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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #ifndef __sdo_h__ |
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24 #define __sdo_h__ |
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25 |
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26 typedef void (*SDOtimeoutError_t)(UNS8 line); |
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27 struct struct_s_transfer; |
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28 |
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29 #include "timer.h" |
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30 |
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31 /* The Transfer structure |
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32 Used to store the different segments of |
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33 - a SDO received before writing in the dictionary |
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34 - the reading of the dictionary to put on a SDO to transmit |
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35 */ |
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36 |
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37 struct struct_s_transfer { |
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38 UNS8 nodeId; //own ID if server, or node ID of the server if client |
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39 |
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40 UNS8 whoami; // Takes the values SDO_CLIENT or SDO_SERVER |
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41 UNS8 state; // state of the transmission : Takes the values SDO_... |
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42 UNS8 toggle; |
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43 UNS32 abortCode; // Sent or received |
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44 // index and subindex of the dictionary where to store |
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45 // (for a received SDO) or to read (for a transmit SDO) |
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46 UNS16 index; |
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47 UNS8 subIndex; |
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48 UNS32 count; // Number of data received or to be sent. |
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49 UNS32 offset; // stack pointer of data[] |
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50 // Used only to tranfer part of a line to or from a SDO. |
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51 // offset is always pointing on the next free cell of data[]. |
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52 // WARNING s_transfer.data is subject to ENDIANISATION |
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53 // (with respect to CANOPEN_BIG_ENDIAN) |
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54 UNS8 data [SDO_MAX_LENGTH_TRANSFERT]; |
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55 UNS8 dataType; // Defined in objdictdef.h Value is visible_string |
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56 // if it is a string, any other value if it is not a string, |
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57 // like 0. In fact, it is used only if client. |
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58 TIMER_HANDLE timer; // Time counter to implement a timeout in milliseconds. |
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59 // It is automatically incremented whenever |
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60 // the line state is in SDO_DOWNLOAD_IN_PROGRESS or |
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61 // SDO_UPLOAD_IN_PROGRESS, and reseted to 0 |
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62 // when the response SDO have been received. |
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63 }; |
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64 typedef struct struct_s_transfer s_transfer; |
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65 |
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66 |
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67 #include "data.h" |
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68 |
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69 /// The 8 bytes data of the SDO |
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70 struct BODY{ |
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71 UNS8 data[8]; |
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72 }; |
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73 |
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74 /// The SDO structure ... |
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75 struct struct_s_SDO { |
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76 UNS8 nodeId; //in any case, Node ID of the server (case sender or receiver). |
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77 struct BODY body; |
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78 }; |
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79 |
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80 |
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81 typedef struct struct_s_SDO s_SDO; |
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82 |
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83 /** Reset all sdo buffers |
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84 */ |
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85 void resetSDO (CO_Data* d); |
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86 |
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87 |
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88 /** Copy the data received from the SDO line transfert to the object dictionary |
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89 * Returns SDO error code if error. Else, returns 0; |
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90 */ |
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91 UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line); |
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92 |
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93 /** Copy the data from the object dictionary to the SDO line for a network transfert. |
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94 * Returns SDO error code if error. Else, returns 0; |
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95 */ |
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96 UNS32 objdictToSDOline (CO_Data* d, UNS8 line); |
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97 |
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98 /** copy data from an existant line in the argument "* data" |
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99 * Returns 0xFF if error. Else, returns 0; |
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100 */ |
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101 UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data); |
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102 |
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103 /** Add data to an existant line |
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104 * Returns 0xFF if error. Else, returns 0; |
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105 */ |
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106 UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data); |
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107 |
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108 /** Called when an internal SDO abort occurs. |
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109 * Release the line * Only if server * |
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110 * If client, the line must be released manually in the core application. |
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111 * The reason of that is to permit the program to read the transfers[][] structure before its reset, |
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112 * because many informations are stored on it : index, subindex, data received or trasmited, ... |
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113 * In all cases, sends a SDO abort. |
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114 * Returns 0 |
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115 */ |
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116 UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, |
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117 UNS8 subIndex, UNS32 abortCode); |
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118 |
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119 /** Reset an unused line. |
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120 * |
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121 */ |
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122 void resetSDOline (CO_Data* d, UNS8 line); |
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123 |
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124 /** Initialize some fields of the structure. |
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125 * Returns 0 |
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126 */ |
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127 UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state); |
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128 |
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129 /** Search for an unused line in the transfers array |
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130 * to store a new SDO. |
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131 * ie a line which value of the field "state" is "SDO_RESET" |
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132 * An unused line have the field "state" at the value SDO_RESET |
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133 * bus_id is hardware dependant |
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134 * whoami : create the line for a SDO_SERVER or SDO_CLIENT. |
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135 * return 0xFF if all the lines are on use. Else, return 0 |
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136 */ |
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137 UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line); |
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138 |
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139 /** Search for the line, in the transfers array, which contains the |
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140 * beginning of the reception of a fragmented SDO |
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141 * whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER |
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142 * bus_id is hardware dependant |
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143 * nodeId correspond to the message node-id |
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144 * return 0xFF if error. Else, return 0 |
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145 */ |
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146 UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line); |
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147 |
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148 /** Close a transmission. |
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149 * nodeId : Node id of the server if both server or client |
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150 * whoami : Line opened as SDO_CLIENT or SDO_SERVER |
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151 */ |
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152 UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami); |
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153 |
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154 /** Bytes in the line structure which must be transmited (or received) |
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155 * bus_id is hardware dependant. |
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156 * return 0. |
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157 */ |
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158 UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes); |
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159 |
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160 /** Store in the line structure the nb of bytes which must be transmited (or received) |
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161 * bus_id is hardware dependant. |
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162 * return 0 if success, 0xFF if error. |
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163 */ |
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164 UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes); |
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165 |
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166 /** Transmit a SDO frame on the bus bus_id |
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167 * sdo is a structure which contains the sdo to transmit |
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168 * bus_id is hardware dependant |
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169 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER |
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170 * return canSend(bus_id,&m) or 0xFF if error |
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171 */ |
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172 UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo); |
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173 |
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174 /** Transmit a SDO error to the client. The reasons may be : |
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175 * Read/Write to a undefined object |
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176 * Read/Write to a undefined subindex |
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177 * Read/write a not valid length object |
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178 * Write a read only object |
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179 * whoami takes 2 values : SDO_CLIENT or SDO_SERVER |
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180 */ |
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181 UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode); |
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182 |
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183 /** Treat a SDO frame reception |
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184 * bus_id is hardware dependant |
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185 * call the function sendSDO |
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186 * return 0xFF if error |
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187 * 0x80 if transfert aborted by the server |
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188 * 0x0 ok |
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189 */ |
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190 UNS8 proceedSDO (CO_Data* d, Message *m); |
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191 |
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192 /** Used by the application to send a SDO request frame to write the data *data |
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193 * at the index and subIndex indicated |
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194 * in the dictionary of the slave whose node_id is nodeId |
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195 * Count : nb of bytes to write in the dictionnary. |
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196 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. |
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197 * bus_id is hardware dependant |
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198 * return 0xFF if error, else return 0 |
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199 */ |
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200 UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
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201 UNS8 subIndex, UNS8 count, UNS8 dataType, void *data); |
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202 |
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203 /** Used by the application to send a SDO request frame to read |
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204 * in the dictionary of a server node whose node_id is ID |
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205 * at the index and subIndex indicated |
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206 * bus_id is hardware dependant |
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207 * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. |
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208 * return 0xFF if error, else return 0 |
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209 */ |
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210 UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, |
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211 UNS8 subIndex, UNS8 dataType); |
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212 |
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213 /** Use this function after a readNetworkDict to get the result. |
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214 Returns : SDO_FINISHED // data is available |
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215 SDO_ABORTED_RCV // Transfert failed. (abort SDO received) |
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216 SDO_ABORTED_INTERNAL // Transfert failed. Internal abort. |
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217 SDO_UPLOAD_IN_PROGRESS // Data not yet available |
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218 SDO_DOWNLOAD_IN_PROGRESS // Should not arrive ! |
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219 |
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220 dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals. |
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221 abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV) |
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222 example : |
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223 UNS32 data; |
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224 UNS8 size; |
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225 readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5 |
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226 while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS); |
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227 */ |
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228 UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, |
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229 UNS8 *size, UNS32 * abortCode); |
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230 |
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231 /** |
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232 Use this function after a writeNetworkDict to get the result of the write |
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233 It is mandatory to call this function because it is releasing the line used for the transfer. |
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234 Returns : SDO_FINISHED // data is available |
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235 SDO_ABORTED_RCV // Transfert failed. (abort SDO received) |
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236 SDO_ABORTED_INTERNAL // Transfert failed. Internal abort. |
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237 SDO_DOWNLOAD_IN_PROGRESS // Data not yet available |
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238 SDO_UPLOAD_IN_PROGRESS // Should not arrive ! |
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239 abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV) |
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240 example : |
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241 UNS32 data = 0x50; |
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242 UNS8 size; |
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243 UNS32 abortCode; |
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244 writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5 |
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245 while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS); |
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246 */ |
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247 UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode); |
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248 |
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249 #endif |