--- a/include/sdo.h Fri Jul 25 16:36:23 2008 +0200
+++ b/include/sdo.h Tue Jul 29 17:20:45 2008 +0200
@@ -1,5 +1,5 @@
/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
+This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
@@ -30,44 +30,44 @@
typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
/* The Transfer structure
-Used to store the different segments of
- - a SDO received before writing in the dictionary
- - the reading of the dictionary to put on a SDO to transmit
+Used to store the different segments of
+ - a SDO received before writing in the dictionary
+ - the reading of the dictionary to put on a SDO to transmit
*/
struct struct_s_transfer {
UNS8 nodeId; /*own ID if server, or node ID of the server if client */
-
+
UNS8 whoami; /* Takes the values SDO_CLIENT or SDO_SERVER */
UNS8 state; /* state of the transmission : Takes the values SDO_... */
UNS8 toggle;
UNS32 abortCode; /* Sent or received */
/* index and subindex of the dictionary where to store */
/* (for a received SDO) or to read (for a transmit SDO) */
- UNS16 index;
- UNS8 subIndex;
+ UNS16 index;
+ UNS8 subIndex;
UNS32 count; /* Number of data received or to be sent. */
UNS32 offset; /* stack pointer of data[]
* Used only to tranfer part of a line to or from a SDO.
* offset is always pointing on the next free cell of data[].
- * WARNING s_transfer.data is subject to ENDIANISATION
+ * WARNING s_transfer.data is subject to ENDIANISATION
* (with respect to CANOPEN_BIG_ENDIAN)
*/
UNS8 data [SDO_MAX_LENGTH_TRANSFERT];
- UNS8 dataType; /* Defined in objdictdef.h Value is visible_string
- * if it is a string, any other value if it is not a string,
+ UNS8 dataType; /* Defined in objdictdef.h Value is visible_string
+ * if it is a string, any other value if it is not a string,
* like 0. In fact, it is used only if client.
*/
TIMER_HANDLE timer; /* Time counter to implement a timeout in milliseconds.
- * It is automatically incremented whenever
- * the line state is in SDO_DOWNLOAD_IN_PROGRESS or
- * SDO_UPLOAD_IN_PROGRESS, and reseted to 0
+ * It is automatically incremented whenever
+ * the line state is in SDO_DOWNLOAD_IN_PROGRESS or
+ * SDO_UPLOAD_IN_PROGRESS, and reseted to 0
* when the response SDO have been received.
*/
SDOCallback_t Callback; /* The user callback func to be called at SDO transaction end */
};
typedef struct struct_s_transfer s_transfer;
-
+
#include "data.h"
@@ -85,7 +85,7 @@
typedef struct struct_s_SDO s_SDO;
-/** Reset of a SDO exchange on timeout.
+/** Reset of a SDO exchange on timeout.
* Send a SDO abort
*/
void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
@@ -96,38 +96,38 @@
/** Copy the data received from the SDO line transfert to the object dictionary
- * Returns SDO error code if error. Else, returns 0;
+ * Returns SDO error code if error. Else, returns 0;
*/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
/** Copy the data from the object dictionary to the SDO line for a network transfert.
- * Returns SDO error code if error. Else, returns 0;
+ * Returns SDO error code if error. Else, returns 0;
*/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
/** copy data from an existant line in the argument "* data"
- * Returns 0xFF if error. Else, returns 0;
+ * Returns 0xFF if error. Else, returns 0;
*/
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
/** Add data to an existant line
- * Returns 0xFF if error. Else, returns 0;
+ * Returns 0xFF if error. Else, returns 0;
*/
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
/** Called when an internal SDO abort occurs.
- * Release the line * Only if server *
+ * Release the line * Only if server *
* If client, the line must be released manually in the core application.
* The reason of that is to permit the program to read the transfers[][] structure before its reset,
* because many informations are stored on it : index, subindex, data received or trasmited, ...
* In all cases, sends a SDO abort.
* Returns 0
*/
-UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
+UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
UNS8 subIndex, UNS32 abortCode);
/** Reset an unused line.
- *
+ *
*/
void resetSDOline (CO_Data* d, UNS8 line);
@@ -150,7 +150,7 @@
* beginning of the reception of a fragmented SDO
* whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
* bus_id is hardware dependant
- * nodeId correspond to the message node-id
+ * nodeId correspond to the message node-id
* return 0xFF if error. Else, return 0
*/
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
@@ -207,14 +207,21 @@
* bus_id is hardware dependant
* return 0xFF if error, else return 0
*/
-UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);
+UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+ UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);
/** Used to send a SDO request frame to write in a distant node dictionnary.
* The function Callback which must be defined in the user code is called at the
* end of the exchange. (on succes or abort).
- */
-UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
+ */
+UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
+/** Used to send a SDO request frame to write in a distant node dictionnary.
+ * The function Callback which must be defined in the user code is called at the
+ * end of the exchange. (on succes or abort). First free SDO client parameter is
+ * automatically initialized for specific node if not already defined.
+ */
+UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
+ UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
/** Used by the application to send a SDO request frame to read
* in the dictionary of a server node whose node_id is ID
* at the index and subIndex indicated
@@ -222,21 +229,28 @@
* datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
* return 0xFF if error, else return 0
*/
-UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 dataType);
-
+
/** Used to send a SDO request frame to read in a distant node dictionnary.
* The function Callback which must be defined in the user code is called at the
* end of the exchange. (on succes or abort).
- */
+ */
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
+/** Used to send a SDO request frame to read in a distant node dictionnary.
+ * The function Callback which must be defined in the user code is called at the
+ * end of the exchange. (on succes or abort). First free SDO client parameter is
+ * automatically initialized for specific node if not already defined.
+ */
+UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
+
/** Use this function after a readNetworkDict to get the result.
Returns : SDO_FINISHED // data is available
SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
SDO_UPLOAD_IN_PROGRESS // Data not yet available
- SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
+ SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals.
abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
@@ -246,7 +260,7 @@
readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
*/
-UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data,
+UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data,
UNS8 *size, UNS32 * abortCode);
/**
@@ -256,18 +270,18 @@
SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
- SDO_UPLOAD_IN_PROGRESS // Should not arrive !
+ SDO_UPLOAD_IN_PROGRESS // Should not arrive !
abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
example :
UNS32 data = 0x50;
UNS8 size;
UNS32 abortCode;
writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
- while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
+ while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
*/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
-
+
#endif