src/sdo.c
author etisserant
Tue, 24 Apr 2007 16:49:40 +0200
changeset 175 e255529b6f7d
parent 174 cd1638bc0cb0
child 208 05d95c45b388
permissions -rw-r--r--
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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/* #define DEBUG_WAR_CONSOLE_ON */
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/* #define DEBUG_ERR_CONSOLE_ON */
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#include "objacces.h"
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#include "sdo.h"
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#include "canfestival.h"
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/* Uncomment if your compiler does not support inline functions */
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#define NO_INLINE 
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#ifdef NO_INLINE
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  #define INLINE 
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#else
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  #define INLINE inline
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#endif
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/*Internals prototypes*/
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/** Called by writeNetworkDict */
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INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
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		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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/** Called by readNetworkDict */
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INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, 
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	UNS8 dataType, SDOCallback_t Callback);
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/***************************************************************************/
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/* SDO (un)packing macros */
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/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO   
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 */
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#define getSDOcs(byte) (byte >> 5)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits   
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 */
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#define getSDOn2(byte) ((byte >> 2) & 3)
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/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits   
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 */
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#define getSDOn3(byte) ((byte >> 1) & 7)
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/** Returns the transfer type from the first byte of the SDO   
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 */
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#define getSDOe(byte) ((byte >> 1) & 1)
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/** Returns the size indicator from the first byte of the SDO   
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 */
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#define getSDOs(byte) (byte & 1)
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/** Returns the indicator of end transmission from the first byte of the SDO   
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 */
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#define getSDOc(byte) (byte & 1)
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/** Returns the toggle from the first byte of the SDO   
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 */
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#define getSDOt(byte) ((byte >> 4) & 1)
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/** Returns the index from the bytes 1 and 2 of the SDO   
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 */
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#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
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/** Returns the subIndex from the byte 3 of the SDO   
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 */
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#define getSDOsubIndex(byte3) (byte3)
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/***************************************************************************
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**
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*/
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void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
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{
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    MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
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    MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
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    MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
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    MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex); 
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    /* Reset timer handler */
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    d->transfers[id].timer = TIMER_NONE;
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    /*Set aborted state*/
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    d->transfers[id].state = SDO_ABORTED_INTERNAL;
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    /* Sending a SDO abort */
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    sendSDOabort(d, d->transfers[id].whoami, 
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		 d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
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    d->transfers[id].abortCode = SDOABT_TIMED_OUT;
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    /* Call the user function to inform of the problem.*/
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    if(d->transfers[id].Callback)
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    	/*If ther is a callback, it is responsible to close SDO transfer (client)*/
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    	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
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    else if(d->transfers[id].whoami == SDO_SERVER)
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    	/*Else, if server, reset the line*/
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    	resetSDOline(d, (UNS8)id);
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}
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#define StopSDO_TIMER(id) \
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MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
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d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
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#define StartSDO_TIMER(id) \
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MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
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d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
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#define RestartSDO_TIMER(id) \
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MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
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if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
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/***************************************************************************/
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/** Reset all sdo buffers
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 */
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void resetSDO (CO_Data* d)
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{
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  UNS8 j;
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  /* transfer structure initialization */
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    for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) 
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      resetSDOline(d, j);
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}
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/***************************************************************************/
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UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
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{
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  UNS8      size;
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  UNS32 errorCode;
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  MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
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  size = (UNS8)d->transfers[line].count;
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  errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, 
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			 (void *) d->transfers[line].data, &size, 1);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
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  return 0;
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}
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/***************************************************************************/
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UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
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{
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  UNS8  size = 0;
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  UNS8  dataType;
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  UNS32 errorCode;
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  MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
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  MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
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  errorCode = getODentry(d, 	d->transfers[line].index,
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  				d->transfers[line].subIndex,
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  				(void *)d->transfers[line].data,
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  				&size, &dataType, 0);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  d->transfers[line].count = size;
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  d->transfers[line].offset = 0;
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#if 0
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   /*Me laisser ça, please ! (FD)*/
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  {
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    UNS8 i;
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    for (i = 0 ; i < 10 ; i++) {
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      MSG_WAR(i, "data= ", d->transfers[line].data[i]);
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    }     
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  }
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#endif
0
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  return 0;
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}
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/***************************************************************************/
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UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
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  UNS8 i;
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  UNS8 offset;
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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    if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
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    MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
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    return 0xFF;
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  }
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  offset = (UNS8)d->transfers[line].offset;
0
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  for (i = 0 ; i < nbBytes ; i++) 
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    * (data + i) = d->transfers[line].data[offset + i];
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/***************************************************************************/
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UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
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{
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  UNS8 i;
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  UNS8 offset;
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  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
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    MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
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    return 0xFF;
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  }
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  offset = (UNS8)d->transfers[line].offset;
0
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  for (i = 0 ; i < nbBytes ; i++) 
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    d->transfers[line].data[offset + i] = * (data + i);
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  d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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  return 0;
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}
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/***************************************************************************/
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UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, 
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		UNS8 subIndex, UNS32 abortCode)
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{
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  UNS8 err;
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  UNS8 line;
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  err = getSDOlineOnUse( d, nodeId, whoami, &line );
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  if (!err) /* If a line on use have been found.*/
0
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    MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
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  if ((! err) && (whoami == SDO_SERVER)) {
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    resetSDOline( d, line );
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    MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
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  }
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  if ((! err) && (whoami == SDO_CLIENT)) {
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    StopSDO_TIMER(line);
0
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    d->transfers[line].state = SDO_ABORTED_INTERNAL;
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  }
0
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  MSG_WAR(0x3A22, "Sending SDO abort ", 0);
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  err = sendSDOabort(d, whoami, index, subIndex, abortCode);
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  if (err) {
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    MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
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    return 0xFF;
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  }
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  return 0;
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}
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/***************************************************************************/
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void resetSDOline ( CO_Data* d, UNS8 line )
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{
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  UNS8 i; 
1
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  MSG_WAR(0x3A25, "reset SDO line nb : ", line); 
0
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  initSDOline(d, line, 0, 0, 0, SDO_RESET);
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  for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
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    d->transfers[line].data[i] = 0;
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}
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/***************************************************************************/
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UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
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{
1
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  MSG_WAR(0x3A25, "init SDO line nb : ", line); 
0
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  if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
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  	StartSDO_TIMER(line)
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  }else{
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  	StopSDO_TIMER(line)
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  }
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  d->transfers[line].nodeId = nodeId; 
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  d->transfers[line].index = index;
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  d->transfers[line].subIndex = subIndex;
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  d->transfers[line].state = state;
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  d->transfers[line].toggle = 0;
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  d->transfers[line].count = 0;
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  d->transfers[line].offset = 0;
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  d->transfers[line].dataType = 0;
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  d->transfers[line].Callback = NULL;  
0
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  return 0;
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}
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/***************************************************************************/
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UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
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{
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  UNS8 i;
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  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
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    if ( d->transfers[i].state == SDO_RESET ) {
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      *line = i;
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      d->transfers[i].whoami = whoami;
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      return 0;
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    } /* end if */
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  } /* end for */
0
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  MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
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  return 0xFF;
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   298
}
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/***************************************************************************/
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UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
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{
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  UNS8 i;
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  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
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    if ( (d->transfers[i].state != SDO_RESET) &&
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   308
	 (d->transfers[i].nodeId == nodeId) && 
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	 (d->transfers[i].whoami == whoami) ) {
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      *line = i;
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      return 0;
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    }
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  } 
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  return 0xFF;
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   315
}
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/***************************************************************************/
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UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
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{
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  UNS8 err;
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  UNS8 line;
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  err = getSDOlineOnUse(d, nodeId, whoami, &line);
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   323
  if (err) {
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    MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); 
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    return 0xFF;
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   326
  }
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  resetSDOline(d, line);  
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   328
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   329
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   330
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   331
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   332
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   333
{
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   334
  if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   335
    * nbBytes = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   336
  else
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 87
diff changeset
   337
    * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   338
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   339
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   340
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   341
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   342
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   343
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   344
  if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   345
    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
   346
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   347
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   348
  d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   349
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   350
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   351
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   352
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   353
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   354
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   355
{	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   356
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   357
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   358
  UNS8 found = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   359
  Message m;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   360
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   361
  UNS32 * pwCobId = NULL;
87
074126d73842 little/big endian and nodeId
frdupin
parents: 86
diff changeset
   362
  UNS32 * pwNodeId = NULL;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   363
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   364
  MSG_WAR(0x3A38, "sendSDO",0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   365
  if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   366
    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
   367
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   368
  }  				
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   369
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   370
  /*get the server->client cobid*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   371
  if ( whoami == SDO_SERVER )	{/*case server. Easy because today only one server SDO is authorized in CanFestival*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   372
    offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   373
    if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   374
      MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   375
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   376
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   377
    pwCobId = d->objdict[offset].pSubindex[2].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   378
    MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   379
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   380
  else {			/*case client*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   381
    /* Get the client->server cobid.*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   382
    UNS16 sdoNum = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   383
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   384
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   385
    if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   386
      MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   387
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   388
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   389
    /* First, have to find at the index where is defined the communication with the server node */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   390
    while (offset <= lastIndex){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   391
      MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   392
      if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   393
	MSG_ERR(0x1A28, "Subindex 3  not found at index ", 0x1280 + sdoNum);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   394
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   395
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   396
      pwNodeId = d->objdict[offset].pSubindex[3].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   397
      MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   398
      if(*pwNodeId == sdo.nodeId) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   399
	found = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   400
	break;          
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   401
      }      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   402
      offset ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   403
      sdoNum ++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   404
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   405
    if (! found){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   406
      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
   407
      return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   408
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   409
    /* Second, read the cobid client->server */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   410
    pwCobId = d->objdict[offset].pSubindex[1].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   411
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   412
  /* message copy for sending */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   413
  m.cob_id.w = *pwCobId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   414
  m.rtr = NOT_A_REQUEST; 
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   415
  /* the length of SDO must be 8 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   416
  m.len = 8;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   417
  for (i = 0 ; i < 8 ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
    m.data[i] =  sdo.body.data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419
  }
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   420
  return canSend(d->canHandle,&m);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   421
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   422
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   423
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   424
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   425
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   426
  s_SDO sdo;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   427
  UNS8 ret;
1
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
etisserant
parents: 0
diff changeset
   428
  MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   429
  sdo.nodeId = *d->bDeviceNodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   430
  sdo.body.data[0] = 0x80;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   431
  /* Index */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   432
  sdo.body.data[1] = index & 0xFF; /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   433
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   434
  /* Subindex */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   435
  sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   436
  /* Data */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   437
  sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   438
  sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   439
  sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   440
  sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   441
  ret = sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   442
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   443
  return ret;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   444
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   445
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   446
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   447
UNS8 proceedSDO (CO_Data* d, Message *m)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   448
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   449
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   450
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   451
  UNS8 nbBytes; /* received or to be transmited. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   452
  UNS8 nodeId = 0;  /* The node from which the SDO is received */
87
074126d73842 little/big endian and nodeId
frdupin
parents: 86
diff changeset
   453
  UNS32 nodeId_32; /* node id in 32 bits, for temporary use */
074126d73842 little/big endian and nodeId
frdupin
parents: 86
diff changeset
   454
  UNS32 *pNodeId = NULL;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   455
  UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   456
  UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   457
  s_SDO sdo;    /* SDO to transmit */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   458
  UNS16 index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   459
  UNS8 subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   460
  UNS32 abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   461
  UNS8 i,j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   462
  UNS32 *     pCobId = NULL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   463
  UNS16 offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   464
  UNS16 lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   465
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   466
  MSG_WAR(0x3A60, "proceedSDO ", 0);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   467
  whoami = SDO_UNKNOWN;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   468
  /* Looking for the cobId in the object dictionary. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   469
  /* Am-I a server ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   470
  offset = d->firstIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   471
  lastIndex = d->lastIndex->SDO_SVR;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   472
  j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   473
  if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   474
     if (d->objdict[offset].bSubCount <= 1) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   475
	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   476
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   477
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   478
      pCobId = d->objdict[offset].pSubindex[1].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   479
      if ( *pCobId == (*m).cob_id.w ) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   480
	whoami = SDO_SERVER;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   481
	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   482
	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   483
	/* 0x1200 where the cobid received is defined. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   484
	nodeId = j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   485
	break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   486
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   487
      j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   488
      offset++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   489
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   490
  if (whoami == SDO_UNKNOWN) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   491
    /* Am-I client ? */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   492
    offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   493
    lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   494
    j = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   495
    if(offset) while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   496
       if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   497
	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   498
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   499
       }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   500
       /* a) Looking for the cobid received. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   501
       pCobId = d->objdict[offset].pSubindex[2].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   502
       if (*pCobId == (*m).cob_id.w ) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   503
	 /* b) cobid found, so reading the node id of the server. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   504
	 pNodeId = d->objdict[offset].pSubindex[3].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   505
	 whoami = SDO_CLIENT;
87
074126d73842 little/big endian and nodeId
frdupin
parents: 86
diff changeset
   506
	 nodeId_32 = *pNodeId;
074126d73842 little/big endian and nodeId
frdupin
parents: 86
diff changeset
   507
	 nodeId = (UNS8)nodeId_32;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   508
	 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   509
	 MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   510
	 break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   511
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   512
       j++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   513
       offset++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   514
    } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   515
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   516
  if (whoami == SDO_UNKNOWN) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   517
    return 0xFF;/* This SDO was not for us ! */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   518
  }
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   519
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   520
  /* Test if the size of the SDO is ok */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   521
  if ( (*m).len != 8) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   522
    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", (*m).cob_id.w);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   523
    failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   524
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   525
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   526
  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   527
  if (whoami == SDO_CLIENT) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   528
    MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   529
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   530
  else {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   531
    MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   532
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   533
    
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   534
  /* Testing the command specifier */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   535
  /* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   536
  /* cs = other : Not allowed -> abort. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   537
  switch (getSDOcs(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   538
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   539
  case 0:
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   540
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   541
    if (whoami == SDO_SERVER) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   542
      /* Receiving a download segment data. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   543
      /* A SDO transfert should have been yet initiated. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   544
      err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   545
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   546
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   547
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   548
	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   549
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   550
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   551
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   552
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   553
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   554
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   555
      MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   556
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   557
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   558
      /* Toggle test. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   559
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   560
	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   561
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   562
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   563
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   564
      /* Nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   565
      nbBytes = 7 - getSDOn3(m->data[0]);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   566
      /* Store the data in the transfert structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   567
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   568
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   569
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   570
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   571
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   572
      /* Sending the SDO response, CS = 1 */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   573
      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
   574
      sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   575
      for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   576
	sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   577
      MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   578
      sendSDO(d, whoami, sdo);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   579
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   580
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   581
      /* If it was the last segment, */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   582
      if (getSDOc(m->data[0])) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   583
	/* Transfering line data to object dictionary. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   584
	/* 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
   585
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   586
	if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   587
	  MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   588
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   589
	  return 0xFF;	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   590
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   591
	/* Release of the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   592
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   593
	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   594
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   595
    } /* end if SERVER */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   596
    else { /* if CLIENT */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   597
      /* I am CLIENT */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   598
      /* 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
   599
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   600
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   601
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   602
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   603
	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   604
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   605
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   606
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   607
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   608
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   609
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   610
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   611
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   612
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   613
	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   614
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   615
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   616
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   617
      /* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   618
      nbBytes = 7 - getSDOn3(m->data[0]);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   619
      /* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   620
      err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   621
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   622
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   623
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   624
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   625
      /* Inverting the toggle for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   626
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   627
      /* If it was the last segment,*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   628
      if ( getSDOc(m->data[0])) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   629
	/* Put in state finished */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   630
	/* The code is safe for the case e=s=0 in initiate frame. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   631
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   632
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   633
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   634
	
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   635
	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   636
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   637
      else { /* more segments to receive */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   638
	     /* Sending the request for the next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   639
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   640
	sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   641
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   642
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   643
	sendSDO(d, whoami, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   644
	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   645
      }            
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   646
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   647
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   648
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   649
  case 1:
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   650
    /* I am SERVER */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   651
    /* Receive of an initiate download */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   652
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   653
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   654
      subIndex = getSDOsubIndex(m->data[3]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   655
      MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   656
	      nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   657
      MSG_WAR(0x3A80, "Writing at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   658
      MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   659
      
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   660
      /* Search if a SDO transfert have been yet initiated */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   661
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   662
      if (! err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   663
	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   664
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   665
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   666
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   667
      /* No line on use. Great ! */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   668
      /* Try to open a new line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   669
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   670
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   671
	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
   672
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   673
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   674
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   675
      initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   676
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   677
      if (getSDOe(m->data[0])) { /* If SDO expedited */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   678
	/* nb of data to be downloaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   679
	nbBytes = 4 - getSDOn2(m->data[0]);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   680
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   681
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   682
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   683
	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   684
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   685
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   686
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   687
	}	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   688
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   689
	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   690
	/* The line will be reseted when it is downloading in the dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   691
	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   692
	/* Transfering line data to object dictionary. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   693
	errorCode = SDOlineToObjdict(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   694
	if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   695
	  MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   696
	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   697
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   698
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   699
	/* Release of the line. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   700
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   701
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   702
      else {/* So, if it is not an expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   703
	if (getSDOs(m->data[0])) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   704
	  /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   705
	  nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   706
	  err = setSDOlineRestBytes(d, nodeId, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   707
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   708
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   709
	    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   710
	  }	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   711
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   712
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   713
      /*Sending a SDO, cs=3*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   714
      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
   715
      sdo.body.data[0] = 3 << 5;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   716
      sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   717
      sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   718
      sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   719
      for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   720
		sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   721
      sendSDO(d, whoami, sdo);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   722
    } /* end if I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   723
    else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   724
      /* I am CLIENT */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   725
      /* 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
   726
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   727
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   728
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   729
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   730
	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   731
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   732
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   733
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   734
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   735
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   736
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   737
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   738
      /* test of the toggle; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   739
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   740
	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   741
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   742
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   743
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   744
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   745
      /* 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
   746
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   747
      if (nbBytes == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   748
	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   749
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   750
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   751
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   752
	return 0x00;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   753
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   754
      /* At least one transfer to send.	*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   755
      if (nbBytes > 7) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   756
	/* several segments to download.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   757
	/* code to send the next segment. (cs = 0; c = 0) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   758
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   759
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   760
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   761
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   762
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   763
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   764
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   765
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   766
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   767
      else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   768
	/* Last segment. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   769
	/* code to send the last segment. (cs = 0; c = 1)*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   770
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   771
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   772
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   773
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   774
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   775
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   776
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   777
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   778
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   779
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   780
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   781
      MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   782
      sendSDO(d, whoami, sdo); 
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   783
    } /* end if I am a CLIENT */			  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   784
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   785
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   786
  case 2:
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   787
    /* I am SERVER */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   788
    /* Receive of an initiate upload.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   789
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   790
      index = getSDOindex(m->data[1],m->data[2]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   791
      subIndex = getSDOsubIndex(m->data[3]);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   792
      MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   793
	      nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   794
      MSG_WAR(0x3A90, "Reading at index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   795
      MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   796
      /* Search if a SDO transfert have been yet initiated*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   797
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   798
      if (! err) {
12
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   799
	    MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); 
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   800
        MSG_WAR(0x3A93, "nodeId = ", nodeId); 
12
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   801
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN :
dejoigny
parents: 6
diff changeset
   802
	    return 0xFF;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   803
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   804
      /* No line on use. Great !*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   805
      /* Try to open a new line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   806
      err = getSDOfreeLine( d, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   807
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   808
	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
   809
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   810
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   811
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   812
      initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   813
      /* Transfer data from dictionary to the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   814
      errorCode = objdictToSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   815
     
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   816
      if (errorCode) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   817
	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   818
		errorCode); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   819
	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   820
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   821
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   822
      /* Preparing the response.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   823
      getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   824
      sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   825
      if (nbBytes > 4) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   826
	/* normal transfert. (segmented). */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   827
	/* code to send the initiate upload response. (cs = 2) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   828
	sdo.body.data[0] = (2 << 5) | 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   829
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   830
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   831
	sdo.body.data[3] = subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   832
        sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   833
	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   834
	/* in the object dictionary, at every index and subindex. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   835
	for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   836
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   837
	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   838
	sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   839
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   840
      else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   841
	/* Expedited upload. (cs = 2 ; e = 1) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   842
	sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;  
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   843
	sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   844
	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   845
	sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   846
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   847
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   848
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   849
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   850
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   851
	for (i = 4 + nbBytes ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   852
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   853
	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   854
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   855
	sendSDO(d, whoami, sdo); 
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   856
	/* Release the line.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   857
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   858
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   859
    } /* end if I am SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   860
    else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   861
      /* I am CLIENT */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   862
      /* It is the response for the previous initiate upload request.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   863
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   864
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   865
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   866
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   867
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   868
	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   869
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   870
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   871
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   872
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   873
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   874
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   875
      subIndex = d->transfers[line].subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   876
      
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   877
      if (getSDOe(m->data[0])) { /* If SDO expedited */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   878
	/* nb of data to be uploaded */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   879
	  nbBytes = 4 - getSDOn2(m->data[0]);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   880
	/* Storing the data in the line structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   881
	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   882
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   883
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   884
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   885
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   886
	/* SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict(). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   887
	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   888
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   889
	d->transfers[line].count = nbBytes;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   890
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   891
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   892
	return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   893
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   894
      else { /* So, if it is not an expedited transfert */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   895
	/* Storing the nb of data to receive. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   896
	if (getSDOs(m->data[0])) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   897
	  nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   898
	  err = setSDOlineRestBytes(d, line, nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   899
	  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   900
	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   901
	    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   902
	  }	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   903
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   904
	/* Requesting next segment. (cs = 3) */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   905
	sdo.nodeId = nodeId;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   906
	sdo.body.data[0] = 3 << 5;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   907
	for (i = 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   908
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   909
	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   910
	sendSDO(d, whoami, sdo);  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   911
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   912
    } /* End if CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   913
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   914
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   915
  case 3:
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   916
    /* I am SERVER */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   917
    if (whoami == SDO_SERVER) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   918
      /* Receiving a upload segment. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   919
      /* A SDO transfert should have been yet initiated. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   920
      err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   921
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   922
	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   923
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   924
	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   925
		nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   926
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   927
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   928
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   929
      /* Reset the wathdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   930
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   931
      MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   932
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   933
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   934
      /* Toggle test.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   935
      if (d->transfers[line].toggle != getSDOt(m->data[0])) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   936
	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   937
	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   938
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   939
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   940
      /* Uploading next segment. We need to know if it will be the last one. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   941
      getSDOlineRestBytes(d, line, &nbBytes);	  	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   942
      if (nbBytes > 7) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   943
	/* The segment to transfer is not the last one.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   944
	/* code to send the next segment. (cs = 0; c = 0) */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   945
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   946
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   947
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   948
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   949
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   950
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   951
	}
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   952
	/* Inverting the toggle for the next tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   953
	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   954
	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   955
	sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   956
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   957
      else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   958
	/* Last segment. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   959
	/* code to send the last segment. (cs = 0; c = 1) */	    
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   960
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   961
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   962
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   963
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   964
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   965
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   966
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   967
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   968
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   969
	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);      
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   970
	sendSDO(d, whoami, sdo);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   971
	/* Release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   972
	resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   973
      }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   974
    } /* end if SERVER*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   975
    else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   976
      /* I am CLIENT */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   977
      /* It is the response for the previous initiate download request. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   978
      /* We should find a line opened for this. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   979
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   980
      if (!err)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   981
	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   982
      if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   983
	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   984
	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   985
	return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   986
      }
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
   987
      /* Reset the watchdog */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   988
      RestartSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   989
      index = d->transfers[line].index;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   990
      subIndex = d->transfers[line].subIndex;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
   991
      /* End transmission or requesting  next segment. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   992
      getSDOlineRestBytes(d, line, &nbBytes);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   993
      if (nbBytes == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   994
	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   995
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   996
	d->transfers[line].state = SDO_FINISHED;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   997
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   998
	return 0x00;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   999
      }	  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1000
      if (nbBytes > 7) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1001
	/* more than one request to send */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1002
	/* code to send the next segment. (cs = 0; c = 0)	*/    
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1003
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1004
	sdo.body.data[0] = (d->transfers[line].toggle << 4);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1005
	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1006
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1007
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1008
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1009
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1010
      } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1011
      else {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1012
	/* Last segment.*/
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1013
	/* code to send the last segment. (cs = 0; c = 1)	*/   
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1014
	sdo.nodeId = nodeId; /* The server node Id; */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1015
	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1016
	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1017
	if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1018
	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1019
	  return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1020
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1021
	for (i = nbBytes + 1 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1022
	  sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1023
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1024
      MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1025
      sendSDO(d, whoami, sdo); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1026
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1027
    } /* end if I am a CLIENT		*/	  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1028
    break;  
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1029
82
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1030
   case 4:
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1031
     abortCode = (*m).data[3] |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1032
      ((UNS32)m->data[5] << 8) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1033
      ((UNS32)m->data[6] << 16) |
81505425b1e5 16 bits arch compatibility and unused variables
frdupin
parents: 71
diff changeset
  1034
      ((UNS32)m->data[7] << 24);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1035
    /* Received SDO abort. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1036
    /* Looking for the line concerned. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1037
    if (whoami == SDO_SERVER) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1038
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1039
      if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1040
	resetSDOline( d, line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1041
	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1042
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1043
      else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1044
	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1045
      /* Tips : The end user has no way to know that the server node has received an abort SDO. */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1046
      /* Its is ok, I think.*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1047
    }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1048
    else { /* If I am CLIENT */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1049
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1050
      if (!err) {
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1051
	/* The line *must* be released by the core program. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1052
	StopSDO_TIMER(line)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1053
	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
  1054
	d->transfers[line].abortCode = abortCode;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1055
	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
  1056
	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1057
      }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1058
      else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1059
	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1060
    } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1061
    break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1062
  default:
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1063
    /* Error : Unknown cs */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1064
    MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1065
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1066
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1067
  } /* End switch */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1068
  return 0;     
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1069
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1070
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1071
/*******************************************************************)******/
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1072
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1073
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1074
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1075
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1076
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1077
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1078
  s_SDO sdo;    /* SDO to transmit */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1079
  UNS8 i, j;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1080
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1081
  UNS16     offset;
86
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1082
  UNS32      *pNodeIdServer;
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1083
  UNS32      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1084
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1085
  MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1086
  MSG_WAR(0x3AC1, "                                   At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1087
  MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1088
  MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1089
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1090
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1091
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1092
  if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1093
    MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1094
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1095
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1096
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1097
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1098
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1099
    MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1100
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1101
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1102
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1103
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1104
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1105
  if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1106
    MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1107
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1108
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1109
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1110
   while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1111
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1112
	 MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1113
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1114
     }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1115
     /* looking for the nodeId server */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1116
     pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1117
     nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1118
     MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1119
     MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1120
   
86
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1121
    if(nodeIdServer == (UNS32)nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1122
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1123
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1124
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1125
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1126
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1127
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1128
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1129
    MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1130
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1131
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1132
  MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1133
  initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1134
  d->transfers[line].count = count;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1135
  d->transfers[line].dataType = dataType;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1136
  
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1137
  /* Copy data to transfers structure. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1138
  for (j = 0 ; j < count ; j++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1139
# ifdef CANOPEN_BIG_ENDIAN
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1140
    if (dataType == 0 && endianize)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1141
      d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1142
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1143
      d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1144
#  else 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1145
    d->transfers[line].data[j] = ((char *)data)[j];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1146
#  endif
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1147
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1148
  /* Send the SDO to the server. Initiate download, cs=1. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1149
  sdo.nodeId = nodeId;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1150
  if (count <= 4) { /* Expedited transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1151
    sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1152
    for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1153
      sdo.body.data[i] = d->transfers[line].data[i - 4];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1154
    d->transfers[line].offset = count;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1155
  }	
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1156
  else { /* Normal transfert */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1157
    sdo.body.data[0] = (1 << 5) | 1;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1158
    sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1159
    for (i = 5 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1160
      sdo.body.data[i] = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1161
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1162
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1163
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1164
  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
  1165
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1166
  d->transfers[line].Callback = Callback;
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1167
    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1168
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1169
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1170
    MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1171
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1172
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1173
    return 0xFF;
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1174
  }
154
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1175
1b3165f2d17d Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
etisserant
parents: 149
diff changeset
  1176
  
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1177
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1178
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1179
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1180
/*--------------------------------------------------------------------------*/
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1181
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1182
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1183
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1184
{
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1185
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1186
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1187
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1188
/*--------------------------------------------------------------------------*/
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1189
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1190
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, 
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1191
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1192
{
174
cd1638bc0cb0 Added _writenetworkdictionary option to avoir endianiation
etisserant
parents: 172
diff changeset
  1193
	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);	
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1194
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1195
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1196
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1197
/***************************************************************************/
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1198
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
  1199
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1200
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1201
  UNS8 SDOfound = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1202
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1203
  UNS8 line;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1204
  s_SDO sdo;    /* SDO to transmit */
86
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1205
  UNS32      *pNodeIdServer;
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1206
  UNS32      nodeIdServer;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1207
  UNS16     offset;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1208
  UNS16     lastIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1209
  MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1210
  MSG_WAR(0x3AD6, "                                  At index : ", index);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1211
  MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1212
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1213
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1214
  /* Verify that there is no SDO communication yet. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1215
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1216
  if (!err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1217
    MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1218
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1219
  }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1220
  /* Taking the line ... */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1221
  err = getSDOfreeLine( d, SDO_CLIENT, &line );
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1222
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1223
    MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1224
    return (0xFF);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1225
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1226
  else
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1227
    MSG_WAR(0x3AE0, "Transmission on line : ", line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1228
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1229
  /* Check which SDO to use to communicate with the node */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1230
  offset = d->firstIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1231
  lastIndex = d->lastIndex->SDO_CLT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1232
  if (offset == 0) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1233
    MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1234
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1235
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1236
  i = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1237
  while (offset <= lastIndex) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1238
     if (d->objdict[offset].bSubCount <= 3) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1239
	 MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1240
	 return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1241
     }
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1242
     /* looking for the nodeId server */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1243
     pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1244
     nodeIdServer = *pNodeIdServer;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1245
   
86
683702a46416 big endian bogue : nodeIdServer in now in 32 bits
frdupin
parents: 84
diff changeset
  1246
    if(nodeIdServer == (UNS32)nodeId) {
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1247
      SDOfound = 1;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1248
      break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1249
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1250
    offset++;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1251
    i++;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1252
  } /* end while */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1253
  if (!SDOfound) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1254
    MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1255
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1256
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1257
  MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1258
  initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1259
  getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1260
  sdo.nodeId = nodeId;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1261
  /* Send the SDO to the server. Initiate upload, cs=2. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1262
  d->transfers[line].dataType = dataType;				
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1263
  sdo.body.data[0] = (2 << 5);	
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1264
  sdo.body.data[1] = index & 0xFF;        /* LSB */
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1265
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1266
  sdo.body.data[3] = subIndex;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1267
  for (i = 4 ; i < 8 ; i++)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1268
    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
  1269
  d->transfers[line].Callback = Callback;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1270
  err = sendSDO(d, SDO_CLIENT, sdo);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1271
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1272
    MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1273
    /* release the line */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1274
    resetSDOline(d, line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1275
    return 0xFF;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1276
  }		
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1277
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1278
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1279
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1280
/*--------------------------------------------------------------------------*/
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1281
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1282
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1283
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1284
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1285
}
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1286
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1287
/*--------------------------------------------------------------------------*/
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1288
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1289
{
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1290
	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
  1291
}
53
73bc47a0db55 Add prototypes
frdupin
parents: 32
diff changeset
  1292
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1293
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1294
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1295
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1296
			       UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1297
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1298
  UNS8 i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1299
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1300
  UNS8 line;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1301
  * size = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1302
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1303
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1304
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1305
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1306
    MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1307
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1308
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1309
  if (d->transfers[line].state != SDO_FINISHED)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1310
    return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1311
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1312
  /* Transfert is finished. Put the value in the data. */
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 87
diff changeset
  1313
  * size = (UNS8)d->transfers[line].count;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1314
  for  ( i = 0 ; i < *size ; i++) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1315
# ifdef CANOPEN_BIG_ENDIAN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1316
    if (d->transfers[line].dataType != visible_string)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1317
      ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1318
    else /* String of bytes. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1319
      ( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1320
# else 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1321
    ( (char *) data)[i] = d->transfers[line].data[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1322
# endif
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1323
  } 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1324
  return SDO_FINISHED;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1325
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1326
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1327
/***************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1328
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1329
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1330
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1331
  UNS8 line = 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1332
  UNS8 err;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1333
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1334
  * abortCode = 0;
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 53
diff changeset
  1335
  /* Looking for the line tranfert. */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1336
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1337
  if (err) {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1338
    MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1339
    return SDO_ABORTED_INTERNAL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1340
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1341
  * abortCode = d->transfers[line].abortCode;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1342
  return d->transfers[line].state;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
  1343
}