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     3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/sdo.c Source File</title>
       
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    18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/sdo.c</h1><a href="sdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
       
    19 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
       
    20 <a name="l00003"></a>00003 <span class="comment"></span>
       
    21 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
       
    22 <a name="l00005"></a>00005 <span class="comment"></span>
       
    23 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    24 <a name="l00007"></a>00007 <span class="comment"></span>
       
    25 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    26 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    27 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    28 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    29 <a name="l00012"></a>00012 <span class="comment"></span>
       
    30 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    31 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    32 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    33 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
       
    34 <a name="l00017"></a>00017 <span class="comment"></span>
       
    35 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
       
    36 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
       
    37 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
       
    38 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    39 <a name="l00022"></a>00022 
       
    40 <a name="l00023"></a>00023 <span class="comment">/* #define DEBUG_WAR_CONSOLE_ON */</span>
       
    41 <a name="l00024"></a>00024 <span class="comment">/* #define DEBUG_ERR_CONSOLE_ON */</span>
       
    42 <a name="l00025"></a>00025 
       
    43 <a name="l00026"></a>00026 <span class="preprocessor">#include "objacces.h"</span>
       
    44 <a name="l00027"></a>00027 <span class="preprocessor">#include "sdo.h"</span>
       
    45 <a name="l00028"></a>00028 <span class="preprocessor">#include "canfestival.h"</span>
       
    46 <a name="l00029"></a>00029 
       
    47 <a name="l00030"></a>00030 <span class="comment">/* Uncomment if your compiler does not support inline functions */</span>
       
    48 <a name="l00031"></a><a class="code" href="sdo_8c.html#b5ce7bd7fe4169a9f709815f03f9870b">00031</a> <span class="preprocessor">#define NO_INLINE </span>
       
    49 <a name="l00032"></a>00032 <span class="preprocessor"></span>
       
    50 <a name="l00033"></a>00033 <span class="preprocessor">#ifdef NO_INLINE</span>
       
    51 <a name="l00034"></a><a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">00034</a> <span class="preprocessor"></span><span class="preprocessor">  #define INLINE </span>
       
    52 <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#else</span>
       
    53 <a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">  #define INLINE inline</span>
       
    54 <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
       
    55 <a name="l00038"></a>00038 <span class="preprocessor"></span>
       
    56 <a name="l00039"></a>00039 <span class="comment">/*Internals prototypes*/</span>
       
    57 <a name="l00040"></a>00040 
       
    58 <a name="l00042"></a>00042 <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, 
       
    59 <a name="l00043"></a>00043                        UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
       
    60 <a name="l00044"></a>00044 
       
    61 <a name="l00046"></a>00046 <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, 
       
    62 <a name="l00047"></a>00047         UNS8 dataType, SDOCallback_t Callback);
       
    63 <a name="l00048"></a>00048         
       
    64 <a name="l00049"></a>00049 
       
    65 <a name="l00050"></a>00050 <span class="comment">/***************************************************************************/</span>
       
    66 <a name="l00051"></a>00051 <span class="comment">/* SDO (un)packing macros */</span>
       
    67 <a name="l00052"></a>00052 
       
    68 <a name="l00055"></a><a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">00055</a> <span class="preprocessor">#define getSDOcs(byte) (byte &gt;&gt; 5)</span>
       
    69 <a name="l00056"></a>00056 <span class="preprocessor"></span>
       
    70 <a name="l00059"></a><a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">00059</a> <span class="preprocessor">#define getSDOn2(byte) ((byte &gt;&gt; 2) &amp; 3)</span>
       
    71 <a name="l00060"></a>00060 <span class="preprocessor"></span>
       
    72 <a name="l00063"></a><a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">00063</a> <span class="preprocessor">#define getSDOn3(byte) ((byte &gt;&gt; 1) &amp; 7)</span>
       
    73 <a name="l00064"></a>00064 <span class="preprocessor"></span>
       
    74 <a name="l00067"></a><a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">00067</a> <span class="preprocessor">#define getSDOe(byte) ((byte &gt;&gt; 1) &amp; 1)</span>
       
    75 <a name="l00068"></a>00068 <span class="preprocessor"></span>
       
    76 <a name="l00071"></a><a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">00071</a> <span class="preprocessor">#define getSDOs(byte) (byte &amp; 1)</span>
       
    77 <a name="l00072"></a>00072 <span class="preprocessor"></span>
       
    78 <a name="l00075"></a><a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">00075</a> <span class="preprocessor">#define getSDOc(byte) (byte &amp; 1)</span>
       
    79 <a name="l00076"></a>00076 <span class="preprocessor"></span>
       
    80 <a name="l00079"></a><a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">00079</a> <span class="preprocessor">#define getSDOt(byte) ((byte &gt;&gt; 4) &amp; 1)</span>
       
    81 <a name="l00080"></a>00080 <span class="preprocessor"></span>
       
    82 <a name="l00083"></a><a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">00083</a> <span class="preprocessor">#define getSDOindex(byte1, byte2) ((byte2 &lt;&lt; 8) | (byte1))</span>
       
    83 <a name="l00084"></a>00084 <span class="preprocessor"></span>
       
    84 <a name="l00088"></a><a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">00088</a> <span class="preprocessor">#define getSDOsubIndex(byte3) (byte3)</span>
       
    85 <a name="l00089"></a>00089 <span class="preprocessor"></span>
       
    86 <a name="l00090"></a>00090 <span class="comment">/***************************************************************************</span>
       
    87 <a name="l00091"></a>00091 <span class="comment">**</span>
       
    88 <a name="l00092"></a>00092 <span class="comment">*/</span>
       
    89 <a name="l00093"></a><a class="code" href="sdo_8c.html#9309025e29b59e09026abcd3b45a5b61">00093</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#9309025e29b59e09026abcd3b45a5b61">SDOTimeoutAlarm</a>(CO_Data* d, UNS32 <span class="keywordtype">id</span>)
       
    90 <a name="l00094"></a>00094 {
       
    91 <a name="l00095"></a>00095     MSG_ERR(0x1A01, <span class="stringliteral">"SDO timeout. SDO response not received."</span>, 0);
       
    92 <a name="l00096"></a>00096     MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, d-&gt;transfers[<span class="keywordtype">id</span>].nodeId);
       
    93 <a name="l00097"></a>00097     MSG_WAR(0x2A02, <span class="stringliteral">"      index : "</span>, d-&gt;transfers[<span class="keywordtype">id</span>].index);
       
    94 <a name="l00098"></a>00098     MSG_WAR(0x2A02, <span class="stringliteral">"   subIndex : "</span>, d-&gt;transfers[<span class="keywordtype">id</span>].subIndex); 
       
    95 <a name="l00099"></a>00099     <span class="comment">/* Reset timer handler */</span>
       
    96 <a name="l00100"></a>00100     d-&gt;transfers[id].timer = TIMER_NONE;
       
    97 <a name="l00101"></a>00101     <span class="comment">/*Set aborted state*/</span>
       
    98 <a name="l00102"></a>00102     d-&gt;transfers[id].state = SDO_ABORTED_INTERNAL;
       
    99 <a name="l00103"></a>00103     <span class="comment">/* Sending a SDO abort */</span>
       
   100 <a name="l00104"></a>00104     <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, d-&gt;transfers[<span class="keywordtype">id</span>].whoami, 
       
   101 <a name="l00105"></a>00105                  d-&gt;transfers[<span class="keywordtype">id</span>].index, d-&gt;transfers[<span class="keywordtype">id</span>].subIndex, SDOABT_TIMED_OUT);
       
   102 <a name="l00106"></a>00106     d-&gt;transfers[id].abortCode = SDOABT_TIMED_OUT;
       
   103 <a name="l00107"></a>00107     <span class="comment">/* Call the user function to inform of the problem.*/</span>
       
   104 <a name="l00108"></a>00108     <span class="keywordflow">if</span>(d-&gt;transfers[<span class="keywordtype">id</span>].Callback)
       
   105 <a name="l00109"></a>00109         <span class="comment">/*If ther is a callback, it is responsible to close SDO transfer (client)*/</span>
       
   106 <a name="l00110"></a>00110         (*d-&gt;transfers[id].Callback)(d,d-&gt;transfers[<span class="keywordtype">id</span>].nodeId);
       
   107 <a name="l00111"></a>00111     <span class="keywordflow">else</span> <span class="keywordflow">if</span>(d-&gt;transfers[<span class="keywordtype">id</span>].whoami == SDO_SERVER)
       
   108 <a name="l00112"></a>00112         <span class="comment">/*Else, if server, reset the line*/</span>
       
   109 <a name="l00113"></a>00113         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, (UNS8)<span class="keywordtype">id</span>);
       
   110 <a name="l00114"></a>00114 }
       
   111 <a name="l00115"></a>00115 
       
   112 <a name="l00116"></a><a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">00116</a> <span class="preprocessor">#define StopSDO_TIMER(id) \</span>
       
   113 <a name="l00117"></a>00117 <span class="preprocessor">MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\</span>
       
   114 <a name="l00118"></a>00118 <span class="preprocessor">d-&gt;transfers[id].timer = DelAlarm(d-&gt;transfers[id].timer);</span>
       
   115 <a name="l00119"></a>00119 <span class="preprocessor"></span>
       
   116 <a name="l00120"></a><a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">00120</a> <span class="preprocessor">#define StartSDO_TIMER(id) \</span>
       
   117 <a name="l00121"></a>00121 <span class="preprocessor">MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\</span>
       
   118 <a name="l00122"></a>00122 <span class="preprocessor">d-&gt;transfers[id].timer = SetAlarm(d,id,&amp;SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);</span>
       
   119 <a name="l00123"></a>00123 <span class="preprocessor"></span>
       
   120 <a name="l00124"></a><a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">00124</a> <span class="preprocessor">#define RestartSDO_TIMER(id) \</span>
       
   121 <a name="l00125"></a>00125 <span class="preprocessor">MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\</span>
       
   122 <a name="l00126"></a>00126 <span class="preprocessor">if(d-&gt;transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }</span>
       
   123 <a name="l00127"></a>00127 <span class="preprocessor"></span>
       
   124 <a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
       
   125 <a name="l00131"></a><a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">00131</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#1f4f07eccc4890a11ccf4f632da7740b">resetSDO</a> (CO_Data* d)
       
   126 <a name="l00132"></a>00132 {
       
   127 <a name="l00133"></a>00133   UNS8 j;
       
   128 <a name="l00134"></a>00134 
       
   129 <a name="l00135"></a>00135   <span class="comment">/* transfer structure initialization */</span>
       
   130 <a name="l00136"></a>00136     <span class="keywordflow">for</span> (j = 0 ; j &lt; SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) 
       
   131 <a name="l00137"></a>00137       <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, j);
       
   132 <a name="l00138"></a>00138 }
       
   133 <a name="l00139"></a>00139 
       
   134 <a name="l00140"></a>00140 <span class="comment">/***************************************************************************/</span>
       
   135 <a name="l00141"></a><a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">00141</a> UNS32 <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a> (CO_Data* d, UNS8 line)
       
   136 <a name="l00142"></a>00142 {
       
   137 <a name="l00143"></a>00143   UNS8      size;
       
   138 <a name="l00144"></a>00144   UNS32 errorCode;
       
   139 <a name="l00145"></a>00145   MSG_WAR(0x3A08, <span class="stringliteral">"Enter in SDOlineToObjdict "</span>, line);
       
   140 <a name="l00146"></a>00146   size = (UNS8)d-&gt;transfers[line].count;
       
   141 <a name="l00147"></a>00147   errorCode = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, d-&gt;transfers[line].index, d-&gt;transfers[line].subIndex, 
       
   142 <a name="l00148"></a>00148                          (<span class="keywordtype">void</span> *) d-&gt;transfers[line].data, &amp;size, 1);
       
   143 <a name="l00149"></a>00149   <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
       
   144 <a name="l00150"></a>00150     <span class="keywordflow">return</span> errorCode;
       
   145 <a name="l00151"></a>00151   MSG_WAR(0x3A08, <span class="stringliteral">"exit of SDOlineToObjdict "</span>, line);
       
   146 <a name="l00152"></a>00152   <span class="keywordflow">return</span> 0;
       
   147 <a name="l00153"></a>00153 
       
   148 <a name="l00154"></a>00154 }
       
   149 <a name="l00155"></a>00155 
       
   150 <a name="l00156"></a>00156 <span class="comment">/***************************************************************************/</span>
       
   151 <a name="l00157"></a><a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">00157</a> UNS32 <a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">objdictToSDOline</a> (CO_Data* d, UNS8 line)
       
   152 <a name="l00158"></a>00158 {
       
   153 <a name="l00159"></a>00159   UNS8  size = 0;
       
   154 <a name="l00160"></a>00160   UNS8  dataType;
       
   155 <a name="l00161"></a>00161   UNS32 errorCode;
       
   156 <a name="l00162"></a>00162 
       
   157 <a name="l00163"></a>00163   MSG_WAR(0x3A05, <span class="stringliteral">"objdict-&gt;line index : "</span>, d-&gt;transfers[line].index);
       
   158 <a name="l00164"></a>00164   MSG_WAR(0x3A06, <span class="stringliteral">"  subIndex : "</span>, d-&gt;transfers[line].subIndex);
       
   159 <a name="l00165"></a>00165 
       
   160 <a name="l00166"></a>00166   errorCode = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d,     d-&gt;transfers[line].index,
       
   161 <a name="l00167"></a>00167                                 d-&gt;transfers[line].subIndex,
       
   162 <a name="l00168"></a>00168                                 (<span class="keywordtype">void</span> *)d-&gt;transfers[line].data,
       
   163 <a name="l00169"></a>00169                                 &amp;size, &amp;dataType, 0);
       
   164 <a name="l00170"></a>00170   
       
   165 <a name="l00171"></a>00171   <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
       
   166 <a name="l00172"></a>00172     <span class="keywordflow">return</span> errorCode;
       
   167 <a name="l00173"></a>00173 
       
   168 <a name="l00174"></a>00174   d-&gt;transfers[line].count = size;
       
   169 <a name="l00175"></a>00175   d-&gt;transfers[line].offset = 0;
       
   170 <a name="l00176"></a>00176 <span class="preprocessor">#if 0</span>
       
   171 <a name="l00177"></a>00177 <span class="preprocessor"></span>   <span class="comment">/*Me laisser ça, please ! (FD)*/</span>
       
   172 <a name="l00178"></a>00178   {
       
   173 <a name="l00179"></a>00179     UNS8 i;
       
   174 <a name="l00180"></a>00180     <span class="keywordflow">for</span> (i = 0 ; i &lt; 10 ; i++) {
       
   175 <a name="l00181"></a>00181       MSG_WAR(i, <span class="stringliteral">"data= "</span>, d-&gt;transfers[line].data[i]);
       
   176 <a name="l00182"></a>00182     }     
       
   177 <a name="l00183"></a>00183   }
       
   178 <a name="l00184"></a>00184 <span class="preprocessor">#endif</span>
       
   179 <a name="l00185"></a>00185 <span class="preprocessor"></span>  <span class="keywordflow">return</span> 0;
       
   180 <a name="l00186"></a>00186 }
       
   181 <a name="l00187"></a>00187 
       
   182 <a name="l00188"></a>00188 <span class="comment">/***************************************************************************/</span>
       
   183 <a name="l00189"></a><a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">00189</a> UNS8 <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a> (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
       
   184 <a name="l00190"></a>00190   UNS8 i;
       
   185 <a name="l00191"></a>00191   UNS8 offset;
       
   186 <a name="l00192"></a>00192 
       
   187 <a name="l00193"></a>00193   <span class="keywordflow">if</span> ((d-&gt;transfers[line].offset + nbBytes) &gt; SDO_MAX_LENGTH_TRANSFERT) {
       
   188 <a name="l00194"></a>00194     MSG_ERR(0x1A10,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
       
   189 <a name="l00195"></a>00195     <span class="keywordflow">return</span> 0xFF;
       
   190 <a name="l00196"></a>00196   }
       
   191 <a name="l00197"></a>00197     <span class="keywordflow">if</span> ((d-&gt;transfers[line].offset + nbBytes) &gt; d-&gt;transfers[line].count) {
       
   192 <a name="l00198"></a>00198     MSG_ERR(0x1A11,<span class="stringliteral">"SDO Size of data too large. Exceed count"</span>, nbBytes);
       
   193 <a name="l00199"></a>00199     <span class="keywordflow">return</span> 0xFF;
       
   194 <a name="l00200"></a>00200   }
       
   195 <a name="l00201"></a>00201   offset = (UNS8)d-&gt;transfers[line].offset;
       
   196 <a name="l00202"></a>00202   for (i = 0 ; i &lt; nbBytes ; i++) 
       
   197 <a name="l00203"></a>00203     * (data + i) = d-&gt;transfers[line].data[offset + i];
       
   198 <a name="l00204"></a>00204   d-&gt;transfers[line].offset = d-&gt;transfers[line].offset + nbBytes;
       
   199 <a name="l00205"></a>00205   <span class="keywordflow">return</span> 0;
       
   200 <a name="l00206"></a>00206 }
       
   201 <a name="l00207"></a>00207 
       
   202 <a name="l00208"></a>00208 
       
   203 <a name="l00209"></a>00209 <span class="comment">/***************************************************************************/</span>
       
   204 <a name="l00210"></a><a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">00210</a> UNS8 <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a> (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
       
   205 <a name="l00211"></a>00211 {
       
   206 <a name="l00212"></a>00212   UNS8 i;
       
   207 <a name="l00213"></a>00213   UNS8 offset;
       
   208 <a name="l00214"></a>00214   
       
   209 <a name="l00215"></a>00215   <span class="keywordflow">if</span> ((d-&gt;transfers[line].offset + nbBytes) &gt; SDO_MAX_LENGTH_TRANSFERT) {
       
   210 <a name="l00216"></a>00216     MSG_ERR(0x1A15,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
       
   211 <a name="l00217"></a>00217     <span class="keywordflow">return</span> 0xFF;
       
   212 <a name="l00218"></a>00218   }
       
   213 <a name="l00219"></a>00219   offset = (UNS8)d-&gt;transfers[line].offset;
       
   214 <a name="l00220"></a>00220   for (i = 0 ; i &lt; nbBytes ; i++) 
       
   215 <a name="l00221"></a>00221     d-&gt;transfers[line].data[offset + i] = * (data + i);
       
   216 <a name="l00222"></a>00222   d-&gt;transfers[line].offset = d-&gt;transfers[line].offset + nbBytes;
       
   217 <a name="l00223"></a>00223   <span class="keywordflow">return</span> 0;
       
   218 <a name="l00224"></a>00224 }
       
   219 <a name="l00225"></a>00225 
       
   220 <a name="l00226"></a>00226 <span class="comment">/***************************************************************************/</span>
       
   221 <a name="l00227"></a><a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">00227</a> UNS8 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, 
       
   222 <a name="l00228"></a>00228                 UNS8 subIndex, UNS32 abortCode)
       
   223 <a name="l00229"></a>00229 {
       
   224 <a name="l00230"></a>00230   UNS8 err;
       
   225 <a name="l00231"></a>00231   UNS8 line;
       
   226 <a name="l00232"></a>00232   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line );
       
   227 <a name="l00233"></a>00233   <span class="keywordflow">if</span> (!err) <span class="comment">/* If a line on use have been found.*/</span>
       
   228 <a name="l00234"></a>00234     MSG_WAR(0x3A20, <span class="stringliteral">"FailedSDO : line found : "</span>, line);
       
   229 <a name="l00235"></a>00235   <span class="keywordflow">if</span> ((! err) &amp;&amp; (whoami == SDO_SERVER)) {
       
   230 <a name="l00236"></a>00236     <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
       
   231 <a name="l00237"></a>00237     MSG_WAR(0x3A21, <span class="stringliteral">"FailedSDO : line released : "</span>, line);
       
   232 <a name="l00238"></a>00238   }
       
   233 <a name="l00239"></a>00239   <span class="keywordflow">if</span> ((! err) &amp;&amp; (whoami == SDO_CLIENT)) {
       
   234 <a name="l00240"></a>00240     <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line);
       
   235 <a name="l00241"></a>00241     d-&gt;transfers[line].state = SDO_ABORTED_INTERNAL;
       
   236 <a name="l00242"></a>00242   }
       
   237 <a name="l00243"></a>00243   MSG_WAR(0x3A22, <span class="stringliteral">"Sending SDO abort "</span>, 0);
       
   238 <a name="l00244"></a>00244   err = <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, whoami, index, subIndex, abortCode);
       
   239 <a name="l00245"></a>00245   <span class="keywordflow">if</span> (err) {
       
   240 <a name="l00246"></a>00246     MSG_WAR(0x3A23, <span class="stringliteral">"Unable to send the SDO abort"</span>, 0);
       
   241 <a name="l00247"></a>00247     <span class="keywordflow">return</span> 0xFF;
       
   242 <a name="l00248"></a>00248   }
       
   243 <a name="l00249"></a>00249   <span class="keywordflow">return</span> 0;
       
   244 <a name="l00250"></a>00250 }
       
   245 <a name="l00251"></a>00251 
       
   246 <a name="l00252"></a>00252 <span class="comment">/***************************************************************************/</span>
       
   247 <a name="l00253"></a><a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">00253</a> <span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a> ( CO_Data* d, UNS8 line )
       
   248 <a name="l00254"></a>00254 {
       
   249 <a name="l00255"></a>00255   UNS8 i; 
       
   250 <a name="l00256"></a>00256   MSG_WAR(0x3A25, <span class="stringliteral">"reset SDO line nb : "</span>, line); 
       
   251 <a name="l00257"></a>00257   <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, 0, 0, 0, SDO_RESET);
       
   252 <a name="l00258"></a>00258   <span class="keywordflow">for</span> (i = 0 ; i &lt; SDO_MAX_LENGTH_TRANSFERT ; i++)
       
   253 <a name="l00259"></a>00259     d-&gt;transfers[line].data[i] = 0;
       
   254 <a name="l00260"></a>00260 }
       
   255 <a name="l00261"></a>00261 
       
   256 <a name="l00262"></a>00262 <span class="comment">/***************************************************************************/</span>
       
   257 <a name="l00263"></a><a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">00263</a> UNS8 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a> (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
       
   258 <a name="l00264"></a>00264 {
       
   259 <a name="l00265"></a>00265   MSG_WAR(0x3A25, <span class="stringliteral">"init SDO line nb : "</span>, line); 
       
   260 <a name="l00266"></a>00266   <span class="keywordflow">if</span> (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
       
   261 <a name="l00267"></a>00267         <a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">StartSDO_TIMER</a>(line)
       
   262 <a name="l00268"></a>00268   }<span class="keywordflow">else</span>{
       
   263 <a name="l00269"></a>00269         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
   264 <a name="l00270"></a>00270   }
       
   265 <a name="l00271"></a>00271   d-&gt;transfers[line].nodeId = nodeId; 
       
   266 <a name="l00272"></a>00272   d-&gt;transfers[line].index = index;
       
   267 <a name="l00273"></a>00273   d-&gt;transfers[line].subIndex = subIndex;
       
   268 <a name="l00274"></a>00274   d-&gt;transfers[line].state = state;
       
   269 <a name="l00275"></a>00275   d-&gt;transfers[line].toggle = 0;
       
   270 <a name="l00276"></a>00276   d-&gt;transfers[line].count = 0;
       
   271 <a name="l00277"></a>00277   d-&gt;transfers[line].offset = 0;
       
   272 <a name="l00278"></a>00278   d-&gt;transfers[line].dataType = 0;
       
   273 <a name="l00279"></a>00279   d-&gt;transfers[line].Callback = NULL;  
       
   274 <a name="l00280"></a>00280   <span class="keywordflow">return</span> 0;
       
   275 <a name="l00281"></a>00281 }
       
   276 <a name="l00282"></a>00282 
       
   277 <a name="l00283"></a>00283 <span class="comment">/***************************************************************************/</span>
       
   278 <a name="l00284"></a><a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">00284</a> UNS8 <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a> ( CO_Data* d, UNS8 whoami, UNS8 *line )
       
   279 <a name="l00285"></a>00285 {
       
   280 <a name="l00286"></a>00286         
       
   281 <a name="l00287"></a>00287   UNS8 i;
       
   282 <a name="l00288"></a>00288     
       
   283 <a name="l00289"></a>00289   <span class="keywordflow">for</span> (i = 0 ; i &lt; SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
       
   284 <a name="l00290"></a>00290     <span class="keywordflow">if</span> ( d-&gt;transfers[i].state == SDO_RESET ) {
       
   285 <a name="l00291"></a>00291       *line = i;
       
   286 <a name="l00292"></a>00292       d-&gt;transfers[i].whoami = whoami;
       
   287 <a name="l00293"></a>00293       <span class="keywordflow">return</span> 0;
       
   288 <a name="l00294"></a>00294     } <span class="comment">/* end if */</span>
       
   289 <a name="l00295"></a>00295   } <span class="comment">/* end for */</span>
       
   290 <a name="l00296"></a>00296   MSG_ERR(0x1A25, <span class="stringliteral">"Too many SDO in progress. Aborted."</span>, i);
       
   291 <a name="l00297"></a>00297   <span class="keywordflow">return</span> 0xFF;
       
   292 <a name="l00298"></a>00298 }
       
   293 <a name="l00299"></a>00299 
       
   294 <a name="l00300"></a>00300 <span class="comment">/***************************************************************************/</span>
       
   295 <a name="l00301"></a><a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">00301</a> UNS8 <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
       
   296 <a name="l00302"></a>00302 {
       
   297 <a name="l00303"></a>00303         
       
   298 <a name="l00304"></a>00304   UNS8 i;
       
   299 <a name="l00305"></a>00305     
       
   300 <a name="l00306"></a>00306   <span class="keywordflow">for</span> (i = 0 ; i &lt; SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
       
   301 <a name="l00307"></a>00307     <span class="keywordflow">if</span> ( (d-&gt;transfers[i].state != SDO_RESET) &amp;&amp;
       
   302 <a name="l00308"></a>00308          (d-&gt;transfers[i].nodeId == nodeId) &amp;&amp; 
       
   303 <a name="l00309"></a>00309          (d-&gt;transfers[i].whoami == whoami) ) {
       
   304 <a name="l00310"></a>00310       *line = i;
       
   305 <a name="l00311"></a>00311       <span class="keywordflow">return</span> 0;
       
   306 <a name="l00312"></a>00312     }
       
   307 <a name="l00313"></a>00313   } 
       
   308 <a name="l00314"></a>00314   <span class="keywordflow">return</span> 0xFF;
       
   309 <a name="l00315"></a>00315 }
       
   310 <a name="l00316"></a>00316 
       
   311 <a name="l00317"></a>00317 <span class="comment">/***************************************************************************/</span>
       
   312 <a name="l00318"></a><a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">00318</a> UNS8 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a> (CO_Data* d, UNS8 nodeId, UNS8 whoami)
       
   313 <a name="l00319"></a>00319 {
       
   314 <a name="l00320"></a>00320   UNS8 err;
       
   315 <a name="l00321"></a>00321   UNS8 line;
       
   316 <a name="l00322"></a>00322   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, whoami, &amp;line);
       
   317 <a name="l00323"></a>00323   <span class="keywordflow">if</span> (err) {
       
   318 <a name="l00324"></a>00324     MSG_WAR(0x2A30, <span class="stringliteral">"No SDO communication to close for node : "</span>, nodeId); 
       
   319 <a name="l00325"></a>00325     <span class="keywordflow">return</span> 0xFF;
       
   320 <a name="l00326"></a>00326   }
       
   321 <a name="l00327"></a>00327   <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);  
       
   322 <a name="l00328"></a>00328   <span class="keywordflow">return</span> 0;
       
   323 <a name="l00329"></a>00329 }
       
   324 <a name="l00330"></a>00330 
       
   325 <a name="l00331"></a>00331 <span class="comment">/***************************************************************************/</span>
       
   326 <a name="l00332"></a><a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">00332</a> UNS8 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a> (CO_Data* d, UNS8 line, UNS8 * nbBytes)
       
   327 <a name="l00333"></a>00333 {
       
   328 <a name="l00334"></a>00334   <span class="keywordflow">if</span> (d-&gt;transfers[line].count == 0) <span class="comment">/* if received initiate SDO protocol with e=0 and s=0 */</span>
       
   329 <a name="l00335"></a>00335     * nbBytes = 0;
       
   330 <a name="l00336"></a>00336   <span class="keywordflow">else</span>
       
   331 <a name="l00337"></a>00337     * nbBytes = (UNS8)d-&gt;transfers[line].count - (UNS8)d-&gt;transfers[line].offset;
       
   332 <a name="l00338"></a>00338   <span class="keywordflow">return</span> 0;
       
   333 <a name="l00339"></a>00339 }
       
   334 <a name="l00340"></a>00340 
       
   335 <a name="l00341"></a>00341 <span class="comment">/***************************************************************************/</span>
       
   336 <a name="l00342"></a><a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">00342</a> UNS8 <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a> (CO_Data* d, UNS8 line, UNS8 nbBytes)
       
   337 <a name="l00343"></a>00343 {
       
   338 <a name="l00344"></a>00344   <span class="keywordflow">if</span> (nbBytes &gt; SDO_MAX_LENGTH_TRANSFERT) {
       
   339 <a name="l00345"></a>00345     MSG_ERR(0x1A35,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
       
   340 <a name="l00346"></a>00346     <span class="keywordflow">return</span> 0xFF;
       
   341 <a name="l00347"></a>00347   }
       
   342 <a name="l00348"></a>00348   d-&gt;transfers[line].count = nbBytes;
       
   343 <a name="l00349"></a>00349   <span class="keywordflow">return</span> 0;
       
   344 <a name="l00350"></a>00350 }
       
   345 <a name="l00351"></a>00351 
       
   346 <a name="l00352"></a>00352 
       
   347 <a name="l00353"></a>00353 <span class="comment">/***************************************************************************/</span>
       
   348 <a name="l00354"></a><a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">00354</a> UNS8 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a> (CO_Data* d, UNS8 whoami, s_SDO sdo)
       
   349 <a name="l00355"></a>00355 {       
       
   350 <a name="l00356"></a>00356   UNS16 offset;
       
   351 <a name="l00357"></a>00357   UNS16 lastIndex;
       
   352 <a name="l00358"></a>00358   UNS8 found = 0;
       
   353 <a name="l00359"></a>00359   Message m;
       
   354 <a name="l00360"></a>00360   UNS8 i;
       
   355 <a name="l00361"></a>00361   UNS32 * pwCobId = NULL;
       
   356 <a name="l00362"></a>00362   UNS32 * pwNodeId = NULL;
       
   357 <a name="l00363"></a>00363 
       
   358 <a name="l00364"></a>00364   MSG_WAR(0x3A38, <span class="stringliteral">"sendSDO"</span>,0);
       
   359 <a name="l00365"></a>00365   <span class="keywordflow">if</span>( !((d-&gt;nodeState == Operational) ||  (d-&gt;nodeState == Pre_operational ))) {
       
   360 <a name="l00366"></a>00366     MSG_WAR(0x2A39, <span class="stringliteral">"unable to send the SDO (not in op or pre-op mode"</span>, d-&gt;nodeState);
       
   361 <a name="l00367"></a>00367     <span class="keywordflow">return</span> 0xFF;
       
   362 <a name="l00368"></a>00368   }                             
       
   363 <a name="l00369"></a>00369 
       
   364 <a name="l00370"></a>00370   <span class="comment">/*get the server-&gt;client cobid*/</span>
       
   365 <a name="l00371"></a>00371   <span class="keywordflow">if</span> ( whoami == SDO_SERVER )   {<span class="comment">/*case server. Easy because today only one server SDO is authorized in CanFestival*/</span>
       
   366 <a name="l00372"></a>00372     offset = d-&gt;firstIndex-&gt;SDO_SVR;
       
   367 <a name="l00373"></a>00373     <span class="keywordflow">if</span> (offset == 0) {
       
   368 <a name="l00374"></a>00374       MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO server found"</span>, 0); 
       
   369 <a name="l00375"></a>00375       <span class="keywordflow">return</span> 0xFF;
       
   370 <a name="l00376"></a>00376     }
       
   371 <a name="l00377"></a>00377     pwCobId = d-&gt;objdict[offset].pSubindex[2].pObject;
       
   372 <a name="l00378"></a>00378     MSG_WAR(0x3A41, <span class="stringliteral">"I am server. cobId : "</span>, *pwCobId); 
       
   373 <a name="l00379"></a>00379   }
       
   374 <a name="l00380"></a>00380   <span class="keywordflow">else</span> {                        <span class="comment">/*case client*/</span>
       
   375 <a name="l00381"></a>00381     <span class="comment">/* Get the client-&gt;server cobid.*/</span>
       
   376 <a name="l00382"></a>00382     UNS16 sdoNum = 0;
       
   377 <a name="l00383"></a>00383     offset = d-&gt;firstIndex-&gt;SDO_CLT;
       
   378 <a name="l00384"></a>00384     lastIndex = d-&gt;lastIndex-&gt;SDO_CLT;
       
   379 <a name="l00385"></a>00385     <span class="keywordflow">if</span> (offset == 0) {
       
   380 <a name="l00386"></a>00386       MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO client index found"</span>, 0); 
       
   381 <a name="l00387"></a>00387       <span class="keywordflow">return</span> 0xFF;
       
   382 <a name="l00388"></a>00388     }
       
   383 <a name="l00389"></a>00389     <span class="comment">/* First, have to find at the index where is defined the communication with the server node */</span>
       
   384 <a name="l00390"></a>00390     <span class="keywordflow">while</span> (offset &lt;= lastIndex){
       
   385 <a name="l00391"></a>00391       MSG_WAR(0x3A43,<span class="stringliteral">"Reading index : "</span>, 0x1280 + sdoNum);
       
   386 <a name="l00392"></a>00392       <span class="keywordflow">if</span> (d-&gt;objdict[offset].bSubCount &lt;= 3) {
       
   387 <a name="l00393"></a>00393         MSG_ERR(0x1A28, <span class="stringliteral">"Subindex 3  not found at index "</span>, 0x1280 + sdoNum);
       
   388 <a name="l00394"></a>00394         <span class="keywordflow">return</span> 0xFF;
       
   389 <a name="l00395"></a>00395       }
       
   390 <a name="l00396"></a>00396       pwNodeId = d-&gt;objdict[offset].pSubindex[3].pObject;
       
   391 <a name="l00397"></a>00397       MSG_WAR(0x3A44, <span class="stringliteral">"Found nodeId server = "</span>, *pwNodeId);     
       
   392 <a name="l00398"></a>00398       <span class="keywordflow">if</span>(*pwNodeId == sdo.nodeId) {
       
   393 <a name="l00399"></a>00399         found = 1;
       
   394 <a name="l00400"></a>00400         <span class="keywordflow">break</span>;          
       
   395 <a name="l00401"></a>00401       }      
       
   396 <a name="l00402"></a>00402       offset ++;
       
   397 <a name="l00403"></a>00403       sdoNum ++;
       
   398 <a name="l00404"></a>00404     }
       
   399 <a name="l00405"></a>00405     <span class="keywordflow">if</span> (! found){
       
   400 <a name="l00406"></a>00406       MSG_WAR (0x2A45, <span class="stringliteral">"No SDO client corresponds to the mesage to send to node "</span>, sdo.nodeId);
       
   401 <a name="l00407"></a>00407       <span class="keywordflow">return</span> 0xFF;
       
   402 <a name="l00408"></a>00408     }
       
   403 <a name="l00409"></a>00409     <span class="comment">/* Second, read the cobid client-&gt;server */</span>
       
   404 <a name="l00410"></a>00410     pwCobId = d-&gt;objdict[offset].pSubindex[1].pObject;
       
   405 <a name="l00411"></a>00411   }
       
   406 <a name="l00412"></a>00412   <span class="comment">/* message copy for sending */</span>
       
   407 <a name="l00413"></a>00413   m.cob_id.w = *pwCobId;
       
   408 <a name="l00414"></a>00414   m.rtr = NOT_A_REQUEST; 
       
   409 <a name="l00415"></a>00415   <span class="comment">/* the length of SDO must be 8 */</span>
       
   410 <a name="l00416"></a>00416   m.len = 8;
       
   411 <a name="l00417"></a>00417   <span class="keywordflow">for</span> (i = 0 ; i &lt; 8 ; i++) {
       
   412 <a name="l00418"></a>00418     m.data[i] =  sdo.body.data[i];
       
   413 <a name="l00419"></a>00419   }
       
   414 <a name="l00420"></a>00420   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);
       
   415 <a name="l00421"></a>00421 }
       
   416 <a name="l00422"></a>00422 
       
   417 <a name="l00423"></a>00423 <span class="comment">/***************************************************************************/</span>
       
   418 <a name="l00424"></a><a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">00424</a> UNS8 <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a> (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
       
   419 <a name="l00425"></a>00425 {
       
   420 <a name="l00426"></a>00426   s_SDO sdo;
       
   421 <a name="l00427"></a>00427   UNS8 ret;
       
   422 <a name="l00428"></a>00428   MSG_WAR(0x2A50,<span class="stringliteral">"Sending SDO abort "</span>, abortCode);
       
   423 <a name="l00429"></a>00429   sdo.nodeId = *d-&gt;bDeviceNodeId;
       
   424 <a name="l00430"></a>00430   sdo.body.data[0] = 0x80;
       
   425 <a name="l00431"></a>00431   <span class="comment">/* Index */</span>
       
   426 <a name="l00432"></a>00432   sdo.body.data[1] = index &amp; 0xFF; <span class="comment">/* LSB */</span>
       
   427 <a name="l00433"></a>00433   sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
   428 <a name="l00434"></a>00434   <span class="comment">/* Subindex */</span>
       
   429 <a name="l00435"></a>00435   sdo.body.data[3] = subIndex;
       
   430 <a name="l00436"></a>00436   <span class="comment">/* Data */</span>
       
   431 <a name="l00437"></a>00437   sdo.body.data[4] = (UNS8)(abortCode &amp; 0xFF);
       
   432 <a name="l00438"></a>00438   sdo.body.data[5] = (UNS8)((abortCode &gt;&gt; 8) &amp; 0xFF);
       
   433 <a name="l00439"></a>00439   sdo.body.data[6] = (UNS8)((abortCode &gt;&gt; 16) &amp; 0xFF);
       
   434 <a name="l00440"></a>00440   sdo.body.data[7] = (UNS8)((abortCode &gt;&gt; 24) &amp; 0xFF);
       
   435 <a name="l00441"></a>00441   ret = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
       
   436 <a name="l00442"></a>00442 
       
   437 <a name="l00443"></a>00443   <span class="keywordflow">return</span> ret;
       
   438 <a name="l00444"></a>00444 }
       
   439 <a name="l00445"></a>00445 
       
   440 <a name="l00446"></a>00446 <span class="comment">/***************************************************************************/</span>
       
   441 <a name="l00447"></a><a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">00447</a> UNS8 <a class="code" href="sdo_8c.html#2a93a7c780472b1d8666d89aa270f661">proceedSDO</a> (CO_Data* d, Message *m)
       
   442 <a name="l00448"></a>00448 {
       
   443 <a name="l00449"></a>00449   UNS8 err;
       
   444 <a name="l00450"></a>00450   UNS8 line;
       
   445 <a name="l00451"></a>00451   UNS8 nbBytes; <span class="comment">/* received or to be transmited. */</span>
       
   446 <a name="l00452"></a>00452   UNS8 nodeId = 0;  <span class="comment">/* The node from which the SDO is received */</span>
       
   447 <a name="l00453"></a>00453   UNS32 nodeId_32; <span class="comment">/* node id in 32 bits, for temporary use */</span>
       
   448 <a name="l00454"></a>00454   UNS32 *pNodeId = NULL;
       
   449 <a name="l00455"></a>00455   UNS8 whoami = SDO_UNKNOWN;  <span class="comment">/* SDO_SERVER or SDO_CLIENT.*/</span>
       
   450 <a name="l00456"></a>00456   UNS32 errorCode; <span class="comment">/* while reading or writing in the local object dictionary.*/</span>
       
   451 <a name="l00457"></a>00457   s_SDO sdo;    <span class="comment">/* SDO to transmit */</span>
       
   452 <a name="l00458"></a>00458   UNS16 index;
       
   453 <a name="l00459"></a>00459   UNS8 subIndex;
       
   454 <a name="l00460"></a>00460   UNS32 abortCode;
       
   455 <a name="l00461"></a>00461   UNS8 i,j;
       
   456 <a name="l00462"></a>00462   UNS32 *     pCobId = NULL;
       
   457 <a name="l00463"></a>00463   UNS16 offset;
       
   458 <a name="l00464"></a>00464   UNS16 lastIndex;
       
   459 <a name="l00465"></a>00465 
       
   460 <a name="l00466"></a>00466   MSG_WAR(0x3A60, <span class="stringliteral">"proceedSDO "</span>, 0);
       
   461 <a name="l00467"></a>00467   whoami = SDO_UNKNOWN;
       
   462 <a name="l00468"></a>00468   <span class="comment">/* Looking for the cobId in the object dictionary. */</span>
       
   463 <a name="l00469"></a>00469   <span class="comment">/* Am-I a server ? */</span>
       
   464 <a name="l00470"></a>00470   offset = d-&gt;firstIndex-&gt;SDO_SVR;
       
   465 <a name="l00471"></a>00471   lastIndex = d-&gt;lastIndex-&gt;SDO_SVR;
       
   466 <a name="l00472"></a>00472   j = 0;
       
   467 <a name="l00473"></a>00473   <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
       
   468 <a name="l00474"></a>00474      <span class="keywordflow">if</span> (d-&gt;objdict[offset].bSubCount &lt;= 1) {
       
   469 <a name="l00475"></a>00475           MSG_ERR(0x1A61, <span class="stringliteral">"Subindex 1  not found at index "</span>, 0x1200 + j);
       
   470 <a name="l00476"></a>00476           <span class="keywordflow">return</span> 0xFF;
       
   471 <a name="l00477"></a>00477         }
       
   472 <a name="l00478"></a>00478       pCobId = d-&gt;objdict[offset].pSubindex[1].pObject;
       
   473 <a name="l00479"></a>00479       <span class="keywordflow">if</span> ( *pCobId == (*m).cob_id.w ) {
       
   474 <a name="l00480"></a>00480         whoami = SDO_SERVER;
       
   475 <a name="l00481"></a>00481         MSG_WAR(0x3A62, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1200 + j);
       
   476 <a name="l00482"></a>00482         <span class="comment">/* In case of server, the node id of the client may be unknown. So we put the index minus offset */</span>
       
   477 <a name="l00483"></a>00483         <span class="comment">/* 0x1200 where the cobid received is defined. */</span>
       
   478 <a name="l00484"></a>00484         nodeId = j;
       
   479 <a name="l00485"></a>00485         <span class="keywordflow">break</span>;
       
   480 <a name="l00486"></a>00486       }
       
   481 <a name="l00487"></a>00487       j++;
       
   482 <a name="l00488"></a>00488       offset++;
       
   483 <a name="l00489"></a>00489   } <span class="comment">/* end while */</span>
       
   484 <a name="l00490"></a>00490   <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
       
   485 <a name="l00491"></a>00491     <span class="comment">/* Am-I client ? */</span>
       
   486 <a name="l00492"></a>00492     offset = d-&gt;firstIndex-&gt;SDO_CLT;
       
   487 <a name="l00493"></a>00493     lastIndex = d-&gt;lastIndex-&gt;SDO_CLT;
       
   488 <a name="l00494"></a>00494     j = 0;
       
   489 <a name="l00495"></a>00495     <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
       
   490 <a name="l00496"></a>00496        <span class="keywordflow">if</span> (d-&gt;objdict[offset].bSubCount &lt;= 3) {
       
   491 <a name="l00497"></a>00497          MSG_ERR(0x1A63, <span class="stringliteral">"Subindex 3  not found at index "</span>, 0x1280 + j);
       
   492 <a name="l00498"></a>00498          <span class="keywordflow">return</span> 0xFF;
       
   493 <a name="l00499"></a>00499        }
       
   494 <a name="l00500"></a>00500        <span class="comment">/* a) Looking for the cobid received. */</span>
       
   495 <a name="l00501"></a>00501        pCobId = d-&gt;objdict[offset].pSubindex[2].pObject;
       
   496 <a name="l00502"></a>00502        <span class="keywordflow">if</span> (*pCobId == (*m).cob_id.w ) {
       
   497 <a name="l00503"></a>00503          <span class="comment">/* b) cobid found, so reading the node id of the server. */</span>
       
   498 <a name="l00504"></a>00504          pNodeId = d-&gt;objdict[offset].pSubindex[3].pObject;
       
   499 <a name="l00505"></a>00505          whoami = SDO_CLIENT;
       
   500 <a name="l00506"></a>00506          nodeId_32 = *pNodeId;
       
   501 <a name="l00507"></a>00507          nodeId = (UNS8)nodeId_32;
       
   502 <a name="l00508"></a>00508          MSG_WAR(0x3A64, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1280 + j);
       
   503 <a name="l00509"></a>00509          MSG_WAR(0x3A65, <span class="stringliteral">"                 Server nodeId : "</span>, nodeId);
       
   504 <a name="l00510"></a>00510          <span class="keywordflow">break</span>;
       
   505 <a name="l00511"></a>00511         }
       
   506 <a name="l00512"></a>00512        j++;
       
   507 <a name="l00513"></a>00513        offset++;
       
   508 <a name="l00514"></a>00514     } <span class="comment">/* end while */</span>
       
   509 <a name="l00515"></a>00515   }
       
   510 <a name="l00516"></a>00516   <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
       
   511 <a name="l00517"></a>00517     <span class="keywordflow">return</span> 0xFF;<span class="comment">/* This SDO was not for us ! */</span>
       
   512 <a name="l00518"></a>00518   }
       
   513 <a name="l00519"></a>00519 
       
   514 <a name="l00520"></a>00520   <span class="comment">/* Test if the size of the SDO is ok */</span>
       
   515 <a name="l00521"></a>00521   <span class="keywordflow">if</span> ( (*m).len != 8) {
       
   516 <a name="l00522"></a>00522     MSG_ERR(0x1A67, <span class="stringliteral">"Error size SDO. CobId  : "</span>, (*m).cob_id.w);
       
   517 <a name="l00523"></a>00523     <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
       
   518 <a name="l00524"></a>00524     <span class="keywordflow">return</span> 0xFF;
       
   519 <a name="l00525"></a>00525   }
       
   520 <a name="l00526"></a>00526   
       
   521 <a name="l00527"></a>00527   <span class="keywordflow">if</span> (whoami == SDO_CLIENT) {
       
   522 <a name="l00528"></a>00528     MSG_WAR(0x3A68, <span class="stringliteral">"I am CLIENT. Received SDO from nodeId : "</span>, nodeId);
       
   523 <a name="l00529"></a>00529   }
       
   524 <a name="l00530"></a>00530   <span class="keywordflow">else</span> {
       
   525 <a name="l00531"></a>00531     MSG_WAR(0x3A69, <span class="stringliteral">"I am SERVER. Received SDO cobId : "</span>, (*m).cob_id.w);
       
   526 <a name="l00532"></a>00532   }
       
   527 <a name="l00533"></a>00533     
       
   528 <a name="l00534"></a>00534   <span class="comment">/* Testing the command specifier */</span>
       
   529 <a name="l00535"></a>00535   <span class="comment">/* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */</span>
       
   530 <a name="l00536"></a>00536   <span class="comment">/* cs = other : Not allowed -&gt; abort. */</span>
       
   531 <a name="l00537"></a>00537   <span class="keywordflow">switch</span> (<a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">getSDOcs</a>(m-&gt;data[0])) {
       
   532 <a name="l00538"></a>00538 
       
   533 <a name="l00539"></a>00539   <span class="keywordflow">case</span> 0:
       
   534 <a name="l00540"></a>00540     <span class="comment">/* I am SERVER */</span>
       
   535 <a name="l00541"></a>00541     <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
       
   536 <a name="l00542"></a>00542       <span class="comment">/* Receiving a download segment data. */</span>
       
   537 <a name="l00543"></a>00543       <span class="comment">/* A SDO transfert should have been yet initiated. */</span>
       
   538 <a name="l00544"></a>00544       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line ); 
       
   539 <a name="l00545"></a>00545       <span class="keywordflow">if</span> (!err)
       
   540 <a name="l00546"></a>00546         err = d-&gt;transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
       
   541 <a name="l00547"></a>00547       <span class="keywordflow">if</span> (err) {
       
   542 <a name="l00548"></a>00548         MSG_ERR(0x1A70, <span class="stringliteral">"SDO error : Received download segment for unstarted trans. index 0x1200 + "</span>, 
       
   543 <a name="l00549"></a>00549                 nodeId); 
       
   544 <a name="l00550"></a>00550         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   545 <a name="l00551"></a>00551         <span class="keywordflow">return</span> 0xFF;
       
   546 <a name="l00552"></a>00552       }
       
   547 <a name="l00553"></a>00553       <span class="comment">/* Reset the wathdog */</span>
       
   548 <a name="l00554"></a>00554       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   549 <a name="l00555"></a>00555       MSG_WAR(0x3A71, <span class="stringliteral">"Received SDO download segment defined at index 0x1200 + "</span>, nodeId); 
       
   550 <a name="l00556"></a>00556       index = d-&gt;transfers[line].index;
       
   551 <a name="l00557"></a>00557       subIndex = d-&gt;transfers[line].subIndex;
       
   552 <a name="l00558"></a>00558       <span class="comment">/* Toggle test. */</span>
       
   553 <a name="l00559"></a>00559       <span class="keywordflow">if</span> (d-&gt;transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])) {
       
   554 <a name="l00560"></a>00560         MSG_ERR(0x1A72, <span class="stringliteral">"SDO error : Toggle error : "</span>, <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])); 
       
   555 <a name="l00561"></a>00561         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
       
   556 <a name="l00562"></a>00562         <span class="keywordflow">return</span> 0xFF;
       
   557 <a name="l00563"></a>00563       }
       
   558 <a name="l00564"></a>00564       <span class="comment">/* Nb of data to be downloaded */</span>
       
   559 <a name="l00565"></a>00565       nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m-&gt;data[0]);
       
   560 <a name="l00566"></a>00566       <span class="comment">/* Store the data in the transfert structure. */</span>
       
   561 <a name="l00567"></a>00567       err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
       
   562 <a name="l00568"></a>00568       <span class="keywordflow">if</span> (err) {
       
   563 <a name="l00569"></a>00569         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   564 <a name="l00570"></a>00570         <span class="keywordflow">return</span> 0xFF;
       
   565 <a name="l00571"></a>00571       }
       
   566 <a name="l00572"></a>00572       <span class="comment">/* Sending the SDO response, CS = 1 */</span>
       
   567 <a name="l00573"></a>00573       sdo.nodeId = *d-&gt;bDeviceNodeId; <span class="comment">/* The node id of the server, (here it is the sender). */</span>
       
   568 <a name="l00574"></a>00574       sdo.body.data[0] = (1 &lt;&lt; 5) | (d-&gt;transfers[line].toggle &lt;&lt; 4);
       
   569 <a name="l00575"></a>00575       <span class="keywordflow">for</span> (i = 1 ; i &lt; 8 ; i++)
       
   570 <a name="l00576"></a>00576         sdo.body.data[i] = 0;
       
   571 <a name="l00577"></a>00577       MSG_WAR(0x3A73, <span class="stringliteral">"SDO. Send response to download request defined at index 0x1200 + "</span>, nodeId); 
       
   572 <a name="l00578"></a>00578       <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
       
   573 <a name="l00579"></a>00579       <span class="comment">/* Inverting the toggle for the next segment. */</span>
       
   574 <a name="l00580"></a>00580       d-&gt;transfers[line].toggle = ! d-&gt;transfers[line].toggle &amp; 1;
       
   575 <a name="l00581"></a>00581       <span class="comment">/* If it was the last segment, */</span>
       
   576 <a name="l00582"></a>00582       <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m-&gt;data[0])) {
       
   577 <a name="l00583"></a>00583         <span class="comment">/* Transfering line data to object dictionary. */</span>
       
   578 <a name="l00584"></a>00584         <span class="comment">/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */</span>
       
   579 <a name="l00585"></a>00585         errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
       
   580 <a name="l00586"></a>00586         <span class="keywordflow">if</span> (errorCode) {
       
   581 <a name="l00587"></a>00587           MSG_ERR(0x1A54, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0); 
       
   582 <a name="l00588"></a>00588           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
       
   583 <a name="l00589"></a>00589           <span class="keywordflow">return</span> 0xFF;    
       
   584 <a name="l00590"></a>00590         }
       
   585 <a name="l00591"></a>00591         <span class="comment">/* Release of the line */</span>
       
   586 <a name="l00592"></a>00592         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
   587 <a name="l00593"></a>00593         MSG_WAR(0x3A74, <span class="stringliteral">"SDO. End of download defined at index 0x1200 + "</span>, nodeId); 
       
   588 <a name="l00594"></a>00594       }
       
   589 <a name="l00595"></a>00595     } <span class="comment">/* end if SERVER */</span>
       
   590 <a name="l00596"></a>00596     <span class="keywordflow">else</span> { <span class="comment">/* if CLIENT */</span>
       
   591 <a name="l00597"></a>00597       <span class="comment">/* I am CLIENT */</span>
       
   592 <a name="l00598"></a>00598       <span class="comment">/* It is a request for a previous upload segment. We should find a line opened for this.*/</span>
       
   593 <a name="l00599"></a>00599       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line);
       
   594 <a name="l00600"></a>00600       <span class="keywordflow">if</span> (!err)
       
   595 <a name="l00601"></a>00601         err = d-&gt;transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
       
   596 <a name="l00602"></a>00602       <span class="keywordflow">if</span> (err) {
       
   597 <a name="l00603"></a>00603         MSG_ERR(0x1A75, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId); 
       
   598 <a name="l00604"></a>00604         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   599 <a name="l00605"></a>00605         <span class="keywordflow">return</span> 0xFF;
       
   600 <a name="l00606"></a>00606       }
       
   601 <a name="l00607"></a>00607       <span class="comment">/* Reset the wathdog */</span>
       
   602 <a name="l00608"></a>00608       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   603 <a name="l00609"></a>00609       index = d-&gt;transfers[line].index;
       
   604 <a name="l00610"></a>00610       subIndex = d-&gt;transfers[line].subIndex;
       
   605 <a name="l00611"></a>00611       <span class="comment">/* test of the toggle; */</span>
       
   606 <a name="l00612"></a>00612       <span class="keywordflow">if</span> (d-&gt;transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])) {
       
   607 <a name="l00613"></a>00613         MSG_ERR(0x1A76, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId); 
       
   608 <a name="l00614"></a>00614         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
       
   609 <a name="l00615"></a>00615         <span class="keywordflow">return</span> 0xFF;
       
   610 <a name="l00616"></a>00616       }
       
   611 <a name="l00617"></a>00617       <span class="comment">/* nb of data to be uploaded */</span>
       
   612 <a name="l00618"></a>00618       nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m-&gt;data[0]);
       
   613 <a name="l00619"></a>00619       <span class="comment">/* Storing the data in the line structure. */</span>
       
   614 <a name="l00620"></a>00620       err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
       
   615 <a name="l00621"></a>00621       <span class="keywordflow">if</span> (err) {
       
   616 <a name="l00622"></a>00622         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   617 <a name="l00623"></a>00623         <span class="keywordflow">return</span> 0xFF;
       
   618 <a name="l00624"></a>00624       }
       
   619 <a name="l00625"></a>00625       <span class="comment">/* Inverting the toggle for the next segment. */</span>
       
   620 <a name="l00626"></a>00626       d-&gt;transfers[line].toggle = ! d-&gt;transfers[line].toggle &amp; 1;
       
   621 <a name="l00627"></a>00627       <span class="comment">/* If it was the last segment,*/</span>
       
   622 <a name="l00628"></a>00628       <span class="keywordflow">if</span> ( <a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m-&gt;data[0])) {
       
   623 <a name="l00629"></a>00629         <span class="comment">/* Put in state finished */</span>
       
   624 <a name="l00630"></a>00630         <span class="comment">/* The code is safe for the case e=s=0 in initiate frame. */</span>
       
   625 <a name="l00631"></a>00631         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
   626 <a name="l00632"></a>00632         d-&gt;transfers[line].state = SDO_FINISHED;
       
   627 <a name="l00633"></a>00633         <span class="keywordflow">if</span>(d-&gt;transfers[line].Callback) (*d-&gt;transfers[line].Callback)(d,nodeId);
       
   628 <a name="l00634"></a>00634         
       
   629 <a name="l00635"></a>00635         MSG_WAR(0x3A77, <span class="stringliteral">"SDO. End of upload from node : "</span>, nodeId);
       
   630 <a name="l00636"></a>00636       }
       
   631 <a name="l00637"></a>00637       <span class="keywordflow">else</span> { <span class="comment">/* more segments to receive */</span>
       
   632 <a name="l00638"></a>00638              <span class="comment">/* Sending the request for the next segment. */</span>
       
   633 <a name="l00639"></a>00639         sdo.nodeId = nodeId;
       
   634 <a name="l00640"></a>00640         sdo.body.data[0] = (3 &lt;&lt; 5) | (d-&gt;transfers[line].toggle &lt;&lt; 4);
       
   635 <a name="l00641"></a>00641         <span class="keywordflow">for</span> (i = 1 ; i &lt; 8 ; i++)
       
   636 <a name="l00642"></a>00642           sdo.body.data[i] = 0;
       
   637 <a name="l00643"></a>00643         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
       
   638 <a name="l00644"></a>00644         MSG_WAR(0x3A78, <span class="stringliteral">"SDO send upload segment request to nodeId"</span>, nodeId);
       
   639 <a name="l00645"></a>00645       }            
       
   640 <a name="l00646"></a>00646     } <span class="comment">/* End if CLIENT */</span>
       
   641 <a name="l00647"></a>00647     <span class="keywordflow">break</span>;
       
   642 <a name="l00648"></a>00648 
       
   643 <a name="l00649"></a>00649   <span class="keywordflow">case</span> 1:
       
   644 <a name="l00650"></a>00650     <span class="comment">/* I am SERVER */</span>
       
   645 <a name="l00651"></a>00651     <span class="comment">/* Receive of an initiate download */</span>
       
   646 <a name="l00652"></a>00652     <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
       
   647 <a name="l00653"></a>00653       index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m-&gt;data[1],m-&gt;data[2]);
       
   648 <a name="l00654"></a>00654       subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m-&gt;data[3]);
       
   649 <a name="l00655"></a>00655       MSG_WAR(0x3A79, <span class="stringliteral">"Received SDO Initiate Download (to store data) defined at index 0x1200 + "</span>, 
       
   650 <a name="l00656"></a>00656               nodeId); 
       
   651 <a name="l00657"></a>00657       MSG_WAR(0x3A80, <span class="stringliteral">"Writing at index : "</span>, index);
       
   652 <a name="l00658"></a>00658       MSG_WAR(0x3A80, <span class="stringliteral">"Writing at subIndex : "</span>, subIndex);
       
   653 <a name="l00659"></a>00659       
       
   654 <a name="l00660"></a>00660       <span class="comment">/* Search if a SDO transfert have been yet initiated */</span>
       
   655 <a name="l00661"></a>00661       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line );
       
   656 <a name="l00662"></a>00662       <span class="keywordflow">if</span> (! err) {
       
   657 <a name="l00663"></a>00663         MSG_ERR(0x1A81, <span class="stringliteral">"SDO error : Transmission yet started."</span>, 0); 
       
   658 <a name="l00664"></a>00664         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
       
   659 <a name="l00665"></a>00665         <span class="keywordflow">return</span> 0xFF;
       
   660 <a name="l00666"></a>00666       }
       
   661 <a name="l00667"></a>00667       <span class="comment">/* No line on use. Great ! */</span>
       
   662 <a name="l00668"></a>00668       <span class="comment">/* Try to open a new line. */</span>
       
   663 <a name="l00669"></a>00669       err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &amp;line );
       
   664 <a name="l00670"></a>00670       <span class="keywordflow">if</span> (err) {
       
   665 <a name="l00671"></a>00671         MSG_ERR(0x1A82, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
       
   666 <a name="l00672"></a>00672         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
       
   667 <a name="l00673"></a>00673         <span class="keywordflow">return</span> 0xFF;
       
   668 <a name="l00674"></a>00674       }
       
   669 <a name="l00675"></a>00675       <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);      
       
   670 <a name="l00676"></a>00676 
       
   671 <a name="l00677"></a>00677       <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m-&gt;data[0])) { <span class="comment">/* If SDO expedited */</span>
       
   672 <a name="l00678"></a>00678         <span class="comment">/* nb of data to be downloaded */</span>
       
   673 <a name="l00679"></a>00679         nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m-&gt;data[0]);
       
   674 <a name="l00680"></a>00680         <span class="comment">/* Storing the data in the line structure. */</span>
       
   675 <a name="l00681"></a>00681         d-&gt;transfers[line].count = nbBytes;
       
   676 <a name="l00682"></a>00682         err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
       
   677 <a name="l00683"></a>00683         
       
   678 <a name="l00684"></a>00684         <span class="keywordflow">if</span> (err) {
       
   679 <a name="l00685"></a>00685           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   680 <a name="l00686"></a>00686           <span class="keywordflow">return</span> 0xFF;
       
   681 <a name="l00687"></a>00687         }         
       
   682 <a name="l00688"></a>00688 
       
   683 <a name="l00689"></a>00689         <span class="comment">/* SDO expedited -&gt; transfert finished. Data can be stored in the dictionary. */</span>
       
   684 <a name="l00690"></a>00690         <span class="comment">/* The line will be reseted when it is downloading in the dictionary. */</span>
       
   685 <a name="l00691"></a>00691         MSG_WAR(0x3A83, <span class="stringliteral">"SDO Initiate Download is an expedited transfert. Finished.: "</span>, nodeId);
       
   686 <a name="l00692"></a>00692         <span class="comment">/* Transfering line data to object dictionary. */</span>
       
   687 <a name="l00693"></a>00693         errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
       
   688 <a name="l00694"></a>00694         <span class="keywordflow">if</span> (errorCode) {
       
   689 <a name="l00695"></a>00695           MSG_ERR(0x1A84, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0); 
       
   690 <a name="l00696"></a>00696           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
       
   691 <a name="l00697"></a>00697           <span class="keywordflow">return</span> 0xFF;
       
   692 <a name="l00698"></a>00698         }
       
   693 <a name="l00699"></a>00699         <span class="comment">/* Release of the line. */</span>
       
   694 <a name="l00700"></a>00700         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
   695 <a name="l00701"></a>00701       }
       
   696 <a name="l00702"></a>00702       <span class="keywordflow">else</span> {<span class="comment">/* So, if it is not an expedited transfert */</span>
       
   697 <a name="l00703"></a>00703         <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m-&gt;data[0])) {
       
   698 <a name="l00704"></a>00704           <span class="comment">/* TODO : if e and s = 0, not reading m-&gt;data[4] but put nbBytes = 0 */</span>
       
   699 <a name="l00705"></a>00705           nbBytes = m-&gt;data[4]; <span class="comment">/* Transfert limited to 255 bytes. */</span>
       
   700 <a name="l00706"></a>00706           err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, nodeId, nbBytes);
       
   701 <a name="l00707"></a>00707           <span class="keywordflow">if</span> (err) {
       
   702 <a name="l00708"></a>00708             <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   703 <a name="l00709"></a>00709             <span class="keywordflow">return</span> 0xFF;
       
   704 <a name="l00710"></a>00710           }     
       
   705 <a name="l00711"></a>00711         }
       
   706 <a name="l00712"></a>00712       }
       
   707 <a name="l00713"></a>00713       <span class="comment">/*Sending a SDO, cs=3*/</span>
       
   708 <a name="l00714"></a>00714       sdo.nodeId = *d-&gt;bDeviceNodeId; <span class="comment">/* The node id of the server, (here it is the sender).*/</span>
       
   709 <a name="l00715"></a>00715       sdo.body.data[0] = 3 &lt;&lt; 5;
       
   710 <a name="l00716"></a>00716       sdo.body.data[1] = index &amp; 0xFF;        <span class="comment">/* LSB */</span>
       
   711 <a name="l00717"></a>00717       sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
   712 <a name="l00718"></a>00718       sdo.body.data[3] = subIndex;
       
   713 <a name="l00719"></a>00719       <span class="keywordflow">for</span> (i = 4 ; i &lt; 8 ; i++)
       
   714 <a name="l00720"></a>00720                 sdo.body.data[i] = 0;
       
   715 <a name="l00721"></a>00721       <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
       
   716 <a name="l00722"></a>00722     } <span class="comment">/* end if I am SERVER */</span>
       
   717 <a name="l00723"></a>00723     <span class="keywordflow">else</span> {
       
   718 <a name="l00724"></a>00724       <span class="comment">/* I am CLIENT */</span>
       
   719 <a name="l00725"></a>00725       <span class="comment">/* It is a response for a previous download segment. We should find a line opened for this. */</span>
       
   720 <a name="l00726"></a>00726       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line);
       
   721 <a name="l00727"></a>00727       <span class="keywordflow">if</span> (!err)
       
   722 <a name="l00728"></a>00728         err = d-&gt;transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
       
   723 <a name="l00729"></a>00729       <span class="keywordflow">if</span> (err) {
       
   724 <a name="l00730"></a>00730         MSG_ERR(0x1A85, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId); 
       
   725 <a name="l00731"></a>00731         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   726 <a name="l00732"></a>00732         <span class="keywordflow">return</span> 0xFF;
       
   727 <a name="l00733"></a>00733       }
       
   728 <a name="l00734"></a>00734       <span class="comment">/* Reset the wathdog */</span>
       
   729 <a name="l00735"></a>00735       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   730 <a name="l00736"></a>00736       index = d-&gt;transfers[line].index;
       
   731 <a name="l00737"></a>00737       subIndex = d-&gt;transfers[line].subIndex;
       
   732 <a name="l00738"></a>00738       <span class="comment">/* test of the toggle; */</span>
       
   733 <a name="l00739"></a>00739       <span class="keywordflow">if</span> (d-&gt;transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])) {
       
   734 <a name="l00740"></a>00740         MSG_ERR(0x1A86, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId); 
       
   735 <a name="l00741"></a>00741         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
       
   736 <a name="l00742"></a>00742         <span class="keywordflow">return</span> 0xFF;
       
   737 <a name="l00743"></a>00743       }
       
   738 <a name="l00744"></a>00744 
       
   739 <a name="l00745"></a>00745       <span class="comment">/* End transmission or downloading next segment. We need to know if it will be the last one. */</span>
       
   740 <a name="l00746"></a>00746       <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &amp;nbBytes);
       
   741 <a name="l00747"></a>00747       <span class="keywordflow">if</span> (nbBytes == 0) {
       
   742 <a name="l00748"></a>00748         MSG_WAR(0x3A87, <span class="stringliteral">"SDO End download. segment response received. OK. from nodeId"</span>, nodeId); 
       
   743 <a name="l00749"></a>00749         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
   744 <a name="l00750"></a>00750         d-&gt;transfers[line].state = SDO_FINISHED;
       
   745 <a name="l00751"></a>00751         <span class="keywordflow">if</span>(d-&gt;transfers[line].Callback) (*d-&gt;transfers[line].Callback)(d,nodeId);
       
   746 <a name="l00752"></a>00752         <span class="keywordflow">return</span> 0x00;
       
   747 <a name="l00753"></a>00753       }
       
   748 <a name="l00754"></a>00754       <span class="comment">/* At least one transfer to send. */</span>
       
   749 <a name="l00755"></a>00755       <span class="keywordflow">if</span> (nbBytes &gt; 7) {
       
   750 <a name="l00756"></a>00756         <span class="comment">/* several segments to download.*/</span>
       
   751 <a name="l00757"></a>00757         <span class="comment">/* code to send the next segment. (cs = 0; c = 0) */</span>
       
   752 <a name="l00758"></a>00758         d-&gt;transfers[line].toggle = ! d-&gt;transfers[line].toggle &amp; 1;
       
   753 <a name="l00759"></a>00759         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   754 <a name="l00760"></a>00760         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4);
       
   755 <a name="l00761"></a>00761         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);  
       
   756 <a name="l00762"></a>00762         <span class="keywordflow">if</span> (err) {
       
   757 <a name="l00763"></a>00763           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   758 <a name="l00764"></a>00764           <span class="keywordflow">return</span> 0xFF;
       
   759 <a name="l00765"></a>00765         }
       
   760 <a name="l00766"></a>00766       } 
       
   761 <a name="l00767"></a>00767       <span class="keywordflow">else</span> {
       
   762 <a name="l00768"></a>00768         <span class="comment">/* Last segment. */</span>
       
   763 <a name="l00769"></a>00769         <span class="comment">/* code to send the last segment. (cs = 0; c = 1)*/</span>
       
   764 <a name="l00770"></a>00770         d-&gt;transfers[line].toggle = ! d-&gt;transfers[line].toggle &amp; 1;
       
   765 <a name="l00771"></a>00771         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   766 <a name="l00772"></a>00772         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4) | ((7 - nbBytes) &lt;&lt; 1) | 1;
       
   767 <a name="l00773"></a>00773         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);    
       
   768 <a name="l00774"></a>00774         <span class="keywordflow">if</span> (err) {
       
   769 <a name="l00775"></a>00775           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   770 <a name="l00776"></a>00776           <span class="keywordflow">return</span> 0xFF;
       
   771 <a name="l00777"></a>00777         }
       
   772 <a name="l00778"></a>00778         <span class="keywordflow">for</span> (i = nbBytes + 1 ; i &lt; 8 ; i++)
       
   773 <a name="l00779"></a>00779           sdo.body.data[i] = 0;
       
   774 <a name="l00780"></a>00780       }
       
   775 <a name="l00781"></a>00781       MSG_WAR(0x3A88, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId); 
       
   776 <a name="l00782"></a>00782       <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo); 
       
   777 <a name="l00783"></a>00783     } <span class="comment">/* end if I am a CLIENT */</span>                          
       
   778 <a name="l00784"></a>00784     <span class="keywordflow">break</span>;
       
   779 <a name="l00785"></a>00785 
       
   780 <a name="l00786"></a>00786   <span class="keywordflow">case</span> 2:
       
   781 <a name="l00787"></a>00787     <span class="comment">/* I am SERVER */</span>
       
   782 <a name="l00788"></a>00788     <span class="comment">/* Receive of an initiate upload.*/</span>
       
   783 <a name="l00789"></a>00789     <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
       
   784 <a name="l00790"></a>00790       index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m-&gt;data[1],m-&gt;data[2]);
       
   785 <a name="l00791"></a>00791       subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m-&gt;data[3]);
       
   786 <a name="l00792"></a>00792       MSG_WAR(0x3A89, <span class="stringliteral">"Received SDO Initiate upload (to send data) defined at index 0x1200 + "</span>, 
       
   787 <a name="l00793"></a>00793               nodeId); 
       
   788 <a name="l00794"></a>00794       MSG_WAR(0x3A90, <span class="stringliteral">"Reading at index : "</span>, index);
       
   789 <a name="l00795"></a>00795       MSG_WAR(0x3A91, <span class="stringliteral">"Reading at subIndex : "</span>, subIndex);
       
   790 <a name="l00796"></a>00796       <span class="comment">/* Search if a SDO transfert have been yet initiated*/</span>
       
   791 <a name="l00797"></a>00797       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line );
       
   792 <a name="l00798"></a>00798       <span class="keywordflow">if</span> (! err) {
       
   793 <a name="l00799"></a>00799             MSG_ERR(0x1A92, <span class="stringliteral">"SDO error : Transmission yet started at line : "</span>, line); 
       
   794 <a name="l00800"></a>00800         MSG_WAR(0x3A93, <span class="stringliteral">"nodeId = "</span>, nodeId); 
       
   795 <a name="l00801"></a>00801             <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
       
   796 <a name="l00802"></a>00802             <span class="keywordflow">return</span> 0xFF;
       
   797 <a name="l00803"></a>00803       }
       
   798 <a name="l00804"></a>00804       <span class="comment">/* No line on use. Great !*/</span>
       
   799 <a name="l00805"></a>00805       <span class="comment">/* Try to open a new line.*/</span>
       
   800 <a name="l00806"></a>00806       err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &amp;line );
       
   801 <a name="l00807"></a>00807       <span class="keywordflow">if</span> (err) {
       
   802 <a name="l00808"></a>00808         MSG_ERR(0x1A71, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
       
   803 <a name="l00809"></a>00809         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
       
   804 <a name="l00810"></a>00810         <span class="keywordflow">return</span> 0xFF;
       
   805 <a name="l00811"></a>00811       }
       
   806 <a name="l00812"></a>00812       <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
       
   807 <a name="l00813"></a>00813       <span class="comment">/* Transfer data from dictionary to the line structure. */</span>
       
   808 <a name="l00814"></a>00814       errorCode = <a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">objdictToSDOline</a>(d, line);
       
   809 <a name="l00815"></a>00815      
       
   810 <a name="l00816"></a>00816       <span class="keywordflow">if</span> (errorCode) {
       
   811 <a name="l00817"></a>00817         MSG_ERR(0x1A94, <span class="stringliteral">"SDO error : Unable to copy the data from object dictionary. Err code : "</span>, 
       
   812 <a name="l00818"></a>00818                 errorCode); 
       
   813 <a name="l00819"></a>00819         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
       
   814 <a name="l00820"></a>00820         <span class="keywordflow">return</span> 0xFF;
       
   815 <a name="l00821"></a>00821         }
       
   816 <a name="l00822"></a>00822       <span class="comment">/* Preparing the response.*/</span>
       
   817 <a name="l00823"></a>00823       <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &amp;nbBytes);   <span class="comment">/* Nb bytes to transfer ? */</span>
       
   818 <a name="l00824"></a>00824       sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   819 <a name="l00825"></a>00825       <span class="keywordflow">if</span> (nbBytes &gt; 4) {
       
   820 <a name="l00826"></a>00826         <span class="comment">/* normal transfert. (segmented). */</span>
       
   821 <a name="l00827"></a>00827         <span class="comment">/* code to send the initiate upload response. (cs = 2) */</span>
       
   822 <a name="l00828"></a>00828         sdo.body.data[0] = (2 &lt;&lt; 5) | 1;
       
   823 <a name="l00829"></a>00829         sdo.body.data[1] = index &amp; 0xFF;        <span class="comment">/* LSB */</span>
       
   824 <a name="l00830"></a>00830         sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
   825 <a name="l00831"></a>00831         sdo.body.data[3] = subIndex;
       
   826 <a name="l00832"></a>00832         sdo.body.data[4] = nbBytes; <span class="comment">/* Limitation of canfestival2 : Max tranfert is 256 bytes.*/</span>
       
   827 <a name="l00833"></a>00833         <span class="comment">/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */</span>
       
   828 <a name="l00834"></a>00834         <span class="comment">/* in the object dictionary, at every index and subindex. */</span>
       
   829 <a name="l00835"></a>00835         <span class="keywordflow">for</span> (i = 5 ; i &lt; 8 ; i++)
       
   830 <a name="l00836"></a>00836           sdo.body.data[i] = 0;
       
   831 <a name="l00837"></a>00837         MSG_WAR(0x3A95, <span class="stringliteral">"SDO. Sending normal upload initiate response defined at index 0x1200 + "</span>, nodeId); 
       
   832 <a name="l00838"></a>00838         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo); 
       
   833 <a name="l00839"></a>00839       }
       
   834 <a name="l00840"></a>00840       <span class="keywordflow">else</span> {
       
   835 <a name="l00841"></a>00841         <span class="comment">/* Expedited upload. (cs = 2 ; e = 1) */</span>
       
   836 <a name="l00842"></a>00842         sdo.body.data[0] = (2 &lt;&lt; 5) | ((4 - nbBytes) &lt;&lt; 2) | 3;  
       
   837 <a name="l00843"></a>00843         sdo.body.data[1] = index &amp; 0xFF;        <span class="comment">/* LSB */</span>
       
   838 <a name="l00844"></a>00844         sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
   839 <a name="l00845"></a>00845         sdo.body.data[3] = subIndex;
       
   840 <a name="l00846"></a>00846         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 4);    
       
   841 <a name="l00847"></a>00847         <span class="keywordflow">if</span> (err) {
       
   842 <a name="l00848"></a>00848           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   843 <a name="l00849"></a>00849           <span class="keywordflow">return</span> 0xFF;
       
   844 <a name="l00850"></a>00850         }
       
   845 <a name="l00851"></a>00851         <span class="keywordflow">for</span> (i = 4 + nbBytes ; i &lt; 8 ; i++)
       
   846 <a name="l00852"></a>00852           sdo.body.data[i] = 0;
       
   847 <a name="l00853"></a>00853         MSG_WAR(0x3A96, <span class="stringliteral">"SDO. Sending expedited upload initiate response defined at index 0x1200 + "</span>, 
       
   848 <a name="l00854"></a>00854                 nodeId); 
       
   849 <a name="l00855"></a>00855         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo); 
       
   850 <a name="l00856"></a>00856         <span class="comment">/* Release the line.*/</span>
       
   851 <a name="l00857"></a>00857         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
   852 <a name="l00858"></a>00858       }
       
   853 <a name="l00859"></a>00859     } <span class="comment">/* end if I am SERVER*/</span>
       
   854 <a name="l00860"></a>00860     <span class="keywordflow">else</span> {
       
   855 <a name="l00861"></a>00861       <span class="comment">/* I am CLIENT */</span>
       
   856 <a name="l00862"></a>00862       <span class="comment">/* It is the response for the previous initiate upload request.*/</span>
       
   857 <a name="l00863"></a>00863       <span class="comment">/* We should find a line opened for this. */</span>
       
   858 <a name="l00864"></a>00864       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line);
       
   859 <a name="l00865"></a>00865       <span class="keywordflow">if</span> (!err)
       
   860 <a name="l00866"></a>00866         err = d-&gt;transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
       
   861 <a name="l00867"></a>00867       <span class="keywordflow">if</span> (err) {
       
   862 <a name="l00868"></a>00868         MSG_ERR(0x1A97, <span class="stringliteral">"SDO error : Received response for unknown upload request from nodeId"</span>, nodeId); 
       
   863 <a name="l00869"></a>00869         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   864 <a name="l00870"></a>00870         <span class="keywordflow">return</span> 0xFF;
       
   865 <a name="l00871"></a>00871       }
       
   866 <a name="l00872"></a>00872       <span class="comment">/* Reset the wathdog */</span>
       
   867 <a name="l00873"></a>00873       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   868 <a name="l00874"></a>00874       index = d-&gt;transfers[line].index;
       
   869 <a name="l00875"></a>00875       subIndex = d-&gt;transfers[line].subIndex;
       
   870 <a name="l00876"></a>00876       
       
   871 <a name="l00877"></a>00877       <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m-&gt;data[0])) { <span class="comment">/* If SDO expedited */</span>
       
   872 <a name="l00878"></a>00878         <span class="comment">/* nb of data to be uploaded */</span>
       
   873 <a name="l00879"></a>00879           nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m-&gt;data[0]);
       
   874 <a name="l00880"></a>00880         <span class="comment">/* Storing the data in the line structure. */</span>
       
   875 <a name="l00881"></a>00881         err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
       
   876 <a name="l00882"></a>00882         <span class="keywordflow">if</span> (err) {
       
   877 <a name="l00883"></a>00883           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   878 <a name="l00884"></a>00884           <span class="keywordflow">return</span> 0xFF;
       
   879 <a name="l00885"></a>00885         }
       
   880 <a name="l00886"></a>00886         <span class="comment">/* SDO expedited -&gt; transfert finished. data are available via  getReadResultNetworkDict(). */</span>
       
   881 <a name="l00887"></a>00887         MSG_WAR(0x3A98, <span class="stringliteral">"SDO expedited upload finished. Response received from node : "</span>, nodeId);
       
   882 <a name="l00888"></a>00888         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
   883 <a name="l00889"></a>00889         d-&gt;transfers[line].count = nbBytes;
       
   884 <a name="l00890"></a>00890         d-&gt;transfers[line].state = SDO_FINISHED;
       
   885 <a name="l00891"></a>00891         <span class="keywordflow">if</span>(d-&gt;transfers[line].Callback) (*d-&gt;transfers[line].Callback)(d,nodeId);
       
   886 <a name="l00892"></a>00892         <span class="keywordflow">return</span> 0;
       
   887 <a name="l00893"></a>00893       }
       
   888 <a name="l00894"></a>00894       <span class="keywordflow">else</span> { <span class="comment">/* So, if it is not an expedited transfert */</span>
       
   889 <a name="l00895"></a>00895         <span class="comment">/* Storing the nb of data to receive. */</span>
       
   890 <a name="l00896"></a>00896         <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m-&gt;data[0])) {
       
   891 <a name="l00897"></a>00897           nbBytes = m-&gt;data[4]; <span class="comment">/* Remember the limitation to 255 bytes to transfert */</span>
       
   892 <a name="l00898"></a>00898           err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, line, nbBytes);
       
   893 <a name="l00899"></a>00899           <span class="keywordflow">if</span> (err) {
       
   894 <a name="l00900"></a>00900             <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   895 <a name="l00901"></a>00901             <span class="keywordflow">return</span> 0xFF;
       
   896 <a name="l00902"></a>00902           }     
       
   897 <a name="l00903"></a>00903         }
       
   898 <a name="l00904"></a>00904         <span class="comment">/* Requesting next segment. (cs = 3) */</span>
       
   899 <a name="l00905"></a>00905         sdo.nodeId = nodeId;
       
   900 <a name="l00906"></a>00906         sdo.body.data[0] = 3 &lt;&lt; 5;
       
   901 <a name="l00907"></a>00907         <span class="keywordflow">for</span> (i = 1 ; i &lt; 8 ; i++)
       
   902 <a name="l00908"></a>00908           sdo.body.data[i] = 0;
       
   903 <a name="l00909"></a>00909         MSG_WAR(0x3A99, <span class="stringliteral">"SDO. Sending upload segment request to node : "</span>, nodeId); 
       
   904 <a name="l00910"></a>00910         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);  
       
   905 <a name="l00911"></a>00911       }
       
   906 <a name="l00912"></a>00912     } <span class="comment">/* End if CLIENT */</span>
       
   907 <a name="l00913"></a>00913     <span class="keywordflow">break</span>;
       
   908 <a name="l00914"></a>00914 
       
   909 <a name="l00915"></a>00915   <span class="keywordflow">case</span> 3:
       
   910 <a name="l00916"></a>00916     <span class="comment">/* I am SERVER */</span>
       
   911 <a name="l00917"></a>00917     <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
       
   912 <a name="l00918"></a>00918       <span class="comment">/* Receiving a upload segment. */</span>
       
   913 <a name="l00919"></a>00919       <span class="comment">/* A SDO transfert should have been yet initiated. */</span>
       
   914 <a name="l00920"></a>00920       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line ); 
       
   915 <a name="l00921"></a>00921       <span class="keywordflow">if</span> (!err)
       
   916 <a name="l00922"></a>00922         err = d-&gt;transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
       
   917 <a name="l00923"></a>00923       <span class="keywordflow">if</span> (err) {
       
   918 <a name="l00924"></a>00924         MSG_ERR(0x1AA0, <span class="stringliteral">"SDO error : Received upload segment for unstarted trans. index 0x1200 + "</span>, 
       
   919 <a name="l00925"></a>00925                 nodeId); 
       
   920 <a name="l00926"></a>00926         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   921 <a name="l00927"></a>00927         <span class="keywordflow">return</span> 0xFF;
       
   922 <a name="l00928"></a>00928       }
       
   923 <a name="l00929"></a>00929       <span class="comment">/* Reset the wathdog */</span>
       
   924 <a name="l00930"></a>00930       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   925 <a name="l00931"></a>00931       MSG_WAR(0x3AA1, <span class="stringliteral">"Received SDO upload segment defined at index 0x1200 + "</span>, nodeId); 
       
   926 <a name="l00932"></a>00932       index = d-&gt;transfers[line].index;
       
   927 <a name="l00933"></a>00933       subIndex = d-&gt;transfers[line].subIndex;
       
   928 <a name="l00934"></a>00934       <span class="comment">/* Toggle test.*/</span>
       
   929 <a name="l00935"></a>00935       <span class="keywordflow">if</span> (d-&gt;transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])) {
       
   930 <a name="l00936"></a>00936         MSG_ERR(0x1AA2, <span class="stringliteral">"SDO error : Toggle error : "</span>, <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m-&gt;data[0])); 
       
   931 <a name="l00937"></a>00937         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
       
   932 <a name="l00938"></a>00938         <span class="keywordflow">return</span> 0xFF;
       
   933 <a name="l00939"></a>00939       }
       
   934 <a name="l00940"></a>00940       <span class="comment">/* Uploading next segment. We need to know if it will be the last one. */</span>
       
   935 <a name="l00941"></a>00941       <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &amp;nbBytes);             
       
   936 <a name="l00942"></a>00942       <span class="keywordflow">if</span> (nbBytes &gt; 7) {
       
   937 <a name="l00943"></a>00943         <span class="comment">/* The segment to transfer is not the last one.*/</span>
       
   938 <a name="l00944"></a>00944         <span class="comment">/* code to send the next segment. (cs = 0; c = 0) */</span>
       
   939 <a name="l00945"></a>00945         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   940 <a name="l00946"></a>00946         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4);
       
   941 <a name="l00947"></a>00947         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);  
       
   942 <a name="l00948"></a>00948         <span class="keywordflow">if</span> (err) {
       
   943 <a name="l00949"></a>00949           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   944 <a name="l00950"></a>00950           <span class="keywordflow">return</span> 0xFF;
       
   945 <a name="l00951"></a>00951         }
       
   946 <a name="l00952"></a>00952         <span class="comment">/* Inverting the toggle for the next tranfert. */</span>
       
   947 <a name="l00953"></a>00953         d-&gt;transfers[line].toggle = ! d-&gt;transfers[line].toggle &amp; 1;
       
   948 <a name="l00954"></a>00954         MSG_WAR(0x3AA3, <span class="stringliteral">"SDO. Sending upload segment defined at index 0x1200 + "</span>, nodeId); 
       
   949 <a name="l00955"></a>00955         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo); 
       
   950 <a name="l00956"></a>00956       } 
       
   951 <a name="l00957"></a>00957       <span class="keywordflow">else</span> {
       
   952 <a name="l00958"></a>00958         <span class="comment">/* Last segment. */</span>
       
   953 <a name="l00959"></a>00959         <span class="comment">/* code to send the last segment. (cs = 0; c = 1) */</span>        
       
   954 <a name="l00960"></a>00960         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   955 <a name="l00961"></a>00961         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4) | ((7 - nbBytes) &lt;&lt; 1) | 1;
       
   956 <a name="l00962"></a>00962         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);    
       
   957 <a name="l00963"></a>00963         <span class="keywordflow">if</span> (err) {
       
   958 <a name="l00964"></a>00964           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
   959 <a name="l00965"></a>00965           <span class="keywordflow">return</span> 0xFF;
       
   960 <a name="l00966"></a>00966         }
       
   961 <a name="l00967"></a>00967         <span class="keywordflow">for</span> (i = nbBytes + 1 ; i &lt; 8 ; i++)
       
   962 <a name="l00968"></a>00968           sdo.body.data[i] = 0;
       
   963 <a name="l00969"></a>00969         MSG_WAR(0x3AA4, <span class="stringliteral">"SDO. Sending last upload segment defined at index 0x1200 + "</span>, nodeId);      
       
   964 <a name="l00970"></a>00970         <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
       
   965 <a name="l00971"></a>00971         <span class="comment">/* Release the line */</span>
       
   966 <a name="l00972"></a>00972         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
   967 <a name="l00973"></a>00973       }
       
   968 <a name="l00974"></a>00974     } <span class="comment">/* end if SERVER*/</span>
       
   969 <a name="l00975"></a>00975     <span class="keywordflow">else</span> {
       
   970 <a name="l00976"></a>00976       <span class="comment">/* I am CLIENT */</span>
       
   971 <a name="l00977"></a>00977       <span class="comment">/* It is the response for the previous initiate download request. */</span>
       
   972 <a name="l00978"></a>00978       <span class="comment">/* We should find a line opened for this. */</span>
       
   973 <a name="l00979"></a>00979       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line);
       
   974 <a name="l00980"></a>00980       <span class="keywordflow">if</span> (!err)
       
   975 <a name="l00981"></a>00981         err = d-&gt;transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
       
   976 <a name="l00982"></a>00982       <span class="keywordflow">if</span> (err) {
       
   977 <a name="l00983"></a>00983         MSG_ERR(0x1AA5, <span class="stringliteral">"SDO error : Received response for unknown download request from nodeId"</span>, nodeId); 
       
   978 <a name="l00984"></a>00984         <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
       
   979 <a name="l00985"></a>00985         <span class="keywordflow">return</span> 0xFF;
       
   980 <a name="l00986"></a>00986       }
       
   981 <a name="l00987"></a>00987       <span class="comment">/* Reset the watchdog */</span>
       
   982 <a name="l00988"></a>00988       <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
       
   983 <a name="l00989"></a>00989       index = d-&gt;transfers[line].index;
       
   984 <a name="l00990"></a>00990       subIndex = d-&gt;transfers[line].subIndex;
       
   985 <a name="l00991"></a>00991       <span class="comment">/* End transmission or requesting  next segment. */</span>
       
   986 <a name="l00992"></a>00992       <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &amp;nbBytes);
       
   987 <a name="l00993"></a>00993       <span class="keywordflow">if</span> (nbBytes == 0) {
       
   988 <a name="l00994"></a>00994         MSG_WAR(0x3AA6, <span class="stringliteral">"SDO End download expedited. Response received. from nodeId"</span>, nodeId); 
       
   989 <a name="l00995"></a>00995         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
   990 <a name="l00996"></a>00996         d-&gt;transfers[line].state = SDO_FINISHED;
       
   991 <a name="l00997"></a>00997         <span class="keywordflow">if</span>(d-&gt;transfers[line].Callback) (*d-&gt;transfers[line].Callback)(d,nodeId);
       
   992 <a name="l00998"></a>00998         <span class="keywordflow">return</span> 0x00;
       
   993 <a name="l00999"></a>00999       }   
       
   994 <a name="l01000"></a>01000       <span class="keywordflow">if</span> (nbBytes &gt; 7) {
       
   995 <a name="l01001"></a>01001         <span class="comment">/* more than one request to send */</span>
       
   996 <a name="l01002"></a>01002         <span class="comment">/* code to send the next segment. (cs = 0; c = 0)       */</span>    
       
   997 <a name="l01003"></a>01003         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
   998 <a name="l01004"></a>01004         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4);
       
   999 <a name="l01005"></a>01005         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);  
       
  1000 <a name="l01006"></a>01006         <span class="keywordflow">if</span> (err) {
       
  1001 <a name="l01007"></a>01007           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
  1002 <a name="l01008"></a>01008           <span class="keywordflow">return</span> 0xFF;
       
  1003 <a name="l01009"></a>01009         }
       
  1004 <a name="l01010"></a>01010       } 
       
  1005 <a name="l01011"></a>01011       <span class="keywordflow">else</span> {
       
  1006 <a name="l01012"></a>01012         <span class="comment">/* Last segment.*/</span>
       
  1007 <a name="l01013"></a>01013         <span class="comment">/* code to send the last segment. (cs = 0; c = 1)       */</span>   
       
  1008 <a name="l01014"></a>01014         sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
       
  1009 <a name="l01015"></a>01015         sdo.body.data[0] = (d-&gt;transfers[line].toggle &lt;&lt; 4) | ((7 - nbBytes) &lt;&lt; 1) | 1;
       
  1010 <a name="l01016"></a>01016         err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);    
       
  1011 <a name="l01017"></a>01017         <span class="keywordflow">if</span> (err) {
       
  1012 <a name="l01018"></a>01018           <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
       
  1013 <a name="l01019"></a>01019           <span class="keywordflow">return</span> 0xFF;
       
  1014 <a name="l01020"></a>01020         }
       
  1015 <a name="l01021"></a>01021         <span class="keywordflow">for</span> (i = nbBytes + 1 ; i &lt; 8 ; i++)
       
  1016 <a name="l01022"></a>01022           sdo.body.data[i] = 0;
       
  1017 <a name="l01023"></a>01023       }
       
  1018 <a name="l01024"></a>01024       MSG_WAR(0x3AA7, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId); 
       
  1019 <a name="l01025"></a>01025       <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo); 
       
  1020 <a name="l01026"></a>01026 
       
  1021 <a name="l01027"></a>01027     } <span class="comment">/* end if I am a CLIENT           */</span>        
       
  1022 <a name="l01028"></a>01028     <span class="keywordflow">break</span>;  
       
  1023 <a name="l01029"></a>01029 
       
  1024 <a name="l01030"></a>01030    <span class="keywordflow">case</span> 4:
       
  1025 <a name="l01031"></a>01031      abortCode = (*m).data[3] |
       
  1026 <a name="l01032"></a>01032       ((UNS32)m-&gt;data[5] &lt;&lt; 8) |
       
  1027 <a name="l01033"></a>01033       ((UNS32)m-&gt;data[6] &lt;&lt; 16) |
       
  1028 <a name="l01034"></a>01034       ((UNS32)m-&gt;data[7] &lt;&lt; 24);
       
  1029 <a name="l01035"></a>01035     <span class="comment">/* Received SDO abort. */</span>
       
  1030 <a name="l01036"></a>01036     <span class="comment">/* Looking for the line concerned. */</span>
       
  1031 <a name="l01037"></a>01037     <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
       
  1032 <a name="l01038"></a>01038       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line );
       
  1033 <a name="l01039"></a>01039       <span class="keywordflow">if</span> (!err) {
       
  1034 <a name="l01040"></a>01040         <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
       
  1035 <a name="l01041"></a>01041         MSG_WAR(0x3AA8, <span class="stringliteral">"SD0. Received SDO abort. Line released. Code : "</span>, abortCode);
       
  1036 <a name="l01042"></a>01042       }
       
  1037 <a name="l01043"></a>01043       <span class="keywordflow">else</span>
       
  1038 <a name="l01044"></a>01044         MSG_WAR(0x3AA9, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
       
  1039 <a name="l01045"></a>01045       <span class="comment">/* Tips : The end user has no way to know that the server node has received an abort SDO. */</span>
       
  1040 <a name="l01046"></a>01046       <span class="comment">/* Its is ok, I think.*/</span>
       
  1041 <a name="l01047"></a>01047     }
       
  1042 <a name="l01048"></a>01048     <span class="keywordflow">else</span> { <span class="comment">/* If I am CLIENT */</span>
       
  1043 <a name="l01049"></a>01049       err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &amp;line );
       
  1044 <a name="l01050"></a>01050       <span class="keywordflow">if</span> (!err) {
       
  1045 <a name="l01051"></a>01051         <span class="comment">/* The line *must* be released by the core program. */</span>
       
  1046 <a name="l01052"></a>01052         <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
       
  1047 <a name="l01053"></a>01053         d-&gt;transfers[line].state = SDO_ABORTED_RCV;
       
  1048 <a name="l01054"></a>01054         d-&gt;transfers[line].abortCode = abortCode;
       
  1049 <a name="l01055"></a>01055         MSG_WAR(0x3AB0, <span class="stringliteral">"SD0. Received SDO abort. Line state ABORTED. Code : "</span>, abortCode);
       
  1050 <a name="l01056"></a>01056         <span class="keywordflow">if</span>(d-&gt;transfers[line].Callback) (*d-&gt;transfers[line].Callback)(d,nodeId);
       
  1051 <a name="l01057"></a>01057       }
       
  1052 <a name="l01058"></a>01058       <span class="keywordflow">else</span>
       
  1053 <a name="l01059"></a>01059         MSG_WAR(0x3AB1, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
       
  1054 <a name="l01060"></a>01060     } 
       
  1055 <a name="l01061"></a>01061     <span class="keywordflow">break</span>;
       
  1056 <a name="l01062"></a>01062   <span class="keywordflow">default</span>:
       
  1057 <a name="l01063"></a>01063     <span class="comment">/* Error : Unknown cs */</span>
       
  1058 <a name="l01064"></a>01064     MSG_ERR(0x1AB2, <span class="stringliteral">"SDO. Received unknown command specifier : "</span>, <a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">getSDOcs</a>(m-&gt;data[0]));
       
  1059 <a name="l01065"></a>01065     <span class="keywordflow">return</span> 0xFF;
       
  1060 <a name="l01066"></a>01066 
       
  1061 <a name="l01067"></a>01067   } <span class="comment">/* End switch */</span>
       
  1062 <a name="l01068"></a>01068   <span class="keywordflow">return</span> 0;     
       
  1063 <a name="l01069"></a>01069 }
       
  1064 <a name="l01070"></a>01070 
       
  1065 <a name="l01071"></a>01071 <span class="comment">/*******************************************************************)******/</span>
       
  1066 <a name="l01072"></a><a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">01072</a> <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, 
       
  1067 <a name="l01073"></a>01073                        UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize)
       
  1068 <a name="l01074"></a>01074 {
       
  1069 <a name="l01075"></a>01075   UNS8 err;
       
  1070 <a name="l01076"></a>01076   UNS8 SDOfound = 0;
       
  1071 <a name="l01077"></a>01077   UNS8 line;
       
  1072 <a name="l01078"></a>01078   s_SDO sdo;    <span class="comment">/* SDO to transmit */</span>
       
  1073 <a name="l01079"></a>01079   UNS8 i, j;
       
  1074 <a name="l01080"></a>01080   UNS16     lastIndex;
       
  1075 <a name="l01081"></a>01081   UNS16     offset;
       
  1076 <a name="l01082"></a>01082   UNS32      *pNodeIdServer;
       
  1077 <a name="l01083"></a>01083   UNS32      nodeIdServer;
       
  1078 <a name="l01084"></a>01084 
       
  1079 <a name="l01085"></a>01085   MSG_WAR(0x3AC0, <span class="stringliteral">"Send SDO to write in the dictionary of node : "</span>, nodeId);
       
  1080 <a name="l01086"></a>01086   MSG_WAR(0x3AC1, <span class="stringliteral">"                                   At index : "</span>, index);
       
  1081 <a name="l01087"></a>01087   MSG_WAR(0x3AC2, <span class="stringliteral">"                                   subIndex : "</span>, subIndex);
       
  1082 <a name="l01088"></a>01088   MSG_WAR(0x3AC3, <span class="stringliteral">"                                   nb bytes : "</span>, count);
       
  1083 <a name="l01089"></a>01089 
       
  1084 <a name="l01090"></a>01090   <span class="comment">/* Verify that there is no SDO communication yet. */</span>
       
  1085 <a name="l01091"></a>01091   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &amp;line);
       
  1086 <a name="l01092"></a>01092   <span class="keywordflow">if</span> (!err) {
       
  1087 <a name="l01093"></a>01093     MSG_ERR(0x1AC4, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId); 
       
  1088 <a name="l01094"></a>01094     <span class="keywordflow">return</span> 0xFF;
       
  1089 <a name="l01095"></a>01095   }
       
  1090 <a name="l01096"></a>01096   <span class="comment">/* Taking the line ... */</span>
       
  1091 <a name="l01097"></a>01097   err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &amp;line );
       
  1092 <a name="l01098"></a>01098   <span class="keywordflow">if</span> (err) {
       
  1093 <a name="l01099"></a>01099     MSG_ERR(0x1AC5, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted for node : "</span>, nodeId); 
       
  1094 <a name="l01100"></a>01100     <span class="keywordflow">return</span> (0xFF);
       
  1095 <a name="l01101"></a>01101   }
       
  1096 <a name="l01102"></a>01102   <span class="comment">/* Check which SDO to use to communicate with the node */</span>
       
  1097 <a name="l01103"></a>01103   offset = d-&gt;firstIndex-&gt;SDO_CLT;
       
  1098 <a name="l01104"></a>01104   lastIndex = d-&gt;lastIndex-&gt;SDO_CLT;
       
  1099 <a name="l01105"></a>01105   <span class="keywordflow">if</span> (offset == 0) {
       
  1100 <a name="l01106"></a>01106     MSG_ERR(0x1AC6, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0); 
       
  1101 <a name="l01107"></a>01107     <span class="keywordflow">return</span> 0xFF;
       
  1102 <a name="l01108"></a>01108   }
       
  1103 <a name="l01109"></a>01109   i = 0;
       
  1104 <a name="l01110"></a>01110    <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
       
  1105 <a name="l01111"></a>01111      <span class="keywordflow">if</span> (d-&gt;objdict[offset].bSubCount &lt;= 3) {
       
  1106 <a name="l01112"></a>01112          MSG_ERR(0x1AC8, <span class="stringliteral">"Subindex 3  not found at index "</span>, 0x1280 + i);
       
  1107 <a name="l01113"></a>01113          <span class="keywordflow">return</span> 0xFF;
       
  1108 <a name="l01114"></a>01114      }
       
  1109 <a name="l01115"></a>01115      <span class="comment">/* looking for the nodeId server */</span>
       
  1110 <a name="l01116"></a>01116      pNodeIdServer = d-&gt;objdict[offset].pSubindex[3].pObject;
       
  1111 <a name="l01117"></a>01117      nodeIdServer = *pNodeIdServer;
       
  1112 <a name="l01118"></a>01118      MSG_WAR(0x1AD2, <span class="stringliteral">"index : "</span>, 0x1280 + i);
       
  1113 <a name="l01119"></a>01119      MSG_WAR(0x1AD3, <span class="stringliteral">"nodeIdServer : "</span>, nodeIdServer);
       
  1114 <a name="l01120"></a>01120    
       
  1115 <a name="l01121"></a>01121     <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
       
  1116 <a name="l01122"></a>01122       SDOfound = 1;
       
  1117 <a name="l01123"></a>01123       <span class="keywordflow">break</span>;
       
  1118 <a name="l01124"></a>01124     }
       
  1119 <a name="l01125"></a>01125     offset++;
       
  1120 <a name="l01126"></a>01126     i++;
       
  1121 <a name="l01127"></a>01127   } <span class="comment">/* end while */</span>
       
  1122 <a name="l01128"></a>01128   <span class="keywordflow">if</span> (!SDOfound) {
       
  1123 <a name="l01129"></a>01129     MSG_ERR(0x1AC9, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
       
  1124 <a name="l01130"></a>01130     <span class="keywordflow">return</span> 0xFF;
       
  1125 <a name="l01131"></a>01131   }
       
  1126 <a name="l01132"></a>01132   MSG_WAR(0x3AD0,<span class="stringliteral">"        SDO client defined at index  : "</span>, 0x1280 + i);
       
  1127 <a name="l01133"></a>01133   <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
       
  1128 <a name="l01134"></a>01134   d-&gt;transfers[line].count = count;
       
  1129 <a name="l01135"></a>01135   d-&gt;transfers[line].dataType = dataType;
       
  1130 <a name="l01136"></a>01136   
       
  1131 <a name="l01137"></a>01137   <span class="comment">/* Copy data to transfers structure. */</span>
       
  1132 <a name="l01138"></a>01138   <span class="keywordflow">for</span> (j = 0 ; j &lt; count ; j++) {
       
  1133 <a name="l01139"></a>01139 # ifdef CANOPEN_BIG_ENDIAN
       
  1134 <a name="l01140"></a>01140     <span class="keywordflow">if</span> (dataType == 0 &amp;&amp; endianize)
       
  1135 <a name="l01141"></a>01141       d-&gt;transfers[line].data[count - 1 - j] = ((<span class="keywordtype">char</span> *)data)[j];
       
  1136 <a name="l01142"></a>01142     <span class="keywordflow">else</span> <span class="comment">/* String of bytes. */</span>
       
  1137 <a name="l01143"></a>01143       d-&gt;transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
       
  1138 <a name="l01144"></a>01144 #  <span class="keywordflow">else</span> 
       
  1139 <a name="l01145"></a>01145     d-&gt;transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
       
  1140 <a name="l01146"></a>01146 #  endif
       
  1141 <a name="l01147"></a>01147   }
       
  1142 <a name="l01148"></a>01148   <span class="comment">/* Send the SDO to the server. Initiate download, cs=1. */</span>
       
  1143 <a name="l01149"></a>01149   sdo.nodeId = nodeId;
       
  1144 <a name="l01150"></a>01150   <span class="keywordflow">if</span> (count &lt;= 4) { <span class="comment">/* Expedited transfert */</span>
       
  1145 <a name="l01151"></a>01151     sdo.body.data[0] = (1 &lt;&lt; 5) | ((4 - count) &lt;&lt; 2) | 3;
       
  1146 <a name="l01152"></a>01152     for (i = 4 ; i &lt; 8 ; i++)
       
  1147 <a name="l01153"></a>01153       sdo.body.data[i] = d-&gt;transfers[line].data[i - 4];
       
  1148 <a name="l01154"></a>01154     d-&gt;transfers[line].offset = count;
       
  1149 <a name="l01155"></a>01155   }     
       
  1150 <a name="l01156"></a>01156   <span class="keywordflow">else</span> { <span class="comment">/* Normal transfert */</span>
       
  1151 <a name="l01157"></a>01157     sdo.body.data[0] = (1 &lt;&lt; 5) | 1;
       
  1152 <a name="l01158"></a>01158     sdo.body.data[4] = count; <span class="comment">/* nb of byte to transmit. Max = 255. (canfestival2 limitation). */</span>
       
  1153 <a name="l01159"></a>01159     <span class="keywordflow">for</span> (i = 5 ; i &lt; 8 ; i++)
       
  1154 <a name="l01160"></a>01160       sdo.body.data[i] = 0;
       
  1155 <a name="l01161"></a>01161   }
       
  1156 <a name="l01162"></a>01162   sdo.body.data[1] = index &amp; 0xFF;        <span class="comment">/* LSB */</span>
       
  1157 <a name="l01163"></a>01163   sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
  1158 <a name="l01164"></a>01164   sdo.body.data[3] = subIndex;
       
  1159 <a name="l01165"></a>01165 
       
  1160 <a name="l01166"></a>01166   d-&gt;transfers[line].Callback = Callback;
       
  1161 <a name="l01167"></a>01167     
       
  1162 <a name="l01168"></a>01168   err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
       
  1163 <a name="l01169"></a>01169   <span class="keywordflow">if</span> (err) {
       
  1164 <a name="l01170"></a>01170     MSG_ERR(0x1AD1, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
       
  1165 <a name="l01171"></a>01171     <span class="comment">/* release the line */</span>
       
  1166 <a name="l01172"></a>01172     <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
  1167 <a name="l01173"></a>01173     <span class="keywordflow">return</span> 0xFF;
       
  1168 <a name="l01174"></a>01174   }
       
  1169 <a name="l01175"></a>01175 
       
  1170 <a name="l01176"></a>01176   
       
  1171 <a name="l01177"></a>01177   <span class="keywordflow">return</span> 0;
       
  1172 <a name="l01178"></a>01178 }
       
  1173 <a name="l01179"></a>01179 
       
  1174 <a name="l01180"></a>01180 <span class="comment">/*--------------------------------------------------------------------------*/</span>
       
  1175 <a name="l01181"></a>01181 
       
  1176 <a name="l01182"></a><a class="code" href="sdo_8c.html#bc20ed246e00053dcf71faa8f45ee39c">01182</a> UNS8 <a class="code" href="sdo_8c.html#bc20ed246e00053dcf71faa8f45ee39c">writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, 
       
  1177 <a name="l01183"></a>01183                        UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data)
       
  1178 <a name="l01184"></a>01184 {
       
  1179 <a name="l01185"></a>01185         <span class="keywordflow">return</span> <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
       
  1180 <a name="l01186"></a>01186 }
       
  1181 <a name="l01187"></a>01187 
       
  1182 <a name="l01188"></a>01188 <span class="comment">/*--------------------------------------------------------------------------*/</span>
       
  1183 <a name="l01189"></a>01189 
       
  1184 <a name="l01190"></a><a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">01190</a> UNS8 <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (CO_Data* d, UNS8 nodeId, UNS16 index, 
       
  1185 <a name="l01191"></a>01191                        UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback)
       
  1186 <a name="l01192"></a>01192 {
       
  1187 <a name="l01193"></a>01193         <span class="keywordflow">return</span> <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);      
       
  1188 <a name="l01194"></a>01194 }
       
  1189 <a name="l01195"></a>01195 
       
  1190 <a name="l01196"></a>01196 
       
  1191 <a name="l01197"></a>01197 <span class="comment">/***************************************************************************/</span>
       
  1192 <a name="l01198"></a><a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">01198</a> <a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> UNS8 <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
       
  1193 <a name="l01199"></a>01199 {
       
  1194 <a name="l01200"></a>01200   UNS8 err;
       
  1195 <a name="l01201"></a>01201   UNS8 SDOfound = 0;
       
  1196 <a name="l01202"></a>01202   UNS8 i;
       
  1197 <a name="l01203"></a>01203   UNS8 line;
       
  1198 <a name="l01204"></a>01204   s_SDO sdo;    <span class="comment">/* SDO to transmit */</span>
       
  1199 <a name="l01205"></a>01205   UNS32      *pNodeIdServer;
       
  1200 <a name="l01206"></a>01206   UNS32      nodeIdServer;
       
  1201 <a name="l01207"></a>01207   UNS16     offset;
       
  1202 <a name="l01208"></a>01208   UNS16     lastIndex;
       
  1203 <a name="l01209"></a>01209   MSG_WAR(0x3AD5, <span class="stringliteral">"Send SDO to read in the dictionary of node : "</span>, nodeId);
       
  1204 <a name="l01210"></a>01210   MSG_WAR(0x3AD6, <span class="stringliteral">"                                  At index : "</span>, index);
       
  1205 <a name="l01211"></a>01211   MSG_WAR(0x3AD7, <span class="stringliteral">"                                  subIndex : "</span>, subIndex);
       
  1206 <a name="l01212"></a>01212 
       
  1207 <a name="l01213"></a>01213 
       
  1208 <a name="l01214"></a>01214   <span class="comment">/* Verify that there is no SDO communication yet. */</span>
       
  1209 <a name="l01215"></a>01215   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &amp;line);
       
  1210 <a name="l01216"></a>01216   <span class="keywordflow">if</span> (!err) {
       
  1211 <a name="l01217"></a>01217     MSG_ERR(0x1AD8, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId); 
       
  1212 <a name="l01218"></a>01218     <span class="keywordflow">return</span> 0xFF;
       
  1213 <a name="l01219"></a>01219   }
       
  1214 <a name="l01220"></a>01220   <span class="comment">/* Taking the line ... */</span>
       
  1215 <a name="l01221"></a>01221   err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &amp;line );
       
  1216 <a name="l01222"></a>01222   <span class="keywordflow">if</span> (err) {
       
  1217 <a name="l01223"></a>01223     MSG_ERR(0x1AD9, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted for node : "</span>, nodeId); 
       
  1218 <a name="l01224"></a>01224     <span class="keywordflow">return</span> (0xFF);
       
  1219 <a name="l01225"></a>01225   }
       
  1220 <a name="l01226"></a>01226   <span class="keywordflow">else</span>
       
  1221 <a name="l01227"></a>01227     MSG_WAR(0x3AE0, <span class="stringliteral">"Transmission on line : "</span>, line);
       
  1222 <a name="l01228"></a>01228 
       
  1223 <a name="l01229"></a>01229   <span class="comment">/* Check which SDO to use to communicate with the node */</span>
       
  1224 <a name="l01230"></a>01230   offset = d-&gt;firstIndex-&gt;SDO_CLT;
       
  1225 <a name="l01231"></a>01231   lastIndex = d-&gt;lastIndex-&gt;SDO_CLT;
       
  1226 <a name="l01232"></a>01232   <span class="keywordflow">if</span> (offset == 0) {
       
  1227 <a name="l01233"></a>01233     MSG_ERR(0x1AE1, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0); 
       
  1228 <a name="l01234"></a>01234     <span class="keywordflow">return</span> 0xFF;
       
  1229 <a name="l01235"></a>01235   }
       
  1230 <a name="l01236"></a>01236   i = 0;
       
  1231 <a name="l01237"></a>01237   <span class="keywordflow">while</span> (offset &lt;= lastIndex) {
       
  1232 <a name="l01238"></a>01238      <span class="keywordflow">if</span> (d-&gt;objdict[offset].bSubCount &lt;= 3) {
       
  1233 <a name="l01239"></a>01239          MSG_ERR(0x1AE2, <span class="stringliteral">"Subindex 3  not found at index "</span>, 0x1280 + i);
       
  1234 <a name="l01240"></a>01240          <span class="keywordflow">return</span> 0xFF;
       
  1235 <a name="l01241"></a>01241      }
       
  1236 <a name="l01242"></a>01242      <span class="comment">/* looking for the nodeId server */</span>
       
  1237 <a name="l01243"></a>01243      pNodeIdServer = d-&gt;objdict[offset].pSubindex[3].pObject;
       
  1238 <a name="l01244"></a>01244      nodeIdServer = *pNodeIdServer;
       
  1239 <a name="l01245"></a>01245    
       
  1240 <a name="l01246"></a>01246     <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
       
  1241 <a name="l01247"></a>01247       SDOfound = 1;
       
  1242 <a name="l01248"></a>01248       <span class="keywordflow">break</span>;
       
  1243 <a name="l01249"></a>01249     }
       
  1244 <a name="l01250"></a>01250     offset++;
       
  1245 <a name="l01251"></a>01251     i++;
       
  1246 <a name="l01252"></a>01252   } <span class="comment">/* end while */</span>
       
  1247 <a name="l01253"></a>01253   <span class="keywordflow">if</span> (!SDOfound) {
       
  1248 <a name="l01254"></a>01254     MSG_ERR(0x1AE3, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
       
  1249 <a name="l01255"></a>01255     <span class="keywordflow">return</span> 0xFF;
       
  1250 <a name="l01256"></a>01256   }
       
  1251 <a name="l01257"></a>01257   MSG_WAR(0x3AE4,<span class="stringliteral">"        SDO client defined at index  : "</span>, 0x1280 + i);
       
  1252 <a name="l01258"></a>01258   <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
       
  1253 <a name="l01259"></a>01259   <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &amp;line);
       
  1254 <a name="l01260"></a>01260   sdo.nodeId = nodeId;
       
  1255 <a name="l01261"></a>01261   <span class="comment">/* Send the SDO to the server. Initiate upload, cs=2. */</span>
       
  1256 <a name="l01262"></a>01262   d-&gt;transfers[line].dataType = dataType;                               
       
  1257 <a name="l01263"></a>01263   sdo.body.data[0] = (2 &lt;&lt; 5);  
       
  1258 <a name="l01264"></a>01264   sdo.body.data[1] = index &amp; 0xFF;        <span class="comment">/* LSB */</span>
       
  1259 <a name="l01265"></a>01265   sdo.body.data[2] = (index &gt;&gt; 8) &amp; 0xFF; <span class="comment">/* MSB */</span>
       
  1260 <a name="l01266"></a>01266   sdo.body.data[3] = subIndex;
       
  1261 <a name="l01267"></a>01267   <span class="keywordflow">for</span> (i = 4 ; i &lt; 8 ; i++)
       
  1262 <a name="l01268"></a>01268     sdo.body.data[i] = 0;
       
  1263 <a name="l01269"></a>01269   d-&gt;transfers[line].Callback = Callback;
       
  1264 <a name="l01270"></a>01270   err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
       
  1265 <a name="l01271"></a>01271   <span class="keywordflow">if</span> (err) {
       
  1266 <a name="l01272"></a>01272     MSG_ERR(0x1AE5, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
       
  1267 <a name="l01273"></a>01273     <span class="comment">/* release the line */</span>
       
  1268 <a name="l01274"></a>01274     <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
       
  1269 <a name="l01275"></a>01275     <span class="keywordflow">return</span> 0xFF;
       
  1270 <a name="l01276"></a>01276   }             
       
  1271 <a name="l01277"></a>01277   <span class="keywordflow">return</span> 0;
       
  1272 <a name="l01278"></a>01278 }
       
  1273 <a name="l01279"></a>01279 
       
  1274 <a name="l01280"></a>01280 <span class="comment">/*--------------------------------------------------------------------------*/</span>
       
  1275 <a name="l01281"></a>01281 
       
  1276 <a name="l01282"></a><a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">01282</a> UNS8 <a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">readNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
       
  1277 <a name="l01283"></a>01283 {
       
  1278 <a name="l01284"></a>01284         <span class="keywordflow">return</span> <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (d, nodeId, index, subIndex, dataType, NULL);
       
  1279 <a name="l01285"></a>01285 }
       
  1280 <a name="l01286"></a>01286 
       
  1281 <a name="l01287"></a>01287 <span class="comment">/*--------------------------------------------------------------------------*/</span>
       
  1282 <a name="l01288"></a><a class="code" href="sdo_8c.html#542a5cdd20c00aa130a39fe68295e769">01288</a> UNS8 <a class="code" href="sdo_8c.html#542a5cdd20c00aa130a39fe68295e769">readNetworkDictCallback</a> (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
       
  1283 <a name="l01289"></a>01289 {
       
  1284 <a name="l01290"></a>01290         <span class="keywordflow">return</span> <a class="code" href="sdo_8c.html#4bb4b3cd35af7e7580cffde23e9d3270">_readNetworkDict</a> (d, nodeId, index, subIndex, dataType, Callback);
       
  1285 <a name="l01291"></a>01291 }
       
  1286 <a name="l01292"></a>01292 
       
  1287 <a name="l01293"></a>01293 <span class="comment">/***************************************************************************/</span>
       
  1288 <a name="l01294"></a>01294 
       
  1289 <a name="l01295"></a><a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">01295</a> UNS8 <a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">getReadResultNetworkDict</a> (CO_Data* d, UNS8 nodeId, <span class="keywordtype">void</span>* data, UNS8 *size, 
       
  1290 <a name="l01296"></a>01296                                UNS32 * abortCode)
       
  1291 <a name="l01297"></a>01297 {
       
  1292 <a name="l01298"></a>01298   UNS8 i;
       
  1293 <a name="l01299"></a>01299   UNS8 err;
       
  1294 <a name="l01300"></a>01300   UNS8 line;
       
  1295 <a name="l01301"></a>01301   * size = 0;
       
  1296 <a name="l01302"></a>01302 
       
  1297 <a name="l01303"></a>01303   <span class="comment">/* Looking for the line tranfert. */</span>
       
  1298 <a name="l01304"></a>01304   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &amp;line);
       
  1299 <a name="l01305"></a>01305   <span class="keywordflow">if</span> (err) {
       
  1300 <a name="l01306"></a>01306     MSG_ERR(0x1AF0, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId); 
       
  1301 <a name="l01307"></a>01307     <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
       
  1302 <a name="l01308"></a>01308   }
       
  1303 <a name="l01309"></a>01309   <span class="keywordflow">if</span> (d-&gt;transfers[line].state != SDO_FINISHED)
       
  1304 <a name="l01310"></a>01310     <span class="keywordflow">return</span> d-&gt;transfers[line].state;
       
  1305 <a name="l01311"></a>01311 
       
  1306 <a name="l01312"></a>01312   <span class="comment">/* Transfert is finished. Put the value in the data. */</span>
       
  1307 <a name="l01313"></a>01313   * size = (UNS8)d-&gt;transfers[line].count;
       
  1308 <a name="l01314"></a>01314   for  ( i = 0 ; i &lt; *size ; i++) {
       
  1309 <a name="l01315"></a>01315 # ifdef CANOPEN_BIG_ENDIAN
       
  1310 <a name="l01316"></a>01316     <span class="keywordflow">if</span> (d-&gt;transfers[line].dataType != visible_string)
       
  1311 <a name="l01317"></a>01317       ( (<span class="keywordtype">char</span> *) data)[*size - 1 - i] = d-&gt;transfers[line].data[i];
       
  1312 <a name="l01318"></a>01318     <span class="keywordflow">else</span> <span class="comment">/* String of bytes. */</span>
       
  1313 <a name="l01319"></a>01319       ( (<span class="keywordtype">char</span> *) data)[i] = d-&gt;transfers[line].data[i];
       
  1314 <a name="l01320"></a>01320 # else 
       
  1315 <a name="l01321"></a>01321     ( (<span class="keywordtype">char</span> *) data)[i] = d-&gt;transfers[line].data[i];
       
  1316 <a name="l01322"></a>01322 # endif
       
  1317 <a name="l01323"></a>01323   } 
       
  1318 <a name="l01324"></a>01324   <span class="keywordflow">return</span> SDO_FINISHED;
       
  1319 <a name="l01325"></a>01325 }
       
  1320 <a name="l01326"></a>01326 
       
  1321 <a name="l01327"></a>01327 <span class="comment">/***************************************************************************/</span>
       
  1322 <a name="l01328"></a>01328 
       
  1323 <a name="l01329"></a><a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">01329</a> UNS8 <a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
       
  1324 <a name="l01330"></a>01330 {
       
  1325 <a name="l01331"></a>01331   UNS8 line = 0;
       
  1326 <a name="l01332"></a>01332   UNS8 err;
       
  1327 <a name="l01333"></a>01333 
       
  1328 <a name="l01334"></a>01334   * abortCode = 0;
       
  1329 <a name="l01335"></a>01335   <span class="comment">/* Looking for the line tranfert. */</span>
       
  1330 <a name="l01336"></a>01336   err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &amp;line);
       
  1331 <a name="l01337"></a>01337   <span class="keywordflow">if</span> (err) {
       
  1332 <a name="l01338"></a>01338     MSG_ERR(0x1AF1, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId); 
       
  1333 <a name="l01339"></a>01339     <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
       
  1334 <a name="l01340"></a>01340   }
       
  1335 <a name="l01341"></a>01341   * abortCode = d-&gt;transfers[line].abortCode;
       
  1336 <a name="l01342"></a>01342   <span class="keywordflow">return</span> d-&gt;transfers[line].state;
       
  1337 <a name="l01343"></a>01343 }
       
  1338 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:27 2007 for CanFestival by&nbsp;
       
  1339 <a href="http://www.doxygen.org/index.html">
       
  1340 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
       
  1341 </body>
       
  1342 </html>