1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#ifndef __sdo_h__

    24

#define __sdo_h__

    25

    26

typedef void (*SDOtimeoutError_t)(UNS8 line);

    27

struct struct_s_transfer;

    28

    29

#include "timer.h"

    30

    31

typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);

    32

    33

/* The Transfer structure

    34

Used to store the different segments of 

    35

 - a SDO received before writing in the dictionary  

    36

 - the reading of the dictionary to put on a SDO to transmit 

    37

*/

    38

    39

struct struct_s_transfer {

    40

  UNS8           nodeId;     //own ID if server, or node ID of the server if client

    41

    42

  UNS8           whoami;     // Takes the values SDO_CLIENT or SDO_SERVER

    43

  UNS8           state;      // state of the transmission : Takes the values SDO_...

    44

  UNS8           toggle;

    45

  UNS32          abortCode;  // Sent or received

    46

  // index and subindex of the dictionary where to store

    47

  // (for a received SDO) or to read (for a transmit SDO)

    48

  UNS16          index; 

    49

  UNS8           subIndex; 

    50

  UNS32          count;      // Number of data received or to be sent.

    51

  UNS32          offset;     // stack pointer of data[]

    52

                             // Used only to tranfer part of a line to or from a SDO.

    53

                             // offset is always pointing on the next free cell of data[].

    54

                             // WARNING s_transfer.data is subject to ENDIANISATION 

    55

                             // (with respect to CANOPEN_BIG_ENDIAN)

    56

  UNS8           data [SDO_MAX_LENGTH_TRANSFERT];

    57

  UNS8           dataType;   // Defined in objdictdef.h Value is visible_string 

    58

                             // if it is a string, any other value if it is not a string, 

    59

                             // like 0. In fact, it is used only if client.

    60

  TIMER_HANDLE   timer;    // Time counter to implement a timeout in milliseconds.

    61

                             // It is automatically incremented whenever 

    62

                             // the line state is in SDO_DOWNLOAD_IN_PROGRESS or 

    63

                             // SDO_UPLOAD_IN_PROGRESS, and reseted to 0 

    64

                             // when the response SDO have been received.

    65

  SDOCallback_t Callback;   // The user callback func to be called at SDO transaction end

    66

};

    67

typedef struct struct_s_transfer s_transfer;

    68

    69

    70

#include "data.h"

    71

    72

/// The 8 bytes data of the SDO

    73

struct BODY{

    74

    UNS8 data[8];

    75

};

    76

    77

/// The SDO structure ...

    78

struct struct_s_SDO {

    79

  UNS8 nodeId;		//in any case, Node ID of the server (case sender or receiver).

    80

  struct BODY body;

    81

};

    82

    83

    84

typedef struct struct_s_SDO s_SDO;

    85

    86

/** Reset all sdo buffers

    87

 */

    88

void resetSDO (CO_Data* d);

    89

    90

    91

/** Copy the data received from the SDO line transfert to the object dictionary

    92

 * Returns SDO error code if error. Else, returns 0; 

    93

 */

    94

UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);

    95

    96

/** Copy the data from the object dictionary to the SDO line for a network transfert.

    97

 * Returns SDO error code if error. Else, returns 0; 

    98

 */

    99

UNS32 objdictToSDOline (CO_Data* d, UNS8 line);

   100

   101

/** copy data from an existant line in the argument "* data"

   102

 * Returns 0xFF if error. Else, returns 0; 

   103

 */

   104

UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);

   105

   106

/** Add data to an existant line

   107

 * Returns 0xFF if error. Else, returns 0; 

   108

 */

   109

UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);

   110

   111

/** Called when an internal SDO abort occurs.

   112

 * Release the line * Only if server * 

   113

 * If client, the line must be released manually in the core application.

   114

 * The reason of that is to permit the program to read the transfers[][] structure before its reset,

   115

 * because many informations are stored on it : index, subindex, data received or trasmited, ...

   116

 * In all cases, sends a SDO abort.

   117

 * Returns 0

   118

 */

   119

UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, 

   120

		UNS8 subIndex, UNS32 abortCode);

   121

   122

/** Reset an unused line.

   123

 * 

   124

 */

   125

void resetSDOline (CO_Data* d, UNS8 line);

   126

   127

/** Initialize some fields of the structure.

   128

 * Returns 0

   129

 */

   130

UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);

   131

   132

/** Search for an unused line in the transfers array

   133

 * to store a new SDO.

   134

 * ie a line which value of the field "state" is "SDO_RESET"

   135

 * An unused line have the field "state" at the value SDO_RESET

   136

 * bus_id is hardware dependant

   137

 * whoami : create the line for a SDO_SERVER or SDO_CLIENT.

   138

 * return 0xFF if all the lines are on use. Else, return 0

   139

 */

   140

UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);

   141

   142

/** Search for the line, in the transfers array, which contains the

   143

 * beginning of the reception of a fragmented SDO

   144

 * whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER

   145

 * bus_id is hardware dependant

   146

 * nodeId correspond to the message node-id 

   147

 * return 0xFF if error.  Else, return 0

   148

 */

   149

UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);

   150

   151

/** Close a transmission.

   152

 * nodeId : Node id of the server if both server or client

   153

 * whoami : Line opened as SDO_CLIENT or SDO_SERVER

   154

 */

   155

UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);

   156

   157

/** Bytes in the line structure which must be transmited (or received)

   158

 * bus_id is hardware dependant.

   159

 * return 0.

   160

 */

   161

UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);

   162

   163

/** Store in the line structure the nb of bytes which must be transmited (or received)

   164

 * bus_id is hardware dependant.

   165

 * return 0 if success, 0xFF if error.

   166

 */

   167

UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);

   168

   169

/** Transmit a SDO frame on the bus bus_id

   170

 * sdo is a structure which contains the sdo to transmit

   171

 * bus_id is hardware dependant

   172

 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER

   173

 * return canSend(bus_id,&m) or 0xFF if error

   174

 */

   175

UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);

   176

   177

/** Transmit a SDO error to the client. The reasons may be :

   178

 * Read/Write to a undefined object

   179

 * Read/Write to a undefined subindex

   180

 * Read/write a not valid length object

   181

 * Write a read only object

   182

 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER

   183

 */

   184

UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);

   185

   186

/** Treat a SDO frame reception

   187

 * bus_id is hardware dependant

   188

 * call the function sendSDO

   189

 * return 0xFF if error

   190

 *        0x80 if transfert aborted by the server

   191

 *        0x0  ok

   192

 */

   193

UNS8 proceedSDO (CO_Data* d, Message *m);

   194

   195

/** Used by the application to send a SDO request frame to write the data *data

   196

 * at the index and subIndex indicated

   197

 * in the dictionary of the slave whose node_id is nodeId

   198

 * Count : nb of bytes to write in the dictionnary.

   199

 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

   200

 * bus_id is hardware dependant

   201

 * return 0xFF if error, else return 0

   202

 */

   203

UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 

   204

		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data); 

   205

   206

/** Used by the application to send a SDO request frame to read

   207

 * in the dictionary of a server node whose node_id is ID

   208

 * at the index and subIndex indicated

   209

 * bus_id is hardware dependant

   210

 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

   211

 * return 0xFF if error, else return 0

   212

 */

   213

UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 

   214

		      UNS8 subIndex, UNS8 dataType);

   215

   216

/** Use this function after a readNetworkDict to get the result.

   217

  Returns : SDO_FINISHED             // data is available

   218

            SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)

   219

            SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.

   220

            SDO_UPLOAD_IN_PROGRESS   // Data not yet available

   221

	    SDO_DOWNLOAD_IN_PROGRESS // Should not arrive ! 

   222

   223

  dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals.

   224

  abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

   225

  example :

   226

  UNS32 data;

   227

  UNS8 size;

   228

  readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5

   229

  while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);

   230

*/

   231

UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, 

   232

			       UNS8 *size, UNS32 * abortCode);

   233

   234

/**

   235

  Use this function after a writeNetworkDict to get the result of the write

   236

  It is mandatory to call this function because it is releasing the line used for the transfer.

   237

  Returns : SDO_FINISHED             // data is available

   238

            SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)

   239

            SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.

   240

            SDO_DOWNLOAD_IN_PROGRESS // Data not yet available

   241

	    SDO_UPLOAD_IN_PROGRESS   // Should not arrive ! 

   242

  abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

   243

  example :

   244

  UNS32 data = 0x50;

   245

  UNS8 size;

   246

  UNS32 abortCode;

   247

  writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5

   248

  while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);  

   249

*/

   250

UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);

   251

   252

#endif