| author | etisserant |
| Mon, 15 May 2006 08:00:47 +0200 | |
| changeset 4 | 986061160dbb |
| parent 1 | b3dc740b4b04 |
| child 6 | 8038ced64796 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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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
|
23 |
#define DEBUG_WAR_CONSOLE_ON |
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b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
24 |
#define DEBUG_ERR_CONSOLE_ON |
| 0 | 25 |
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#include "objacces.h" |
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#include "sdo.h" |
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28 |
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29 |
/***************************************************************************/ |
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// SDO (un)packing macros |
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31 |
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/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO |
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*/ |
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#define getSDOcs(byte) (byte >> 5) |
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35 |
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits |
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*/ |
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#define getSDOn2(byte) ((byte >> 2) & 3) |
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits |
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*/ |
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#define getSDOn3(byte) ((byte >> 1) & 7) |
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/** Returns the transfer type from the first byte of the SDO |
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*/ |
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#define getSDOe(byte) ((byte >> 1) & 1) |
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/** Returns the size indicator from the first byte of the SDO |
|
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*/ |
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#define getSDOs(byte) (byte & 1) |
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51 |
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/** Returns the indicator of end transmission from the first byte of the SDO |
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*/ |
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#define getSDOc(byte) (byte & 1) |
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55 |
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/** Returns the toggle from the first byte of the SDO |
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*/ |
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58 |
#define getSDOt(byte) ((byte >> 4) & 1) |
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59 |
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/** Returns the index from the bytes 1 and 2 of the SDO |
|
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*/ |
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#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1)) |
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63 |
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/** Returns the subIndex from the byte 3 of the SDO |
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*/ |
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#define getSDOsubIndex(byte3) (byte3) |
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/*************************************************************************** |
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** |
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*/ |
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id) |
|
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{
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MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0); |
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MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId); |
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MSG_WAR(0x2A02, " index : ", d->transfers[id].index); |
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MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex); |
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// Reset timer handler |
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d->transfers[id].timer = TIMER_NONE; |
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// Call the user function to inform of the problem. |
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(*d->SDOtimeoutError)(id); |
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// Sending a SDO abort |
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sendSDOabort(d, d->transfers[id].whoami, |
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d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT); |
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// Reset the line |
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resetSDOline(d, id); |
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} |
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#define StopSDO_TIMER(id) \ |
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MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\ |
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d->transfers[id].timer = DelAlarm(d->transfers[id].timer); |
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#define StartSDO_TIMER(id) \ |
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MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\ |
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d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0); |
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#define RestartSDO_TIMER(id) \ |
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MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\ |
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if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
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/***************************************************************************/ |
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/** Reset all sdo buffers |
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*/ |
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void resetSDO (CO_Data* d) |
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{
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UNS8 j; |
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/* transfer structure initialization */ |
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for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) |
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resetSDOline(d, j); |
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} |
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/***************************************************************************/ |
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line) |
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{
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const indextable *ptrTable; |
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UNS8 i; |
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UNS8 size; |
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UNS32 errorCode; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
119 |
MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line); |
| 0 | 120 |
size = d->transfers[line].count; |
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errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, |
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(void *) d->transfers[line].data, &size, 1); |
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if (errorCode != OD_SUCCESSFUL) |
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return errorCode; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
125 |
MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line); |
| 0 | 126 |
return 0; |
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} |
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/***************************************************************************/ |
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line) |
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{
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UNS8 j; |
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// UNS8 *data; |
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UNS8 size = 0; |
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UNS8 dataType; |
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UNS32 errorCode; |
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MSG_WAR(0x3A05, "Reading at index : ", d->transfers[line].index); |
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MSG_WAR(0x3A06, "Reading at subIndex : ", d->transfers[line].subIndex); |
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errorCode = getODentry(d, d->transfers[line].index, |
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d->transfers[line].subIndex, |
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(void *)d->transfers[line].data, |
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&size, &dataType, 0); |
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if (errorCode != OD_SUCCESSFUL) |
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return errorCode; |
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d->transfers[line].count = size; |
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d->transfers[line].offset = 0; |
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return 0; |
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} |
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/***************************************************************************/ |
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
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UNS8 i; |
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UNS8 offset; |
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if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
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return 0xFF; |
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} |
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if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
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MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes); |
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return 0xFF; |
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} |
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offset = d->transfers[line].offset; |
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for (i = 0 ; i < nbBytes ; i++) |
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* (data + i) = d->transfers[line].data[offset + i]; |
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d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
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return 0; |
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} |
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/***************************************************************************/ |
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) |
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{
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UNS8 i; |
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UNS8 offset; |
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if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
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return 0xFF; |
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} |
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offset = d->transfers[line].offset; |
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for (i = 0 ; i < nbBytes ; i++) |
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d->transfers[line].data[offset + i] = * (data + i); |
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d->transfers[line].offset = d->transfers[line].offset + nbBytes; |
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return 0; |
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} |
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/***************************************************************************/ |
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, |
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UNS8 subIndex, UNS32 abortCode) |
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{
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UNS8 err; |
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UNS8 line; |
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err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
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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
|
200 |
if (!err) // If a line on use have been found. |
| 0 | 201 |
MSG_WAR(0x3A20, "FailedSDO : line found : ", line); |
202 |
if ((! err) && (whoami == SDO_SERVER)) {
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resetSDOline( d, line ); |
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MSG_WAR(0x3A21, "FailedSDO : line released : ", line); |
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} |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
206 |
if ((! err) && (whoami == SDO_CLIENT)) {
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b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
207 |
StopSDO_TIMER(line); |
| 0 | 208 |
d->transfers[line].state = SDO_ABORTED_INTERNAL; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
209 |
} |
| 0 | 210 |
MSG_WAR(0x3A22, "Sending SDO abort ", 0); |
211 |
err = sendSDOabort(d, whoami, index, subIndex, abortCode); |
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if (err) {
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MSG_WAR(0x3A23, "Unable to send the SDO abort", 0); |
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return 0xFF; |
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} |
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return 0; |
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} |
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/***************************************************************************/ |
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void resetSDOline ( CO_Data* d, UNS8 line ) |
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{
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UNS8 i; |
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
223 |
MSG_WAR(0x3A25, "reset SDO line nb : ", line); |
| 0 | 224 |
initSDOline(d, line, 0, 0, 0, SDO_RESET); |
225 |
for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++) |
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d->transfers[line].data[i] = 0; |
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} |
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/***************************************************************************/ |
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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state) |
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{
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1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
232 |
MSG_WAR(0x3A25, "init SDO line nb : ", line); |
| 0 | 233 |
if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
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StartSDO_TIMER(line) |
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}else{
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StopSDO_TIMER(line) |
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} |
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d->transfers[line].nodeId = nodeId; |
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d->transfers[line].index = index; |
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d->transfers[line].subIndex = subIndex; |
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d->transfers[line].state = state; |
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d->transfers[line].toggle = 0; |
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d->transfers[line].count = 0; |
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d->transfers[line].offset = 0; |
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d->transfers[line].dataType = 0; |
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return 0; |
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} |
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/***************************************************************************/ |
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UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line ) |
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{
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252 |
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UNS8 i; |
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254 |
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for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
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if ( d->transfers[i].state == SDO_RESET ) {
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*line = i; |
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d->transfers[i].whoami = whoami; |
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return 0; |
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} // end if |
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} // end for |
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MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i); |
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return 0xFF; |
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264 |
} |
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265 |
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266 |
/***************************************************************************/ |
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UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) |
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{
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269 |
||
270 |
UNS8 i; |
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271 |
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272 |
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
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273 |
if ( (d->transfers[i].state != SDO_RESET) && |
|
274 |
(d->transfers[i].nodeId == nodeId) && |
|
275 |
(d->transfers[i].whoami == whoami) ) {
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|
276 |
*line = i; |
|
277 |
return 0; |
|
278 |
} |
|
279 |
} |
|
280 |
return 0xFF; |
|
281 |
} |
|
282 |
||
283 |
/***************************************************************************/ |
|
284 |
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami) |
|
285 |
{
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|
286 |
UNS8 err; |
|
287 |
UNS8 line; |
|
288 |
err = getSDOlineOnUse(d, nodeId, whoami, &line); |
|
289 |
if (err) {
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|
290 |
MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); |
|
291 |
return 0xFF; |
|
292 |
} |
|
293 |
resetSDOline(d, line); |
|
294 |
return 0; |
|
295 |
} |
|
296 |
||
297 |
/***************************************************************************/ |
|
298 |
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes) |
|
299 |
{
|
|
300 |
if (d->transfers[line].count == 0) // if received initiate SDO protocol with e=0 and s=0 |
|
301 |
* nbBytes = 0; |
|
302 |
else |
|
303 |
* nbBytes = d->transfers[line].count - d->transfers[line].offset; |
|
304 |
return 0; |
|
305 |
} |
|
306 |
||
307 |
/***************************************************************************/ |
|
308 |
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes) |
|
309 |
{
|
|
310 |
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
|
|
311 |
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); |
|
312 |
return 0xFF; |
|
313 |
} |
|
314 |
d->transfers[line].count = nbBytes; |
|
315 |
return 0; |
|
316 |
} |
|
317 |
||
318 |
||
319 |
/***************************************************************************/ |
|
320 |
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo) |
|
321 |
{
|
|
322 |
UNS16 offset; |
|
323 |
UNS16 lastIndex; |
|
324 |
UNS8 found = 0; |
|
325 |
Message m; |
|
326 |
UNS8 i; |
|
327 |
UNS32 * pwCobId = NULL; |
|
328 |
UNS8 * pwNodeId = NULL; |
|
329 |
UNS8 * pSize; |
|
330 |
UNS8 size; |
|
331 |
pSize = &size; |
|
332 |
||
333 |
MSG_WAR(0x3A38, "sendSDO",0); |
|
334 |
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
|
|
335 |
MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); |
|
336 |
return 0xFF; |
|
337 |
} |
|
338 |
||
339 |
/*get the server->client cobid*/ |
|
340 |
if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
|
|
341 |
offset = d->firstIndex->SDO_SVR; |
|
342 |
if (offset == 0) {
|
|
343 |
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); |
|
344 |
return 0xFF; |
|
345 |
} |
|
346 |
pwCobId = d->objdict[offset].pSubindex[2].pObject; |
|
347 |
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); |
|
348 |
} |
|
349 |
else { /*case client*/
|
|
350 |
/* Get the client->server cobid.*/ |
|
351 |
UNS16 sdoNum = 0; |
|
352 |
offset = d->firstIndex->SDO_CLT; |
|
353 |
lastIndex = d->lastIndex->SDO_CLT; |
|
354 |
if (offset == 0) {
|
|
355 |
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); |
|
356 |
return 0xFF; |
|
357 |
} |
|
358 |
/* First, have to find at the index where is defined the communication with the server node */ |
|
359 |
while (offset <= lastIndex){
|
|
360 |
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum); |
|
361 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
362 |
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum); |
|
363 |
return 0xFF; |
|
364 |
} |
|
365 |
pwNodeId = d->objdict[offset].pSubindex[3].pObject; |
|
366 |
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId); |
|
367 |
if(*pwNodeId == sdo.nodeId) {
|
|
368 |
found = 1; |
|
369 |
break; |
|
370 |
} |
|
371 |
offset ++; |
|
372 |
sdoNum ++; |
|
373 |
} |
|
374 |
if (! found){
|
|
375 |
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId); |
|
376 |
return 0xFF; |
|
377 |
} |
|
378 |
/* Second, read the cobid client->server */ |
|
379 |
pwCobId = d->objdict[offset].pSubindex[1].pObject; |
|
380 |
} |
|
381 |
/* message copy for sending */ |
|
382 |
m.cob_id.w = *pwCobId; |
|
383 |
m.rtr = NOT_A_REQUEST; |
|
384 |
//the length of SDO must be 8 |
|
385 |
m.len = 8; |
|
386 |
for (i = 0 ; i < 8 ; i++) {
|
|
387 |
m.data[i] = sdo.body.data[i]; |
|
388 |
} |
|
389 |
return (*d->canSend)(&m); |
|
390 |
} |
|
391 |
||
392 |
/***************************************************************************/ |
|
393 |
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode) |
|
394 |
{
|
|
395 |
s_SDO sdo; |
|
396 |
UNS8 ret; |
|
|
1
b3dc740b4b04
Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents:
0
diff
changeset
|
397 |
MSG_WAR(0x2A50,"Sending SDO abort ", abortCode); |
| 0 | 398 |
sdo.nodeId = *d->bDeviceNodeId; |
399 |
sdo.body.data[0] = 0x80; |
|
400 |
// Index |
|
401 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
402 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
403 |
// Subindex |
|
404 |
sdo.body.data[3] = subIndex; |
|
405 |
// Data |
|
406 |
sdo.body.data[4] = (UNS8)(abortCode & 0xFF); |
|
407 |
sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF); |
|
408 |
sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF); |
|
409 |
sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF); |
|
410 |
ret = sendSDO(d, whoami, sdo); |
|
411 |
||
412 |
return ret; |
|
413 |
} |
|
414 |
||
415 |
/***************************************************************************/ |
|
416 |
UNS8 proceedSDO (CO_Data* d, Message *m) |
|
417 |
{
|
|
418 |
UNS8 err; |
|
419 |
UNS8 line; |
|
420 |
UNS8 nbBytes; // received or to be transmited. |
|
421 |
UNS8 nodeId = 0; // The node from which the SDO is received |
|
422 |
UNS8 *pNodeId = NULL; |
|
423 |
UNS8 whoami = SDO_UNKNOWN; // SDO_SERVER or SDO_CLIENT. |
|
424 |
UNS32 errorCode; // while reading or writing in the local object dictionary. |
|
425 |
s_SDO sdo; // SDO to transmit |
|
426 |
UNS16 index; |
|
427 |
UNS8 subIndex; |
|
428 |
UNS32 abortCode; |
|
429 |
UNS8 i,j; |
|
430 |
UNS32 * pCobId = NULL; |
|
431 |
UNS8 * pSize; |
|
432 |
UNS8 size; |
|
433 |
UNS16 offset; |
|
434 |
UNS16 lastIndex; |
|
435 |
||
436 |
pSize = &size; |
|
437 |
||
438 |
MSG_WAR(0x3A60, "proceedSDO ", 0); |
|
439 |
whoami = SDO_UNKNOWN; |
|
440 |
// Looking for the cobId in the object dictionary. |
|
441 |
// Am-I a server ? |
|
442 |
offset = d->firstIndex->SDO_SVR; |
|
443 |
lastIndex = d->lastIndex->SDO_SVR; |
|
444 |
j = 0; |
|
445 |
if(offset) while (offset <= lastIndex) {
|
|
446 |
if (d->objdict[offset].bSubCount <= 1) {
|
|
447 |
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j); |
|
448 |
return 0xFF; |
|
449 |
} |
|
450 |
pCobId = d->objdict[offset].pSubindex[1].pObject; |
|
451 |
if ( *pCobId == (*m).cob_id.w ) {
|
|
452 |
whoami = SDO_SERVER; |
|
453 |
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j); |
|
454 |
// In case of server, the node id of the client may be unknown. So we put the index minus offset |
|
455 |
// 0x1200 where the cobid received is defined. |
|
456 |
nodeId = j; |
|
457 |
break; |
|
458 |
} |
|
459 |
j++; |
|
460 |
offset++; |
|
461 |
} // end while |
|
462 |
if (whoami == SDO_UNKNOWN) {
|
|
463 |
// Am-I client ? |
|
464 |
offset = d->firstIndex->SDO_CLT; |
|
465 |
lastIndex = d->lastIndex->SDO_CLT; |
|
466 |
j = 0; |
|
467 |
if(offset) while (offset <= lastIndex) {
|
|
468 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
469 |
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j); |
|
470 |
return 0xFF; |
|
471 |
} |
|
472 |
// a) Looking for the cobid received. |
|
473 |
pCobId = d->objdict[offset].pSubindex[2].pObject; |
|
474 |
if (*pCobId == (*m).cob_id.w ) {
|
|
475 |
// b) cobid found, so reading the node id of the server. |
|
476 |
pNodeId = d->objdict[offset].pSubindex[3].pObject; |
|
477 |
whoami = SDO_CLIENT; |
|
478 |
nodeId = *pNodeId; |
|
479 |
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); |
|
480 |
MSG_WAR(0x3A65, " Server nodeId : ", nodeId); |
|
481 |
break; |
|
482 |
} |
|
483 |
j++; |
|
484 |
offset++; |
|
485 |
} // end while |
|
486 |
} |
|
487 |
if (whoami == SDO_UNKNOWN) {
|
|
488 |
return 0xFF;// This SDO was not for us ! |
|
489 |
} |
|
490 |
||
491 |
// Test if the size of the SDO is ok |
|
492 |
if ( (*m).len != 8) {
|
|
493 |
MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id.w); |
|
494 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR); |
|
495 |
return 0xFF; |
|
496 |
} |
|
497 |
||
498 |
if (whoami == SDO_CLIENT) {
|
|
499 |
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId); |
|
500 |
} |
|
501 |
else {
|
|
502 |
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w); |
|
503 |
} |
|
504 |
||
505 |
// Testing the command specifier |
|
506 |
// Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). |
|
507 |
// cs = other : Not allowed -> abort. |
|
508 |
switch (getSDOcs(m->data[0])) {
|
|
509 |
||
510 |
case 0: |
|
511 |
// I am SERVER |
|
512 |
if (whoami == SDO_SERVER) {
|
|
513 |
// Receiving a download segment data. |
|
514 |
// A SDO transfert should have been yet initiated. |
|
515 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
516 |
if (!err) |
|
517 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
518 |
if (err) {
|
|
519 |
MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", |
|
520 |
nodeId); |
|
521 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
522 |
return 0xFF; |
|
523 |
} |
|
524 |
// Reset the wathdog |
|
525 |
RestartSDO_TIMER(line) |
|
526 |
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); |
|
527 |
index = d->transfers[line].index; |
|
528 |
subIndex = d->transfers[line].subIndex; |
|
529 |
// Toggle test. |
|
530 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
|
531 |
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
532 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
533 |
return 0xFF; |
|
534 |
} |
|
535 |
// Nb of data to be downloaded |
|
536 |
nbBytes = 7 - getSDOn3(m->data[0]); |
|
537 |
// Store the data in the transfert structure. |
|
538 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
|
539 |
if (err) {
|
|
540 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
541 |
return 0xFF; |
|
542 |
} |
|
543 |
// Sending the SDO response, CS = 1 |
|
544 |
sdo.nodeId = *d->bDeviceNodeId; // The node id of the server, (here it is the sender). |
|
545 |
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4); |
|
546 |
for (i = 1 ; i < 8 ; i++) |
|
547 |
sdo.body.data[i] = 0; |
|
548 |
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); |
|
549 |
sendSDO(d, whoami, sdo); |
|
550 |
// Inverting the toggle for the next segment. |
|
551 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
|
552 |
// If it was the last segment, |
|
553 |
if (getSDOc(m->data[0])) {
|
|
554 |
// Transfering line data to object dictionary. |
|
555 |
// The code does not use the "d" of initiate frame. So it is safe if e=s=0 |
|
556 |
errorCode = SDOlineToObjdict(d, line); |
|
557 |
if (errorCode) {
|
|
558 |
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
559 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
560 |
return 0xFF; |
|
561 |
} |
|
562 |
// Release of the line |
|
563 |
resetSDOline(d, line); |
|
564 |
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); |
|
565 |
} |
|
566 |
} // end if SERVER |
|
567 |
else { // if CLIENT
|
|
568 |
// I am CLIENT |
|
569 |
// It is a request for a previous upload segment. We should find a line opened for this. |
|
570 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
|
571 |
if (!err) |
|
572 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
573 |
if (err) {
|
|
574 |
MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
575 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
576 |
return 0xFF; |
|
577 |
} |
|
578 |
// Reset the wathdog |
|
579 |
RestartSDO_TIMER(line) |
|
580 |
index = d->transfers[line].index; |
|
581 |
subIndex = d->transfers[line].subIndex; |
|
582 |
// test of the toggle; |
|
583 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
|
584 |
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
585 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
586 |
return 0xFF; |
|
587 |
} |
|
588 |
// nb of data to be uploaded |
|
589 |
nbBytes = 7 - getSDOn3(m->data[0]); |
|
590 |
// Storing the data in the line structure. |
|
591 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 1); |
|
592 |
if (err) {
|
|
593 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
594 |
return 0xFF; |
|
595 |
} |
|
596 |
// Inverting the toggle for the next segment. |
|
597 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
|
598 |
// If it was the last segment, |
|
599 |
if ( getSDOc(m->data[0])) {
|
|
600 |
// Put in state finished |
|
601 |
// The code is safe for the case e=s=0 in initiate frame. |
|
602 |
StopSDO_TIMER(line) |
|
603 |
d->transfers[line].state = SDO_FINISHED; |
|
604 |
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId); |
|
605 |
} |
|
606 |
else { // more segments to receive
|
|
607 |
// Sending the request for the next segment. |
|
608 |
sdo.nodeId = nodeId; |
|
609 |
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4); |
|
610 |
for (i = 1 ; i < 8 ; i++) |
|
611 |
sdo.body.data[i] = 0; |
|
612 |
sendSDO(d, whoami, sdo); |
|
613 |
MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId); |
|
614 |
} |
|
615 |
} // End if CLIENT |
|
616 |
break; |
|
617 |
||
618 |
case 1: |
|
619 |
// I am SERVER |
|
620 |
// Receive of an initiate download |
|
621 |
if (whoami == SDO_SERVER) {
|
|
622 |
index = getSDOindex(m->data[1],m->data[2]); |
|
623 |
subIndex = getSDOsubIndex(m->data[3]); |
|
624 |
MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", |
|
625 |
nodeId); |
|
626 |
MSG_WAR(0x3A80, "Writing at index : ", index); |
|
627 |
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex); |
|
628 |
||
629 |
// Search if a SDO transfert have been yet initiated |
|
630 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
631 |
if (! err) {
|
|
632 |
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); |
|
633 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
634 |
return 0xFF; |
|
635 |
} |
|
636 |
// No line on use. Great ! |
|
637 |
// Try to open a new line. |
|
638 |
err = getSDOfreeLine( d, whoami, &line ); |
|
639 |
if (err) {
|
|
640 |
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
641 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
642 |
return 0xFF; |
|
643 |
} |
|
644 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
645 |
||
646 |
if (getSDOe(m->data[0])) { // If SDO expedited
|
|
647 |
// nb of data to be downloaded |
|
648 |
nbBytes = 4 - getSDOn2(m->data[0]); |
|
649 |
// Storing the data in the line structure. |
|
650 |
d->transfers[line].count = nbBytes; |
|
651 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
|
652 |
||
653 |
if (err) {
|
|
654 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
655 |
return 0xFF; |
|
656 |
} |
|
657 |
||
658 |
// SDO expedited -> transfert finished. Data can be stored in the dictionary. |
|
659 |
// The line will be reseted when it is downloading in the dictionary. |
|
660 |
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId); |
|
661 |
// Transfering line data to object dictionary. |
|
662 |
errorCode = SDOlineToObjdict(d, line); |
|
663 |
if (errorCode) {
|
|
664 |
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); |
|
665 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
666 |
return 0xFF; |
|
667 |
} |
|
668 |
// Release of the line. |
|
669 |
resetSDOline(d, line); |
|
670 |
} |
|
671 |
else {// So, if it is not an expedited transfert
|
|
672 |
if (getSDOs(m->data[0])) {
|
|
673 |
// TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 |
|
674 |
nbBytes = m->data[4]; // Transfert limited to 255 bytes. |
|
675 |
err = setSDOlineRestBytes(d, nodeId, nbBytes); |
|
676 |
if (err) {
|
|
677 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
678 |
return 0xFF; |
|
679 |
} |
|
680 |
} |
|
681 |
} |
|
682 |
//Sending a SDO, cs=3 |
|
683 |
sdo.nodeId = *d->bDeviceNodeId; // The node id of the server, (here it is the sender). |
|
684 |
sdo.body.data[0] = 3 << 5; |
|
685 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
686 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
687 |
sdo.body.data[3] = subIndex; |
|
688 |
for (i = 4 ; i < 8 ; i++) |
|
689 |
sdo.body.data[i] = 0; |
|
690 |
sendSDO(d, whoami, sdo); |
|
691 |
} // end if I am SERVER |
|
692 |
else {
|
|
693 |
// I am CLIENT |
|
694 |
// It is a response for a previous download segment. We should find a line opened for this. |
|
695 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
|
696 |
if (!err) |
|
697 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
698 |
if (err) {
|
|
699 |
MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); |
|
700 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
701 |
return 0xFF; |
|
702 |
} |
|
703 |
// Reset the wathdog |
|
704 |
RestartSDO_TIMER(line) |
|
705 |
index = d->transfers[line].index; |
|
706 |
subIndex = d->transfers[line].subIndex; |
|
707 |
// test of the toggle; |
|
708 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
|
709 |
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); |
|
710 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
711 |
return 0xFF; |
|
712 |
} |
|
713 |
||
714 |
// End transmission or downloading next segment. We need to know if it will be the last one. |
|
715 |
getSDOlineRestBytes(d, line, &nbBytes); |
|
716 |
if (nbBytes == 0) {
|
|
717 |
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); |
|
718 |
StopSDO_TIMER(line) |
|
719 |
d->transfers[line].state = SDO_FINISHED; |
|
720 |
return 0x00; |
|
721 |
} |
|
722 |
// At least one transfer to send. |
|
723 |
if (nbBytes > 7) {
|
|
724 |
// several segments to download. |
|
725 |
// code to send the next segment. (cs = 0; c = 0) |
|
726 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
|
727 |
sdo.nodeId = nodeId; // The server node Id; |
|
728 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
|
729 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
730 |
if (err) {
|
|
731 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
732 |
return 0xFF; |
|
733 |
} |
|
734 |
} |
|
735 |
else {
|
|
736 |
// Last segment. |
|
737 |
// code to send the last segment. (cs = 0; c = 1) |
|
738 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
|
739 |
sdo.nodeId = nodeId; // The server node Id; |
|
740 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
|
741 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
742 |
if (err) {
|
|
743 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
744 |
return 0xFF; |
|
745 |
} |
|
746 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
747 |
sdo.body.data[i] = 0; |
|
748 |
} |
|
749 |
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); |
|
750 |
sendSDO(d, whoami, sdo); |
|
751 |
} // end if I am a CLIENT |
|
752 |
break; |
|
753 |
||
754 |
case 2: |
|
755 |
// I am SERVER |
|
756 |
// Receive of an initiate upload. |
|
757 |
if (whoami == SDO_SERVER) {
|
|
758 |
index = getSDOindex(m->data[1],m->data[2]); |
|
759 |
subIndex = getSDOsubIndex(m->data[3]); |
|
760 |
MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", |
|
761 |
nodeId); |
|
762 |
MSG_WAR(0x3A90, "Reading at index : ", index); |
|
763 |
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex); |
|
764 |
// Search if a SDO transfert have been yet initiated |
|
765 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
766 |
if (! err) {
|
|
767 |
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); |
|
768 |
MSG_WAR(0x3A93, "nodeId = ", nodeId); |
|
769 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
770 |
return 0xFF; |
|
771 |
} |
|
772 |
// No line on use. Great ! |
|
773 |
// Try to open a new line. |
|
774 |
err = getSDOfreeLine( d, whoami, &line ); |
|
775 |
if (err) {
|
|
776 |
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0); |
|
777 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); |
|
778 |
return 0xFF; |
|
779 |
} |
|
780 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
781 |
// Transfer data from dictionary to the line structure. |
|
782 |
errorCode = objdictToSDOline(d, line); |
|
783 |
||
784 |
if (errorCode) {
|
|
785 |
MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", |
|
786 |
errorCode); |
|
787 |
failedSDO(d, nodeId, whoami, index, subIndex, errorCode); |
|
788 |
return 0xFF; |
|
789 |
} |
|
790 |
// Preparing the response. |
|
791 |
getSDOlineRestBytes(d, line, &nbBytes); // Nb bytes to transfer ? |
|
792 |
sdo.nodeId = nodeId; // The server node Id; |
|
793 |
if (nbBytes > 4) {
|
|
794 |
// normal transfert. (segmented). |
|
795 |
// code to send the initiate upload response. (cs = 2) |
|
796 |
sdo.body.data[0] = (2 << 5) | 1; |
|
797 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
798 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
799 |
sdo.body.data[3] = subIndex; |
|
800 |
sdo.body.data[4] = nbBytes; // Limitation of canfestival2 : Max tranfert is 256 bytes. |
|
801 |
// It takes too much memory to upgrate to 2^32 because the size of data is also coded |
|
802 |
// in the object dictionary, at every index and subindex. |
|
803 |
for (i = 5 ; i < 8 ; i++) |
|
804 |
sdo.body.data[i] = 0; |
|
805 |
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); |
|
806 |
sendSDO(d, whoami, sdo); |
|
807 |
} |
|
808 |
else {
|
|
809 |
// Expedited upload. (cs = 2 ; e = 1) |
|
810 |
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3; |
|
811 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
812 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
813 |
sdo.body.data[3] = subIndex; |
|
814 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 4); |
|
815 |
if (err) {
|
|
816 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
817 |
return 0xFF; |
|
818 |
} |
|
819 |
for (i = 4 + nbBytes ; i < 8 ; i++) |
|
820 |
sdo.body.data[i] = 0; |
|
821 |
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", |
|
822 |
nodeId); |
|
823 |
sendSDO(d, whoami, sdo); |
|
824 |
// Release the line. |
|
825 |
resetSDOline(d, line); |
|
826 |
} |
|
827 |
} // end if I am SERVER |
|
828 |
else {
|
|
829 |
// I am CLIENT |
|
830 |
// It is the response for the previous initiate upload request. |
|
831 |
// We should find a line opened for this. |
|
832 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
|
833 |
if (!err) |
|
834 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
835 |
if (err) {
|
|
836 |
MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); |
|
837 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
838 |
return 0xFF; |
|
839 |
} |
|
840 |
// Reset the wathdog |
|
841 |
RestartSDO_TIMER(line) |
|
842 |
index = d->transfers[line].index; |
|
843 |
subIndex = d->transfers[line].subIndex; |
|
844 |
||
845 |
if (getSDOe(m->data[0])) { // If SDO expedited
|
|
846 |
// nb of data to be uploaded |
|
847 |
nbBytes = 4 - getSDOn2(m->data[0]); |
|
848 |
// Storing the data in the line structure. |
|
849 |
err = SDOtoLine(d, line, nbBytes, (*m).data + 4); |
|
850 |
if (err) {
|
|
851 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
852 |
return 0xFF; |
|
853 |
} |
|
854 |
// SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). |
|
855 |
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId); |
|
856 |
StopSDO_TIMER(line) |
|
857 |
d->transfers[line].count = nbBytes; |
|
858 |
d->transfers[line].state = SDO_FINISHED; |
|
859 |
return 0; |
|
860 |
} |
|
861 |
else { // So, if it is not an expedited transfert
|
|
862 |
// Storing the nb of data to receive. |
|
863 |
if (getSDOs(m->data[0])) {
|
|
864 |
nbBytes = m->data[4]; // Remember the limitation to 255 bytes to transfert |
|
865 |
err = setSDOlineRestBytes(d, line, nbBytes); |
|
866 |
if (err) {
|
|
867 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
868 |
return 0xFF; |
|
869 |
} |
|
870 |
} |
|
871 |
// Requesting next segment. (cs = 3) |
|
872 |
sdo.nodeId = nodeId; |
|
873 |
sdo.body.data[0] = 3 << 5; |
|
874 |
for (i = 1 ; i < 8 ; i++) |
|
875 |
sdo.body.data[i] = 0; |
|
876 |
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); |
|
877 |
sendSDO(d, whoami, sdo); |
|
878 |
} |
|
879 |
} // End if CLIENT |
|
880 |
break; |
|
881 |
||
882 |
case 3: |
|
883 |
// I am SERVER |
|
884 |
if (whoami == SDO_SERVER) {
|
|
885 |
// Receiving a upload segment. |
|
886 |
// A SDO transfert should have been yet initiated. |
|
887 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
888 |
if (!err) |
|
889 |
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; |
|
890 |
if (err) {
|
|
891 |
MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", |
|
892 |
nodeId); |
|
893 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
894 |
return 0xFF; |
|
895 |
} |
|
896 |
// Reset the wathdog |
|
897 |
RestartSDO_TIMER(line) |
|
898 |
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); |
|
899 |
index = d->transfers[line].index; |
|
900 |
subIndex = d->transfers[line].subIndex; |
|
901 |
// Toggle test. |
|
902 |
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
|
|
903 |
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); |
|
904 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); |
|
905 |
return 0xFF; |
|
906 |
} |
|
907 |
// Uploading next segment. We need to know if it will be the last one. |
|
908 |
getSDOlineRestBytes(d, line, &nbBytes); |
|
909 |
if (nbBytes > 7) {
|
|
910 |
// The segment to transfer is not the last one. |
|
911 |
// code to send the next segment. (cs = 0; c = 0) |
|
912 |
sdo.nodeId = nodeId; // The server node Id; |
|
913 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
|
914 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
915 |
if (err) {
|
|
916 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
917 |
return 0xFF; |
|
918 |
} |
|
919 |
// Inverting the toggle for the next tranfert. |
|
920 |
d->transfers[line].toggle = ! d->transfers[line].toggle & 1; |
|
921 |
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); |
|
922 |
sendSDO(d, whoami, sdo); |
|
923 |
} |
|
924 |
else {
|
|
925 |
// Last segment. |
|
926 |
// code to send the last segment. (cs = 0; c = 1) |
|
927 |
sdo.nodeId = nodeId; // The server node Id; |
|
928 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
|
929 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
930 |
if (err) {
|
|
931 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
932 |
return 0xFF; |
|
933 |
} |
|
934 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
935 |
sdo.body.data[i] = 0; |
|
936 |
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId); |
|
937 |
sendSDO(d, whoami, sdo); |
|
938 |
// Release the line |
|
939 |
resetSDOline(d, line); |
|
940 |
} |
|
941 |
} // end if SERVER |
|
942 |
else {
|
|
943 |
// I am CLIENT |
|
944 |
// It is the response for the previous initiate download request. |
|
945 |
// We should find a line opened for this. |
|
946 |
err = getSDOlineOnUse( d, nodeId, whoami, &line); |
|
947 |
if (!err) |
|
948 |
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; |
|
949 |
if (err) {
|
|
950 |
MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); |
|
951 |
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); |
|
952 |
return 0xFF; |
|
953 |
} |
|
954 |
// Reset the wathdog |
|
955 |
RestartSDO_TIMER(line) |
|
956 |
index = d->transfers[line].index; |
|
957 |
subIndex = d->transfers[line].subIndex; |
|
958 |
// End transmission or requesting next segment. |
|
959 |
getSDOlineRestBytes(d, line, &nbBytes); |
|
960 |
if (nbBytes == 0) {
|
|
961 |
MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); |
|
962 |
StopSDO_TIMER(line) |
|
963 |
d->transfers[line].state = SDO_FINISHED; |
|
964 |
return 0x00; |
|
965 |
} |
|
966 |
if (nbBytes > 7) {
|
|
967 |
// more than one request to send |
|
968 |
// code to send the next segment. (cs = 0; c = 0) |
|
969 |
sdo.nodeId = nodeId; // The server node Id; |
|
970 |
sdo.body.data[0] = (d->transfers[line].toggle << 4); |
|
971 |
err = lineToSDO(d, line, 7, sdo.body.data + 1); |
|
972 |
if (err) {
|
|
973 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
974 |
return 0xFF; |
|
975 |
} |
|
976 |
} |
|
977 |
else {
|
|
978 |
// Last segment. |
|
979 |
// code to send the last segment. (cs = 0; c = 1) |
|
980 |
sdo.nodeId = nodeId; // The server node Id; |
|
981 |
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1; |
|
982 |
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); |
|
983 |
if (err) {
|
|
984 |
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); |
|
985 |
return 0xFF; |
|
986 |
} |
|
987 |
for (i = nbBytes + 1 ; i < 8 ; i++) |
|
988 |
sdo.body.data[i] = 0; |
|
989 |
} |
|
990 |
MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); |
|
991 |
sendSDO(d, whoami, sdo); |
|
992 |
||
993 |
} // end if I am a CLIENT |
|
994 |
break; |
|
995 |
||
996 |
case 4: |
|
997 |
abortCode = (*m).data[3] | |
|
998 |
(m->data[5] << 8) | |
|
999 |
(m->data[6] << 16) | |
|
1000 |
(m->data[7] << 24); |
|
1001 |
// Received SDO abort. |
|
1002 |
// Looking for the line concerned. |
|
1003 |
if (whoami == SDO_SERVER) {
|
|
1004 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
1005 |
if (!err) {
|
|
1006 |
resetSDOline( d, line ); |
|
1007 |
MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode); |
|
1008 |
} |
|
1009 |
else |
|
1010 |
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
1011 |
// Tips : The end user has no way to know that the server node has received an abort SDO. |
|
1012 |
// Its is ok, I think. |
|
1013 |
} |
|
1014 |
else { // If I am CLIENT
|
|
1015 |
err = getSDOlineOnUse( d, nodeId, whoami, &line ); |
|
1016 |
if (!err) {
|
|
1017 |
// The line *must* be released by the core program. |
|
1018 |
StopSDO_TIMER(line) |
|
1019 |
d->transfers[line].state = SDO_ABORTED_RCV; |
|
1020 |
MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode); |
|
1021 |
} |
|
1022 |
else |
|
1023 |
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode); |
|
1024 |
} |
|
1025 |
break; |
|
1026 |
default: |
|
1027 |
// Error : Unknown cs |
|
1028 |
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0])); |
|
1029 |
return 0xFF; |
|
1030 |
||
1031 |
} // End switch |
|
1032 |
return 0; |
|
1033 |
} |
|
1034 |
||
1035 |
/*******************************************************************)******/ |
|
1036 |
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
|
1037 |
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data) |
|
1038 |
{
|
|
1039 |
UNS8 err; |
|
1040 |
UNS8 SDOfound = 0; |
|
1041 |
UNS8 line; |
|
1042 |
s_SDO sdo; // SDO to transmit |
|
1043 |
UNS8 i, j; |
|
1044 |
UNS8 * pSize; |
|
1045 |
UNS8 size; |
|
1046 |
UNS16 lastIndex; |
|
1047 |
UNS16 offset; |
|
1048 |
UNS8 *pNodeIdServer; |
|
1049 |
UNS8 nodeIdServer; |
|
1050 |
pSize = &size; |
|
1051 |
||
1052 |
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId); |
|
1053 |
MSG_WAR(0x3AC1, " At index : ", index); |
|
1054 |
MSG_WAR(0x3AC2, " subIndex : ", subIndex); |
|
1055 |
MSG_WAR(0x3AC3, " nb bytes : ", count); |
|
1056 |
||
1057 |
// Verify that there is no SDO communication yet. |
|
1058 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1059 |
if (!err) {
|
|
1060 |
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); |
|
1061 |
return 0xFF; |
|
1062 |
} |
|
1063 |
// Taking the line ... |
|
1064 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
|
1065 |
if (err) {
|
|
1066 |
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1067 |
return (0xFF); |
|
1068 |
} |
|
1069 |
// Check which SDO to use to communicate with the node |
|
1070 |
offset = d->firstIndex->SDO_CLT; |
|
1071 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1072 |
if (offset == 0) {
|
|
1073 |
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); |
|
1074 |
return 0xFF; |
|
1075 |
} |
|
1076 |
i = 0; |
|
1077 |
while (offset <= lastIndex) {
|
|
1078 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1079 |
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); |
|
1080 |
return 0xFF; |
|
1081 |
} |
|
1082 |
// looking for the nodeId server |
|
1083 |
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject; |
|
1084 |
nodeIdServer = *pNodeIdServer; |
|
1085 |
MSG_WAR(0x1AD2, "index : ", 0x1280 + i); |
|
1086 |
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer); |
|
1087 |
||
1088 |
if(nodeIdServer == nodeId) {
|
|
1089 |
SDOfound = 1; |
|
1090 |
break; |
|
1091 |
} |
|
1092 |
offset++; |
|
1093 |
i++; |
|
1094 |
} // end while |
|
1095 |
if (!SDOfound) {
|
|
1096 |
MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1097 |
return 0xFF; |
|
1098 |
} |
|
1099 |
MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i); |
|
1100 |
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); |
|
1101 |
d->transfers[line].count = count; |
|
1102 |
d->transfers[line].dataType = dataType; |
|
1103 |
||
1104 |
// Copy data to transfers structure. |
|
1105 |
for (j = 0 ; j < count ; j++) {
|
|
1106 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1107 |
if (dataType == 0) |
|
1108 |
d->transfers[line].data[count - 1 - j] = ((char *)data)[j]; |
|
1109 |
else // String of bytes. |
|
1110 |
d->transfers[line].data[j] = ((char *)data)[j]; |
|
1111 |
# else |
|
1112 |
d->transfers[line].data[j] = ((char *)data)[j]; |
|
1113 |
# endif |
|
1114 |
} |
|
1115 |
// Send the SDO to the server. Initiate download, cs=1. |
|
1116 |
sdo.nodeId = nodeId; |
|
1117 |
if (count <= 4) { // Expedited transfert
|
|
1118 |
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3; |
|
1119 |
for (i = 4 ; i < 8 ; i++) |
|
1120 |
sdo.body.data[i] = d->transfers[line].data[i - 4]; |
|
1121 |
d->transfers[line].offset = count; |
|
1122 |
} |
|
1123 |
else { // Normal transfert
|
|
1124 |
sdo.body.data[0] = (1 << 5) | 1; |
|
1125 |
sdo.body.data[4] = count; // nb of byte to transmit. Max = 255. (canfestival2 limitation). |
|
1126 |
for (i = 5 ; i < 8 ; i++) |
|
1127 |
sdo.body.data[i] = 0; |
|
1128 |
} |
|
1129 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
1130 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
1131 |
sdo.body.data[3] = subIndex; |
|
1132 |
||
1133 |
err = sendSDO(d, SDO_CLIENT, sdo); |
|
1134 |
if (err) {
|
|
1135 |
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId); |
|
1136 |
// release the line |
|
1137 |
resetSDOline(d, line); |
|
1138 |
return 0xFF; |
|
1139 |
} |
|
1140 |
return 0; |
|
1141 |
} |
|
1142 |
||
1143 |
||
1144 |
||
1145 |
/***************************************************************************/ |
|
1146 |
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType) |
|
1147 |
{
|
|
1148 |
UNS8 err; |
|
1149 |
UNS8 SDOfound = 0; |
|
1150 |
UNS8 i; |
|
1151 |
UNS8 line; |
|
1152 |
UNS8 * pSize; |
|
1153 |
UNS8 size; |
|
1154 |
s_SDO sdo; // SDO to transmit |
|
1155 |
UNS8 *pNodeIdServer; |
|
1156 |
UNS8 nodeIdServer; |
|
1157 |
UNS16 offset; |
|
1158 |
UNS16 lastIndex; |
|
1159 |
pSize = &size; |
|
1160 |
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId); |
|
1161 |
MSG_WAR(0x3AD6, " At index : ", index); |
|
1162 |
MSG_WAR(0x3AD7, " subIndex : ", subIndex); |
|
1163 |
||
1164 |
||
1165 |
// Verify that there is no SDO communication yet. |
|
1166 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1167 |
if (!err) {
|
|
1168 |
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); |
|
1169 |
return 0xFF; |
|
1170 |
} |
|
1171 |
// Taking the line ... |
|
1172 |
err = getSDOfreeLine( d, SDO_CLIENT, &line ); |
|
1173 |
if (err) {
|
|
1174 |
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); |
|
1175 |
return (0xFF); |
|
1176 |
} |
|
1177 |
else |
|
1178 |
MSG_WAR(0x3AE0, "Transmission on line : ", line); |
|
1179 |
||
1180 |
// Check which SDO to use to communicate with the node |
|
1181 |
offset = d->firstIndex->SDO_CLT; |
|
1182 |
lastIndex = d->lastIndex->SDO_CLT; |
|
1183 |
if (offset == 0) {
|
|
1184 |
MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); |
|
1185 |
return 0xFF; |
|
1186 |
} |
|
1187 |
i = 0; |
|
1188 |
while (offset <= lastIndex) {
|
|
1189 |
if (d->objdict[offset].bSubCount <= 3) {
|
|
1190 |
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i); |
|
1191 |
return 0xFF; |
|
1192 |
} |
|
1193 |
// looking for the nodeId server |
|
1194 |
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject; |
|
1195 |
nodeIdServer = *pNodeIdServer; |
|
1196 |
||
1197 |
if(nodeIdServer == nodeId) {
|
|
1198 |
SDOfound = 1; |
|
1199 |
break; |
|
1200 |
} |
|
1201 |
offset++; |
|
1202 |
i++; |
|
1203 |
} // end while |
|
1204 |
if (!SDOfound) {
|
|
1205 |
MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId); |
|
1206 |
return 0xFF; |
|
1207 |
} |
|
1208 |
MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i); |
|
1209 |
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); |
|
1210 |
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1211 |
sdo.nodeId = nodeId; |
|
1212 |
// Send the SDO to the server. Initiate upload, cs=2. |
|
1213 |
d->transfers[line].dataType = dataType; |
|
1214 |
sdo.body.data[0] = (2 << 5); |
|
1215 |
sdo.body.data[1] = index & 0xFF; // LSB |
|
1216 |
sdo.body.data[2] = (index >> 8) & 0xFF; // MSB |
|
1217 |
sdo.body.data[3] = subIndex; |
|
1218 |
for (i = 4 ; i < 8 ; i++) |
|
1219 |
sdo.body.data[i] = 0; |
|
1220 |
err = sendSDO(d, SDO_CLIENT, sdo); |
|
1221 |
if (err) {
|
|
1222 |
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId); |
|
1223 |
// release the line |
|
1224 |
resetSDOline(d, line); |
|
1225 |
return 0xFF; |
|
1226 |
} |
|
1227 |
return 0; |
|
1228 |
} |
|
1229 |
||
1230 |
/***************************************************************************/ |
|
1231 |
||
1232 |
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, |
|
1233 |
UNS32 * abortCode) |
|
1234 |
{
|
|
1235 |
UNS8 i; |
|
1236 |
UNS8 err; |
|
1237 |
UNS8 line; |
|
1238 |
* size = 0; |
|
1239 |
||
1240 |
// Looking for the line tranfert. |
|
1241 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1242 |
if (err) {
|
|
1243 |
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); |
|
1244 |
return SDO_ABORTED_INTERNAL; |
|
1245 |
} |
|
1246 |
if (d->transfers[line].state != SDO_FINISHED) |
|
1247 |
return d->transfers[line].state; |
|
1248 |
||
1249 |
// Transfert is finished. Put the value in the data. |
|
1250 |
* size = d->transfers[line].count; |
|
1251 |
for ( i = 0 ; i < *size ; i++) {
|
|
1252 |
# ifdef CANOPEN_BIG_ENDIAN |
|
1253 |
if (d->transfers[line].dataType != visible_string) |
|
1254 |
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i]; |
|
1255 |
else // String of bytes. |
|
1256 |
( (char *) data)[i] = d->transfers[line].data[i]; |
|
1257 |
# else |
|
1258 |
( (char *) data)[i] = d->transfers[line].data[i]; |
|
1259 |
# endif |
|
1260 |
} |
|
1261 |
return SDO_FINISHED; |
|
1262 |
} |
|
1263 |
||
1264 |
/***************************************************************************/ |
|
1265 |
||
1266 |
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode) |
|
1267 |
{
|
|
1268 |
UNS8 line = 0; |
|
1269 |
UNS8 err; |
|
1270 |
||
1271 |
* abortCode = 0; |
|
1272 |
// Looking for the line tranfert. |
|
1273 |
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); |
|
1274 |
if (err) {
|
|
1275 |
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); |
|
1276 |
return SDO_ABORTED_INTERNAL; |
|
1277 |
} |
|
1278 |
* abortCode = d->transfers[line].abortCode; |
|
1279 |
return d->transfers[line].state; |
|
1280 |
} |
|
|
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
|
1281 |