canfestival: src/sdo.c@aad111ad0018 (annotated)

0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1	/*
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	2	This file is part of CanFestival, a library implementing CanOpen Stack.
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	3
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	5
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	6	See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	7
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	8	This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	9	modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	10	License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	11	version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	12
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	13	This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	16	Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	17
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	18	You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	19	License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	21	*/
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	22	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	23	** @file sdo.c
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	24	** @author Edouard TISSERANT and Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	25	** @date Tue Jun 5 09:32:32 2007
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	26	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	27	** @brief
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	28	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	29	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	30	*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	31
84 19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	32	/* #define DEBUG_WAR_CONSOLE_ON */
19def60bd29c forgot some comments ... frdupin parents: 82 diff changeset	33	/* #define DEBUG_ERR_CONSOLE_ON */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	34
383 7d8afedb8769 Fixed missing includes causing warnings etisserant parents: 378 diff changeset	35	#include "canfestival.h"
370 6fecf36df407 Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued. etisserant parents: 365 diff changeset	36	#include "sysdep.h"
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	37
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	38	/* Uncomment if your compiler does not support inline functions */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	39	#define NO_INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	40
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	41	#ifdef NO_INLINE
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	42	#define INLINE
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	43	#else
86 683702a46416 big endian bogue : nodeIdServer in now in 32 bits frdupin parents: 84 diff changeset	44	#define INLINE inline
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	45	#endif
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	46
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	47	/Internals prototypes/
73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	48
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	49	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	50	** Called by writeNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	51	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	52	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	53	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	54	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	55	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	56	** @param count
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	57	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	58	** @param data
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	59	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	60	** @param endianize
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	61	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	62	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	63	**/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	64	INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	65	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	66
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	67	/*!
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	68	** Called by readNetworkDict
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	69	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	70	** @param d
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	71	** @param nodeId
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	72	** @param index
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	73	** @param subIndex
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	74	** @param dataType
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	75	** @param Callback
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	76	**
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	77	** @return
05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	78	**/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	79	INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	80	UNS8 dataType, SDOCallback_t Callback);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	81
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	82
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	83	/***************************************************************************/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	84	/* SDO (un)packing macros */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	85
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	86	/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	87	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	88	#define getSDOcs(byte) (byte >> 5)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	89
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	90	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	91	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	92	#define getSDOn2(byte) ((byte >> 2) & 3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	93
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	94	/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	95	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	96	#define getSDOn3(byte) ((byte >> 1) & 7)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	97
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	98	/** Returns the transfer type from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	99	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	100	#define getSDOe(byte) ((byte >> 1) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	101
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	102	/** Returns the size indicator from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	103	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	104	#define getSDOs(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	105
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	106	/** Returns the indicator of end transmission from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	107	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	108	#define getSDOc(byte) (byte & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	109
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	110	/** Returns the toggle from the first byte of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	111	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	112	#define getSDOt(byte) ((byte >> 4) & 1)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	113
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	114	/** Returns the index from the bytes 1 and 2 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	115	*/
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	116	#define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) \| ((UNS16)byte1))
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	117
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	118	/** Returns the subIndex from the byte 3 of the SDO
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	119	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	120	#define getSDOsubIndex(byte3) (byte3)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	121
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	122	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	123	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	124	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	125	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	126	** @param id
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	127	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	128	void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	129	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	130	MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	131	MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	132	MSG_WAR(0x2A02, " index : ", d->transfers[id].index);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	133	MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	134	/* Reset timer handler */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	135	d->transfers[id].timer = TIMER_NONE;
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	136	/Set aborted state/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	137	d->transfers[id].state = SDO_ABORTED_INTERNAL;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	138	/* Sending a SDO abort */
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	139	sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	140	d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
172 0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	141	d->transfers[id].abortCode = SDOABT_TIMED_OUT;
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	142	/* Call the user function to inform of the problem.*/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	143	if(d->transfers[id].Callback)
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	144	/If ther is a callback, it is responsible to close SDO transfer (client)/
0248c2b148bb Removed SDOTimeout application callback.Please use SDO callbacks instead. etisserant parents: 166 diff changeset	145	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
656 f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	146
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	147	/*Reset the line if (whoami == SDO_SERVER) or the callback did not close the line.
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	148	Otherwise this sdo transfer would never be closed. */
657 c0e68a63f600 FIX: - if a sdo transfer timeout occurres, reset the sdo line even if the callback function does not. Christian Taedcke parents: 656 diff changeset	149	resetSDOline(d, (UNS8)id);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	150	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	151
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	152	#define StopSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	153	MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	154	d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	155
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	156	#define StartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	157	MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	158	d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	159
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	160	#define RestartSDO_TIMER(id) \
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	161	MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	162	if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	163
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	164	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	165	** Reset all sdo buffers
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	166	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	167	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	168	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	169	void resetSDO (CO_Data* d)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	170	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	171	UNS8 j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	172
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	173	/* transfer structure initialization */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	174	for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	175	resetSDOline(d, j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	176	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	177
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	178	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	179	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	180	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	181	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	182	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	183	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	184	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	185	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	186	UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	187	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	188	UNS32 size;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	189	UNS32 errorCode;
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	190	MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	191	/* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	192	if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	193	d->transfers[line].count = d->transfers[line].offset;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	194	size = d->transfers[line].count;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	195
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	196	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	197	if (size > SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	198	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	199	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	200	(void *) d->transfers[line].dynamicData, &size, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	201	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	202	else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	203	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	204	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	205	(void *) d->transfers[line].data, &size, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	206	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	207	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	208	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	209	(void *) d->transfers[line].data, &size, 1);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	210	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	211
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	213	return errorCode;
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	214	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	215	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	216
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	217	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	218
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	219	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	220	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	221	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	222	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	223	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	224	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	225	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	226	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	227	UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	228	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	229	UNS32 size = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	230	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	231	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	232
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	233	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	234	MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	235
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	236	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	237	//TODO: Read the size of the object. Depending o it put data into data or dynamicData
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	238	errorCode = getODentry(d, d->transfers[line].index,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	239	d->transfers[line].subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	240	(void *)d->transfers[line].data,
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	241	&size, &dataType, 1);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	242	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	243	errorCode = getODentry(d, d->transfers[line].index,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	244	d->transfers[line].subIndex,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	245	(void *)d->transfers[line].data,
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	246	&size, &dataType, 1);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	247	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	248
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	d->transfers[line].count = size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	253	d->transfers[line].offset = 0;
402 77f875d45250 Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled) etisserant parents: 383 diff changeset	254
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	256	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	257
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	258	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	259	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	260	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	261	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	262	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	263	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	264	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	265	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	266	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	267	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	268	UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	269	UNS8 i;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	270	UNS32 offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	271
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	272	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	273	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	274	MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	275	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	276	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	277	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	278
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	279	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	280	MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	281	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	282	}
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	283	offset = d->transfers[line].offset;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	284	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	285	if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	286	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	287	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	288	* (data + i) = d->transfers[line].data[offset + i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	289	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	290	else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	291	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	292	if (d->transfers[line].dynamicData == NULL)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	293	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	294	MSG_ERR(0x1A11,"SDO's dynamic buffer not allocated. Line", line);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	295	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	296	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	297	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	298	* (data + i) = d->transfers[line].dynamicData[offset + i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	299	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	300	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	301	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	302	* (data + i) = d->transfers[line].data[offset + i];
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	303	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	304	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	307
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	308	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	309	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	310	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	311	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	312	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	313	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	314	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	315	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	316	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	317	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	318	UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	319	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	320	UNS8 i;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	321	UNS32 offset;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	322	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	323	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	324	MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	325	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	326	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	327	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	328
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	329	offset = d->transfers[line].offset;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	330	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	331	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	332	UNS8* lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	333	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	334	if (d->transfers[line].dynamicData == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	335	d->transfers[line].dynamicData = (UNS8*) malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	336	d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	337
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	338	if (d->transfers[line].dynamicData == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	339	MSG_ERR(0x1A15,"SDO allocating dynamic buffer failed, size", SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	340	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	341	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	342	//Copy present data
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	343	memcpy(d->transfers[line].dynamicData, d->transfers[line].data, offset);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	344	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	345	else if ((d->transfers[line].offset + nbBytes) > d->transfers[line].dynamicDataSize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	346	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	347	UNS8* newDynamicBuffer = (UNS8*) realloc(d->transfers[line].dynamicData, d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	348	if (newDynamicBuffer == NULL) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	349	MSG_ERR(0x1A15,"SDO reallocating dynamic buffer failed, size", d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	350	return 0xFF;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	351	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	352	d->transfers[line].dynamicData = newDynamicBuffer;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	353	d->transfers[line].dynamicDataSize += SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	354	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	355	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	356	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	357
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	358	for (i = 0 ; i < nbBytes ; i++)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	359	lineData[offset + i] = * (data + i);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	360	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	361	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	362	for (i = 0 ; i < nbBytes ; i++)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	363	d->transfers[line].data[offset + i] = * (data + i);
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	364	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	365
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	366	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	367	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	368	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	369
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	370	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	371	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	372	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	373	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	374	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	375	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	376	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	377	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	378	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	379	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	380	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	381	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	382	UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	383	UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	384	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	385	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	386	UNS8 line;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	387	err = getSDOlineOnUse( d, nodeId, whoami, &line );
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	388	if (!err) /* If a line on use have been found.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	389	MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	390	if ((! err) && (whoami == SDO_SERVER)) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	391	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	392	MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	393	}
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	394	if ((! err) && (whoami == SDO_CLIENT)) {
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	395	StopSDO_TIMER(line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	396	d->transfers[line].state = SDO_ABORTED_INTERNAL;
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	397	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	398	MSG_WAR(0x3A22, "Sending SDO abort ", 0);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	399	err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	400	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	401	MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	402	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	403	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	404	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	405	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	406
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	407	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	408	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	409	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	410	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	411	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	412	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	413	void resetSDOline ( CO_Data* d, UNS8 line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	414	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	415	UNS32 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	416	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	417	initSDOline(d, line, 0, 0, 0, SDO_RESET);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	418	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	419	d->transfers[line].data[i] = 0;
501 9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	420	d->transfers[line].whoami = 0;
9bec3864a891 Fixed incomplete resetSDOline etisserant parents: 499 diff changeset	421	d->transfers[line].abortCode = 0;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	422	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	423	free(d->transfers[line].dynamicData);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	424	d->transfers[line].dynamicData = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	425	d->transfers[line].dynamicDataSize = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	426	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	427	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	428
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	429	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	430	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	431	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	432	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	433	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	434	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	435	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	436	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	437	** @param state
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	438	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	439	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	440	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	441	UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	442	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	443	MSG_WAR(0x3A25, "init SDO line nb : ", line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	444	if (state == SDO_DOWNLOAD_IN_PROGRESS \|\| state == SDO_UPLOAD_IN_PROGRESS){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	445	StartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	446	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	447	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	448	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	449	d->transfers[line].nodeId = nodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	450	d->transfers[line].index = index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	451	d->transfers[line].subIndex = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	452	d->transfers[line].state = state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	453	d->transfers[line].toggle = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	454	d->transfers[line].count = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	455	d->transfers[line].offset = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	456	d->transfers[line].dataType = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	457	d->transfers[line].Callback = NULL;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	458	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	459	free(d->transfers[line].dynamicData);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	460	d->transfers[line].dynamicData = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	461	d->transfers[line].dynamicDataSize = 0;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	462	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	463	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	464	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	465
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	466	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	467	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	468	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	469	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	470	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	471	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	472	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	473	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	474	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	475	UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	476	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	477
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	478	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	479
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	480	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	481	if ( d->transfers[i].state == SDO_RESET ) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	482	*line = i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	483	d->transfers[i].whoami = whoami;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	484	return 0;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	485	} /* end if */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	486	} /* end for */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	487	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	488	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	489	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	490
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	491	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	492	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	493	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	494	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	495	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	496	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	497	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	498	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	499	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	500	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	501	UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	502	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	503
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	504	UNS8 i;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	505
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	506	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	507	if ( (d->transfers[i].state != SDO_RESET) &&
627 4939452b1bf1 Fixed SDO loop in some situations. edouard parents: 604 diff changeset	508	(d->transfers[i].state != SDO_ABORTED_INTERNAL) &&
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	509	(d->transfers[i].nodeId == nodeId) &&
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	510	(d->transfers[i].whoami == whoami) ) {
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	511	if (line) *line = i;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	512	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	513	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	514	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	515	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	516	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	517
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	518	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	519	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	520	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	521	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	522	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	523	** @param whoami
656 f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	524	** @param line
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	525	**
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	526	** @return
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	527	**/
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	528	UNS8 getSDOlineToClose (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	529	{
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	530
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	531	UNS8 i;
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	532
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	533	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	534	if ( (d->transfers[i].state != SDO_RESET) &&
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	535	(d->transfers[i].nodeId == nodeId) &&
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	536	(d->transfers[i].whoami == whoami) ) {
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	537	if (line) *line = i;
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	538	return 0;
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	539	}
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	540	}
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	541	return 0xFF;
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	542	}
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	543
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	544
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	545	/*!
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	546	**
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	547	**
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	548	** @param d
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	549	** @param nodeId
f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	550	** @param whoami
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	551	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	552	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	553	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	554	UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	555	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	556	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	557	UNS8 line;
656 f923456f01e5 FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed. Christian Taedcke parents: 651 diff changeset	558	err = getSDOlineToClose(d, nodeId, whoami, &line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	559	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	560	MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	561	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	562	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	563	resetSDOline(d, line);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	564	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	565	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	566
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	567	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	568	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	569	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	570	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	571	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	572	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	573	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	574	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	575	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	576	UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	577	{
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	578	/* SDO initiated with e=0 and s=0 have count set to null */
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	579	if (d->transfers[line].count == 0)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	580	* nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	581	else
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	582	* nbBytes = d->transfers[line].count - d->transfers[line].offset;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	583	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	584	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	585
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	586	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	587	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	588	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	589	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	590	** @param line
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	591	** @param nbBytes
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	592	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	593	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	594	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	595	UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	596	{
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	597	#ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	598	if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	599	MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	600	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	601	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	602	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	603
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	604	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	605	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	606	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	607
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	608	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	609	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	610	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	611	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	612	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	613	** @param sdo
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	614	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	615	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	616	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	617	UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	618	{
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	619	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	620	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	621	UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	622	Message m;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	623	UNS8 i;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	624	UNS32 * pwCobId = NULL;
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	625	UNS8 * pwNodeId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	626
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	627	MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	628	if( !((d->nodeState == Operational) \|\| (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	629	MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	630	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	631	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	632
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	633	/get the server->client cobid/
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	634	if ( whoami == SDO_SERVER ) {/case server. only one SDO server/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	635	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	636	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	637	MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	638	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	639	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	640	pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	641	MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	642	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	643	else { /case client/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	644	/* Get the client->server cobid.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	645	UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	646	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	647	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	648	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	649	MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	650	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	651	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	652	/* find index for communication server node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	653	while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	654	MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	655	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	656	MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	657	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	658	}
306 3586cfa84705 Fixed incoherency with idx 0x1280+n sidx 3 in sdo.c against newly generated objectditcs (UNS32->UNS8). etisserant parents: 217 diff changeset	659	pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	660	MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	661	if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	662	found = 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	663	break;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	664	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	665	offset ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	666	sdoNum ++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	667	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	668	if (! found){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	669	MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	670	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	671	}
481 9dd36e4453ae Fixed some comments in sdo.c etisserant parents: 447 diff changeset	672	/* read the client->server cobid */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	673	pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	674	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	675	/* message copy for sending */
597 ea32aa303987 Fixed wrong cast in sdo.c and wrong message length in nodeguarding edouard parents: 587 diff changeset	676	m.cob_id = (UNS16)UNS16_LE(*pwCobId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	677	m.rtr = NOT_A_REQUEST;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	678	/* the length of SDO must be 8 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	679	m.len = 8;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	680	for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	681	m.data[i] = sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	682	}
149 fe50ada8020b Changes in the API: etisserant parents: 145 diff changeset	683	return canSend(d->canHandle,&m);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	684	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	685
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	686	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	687	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	688	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	689	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	690	** @param whoami
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	691	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	692	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	693	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	694	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	695	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	696	**/
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	697	UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	698	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	699	s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	700	UNS8 ret;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	701
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	702	MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	703	if(whoami == SDO_SERVER)
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	704	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	705	sdo.nodeId = *d->bDeviceNodeId;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	706	}
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	707	else
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	708	{
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	709	sdo.nodeId = nodeID;
061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	710	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	711	sdo.body.data[0] = 0x80;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	712	/* Index */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	713	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	714	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	715	/* Subindex */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	716	sdo.body.data[3] = subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	717	/* Data */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	718	sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	719	sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	720	sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	721	sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	722	ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	723
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	724	return ret;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	725	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	726
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	727	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	728	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	729	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	730	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	731	** @param m
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	732	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	733	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	734	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	735	UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	736	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	737	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	738	UNS8 line;
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	739	UNS32 nbBytes; /* received or to be transmited. */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	740	UNS8 nodeId = 0; /* The node from which the SDO is received */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	741	UNS8 *pNodeId = NULL;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	742	UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	743	UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	744	s_SDO sdo; /* SDO to transmit */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	745	UNS16 index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	746	UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	747	UNS32 abortCode;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	748	UNS32 i;
c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	749	UNS8 j;
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	750	UNS32 *pCobId = NULL;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	751	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	752	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	753
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	754	MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	755	whoami = SDO_UNKNOWN;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	756	/* Looking for the cobId in the object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	757	/* Am-I a server ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	758	offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	759	lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	760	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	761	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	762	if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	763	MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	764	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	765	}
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	766	pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	767	if ( *pCobId == UNS16_LE(m->cob_id) ) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	768	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	769	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	770	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	771	/* 0x1200 where the cobid received is defined. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	772	nodeId = j;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	773	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	774	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	775	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	776	offset++;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	777	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	778	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	779	/* Am-I client ? */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	780	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	781	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	782	j = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	783	if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	784	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	785	MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	786	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	787	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	788	/* a) Looking for the cobid received. */
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	789	pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	790	if (*pCobId == UNS16_LE(m->cob_id) ) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	791	/* b) cobid found, so reading the node id of the server. */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	792	pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	793	whoami = SDO_CLIENT;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	794	nodeId = *pNodeId;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	795	MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	796	MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	797	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	798	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	799	j++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	800	offset++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	801	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	802	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	803	if (whoami == SDO_UNKNOWN) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	804	return 0xFF;/* This SDO was not for us ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	805	}
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	806
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	807	/* Test if the size of the SDO is ok */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	808	if ( (*m).len != 8) {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	809	MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	810	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	811	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	812	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	813
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	814	if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	815	MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	816	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	817	else {
447 c9d01296d6d9 Endianess patch from Edward Karpicz, Lithuania :-) etisserant parents: 435 diff changeset	818	MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	819	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	820
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	821	/* Testing the command specifier */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	822	/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	823	/* cs = other : Not allowed -> abort. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	824	switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	825
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	826	case 0:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	827	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	828	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	829	/* Receiving a download segment data. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	830	/* A SDO transfert should have been yet initiated. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	831	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	832	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	833	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	834	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	835	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	836	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	837	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	838	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	839	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	840	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	841	RestartSDO_TIMER(line)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	842	MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	843	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	844	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	845	/* Toggle test. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	846	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	847	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	848	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	849	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	850	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	851	/* Nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	852	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	853	/* Store the data in the transfert structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	854	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	855	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	856	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	857	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	858	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	859	/* Sending the SDO response, CS = 1 */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	860	sdo.nodeId = d->bDeviceNodeId; / The node id of the server, (here it is the sender). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	861	sdo.body.data[0] = (1 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	862	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	863	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	864	MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	865	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	866	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	867	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	868	/* If it was the last segment, */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	869	if (getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	870	/* Transfering line data to object dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	871	/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	872	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	873	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	874	MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	875	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	876	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	877	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	878	/* Release of the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	879	resetSDOline(d, line);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	880	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	881	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	882	} /* end if SERVER */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	883	else { /* if CLIENT */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	884	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	885	/* It is a request for a previous upload segment. We should find a line opened for this.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	886	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	887	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	888	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	889	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	890	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	891	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	892	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	893	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	894	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	895	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	896	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	897	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	898	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	899	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	900	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	901	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	902	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	903	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	904	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	905	nbBytes = 7 - getSDOn3(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	906	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	907	err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	908	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	909	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	910	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	911	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	912	/* Inverting the toggle for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	913	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	914	/* If it was the last segment,*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	915	if ( getSDOc(m->data[0])) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	916	/* Put in state finished */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	917	/* The code is safe for the case e=s=0 in initiate frame. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	918	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	919	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	920	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	921
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	922	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	923	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	924	else { /* more segments to receive */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	925	/* Sending the request for the next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	926	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	927	sdo.body.data[0] = (3 << 5) \| (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	928	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	929	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	930	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	931	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	932	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	933	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	934	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	935
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	936	case 1:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	937	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	938	/* Receive of an initiate download */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	939	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	940	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	941	subIndex = getSDOsubIndex(m->data[3]);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	942	MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	943	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	944	MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	945	MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	946
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	947	/* Search if a SDO transfert have been yet initiated */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	948	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	949	if (! err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	950	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	951	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	952	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	953	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	954	/* No line on use. Great ! */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	955	/* Try to open a new line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	956	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	957	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	958	MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	959	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	960	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	961	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	962	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	963
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	964	if (getSDOe(m->data[0])) { /* If SDO expedited */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	965	/* nb of data to be downloaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	966	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	967	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	968	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	969	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	970
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	971	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	972	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	973	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	974	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	975
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	976	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	977	/The line will be reseted when it is downloading in the dictionary. /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	978	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	979	/* Transfering line data to object dictionary. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	980	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	981	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	982	MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	983	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	984	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	985	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	986	/* Release of the line. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	987	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	988	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	989	else {/* So, if it is not an expedited transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	990	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	991	nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	992	err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	993	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	994	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	995	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	996	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	997	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	998	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	999	/Sending a SDO, cs=3/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1000	sdo.nodeId = d->bDeviceNodeId; / The node id of the server, (here it is the sender).*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1001	sdo.body.data[0] = 3 << 5;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1002	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1003	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1004	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1005	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1006	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1007	sendSDO(d, whoami, sdo);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1008	} /* end if I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1009	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1010	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1011	/* It is a response for a previous download segment. We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1012	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1013	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1014	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1015	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1016	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1017	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1018	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1019	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1020	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1021	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1022	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1023	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1024	/* test of the toggle; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1025	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1026	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1027	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1028	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1029	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1030
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1031	/* End transmission or downloading next segment. We need to know if it will be the last one. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1032	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1033	if (nbBytes == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1034	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1035	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1036	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1037	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1038	return 0x00;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1039	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1040	/* At least one transfer to send. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1041	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1042	/* several segments to download.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1043	/* code to send the next segment. (cs = 0; c = 0) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1044	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1045	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1046	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1047	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1048	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1049	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1050	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1051	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1052	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1053	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1054	/* Last segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1055	/* code to send the last segment. (cs = 0; c = 1)*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1056	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1057	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1058	sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1059	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1060	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1061	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1062	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1063	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1064	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1065	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1066	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1067	MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1068	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1069	} /* end if I am a CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1070	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1071
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1072	case 2:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1073	/* I am SERVER */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1074	/* Receive of an initiate upload.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1075	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1076	index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1077	subIndex = getSDOsubIndex(m->data[3]);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1078	MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1079	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1080	MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1081	MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1082	/* Search if a SDO transfert have been yet initiated*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1083	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1084	if (! err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1085	MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1086	MSG_WAR(0x3A93, "nodeId = ", nodeId);
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	1087	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 6 diff changeset	1088	return 0xFF;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1089	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1090	/* No line on use. Great !*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1091	/* Try to open a new line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1092	err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1093	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1094	MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1095	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1096	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1097	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1098	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1099	/* Transfer data from dictionary to the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1100	errorCode = objdictToSDOline(d, line);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1101
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1102	if (errorCode) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1103	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1104	errorCode);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1105	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1106	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1107	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1108	/* Preparing the response.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1109	getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1110	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1111	if (nbBytes > 4) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1112	/* normal transfert. (segmented). */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1113	/* code to send the initiate upload response. (cs = 2) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1114	sdo.body.data[0] = (2 << 5) \| 1;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1115	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1116	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1117	sdo.body.data[3] = subIndex;
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1118	sdo.body.data[4] = (UNS8)nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1119	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1120	/* in the object dictionary, at every index and subindex. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1121	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1122	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1123	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1124	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1125	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1126	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1127	/* Expedited upload. (cs = 2 ; e = 1) */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1128	sdo.body.data[0] = (UNS8)((2 << 5) \| ((4 - nbBytes) << 2) \| 3);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1129	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1130	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1131	sdo.body.data[3] = subIndex;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1132	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1133	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1134	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1135	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1136	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1137	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1138	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1139	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1140	nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1141	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1142	/* Release the line.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1143	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1144	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1145	} /* end if I am SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1146	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1147	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1148	/* It is the response for the previous initiate upload request.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1149	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1150	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1151	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1152	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1153	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1154	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1155	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1156	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1157	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1158	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1159	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1160	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1161	subIndex = d->transfers[line].subIndex;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1162
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1163	if (getSDOe(m->data[0])) { /* If SDO expedited */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1164	/* nb of data to be uploaded */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1165	nbBytes = 4 - getSDOn2(m->data[0]);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1166	/* Storing the data in the line structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1167	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1168	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1169	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1170	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1171	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1172	/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1173	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1174	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1175	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1176	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1177	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1178	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1179	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1180	else { /* So, if it is not an expedited transfert */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1181	/* Storing the nb of data to receive. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1182	if (getSDOs(m->data[0])) {
604 96e632bc1e58 Fixed casts subject to problems on some compilers. edouard parents: 597 diff changeset	1183	nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1184	err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1185	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1186	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1187	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1188	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1189	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1190	/* Requesting next segment. (cs = 3) */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1191	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1192	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1193	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1194	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1195	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1196	sendSDO(d, whoami, sdo);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1197	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1198	} /* End if CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1199	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1200
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1201	case 3:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1202	/* I am SERVER */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1203	if (whoami == SDO_SERVER) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1204	/* Receiving a upload segment. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1205	/* A SDO transfert should have been yet initiated. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1206	err = getSDOlineOnUse( d, nodeId, whoami, &line );
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1207	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1208	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1209	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1210	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1211	nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1212	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1213	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1214	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1215	/* Reset the wathdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1216	RestartSDO_TIMER(line)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1217	MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1218	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1219	subIndex = d->transfers[line].subIndex;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1220	/* Toggle test.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1221	if (d->transfers[line].toggle != getSDOt(m->data[0])) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1222	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1223	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1224	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1225	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1226	/* Uploading next segment. We need to know if it will be the last one. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1227	getSDOlineRestBytes(d, line, &nbBytes);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1228	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1229	/* The segment to transfer is not the last one.*/
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1230	/* code to send the next segment. (cs = 0; c = 0) */
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1231	sdo.nodeId = nodeId; /* The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1232	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1233	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1234	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1235	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1236	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1237	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1238	/* Inverting the toggle for the next tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1239	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1240	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1241	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1242	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1243	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1244	/* Last segment. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1245	/* code to send the last segment. (cs = 0; c = 1) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1246	sdo.nodeId = nodeId; /** The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1247	sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1248	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1249	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1250	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1251	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1252	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1253	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1254	sdo.body.data[i] = 0;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1255	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1256	sendSDO(d, whoami, sdo);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1257	/* Release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1258	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1259	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1260	} /* end if SERVER*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1261	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1262	/* I am CLIENT */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1263	/* It is the response for the previous initiate download request. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1264	/* We should find a line opened for this. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1265	err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1266	if (!err)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1267	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1268	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1269	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1270	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1271	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1272	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1273	/* Reset the watchdog */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1274	RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1275	index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1276	subIndex = d->transfers[line].subIndex;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1277	/* End transmission or requesting next segment. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1278	getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1279	if (nbBytes == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1280	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1281	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1282	d->transfers[line].state = SDO_FINISHED;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1283	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1284	return 0x00;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1285	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1286	if (nbBytes > 7) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1287	/* more than one request to send */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1288	/* code to send the next segment. (cs = 0; c = 0) */
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1289	sdo.nodeId = nodeId; /** The server node Id; */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1290	sdo.body.data[0] = (d->transfers[line].toggle << 4);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1291	err = lineToSDO(d, line, 7, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1292	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1293	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1294	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1295	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1296	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1297	else {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1298	/* Last segment.*/
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1299	/* code to send the last segment. (cs = 0; c = 1) */
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1300	sdo.nodeId = nodeId; /* The server node Id; */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1301	sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) \| ((7 - nbBytes) << 1) \| 1);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1302	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1303	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1304	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1305	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1306	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1307	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1308	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1309	}
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1310	MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1311	sendSDO(d, whoami, sdo);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1312
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1313	} /* end if I am a CLIENT */
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1314	break;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1315
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1316	case 4:
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1317	abortCode =
435 509158e51940 Fixed suspicious code in sdo.c etisserant parents: 402 diff changeset	1318	(UNS32)m->data[4] \|
82 81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1319	((UNS32)m->data[5] << 8) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1320	((UNS32)m->data[6] << 16) \|
81505425b1e5 16 bits arch compatibility and unused variables frdupin parents: 71 diff changeset	1321	((UNS32)m->data[7] << 24);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1322	/* Received SDO abort. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1323	/* Looking for the line concerned. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1324	if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1325	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1326	if (!err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1327	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1328	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1329	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1330	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1331	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1332	/* Tips : The end user has no way to know that the server node has received an abort SDO. */
f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1333	/* Its is ok, I think.*/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1334	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1335	else { /* If I am CLIENT */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1336	err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1337	if (!err) {
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1338	/* The line must be released by the core program. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1339	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1340	d->transfers[line].state = SDO_ABORTED_RCV;
166 b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c. etisserant parents: 163 diff changeset	1341	d->transfers[line].abortCode = abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1342	MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
163 212a9ea3b968 Added SDO network dictionnary access callback when aborded. etisserant parents: 154 diff changeset	1343	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1344	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1345	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1346	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1347	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1348	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1349	default:
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1350	/* Error : Unknown cs */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1351	MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1352	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1353
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1354	} /* End switch */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1355	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1356	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1357
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1358	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1359	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1360	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1361	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1362	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1363	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1364	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1365	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1366	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1367	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1368	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1369	** @param endianize
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1370	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1371	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1372	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1373	INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1374	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1375	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1376	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1377	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1378	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1379	s_SDO sdo; /* SDO to transmit */
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1380	UNS8 i;
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1381	UNS32 j;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1382	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1383	UNS16 offset;
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1384	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1385	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1386
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1387	MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1388	MSG_WAR(0x3AC1, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1389	MSG_WAR(0x3AC2, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1390	MSG_WAR(0x3AC3, " nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1391
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1392	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1393	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1394	if (!err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1395	MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1396	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1397	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1398	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1399	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1400	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1401	MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1402	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1403	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1404	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1405	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1406	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1407	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1408	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1409	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1410	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1411	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1412	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1413	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1414	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1415	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1416	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1417	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1418	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1419	nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1420	MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1421	MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1422
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1423	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1424	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1425	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1426	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1427	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1428	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1429	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1430	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1431	MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1432	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1433	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1434	MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1435	initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1436	d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1437	d->transfers[line].dataType = dataType;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1438
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1439	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1440	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1441	UNS8* lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1442	if (count > SDO_MAX_LENGTH_TRANSFERT)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1443	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1444	d->transfers[line].dynamicData = (UNS8*) malloc(count);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1445	d->transfers[line].dynamicDataSize = count;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1446	if (d->transfers[line].dynamicData == NULL)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1447	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1448	MSG_ERR(0x1AC9, "SDO. Error. Could not allocate enough bytes : ", count);
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1449	return 0xFE;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1450	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1451	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1452	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1453	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1454
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1455	/* Copy data to transfers structure. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1456	for (j = 0 ; j < count ; j++) {
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1457	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1458	# ifdef CANOPEN_BIG_ENDIAN
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1459	if (dataType == 0 && endianize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1460	lineData[count - 1 - j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1461	else /* String of bytes. */
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1462	lineData[j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1463	# else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1464	lineData[j] = ((char *)data)[j];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1465	# endif
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1466	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1467	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1468	# ifdef CANOPEN_BIG_ENDIAN
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1469	if (dataType == 0 && endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1470	d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1471	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1472	d->transfers[line].data[j] = ((char *)data)[j];
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1473	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1474	d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1475	# endif
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1476	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1477	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1478	/* Send the SDO to the server. Initiate download, cs=1. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1479	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1480	if (count <= 4) { /* Expedited transfert */
587 c175351a6994 fix warnings with msvc compiler greg parents: 544 diff changeset	1481	sdo.body.data[0] = (UNS8)((1 << 5) \| ((4 - count) << 2) \| 3);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1482	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1483	sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1484	d->transfers[line].offset = count;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1485	}
208 05d95c45b388 Manual convertion -> latex -> pdf nico parents: 174 diff changeset	1486	else { /** Normal transfert */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1487	sdo.body.data[0] = (1 << 5) \| 1;
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1488	for (i = 0 ; i < 4 ; i++)
651 2a36570aa68c FIXED: - bug while normal sdo transfer initialization (setting the byte count) Christian Taedcke parents: 636 diff changeset	1489	sdo.body.data[i+4] = (UNS8)((count >> (i<<3))); /* i8 /
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1490	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1491	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1492	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1493	sdo.body.data[3] = subIndex;
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1494
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1495	d->transfers[line].Callback = Callback;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1496
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1497	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1498	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1499	MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1500	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1501	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1502	return 0xFF;
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1503	}
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1504
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1505
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1506	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1507	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1508
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1509	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1510	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1511	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1512	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1513	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1514	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1515	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1516	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1517	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1518	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1519	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1520	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1521	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1522	UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1523	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1524	{
174 cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation etisserant parents: 172 diff changeset	1525	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1526	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1527
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1528	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1529	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1530	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1531	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1532	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1533	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1534	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1535	** @param count
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1536	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1537	** @param data
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1538	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1539	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1540	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1541	**/
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1542	UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1543	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1544	{
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1545	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1546	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1547
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1548	UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1549	UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1550	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1551	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1552	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1553	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1554	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1555	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1556
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1557	ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1558	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1559	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1560	offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1561	lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1562	if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1563	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1564	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1565	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1566	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1567	i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1568	while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1569	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1570	if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1571	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1572	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1573	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1574	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1575	nodeIdServer = (UNS8) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1576	if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1577	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1578	(UNS32)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1579	(UNS32)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1580	(UNS8) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1581	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1582	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1583	offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1584	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1585	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1586	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1587	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1588	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1589	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1590	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1591	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1592	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1593	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1594	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1595	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1596
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1597	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1598	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1599	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1600	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1601	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1602	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1603	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1604	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1605	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1606	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1607	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1608	**/
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1609	INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1610	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1611	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1612	UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1613	UNS8 i;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1614	UNS8 line;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1615	s_SDO sdo; /* SDO to transmit */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1616	UNS8 *pNodeIdServer;
adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1617	UNS8 nodeIdServer;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1618	UNS16 offset;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1619	UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1620	MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1621	MSG_WAR(0x3AD6, " At index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1622	MSG_WAR(0x3AD7, " subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1623
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1624
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1625	/* Verify that there is no SDO communication yet. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1626	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1627	if (!err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1628	MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1629	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1630	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1631	/* Taking the line ... */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1632	err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1633	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1634	MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1635	return (0xFF);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1636	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1637	else
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1638	MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1639
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1640	/* Check which SDO to use to communicate with the node */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1641	offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1642	lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1643	if (offset == 0) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1644	MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1645	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1646	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1647	i = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1648	while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1649	if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1650	MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1651	return 0xFF;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1652	}
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1653	/* looking for the nodeId server */
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1654	pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1655	nodeIdServer = *pNodeIdServer;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1656
311 adf4a929cf8b Bug on type inconsistency in SDO Client fixed lbessard parents: 306 diff changeset	1657	if(nodeIdServer == nodeId) {
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1658	SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1659	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1660	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1661	offset++;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1662	i++;
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1663	} /* end while */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1664	if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1665	MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1666	return 0xFE;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1667	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1668	MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1669	initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1670	getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1671	sdo.nodeId = nodeId;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1672	/* Send the SDO to the server. Initiate upload, cs=2. */
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1673	d->transfers[line].dataType = dataType;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1674	sdo.body.data[0] = (2 << 5);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1675	sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1676	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1677	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1678	for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1679	sdo.body.data[i] = 0;
154 1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c. etisserant parents: 149 diff changeset	1680	d->transfers[line].Callback = Callback;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1681	err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1682	if (err) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1683	MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71 95cd3376cc9f compilator compatitibility frdupin parents: 53 diff changeset	1684	/* release the line */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1685	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1686	return 0xFF;
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1687	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1688	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1689	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1690
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1691	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1692	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1693	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1694	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1695	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1696	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1697	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1698	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1699	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1700	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1701	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1702	UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1703	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1704	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1705	}
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1706
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1707	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1708	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1709	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1710	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1711	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1712	** @param index
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1713	** @param subIndex
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1714	** @param dataType
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1715	** @param Callback
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1716	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1717	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1718	**/
32 8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1719	UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1720	{
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1721	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks. etisserant parents: 31 diff changeset	1722	}
53 73bc47a0db55 Add prototypes frdupin parents: 32 diff changeset	1723
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1724	UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1725	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1726	UNS8 ret;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1727	UNS16 lastIndex;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1728	UNS16 offset;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1729	UNS8 nodeIdServer;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1730	UNS8 i;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1731
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1732	ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1733	if(ret == 0xFE)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1734	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1735	offset = d->firstIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1736	lastIndex = d->lastIndex->SDO_CLT;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1737	if (offset == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1738	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1739	MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1740	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1741	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1742	i = 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1743	while (offset <= lastIndex)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1744	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1745	if (d->objdict[offset].bSubCount <= 3)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1746	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1747	MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1748	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1749	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1750	nodeIdServer = (UNS8) d->objdict[offset].pSubindex[3].pObject;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1751	if(nodeIdServer == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1752	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1753	(UNS32)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1754	(UNS32)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1755	(UNS8) d->objdict[offset].pSubindex[3].pObject = nodeId;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1756	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1757	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1758	offset++;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1759	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1760	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1761	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1762	else if(ret == 0)
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1763	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1764	return 0;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1765	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1766	else
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1767	{
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1768	return 0xFF;
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1769	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1770	}
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1771
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1772	/*!
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1773	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1774	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1775	** @param d
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1776	** @param nodeId
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1777	** @param data
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1778	** @param size pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1779	** @param abortCode
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1780	**
b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1781	** @return
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1782	**/
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1783	UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1784	UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1785	{
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1786	UNS32 i;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1787	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1788	UNS8 line;
499 061f12bd838b getReadResultNetworkDict now returns abortcode. Now, abort message should be sent correctly from client. etisserant parents: 495 diff changeset	1789	* abortCode = 0;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1790
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1791	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1792	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1793	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1794	MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1795	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1796	}
503 8435a9ee54f8 Fixed (again) return of abortcode value in SDO's getReadResultNetworkDict etisserant parents: 501 diff changeset	1797	* abortCode = d->transfers[line].abortCode;
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1798	if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1799	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1800
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1801	/* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1802	if( d->transfers[line].count == 0)
7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1803	d->transfers[line].count = d->transfers[line].offset;
495 b2d6307a89fa Changed getReadResultNetworkDict behaviour about size. Do not copy more data than pointet by Size arg. etisserant parents: 481 diff changeset	1804	/* use transfers[line].count as max size */
539 187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1805	if( d->transfers[line].count < *size )
187058b4a4b8 Changed OD size from UNS8 to UNS32, and repercuted change to PDO and SDO. Thanks to Jari Kuusisto for patch. etisserant parents: 538 diff changeset	1806	*size = d->transfers[line].count;
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1807
544 7620872e153c Fixed bugs in SDO caused by UNS8->UNS32 size patch. etisserant parents: 539 diff changeset	1808	/* Copy payload to data pointer */
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1809	#ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1810	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1811	UNS8 *lineData = d->transfers[line].data;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1812
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1813	if (d->transfers[line].dynamicData && d->transfers[line].dynamicDataSize)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1814	{
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1815	lineData = d->transfers[line].dynamicData;
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1816	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1817	for ( i = 0 ; i < *size ; i++) {
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1818	# ifdef CANOPEN_BIG_ENDIAN
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1819	if (d->transfers[line].dataType != visible_string)
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1820	( (char ) data)[size - 1 - i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1821	else /* String of bytes. */
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1822	( (char *) data)[i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1823	# else
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1824	( (char *) data)[i] = lineData[i];
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1825	# endif
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1826	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1827	}
033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1828	#else //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1829	for ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1830	# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1831	if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1832	( (char ) data)[size - 1 - i] = d->transfers[line].data[i];
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1833	else /* String of bytes. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1834	( (char *) data)[i] = d->transfers[line].data[i];
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1835	# else
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1836	( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1837	# endif
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1838	}
636 033fe6f1ec3c ADDED: - dynamic memory allocation for sdo transfer using malloc and free Christian Taedcke parents: 627 diff changeset	1839	#endif //SDO_DYNAMIC_BUFFER_ALLOCATION
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1840	return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1841	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1842
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1843	/*!
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1844	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1845	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1846	** @param d
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1847	** @param nodeId
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1848	** @param abortCode
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1849	**
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1850	** @return
c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1851	**/
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1852	UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1853	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1854	UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1855	UNS8 err;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1856
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1857	* abortCode = 0;
215 f49e5a6b7804 Manual and Documentation finish nico parents: 208 diff changeset	1858	/* Looking for the line tranfert. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1859	err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1860	if (err) {
506 c17e2e17aca8 Patch from Jari K. implementing automatic SDO clien allocation, and add a new interface for (read/write)networkdict. etisserant parents: 503 diff changeset	1861	MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1862	return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1863	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1864	* abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1865	return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1866	}

author	Edouard Tisserant
	Thu, 23 Jun 2011 18:12:34 +0200
changeset 662	aad111ad0018
parent 657	c0e68a63f600
child 663	70fc3603e36f
permissions	-rw-r--r--