include/sdo.h
changeset 529 c171e11707c5
parent 528 0a30e161d63c
child 539 187058b4a4b8
equal deleted inserted replaced
528:0a30e161d63c 529:c171e11707c5
   322  * @param subIndex At subIndex indicated
   322  * @param subIndex At subIndex indicated
   323  * @param count number of bytes to write in the dictionnary.
   323  * @param count number of bytes to write in the dictionnary.
   324  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
   324  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
   325  * @param *data Pointer on data
   325  * @param *data Pointer on data
   326  * @param Callback Callback function
   326  * @param Callback Callback function
   327  * @param endianize
   327  * @param endianize When not 0, data is endianized into network byte order
       
   328  *                  when 0, data is not endianized and copied in machine native
       
   329  *                  endianness
   328  * @return 0xFF if error, else return 0
   330  * @return 0xFF if error, else return 0
   329  */
   331  */
   330 UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
   332 UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
   331 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
   333 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
   332 
   334 
   387  *           - SDO_FINISHED             // data is available
   389  *           - SDO_FINISHED             // data is available
   388  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
   390  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
   389  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
   391  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
   390  *           - SDO_UPLOAD_IN_PROGRESS   // Data not yet available
   392  *           - SDO_UPLOAD_IN_PROGRESS   // Data not yet available
   391  *           - SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
   393  *           - SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
   392  *
   394  * @code
   393  * example :
   395  * example :
   394  * UNS32 data;
   396  * UNS32 data;
   395  * UNS8 size;
   397  * UNS8 size;
   396  * readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
   398  * readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
   397  * while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
   399  * while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
       
   400  * @endcode
   398 */
   401 */
   399 UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
   402 UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
   400 
   403 
   401 /**
   404 /**
   402  * @brief Use this function after a writeNetworkDict to get the result of the write
   405  * @brief Use this function after a writeNetworkDict to get the result of the write
   410  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
   413  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
   411  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
   414  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
   412  *           - SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
   415  *           - SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
   413  *           - SDO_UPLOAD_IN_PROGRESS   // Should not arrive !
   416  *           - SDO_UPLOAD_IN_PROGRESS   // Should not arrive !
   414  * 
   417  * 
       
   418  * @code
   415  * example :
   419  * example :
   416  * UNS32 data = 0x50;
   420  * UNS32 data = 0x50;
   417  * UNS8 size;
   421  * UNS8 size;
   418  * UNS32 abortCode;
   422  * UNS32 abortCode;
   419  * writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
   423  * writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
   420  * while (getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
   424  * while (getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
       
   425  * @endcode
   421 */
   426 */
   422 UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
   427 UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
   423 
   428 
   424 #endif
   429 #endif