	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1675	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1676	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1677	UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1678	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1679	UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1680	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1681
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1682	* abortCode = 0;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1683	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1684	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1685	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1686	MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1687	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1688	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1689	* abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1690	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1691	}

author	lbessard
	Wed, 20 Aug 2008 13:26:02 +0200
changeset 509	88c2ea321049
parent 506	c17e2e17aca8
child 516	19085e93ad21
permissions	-rw-r--r--