33 /* #define DEBUG_ERR_CONSOLE_ON */

    33 /* #define DEBUG_ERR_CONSOLE_ON */

    34 

    34 

    35 #include "objacces.h"

    35 #include "objacces.h"

    36 #include "sdo.h"

    36 #include "sdo.h"

    37 #include "canfestival.h"

    37 #include "canfestival.h"

    38 

    39 

    39 /* Uncomment if your compiler does not support inline functions */

    40 /* Uncomment if your compiler does not support inline functions */

    40 #define NO_INLINE 

    41 #define NO_INLINE 

    41 

    42 

    42 #ifdef NO_INLINE

    43 #ifdef NO_INLINE

   500   UNS16 offset;

   501   UNS16 offset;

   501   UNS16 lastIndex;

   502   UNS16 lastIndex;

   502   UNS8 found = 0;

   503   UNS8 found = 0;

   503   Message m;

   504   Message m;

   504   UNS8 i;

   505   UNS8 i;

   506   UNS8 * pwNodeId = NULL;

   507   UNS8 * pwNodeId = NULL;

   507 

   508 

   508   MSG_WAR(0x3A38, "sendSDO",0);

   509   MSG_WAR(0x3A38, "sendSDO",0);

   509   if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {

   510   if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {

   510     MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);

   511     MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);

   549     if (! found){

   550     if (! found){

   550       MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);

   551       MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);

   551       return 0xFF;

   552       return 0xFF;

   552     }

   553     }

   553     /* Second, read the cobid client->server */

   554     /* Second, read the cobid client->server */

   555   }

   556   }

   556   /* message copy for sending */

   557   /* message copy for sending */

   557   m.cob_id = *pwCobId;

   558   m.cob_id = *pwCobId;

   558   m.rtr = NOT_A_REQUEST; 

   559   m.rtr = NOT_A_REQUEST; 

   559   /* the length of SDO must be 8 */

   560   /* the length of SDO must be 8 */

   617   s_SDO sdo;    /* SDO to transmit */

   618   s_SDO sdo;    /* SDO to transmit */

   618   UNS16 index;

   619   UNS16 index;

   619   UNS8 subIndex;

   620   UNS8 subIndex;

   620   UNS32 abortCode;

   621   UNS32 abortCode;

   621   UNS8 i,j;

   622   UNS8 i,j;

   623   UNS16 offset;

   624   UNS16 offset;

   624   UNS16 lastIndex;

   625   UNS16 lastIndex;

   625 

   626 

   626   MSG_WAR(0x3A60, "proceedSDO ", 0);

   627   MSG_WAR(0x3A60, "proceedSDO ", 0);

   627   whoami = SDO_UNKNOWN;

   628   whoami = SDO_UNKNOWN;

   633   if(offset) while (offset <= lastIndex) {

   634   if(offset) while (offset <= lastIndex) {

   634      if (d->objdict[offset].bSubCount <= 1) {

   635      if (d->objdict[offset].bSubCount <= 1) {

   635 	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);

   636 	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);

   636 	  return 0xFF;

   637 	  return 0xFF;

   637 	}

   638 	}

   639       if ( *pCobId == (*m).cob_id ) {

   640       if ( *pCobId == (*m).cob_id ) {

   640 	whoami = SDO_SERVER;

   641 	whoami = SDO_SERVER;

   641 	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);

   642 	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);

   642 	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */

   643 	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */

   643 	/* 0x1200 where the cobid received is defined. */

   644 	/* 0x1200 where the cobid received is defined. */

   656        if (d->objdict[offset].bSubCount <= 3) {

   657        if (d->objdict[offset].bSubCount <= 3) {

   657 	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);

   658 	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);

   658 	 return 0xFF;

   659 	 return 0xFF;

   659        }

   660        }

   660        /* a) Looking for the cobid received. */

   661        /* a) Looking for the cobid received. */

   662        if (*pCobId == (*m).cob_id ) {

   663        if (*pCobId == (*m).cob_id ) {

   663 	 /* b) cobid found, so reading the node id of the server. */

   664 	 /* b) cobid found, so reading the node id of the server. */

   664 	 pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;

   665 	 pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;

   665 	 whoami = SDO_CLIENT;

   666 	 whoami = SDO_CLIENT;

   666 	 nodeId = *pNodeId;

   667 	 nodeId = *pNodeId;