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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef __sdo_h__
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#define __sdo_h__
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typedef void (*SDOtimeoutError_t)(UNS8 line);
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struct struct_s_transfer;
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#include "timer.h"
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32
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typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
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0
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/* The Transfer structure
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Used to store the different segments of
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- a SDO received before writing in the dictionary
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- the reading of the dictionary to put on a SDO to transmit
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*/
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struct struct_s_transfer {
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UNS8 nodeId; //own ID if server, or node ID of the server if client
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UNS8 whoami; // Takes the values SDO_CLIENT or SDO_SERVER
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UNS8 state; // state of the transmission : Takes the values SDO_...
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UNS8 toggle;
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UNS32 abortCode; // Sent or received
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// index and subindex of the dictionary where to store
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// (for a received SDO) or to read (for a transmit SDO)
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UNS16 index;
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UNS8 subIndex;
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UNS32 count; // Number of data received or to be sent.
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UNS32 offset; // stack pointer of data[]
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// Used only to tranfer part of a line to or from a SDO.
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// offset is always pointing on the next free cell of data[].
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// WARNING s_transfer.data is subject to ENDIANISATION
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// (with respect to CANOPEN_BIG_ENDIAN)
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UNS8 data [SDO_MAX_LENGTH_TRANSFERT];
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UNS8 dataType; // Defined in objdictdef.h Value is visible_string
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// if it is a string, any other value if it is not a string,
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// like 0. In fact, it is used only if client.
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TIMER_HANDLE timer; // Time counter to implement a timeout in milliseconds.
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// It is automatically incremented whenever
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// the line state is in SDO_DOWNLOAD_IN_PROGRESS or
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// SDO_UPLOAD_IN_PROGRESS, and reseted to 0
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// when the response SDO have been received.
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32
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SDOCallback_t Callback; // The user callback func to be called at SDO transaction end
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0
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};
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typedef struct struct_s_transfer s_transfer;
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#include "data.h"
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/// The 8 bytes data of the SDO
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struct BODY{
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UNS8 data[8];
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};
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/// The SDO structure ...
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struct struct_s_SDO {
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UNS8 nodeId; //in any case, Node ID of the server (case sender or receiver).
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struct BODY body;
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};
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typedef struct struct_s_SDO s_SDO;
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/** Reset all sdo buffers
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*/
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void resetSDO (CO_Data* d);
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/** Copy the data received from the SDO line transfert to the object dictionary
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* Returns SDO error code if error. Else, returns 0;
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*/
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
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/** Copy the data from the object dictionary to the SDO line for a network transfert.
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* Returns SDO error code if error. Else, returns 0;
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*/
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
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/** copy data from an existant line in the argument "* data"
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* Returns 0xFF if error. Else, returns 0;
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*/
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
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/** Add data to an existant line
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* Returns 0xFF if error. Else, returns 0;
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*/
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
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/** Called when an internal SDO abort occurs.
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* Release the line * Only if server *
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* If client, the line must be released manually in the core application.
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* The reason of that is to permit the program to read the transfers[][] structure before its reset,
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* because many informations are stored on it : index, subindex, data received or trasmited, ...
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* In all cases, sends a SDO abort.
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* Returns 0
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*/
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
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UNS8 subIndex, UNS32 abortCode);
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/** Reset an unused line.
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*
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*/
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void resetSDOline (CO_Data* d, UNS8 line);
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/** Initialize some fields of the structure.
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* Returns 0
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*/
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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
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/** Search for an unused line in the transfers array
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* to store a new SDO.
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* ie a line which value of the field "state" is "SDO_RESET"
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* An unused line have the field "state" at the value SDO_RESET
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* bus_id is hardware dependant
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* whoami : create the line for a SDO_SERVER or SDO_CLIENT.
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* return 0xFF if all the lines are on use. Else, return 0
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*/
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UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
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/** Search for the line, in the transfers array, which contains the
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* beginning of the reception of a fragmented SDO
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* whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
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* bus_id is hardware dependant
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* nodeId correspond to the message node-id
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* return 0xFF if error. Else, return 0
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*/
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UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
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/** Close a transmission.
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* nodeId : Node id of the server if both server or client
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* whoami : Line opened as SDO_CLIENT or SDO_SERVER
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*/
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UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
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/** Bytes in the line structure which must be transmited (or received)
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* bus_id is hardware dependant.
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* return 0.
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*/
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UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);
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/** Store in the line structure the nb of bytes which must be transmited (or received)
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* bus_id is hardware dependant.
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* return 0 if success, 0xFF if error.
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*/
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UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);
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/** Transmit a SDO frame on the bus bus_id
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* sdo is a structure which contains the sdo to transmit
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* bus_id is hardware dependant
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* whoami takes 2 values : SDO_CLIENT or SDO_SERVER
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* return canSend(bus_id,&m) or 0xFF if error
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*/
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UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
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/** Transmit a SDO error to the client. The reasons may be :
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* Read/Write to a undefined object
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* Read/Write to a undefined subindex
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* Read/write a not valid length object
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* Write a read only object
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* whoami takes 2 values : SDO_CLIENT or SDO_SERVER
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*/
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UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
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/** Treat a SDO frame reception
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* bus_id is hardware dependant
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* call the function sendSDO
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* return 0xFF if error
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* 0x80 if transfert aborted by the server
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* 0x0 ok
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*/
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UNS8 proceedSDO (CO_Data* d, Message *m);
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/** Used by the application to send a SDO request frame to write the data *data
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* at the index and subIndex indicated
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* in the dictionary of the slave whose node_id is nodeId
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* Count : nb of bytes to write in the dictionnary.
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* datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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* bus_id is hardware dependant
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* return 0xFF if error, else return 0
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*/
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UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);
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/** Used by the application to send a SDO request frame to read
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* in the dictionary of a server node whose node_id is ID
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* at the index and subIndex indicated
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* bus_id is hardware dependant
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* datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
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* return 0xFF if error, else return 0
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*/
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UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
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UNS8 subIndex, UNS8 dataType);
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/** Use this function after a readNetworkDict to get the result.
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Returns : SDO_FINISHED // data is available
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SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
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SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
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SDO_UPLOAD_IN_PROGRESS // Data not yet available
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SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
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dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals.
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abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
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example :
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UNS32 data;
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UNS8 size;
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readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
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while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
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*/
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UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data,
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UNS8 *size, UNS32 * abortCode);
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/**
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Use this function after a writeNetworkDict to get the result of the write
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It is mandatory to call this function because it is releasing the line used for the transfer.
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Returns : SDO_FINISHED // data is available
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SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
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SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
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SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
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SDO_UPLOAD_IN_PROGRESS // Should not arrive !
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abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
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example :
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UNS32 data = 0x50;
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UNS8 size;
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UNS32 abortCode;
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writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
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while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
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*/
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UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
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#endif
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