/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*!
** @file sdo.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 09:32:32 2007
**
** @brief
**
**
*/
/* #define DEBUG_WAR_CONSOLE_ON */
/* #define DEBUG_ERR_CONSOLE_ON */
#include "canfestival.h"
#include "sysdep.h"
/* Uncomment if your compiler does not support inline functions */
#define NO_INLINE
#ifdef NO_INLINE
#define INLINE
#else
#define INLINE inline
#endif
/*Internals prototypes*/
/*!
** Called by writeNetworkDict
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param count
** @param dataType
** @param data
** @param Callback
** @param endianize
**
** @return
**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
/*!
** Called by readNetworkDict
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param dataType
** @param Callback
**
** @return
**/
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
UNS8 dataType, SDOCallback_t Callback);
/***************************************************************************/
/* SDO (un)packing macros */
/** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
*/
#define getSDOcs(byte) (byte >> 5)
/** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
*/
#define getSDOn2(byte) ((byte >> 2) & 3)
/** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
*/
#define getSDOn3(byte) ((byte >> 1) & 7)
/** Returns the transfer type from the first byte of the SDO
*/
#define getSDOe(byte) ((byte >> 1) & 1)
/** Returns the size indicator from the first byte of the SDO
*/
#define getSDOs(byte) (byte & 1)
/** Returns the indicator of end transmission from the first byte of the SDO
*/
#define getSDOc(byte) (byte & 1)
/** Returns the toggle from the first byte of the SDO
*/
#define getSDOt(byte) ((byte >> 4) & 1)
/** Returns the index from the bytes 1 and 2 of the SDO
*/
#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
/** Returns the subIndex from the byte 3 of the SDO
*/
#define getSDOsubIndex(byte3) (byte3)
/*!
**
**
** @param d
** @param id
**/
void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
{
MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
MSG_WAR(0x2A02, " index : ", d->transfers[id].index);
MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);
/* Reset timer handler */
d->transfers[id].timer = TIMER_NONE;
/*Set aborted state*/
d->transfers[id].state = SDO_ABORTED_INTERNAL;
/* Sending a SDO abort */
sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
d->transfers[id].abortCode = SDOABT_TIMED_OUT;
/* Call the user function to inform of the problem.*/
if(d->transfers[id].Callback)
/*If ther is a callback, it is responsible to close SDO transfer (client)*/
(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
else if(d->transfers[id].whoami == SDO_SERVER)
/*Else, if server, reset the line*/
resetSDOline(d, (UNS8)id);
}
#define StopSDO_TIMER(id) \
MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
#define StartSDO_TIMER(id) \
MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
#define RestartSDO_TIMER(id) \
MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
/*!
** Reset all sdo buffers
**
** @param d
**/
void resetSDO (CO_Data* d)
{
UNS8 j;
/* transfer structure initialization */
for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
resetSDOline(d, j);
}
/*!
**
**
** @param d
** @param line
**
** @return
**/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
{
UNS8 size;
UNS32 errorCode;
MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
size = (UNS8)d->transfers[line].count;
errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
(void *) d->transfers[line].data, &size, 1);
if (errorCode != OD_SUCCESSFUL)
return errorCode;
MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
return 0;
}
/*!
**
**
** @param d
** @param line
**
** @return
**/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
UNS8 size = 0;
UNS8 dataType;
UNS32 errorCode;
MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex);
errorCode = getODentry(d, d->transfers[line].index,
d->transfers[line].subIndex,
(void *)d->transfers[line].data,
&size, &dataType, 1);
if (errorCode != OD_SUCCESSFUL)
return errorCode;
d->transfers[line].count = size;
d->transfers[line].offset = 0;
return 0;
}
/*!
**
**
** @param d
** @param line
** @param nbBytes
** @param data
**
** @return
**/
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
UNS8 i;
UNS8 offset;
if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
return 0xFF;
}
if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
return 0xFF;
}
offset = (UNS8)d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
* (data + i) = d->transfers[line].data[offset + i];
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
return 0;
}
/*!
**
**
** @param d
** @param line
** @param nbBytes
** @param data
**
** @return
**/
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
{
UNS8 i;
UNS8 offset;
if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
return 0xFF;
}
offset = (UNS8)d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
d->transfers[line].data[offset + i] = * (data + i);
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
return 0;
}
/*!
**
**
** @param d
** @param nodeId
** @param whoami
** @param index
** @param subIndex
** @param abortCode
**
** @return
**/
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
UNS8 subIndex, UNS32 abortCode)
{
UNS8 err;
UNS8 line;
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err) /* If a line on use have been found.*/
MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
if ((! err) && (whoami == SDO_SERVER)) {
resetSDOline( d, line );
MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
}
if ((! err) && (whoami == SDO_CLIENT)) {
StopSDO_TIMER(line);
d->transfers[line].state = SDO_ABORTED_INTERNAL;
}
MSG_WAR(0x3A22, "Sending SDO abort ", 0);
err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
if (err) {
MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
return 0xFF;
}
return 0;
}
/*!
**
**
** @param d
** @param line
**/
void resetSDOline ( CO_Data* d, UNS8 line )
{
UNS8 i;
MSG_WAR(0x3A25, "reset SDO line nb : ", line);
initSDOline(d, line, 0, 0, 0, SDO_RESET);
for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
d->transfers[line].data[i] = 0;
d->transfers[line].whoami = 0;
d->transfers[line].abortCode = 0;
}
/*!
**
**
** @param d
** @param line
** @param nodeId
** @param index
** @param subIndex
** @param state
**
** @return
**/
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
{
MSG_WAR(0x3A25, "init SDO line nb : ", line);
if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
StartSDO_TIMER(line)
}else{
StopSDO_TIMER(line)
}
d->transfers[line].nodeId = nodeId;
d->transfers[line].index = index;
d->transfers[line].subIndex = subIndex;
d->transfers[line].state = state;
d->transfers[line].toggle = 0;
d->transfers[line].count = 0;
d->transfers[line].offset = 0;
d->transfers[line].dataType = 0;
d->transfers[line].Callback = NULL;
return 0;
}
/*!
**
**
** @param d
** @param whoami
** @param line
**
** @return
**/
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
{
UNS8 i;
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
if ( d->transfers[i].state == SDO_RESET ) {
*line = i;
d->transfers[i].whoami = whoami;
return 0;
} /* end if */
} /* end for */
MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
return 0xFF;
}
/*!
**
**
** @param d
** @param nodeId
** @param whoami
** @param line
**
** @return
**/
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
{
UNS8 i;
for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
if ( (d->transfers[i].state != SDO_RESET) &&
(d->transfers[i].nodeId == nodeId) &&
(d->transfers[i].whoami == whoami) ) {
*line = i;
return 0;
}
}
return 0xFF;
}
/*!
**
**
** @param d
** @param nodeId
** @param whoami
**
** @return
**/
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
{
UNS8 err;
UNS8 line;
err = getSDOlineOnUse(d, nodeId, whoami, &line);
if (err) {
MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
return 0xFF;
}
resetSDOline(d, line);
return 0;
}
/*!
**
**
** @param d
** @param line
** @param nbBytes
**
** @return
**/
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
{
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
* nbBytes = 0;
else
* nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
return 0;
}
/*!
**
**
** @param d
** @param line
** @param nbBytes
**
** @return
**/
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
{
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
return 0xFF;
}
d->transfers[line].count = nbBytes;
return 0;
}
/*!
**
**
** @param d
** @param whoami
** @param sdo
**
** @return
**/
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
{
UNS16 offset;
UNS16 lastIndex;
UNS8 found = 0;
Message m;
UNS8 i;
UNS32 * pwCobId = NULL;
UNS8 * pwNodeId = NULL;
MSG_WAR(0x3A38, "sendSDO",0);
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
return 0xFF;
}
/*get the server->client cobid*/
if ( whoami == SDO_SERVER ) {/*case server. only one SDO server*/
offset = d->firstIndex->SDO_SVR;
if (offset == 0) {
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
return 0xFF;
}
pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
}
else { /*case client*/
/* Get the client->server cobid.*/
UNS16 sdoNum = 0;
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0) {
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
return 0xFF;
}
/* find index for communication server node */
while (offset <= lastIndex){
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
if (d->objdict[offset].bSubCount <= 3) {
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
return 0xFF;
}
pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
if(*pwNodeId == sdo.nodeId) {
found = 1;
break;
}
offset ++;
sdoNum ++;
}
if (! found){
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
return 0xFF;
}
/* read the client->server cobid */
pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
}
/* message copy for sending */
m.cob_id = UNS16_LE(*pwCobId);
m.rtr = NOT_A_REQUEST;
/* the length of SDO must be 8 */
m.len = 8;
for (i = 0 ; i < 8 ; i++) {
m.data[i] = sdo.body.data[i];
}
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param whoami
** @param index
** @param subIndex
** @param abortCode
**
** @return
**/
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
{
s_SDO sdo;
UNS8 ret;
UNS8* pNodeIdServer;
UNS8 nodeIdServer;
UNS16 offset;
MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
if(whoami == SDO_SERVER)
{
sdo.nodeId = *d->bDeviceNodeId;
}
else
{
sdo.nodeId = nodeID;
}
sdo.body.data[0] = 0x80;
/* Index */
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
/* Subindex */
sdo.body.data[3] = subIndex;
/* Data */
sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
ret = sendSDO(d, whoami, sdo);
return ret;
}
/*!
**
**
** @param d
** @param m
**
** @return
**/
UNS8 proceedSDO (CO_Data* d, Message *m)
{
UNS8 err;
UNS8 line;
UNS8 nbBytes; /* received or to be transmited. */
UNS8 nodeId = 0; /* The node from which the SDO is received */
UNS8 *pNodeId = NULL;
UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
s_SDO sdo; /* SDO to transmit */
UNS16 index;
UNS8 subIndex;
UNS32 abortCode;
UNS8 i,j;
UNS32 *pCobId = NULL;
UNS16 offset;
UNS16 lastIndex;
MSG_WAR(0x3A60, "proceedSDO ", 0);
whoami = SDO_UNKNOWN;
/* Looking for the cobId in the object dictionary. */
/* Am-I a server ? */
offset = d->firstIndex->SDO_SVR;
lastIndex = d->lastIndex->SDO_SVR;
j = 0;
if(offset) while (offset <= lastIndex) {
if (d->objdict[offset].bSubCount <= 1) {
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
return 0xFF;
}
pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
if ( *pCobId == UNS16_LE(m->cob_id) ) {
whoami = SDO_SERVER;
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
/* 0x1200 where the cobid received is defined. */
nodeId = j;
break;
}
j++;
offset++;
} /* end while */
if (whoami == SDO_UNKNOWN) {
/* Am-I client ? */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
j = 0;
if(offset) while (offset <= lastIndex) {
if (d->objdict[offset].bSubCount <= 3) {
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
return 0xFF;
}
/* a) Looking for the cobid received. */
pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
if (*pCobId == UNS16_LE(m->cob_id) ) {
/* b) cobid found, so reading the node id of the server. */
pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
whoami = SDO_CLIENT;
nodeId = *pNodeId;
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
break;
}
j++;
offset++;
} /* end while */
}
if (whoami == SDO_UNKNOWN) {
return 0xFF;/* This SDO was not for us ! */
}
/* Test if the size of the SDO is ok */
if ( (*m).len != 8) {
MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
return 0xFF;
}
if (whoami == SDO_CLIENT) {
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
}
else {
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
}
/* Testing the command specifier */
/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
/* cs = other : Not allowed -> abort. */
switch (getSDOcs(m->data[0])) {
case 0:
/* I am SERVER */
if (whoami == SDO_SERVER) {
/* Receiving a download segment data. */
/* A SDO transfert should have been yet initiated. */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the wathdog */
RestartSDO_TIMER(line)
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
/* Toggle test. */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
/* Nb of data to be downloaded */
nbBytes = 7 - getSDOn3(m->data[0]);
/* Store the data in the transfert structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
/* Sending the SDO response, CS = 1 */
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
for (i = 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
/* Inverting the toggle for the next segment. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
/* If it was the last segment, */
if (getSDOc(m->data[0])) {
/* Transfering line data to object dictionary. */
/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
errorCode = SDOlineToObjdict(d, line);
if (errorCode) {
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
/* Release of the line */
resetSDOline(d, line);
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
}
} /* end if SERVER */
else { /* if CLIENT */
/* I am CLIENT */
/* It is a request for a previous upload segment. We should find a line opened for this.*/
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
/* test of the toggle; */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
/* nb of data to be uploaded */
nbBytes = 7 - getSDOn3(m->data[0]);
/* Storing the data in the line structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
/* Inverting the toggle for the next segment. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
/* If it was the last segment,*/
if ( getSDOc(m->data[0])) {
/* Put in state finished */
/* The code is safe for the case e=s=0 in initiate frame. */
StopSDO_TIMER(line)
d->transfers[line].state = SDO_FINISHED;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
}
else { /* more segments to receive */
/* Sending the request for the next segment. */
sdo.nodeId = nodeId;
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
for (i = 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
sendSDO(d, whoami, sdo);
MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
}
} /* End if CLIENT */
break;
case 1:
/* I am SERVER */
/* Receive of an initiate download */
if (whoami == SDO_SERVER) {
index = getSDOindex(m->data[1],m->data[2]);
subIndex = getSDOsubIndex(m->data[3]);
MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
nodeId);
MSG_WAR(0x3A80, "Writing at index : ", index);
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
/* Search if a SDO transfert have been yet initiated */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (! err) {
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* No line on use. Great ! */
/* Try to open a new line. */
err = getSDOfreeLine( d, whoami, &line );
if (err) {
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
if (getSDOe(m->data[0])) { /* If SDO expedited */
/* nb of data to be downloaded */
nbBytes = 4 - getSDOn2(m->data[0]);
/* Storing the data in the line structure. */
d->transfers[line].count = nbBytes;
err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
/*The line will be reseted when it is downloading in the dictionary. */
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
/* Transfering line data to object dictionary. */
errorCode = SDOlineToObjdict(d, line);
if (errorCode) {
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
/* Release of the line. */
resetSDOline(d, line);
}
else {/* So, if it is not an expedited transfert */
if (getSDOs(m->data[0])) {
/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
err = setSDOlineRestBytes(d, nodeId, nbBytes);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
}
}
/*Sending a SDO, cs=3*/
sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/
sdo.body.data[0] = 3 << 5;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = 0;
sendSDO(d, whoami, sdo);
} /* end if I am SERVER */
else {
/* I am CLIENT */
/* It is a response for a previous download segment. We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
/* test of the toggle; */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
/* End transmission or downloading next segment. We need to know if it will be the last one. */
getSDOlineRestBytes(d, line, &nbBytes);
if (nbBytes == 0) {
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
StopSDO_TIMER(line)
d->transfers[line].state = SDO_FINISHED;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0x00;
}
/* At least one transfer to send. */
if (nbBytes > 7) {
/* several segments to download.*/
/* code to send the next segment. (cs = 0; c = 0) */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
err = lineToSDO(d, line, 7, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
}
else {
/* Last segment. */
/* code to send the last segment. (cs = 0; c = 1)*/
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
for (i = nbBytes + 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
}
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
sendSDO(d, whoami, sdo);
} /* end if I am a CLIENT */
break;
case 2:
/* I am SERVER */
/* Receive of an initiate upload.*/
if (whoami == SDO_SERVER) {
index = getSDOindex(m->data[1],m->data[2]);
subIndex = getSDOsubIndex(m->data[3]);
MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
nodeId);
MSG_WAR(0x3A90, "Reading at index : ", index);
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
/* Search if a SDO transfert have been yet initiated*/
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (! err) {
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
MSG_WAR(0x3A93, "nodeId = ", nodeId);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* No line on use. Great !*/
/* Try to open a new line.*/
err = getSDOfreeLine( d, whoami, &line );
if (err) {
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
/* Transfer data from dictionary to the line structure. */
errorCode = objdictToSDOline(d, line);
if (errorCode) {
MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
errorCode);
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
/* Preparing the response.*/
getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
sdo.nodeId = nodeId; /* The server node Id; */
if (nbBytes > 4) {
/* normal transfert. (segmented). */
/* code to send the initiate upload response. (cs = 2) */
sdo.body.data[0] = (2 << 5) | 1;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
/* in the object dictionary, at every index and subindex. */
for (i = 5 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
}
else {
/* Expedited upload. (cs = 2 ; e = 1) */
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
for (i = 4 + nbBytes ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
nodeId);
sendSDO(d, whoami, sdo);
/* Release the line.*/
resetSDOline(d, line);
}
} /* end if I am SERVER*/
else {
/* I am CLIENT */
/* It is the response for the previous initiate upload request.*/
/* We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
if (getSDOe(m->data[0])) { /* If SDO expedited */
/* nb of data to be uploaded */
nbBytes = 4 - getSDOn2(m->data[0]);
/* Storing the data in the line structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
StopSDO_TIMER(line)
d->transfers[line].count = nbBytes;
d->transfers[line].state = SDO_FINISHED;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0;
}
else { /* So, if it is not an expedited transfert */
/* Storing the nb of data to receive. */
if (getSDOs(m->data[0])) {
nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
err = setSDOlineRestBytes(d, line, nbBytes);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
}
/* Requesting next segment. (cs = 3) */
sdo.nodeId = nodeId;
sdo.body.data[0] = 3 << 5;
for (i = 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
sendSDO(d, whoami, sdo);
}
} /* End if CLIENT */
break;
case 3:
/* I am SERVER */
if (whoami == SDO_SERVER) {
/* Receiving a upload segment. */
/* A SDO transfert should have been yet initiated. */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the wathdog */
RestartSDO_TIMER(line)
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
/* Toggle test.*/
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
/* Uploading next segment. We need to know if it will be the last one. */
getSDOlineRestBytes(d, line, &nbBytes);
if (nbBytes > 7) {
/* The segment to transfer is not the last one.*/
/* code to send the next segment. (cs = 0; c = 0) */
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
err = lineToSDO(d, line, 7, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
/* Inverting the toggle for the next tranfert. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
}
else {
/* Last segment. */
/* code to send the last segment. (cs = 0; c = 1) */
sdo.nodeId = nodeId; /** The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
for (i = nbBytes + 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
/* Release the line */
resetSDOline(d, line);
}
} /* end if SERVER*/
else {
/* I am CLIENT */
/* It is the response for the previous initiate download request. */
/* We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
if (err) {
MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
/* Reset the watchdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
/* End transmission or requesting next segment. */
getSDOlineRestBytes(d, line, &nbBytes);
if (nbBytes == 0) {
MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
StopSDO_TIMER(line)
d->transfers[line].state = SDO_FINISHED;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0x00;
}
if (nbBytes > 7) {
/* more than one request to send */
/* code to send the next segment. (cs = 0; c = 0) */
sdo.nodeId = nodeId; /** The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
err = lineToSDO(d, line, 7, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
}
else {
/* Last segment.*/
/* code to send the last segment. (cs = 0; c = 1) */
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
for (i = nbBytes + 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
}
MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
sendSDO(d, whoami, sdo);
} /* end if I am a CLIENT */
break;
case 4:
abortCode =
(UNS32)m->data[4] |
((UNS32)m->data[5] << 8) |
((UNS32)m->data[6] << 16) |
((UNS32)m->data[7] << 24);
/* Received SDO abort. */
/* Looking for the line concerned. */
if (whoami == SDO_SERVER) {
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err) {
resetSDOline( d, line );
MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
}
else
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
/* Tips : The end user has no way to know that the server node has received an abort SDO. */
/* Its is ok, I think.*/
}
else { /* If I am CLIENT */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err) {
/* The line *must* be released by the core program. */
StopSDO_TIMER(line)
d->transfers[line].state = SDO_ABORTED_RCV;
d->transfers[line].abortCode = abortCode;
MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
}
else
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
}
break;
default:
/* Error : Unknown cs */
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
return 0xFF;
} /* End switch */
return 0;
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param count
** @param dataType
** @param data
** @param Callback
** @param endianize
**
** @return
**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
UNS8 err;
UNS8 SDOfound = 0;
UNS8 line;
s_SDO sdo; /* SDO to transmit */
UNS8 i, j;
UNS16 lastIndex;
UNS16 offset;
UNS8 *pNodeIdServer;
UNS8 nodeIdServer;
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
MSG_WAR(0x3AC1, " At index : ", index);
MSG_WAR(0x3AC2, " subIndex : ", subIndex);
MSG_WAR(0x3AC3, " nb bytes : ", count);
/* Verify that there is no SDO communication yet. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (!err) {
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
return 0xFF;
}
/* Taking the line ... */
err = getSDOfreeLine( d, SDO_CLIENT, &line );
if (err) {
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
return (0xFF);
}
/* Check which SDO to use to communicate with the node */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0) {
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
return 0xFF;
}
i = 0;
while (offset <= lastIndex) {
if (d->objdict[offset].bSubCount <= 3) {
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
/* looking for the nodeId server */
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
if(nodeIdServer == nodeId) {
SDOfound = 1;
break;
}
offset++;
i++;
} /* end while */
if (!SDOfound) {
MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
return 0xFE;
}
MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i);
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
d->transfers[line].count = count;
d->transfers[line].dataType = dataType;
/* Copy data to transfers structure. */
for (j = 0 ; j < count ; j++) {
# ifdef CANOPEN_BIG_ENDIAN
if (dataType == 0 && endianize)
d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
else /* String of bytes. */
d->transfers[line].data[j] = ((char *)data)[j];
# else
d->transfers[line].data[j] = ((char *)data)[j];
# endif
}
/* Send the SDO to the server. Initiate download, cs=1. */
sdo.nodeId = nodeId;
if (count <= 4) { /* Expedited transfert */
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = d->transfers[line].data[i - 4];
d->transfers[line].offset = count;
}
else { /** Normal transfert */
sdo.body.data[0] = (1 << 5) | 1;
sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
for (i = 5 ; i < 8 ; i++)
sdo.body.data[i] = 0;
}
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
d->transfers[line].Callback = Callback;
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
/* release the line */
resetSDOline(d, line);
return 0xFF;
}
return 0;
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param count
** @param dataType
** @param data
**
** @return
**/
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param count
** @param dataType
** @param data
** @param Callback
**
** @return
**/
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
}
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
UNS8 ret;
UNS16 lastIndex;
UNS16 offset;
UNS8 nodeIdServer;
UNS8 i;
ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize);
if(ret == 0xFE)
{
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0)
{
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
return 0xFF;
}
i = 0;
while (offset <= lastIndex)
{
if (d->objdict[offset].bSubCount <= 3)
{
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
if(nodeIdServer == 0)
{
*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
}
offset++;
}
return 0xFF;
}
else if(ret == 0)
{
return 0;
}
else
{
return 0xFF;
}
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param dataType
** @param Callback
**
** @return
**/
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
UNS8 err;
UNS8 SDOfound = 0;
UNS8 i;
UNS8 line;
s_SDO sdo; /* SDO to transmit */
UNS8 *pNodeIdServer;
UNS8 nodeIdServer;
UNS16 offset;
UNS16 lastIndex;
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
MSG_WAR(0x3AD6, " At index : ", index);
MSG_WAR(0x3AD7, " subIndex : ", subIndex);
/* Verify that there is no SDO communication yet. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (!err) {
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
return 0xFF;
}
/* Taking the line ... */
err = getSDOfreeLine( d, SDO_CLIENT, &line );
if (err) {
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
return (0xFF);
}
else
MSG_WAR(0x3AE0, "Transmission on line : ", line);
/* Check which SDO to use to communicate with the node */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0) {
MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
return 0xFF;
}
i = 0;
while (offset <= lastIndex) {
if (d->objdict[offset].bSubCount <= 3) {
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
/* looking for the nodeId server */
pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
if(nodeIdServer == nodeId) {
SDOfound = 1;
break;
}
offset++;
i++;
} /* end while */
if (!SDOfound) {
MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
return 0xFE;
}
MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i);
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
sdo.nodeId = nodeId;
/* Send the SDO to the server. Initiate upload, cs=2. */
d->transfers[line].dataType = dataType;
sdo.body.data[0] = (2 << 5);
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = 0;
d->transfers[line].Callback = Callback;
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
/* release the line */
resetSDOline(d, line);
return 0xFF;
}
return 0;
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param dataType
**
** @return
**/
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
{
return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
}
/*!
**
**
** @param d
** @param nodeId
** @param index
** @param subIndex
** @param dataType
** @param Callback
**
** @return
**/
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
}
UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
UNS8 ret;
UNS16 lastIndex;
UNS16 offset;
UNS8 nodeIdServer;
UNS8 i;
ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
if(ret == 0xFE)
{
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0)
{
MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
return 0xFF;
}
i = 0;
while (offset <= lastIndex)
{
if (d->objdict[offset].bSubCount <= 3)
{
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
if(nodeIdServer == 0)
{
*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
}
offset++;
}
return 0xFF;
}
else if(ret == 0)
{
return 0;
}
else
{
return 0xFF;
}
}
/*!
**
**
** @param d
** @param nodeId
** @param data
** @param size pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size
** @param abortCode
**
** @return
**/
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size,
UNS32 * abortCode)
{
UNS8 i;
UNS8 err;
UNS8 line;
* abortCode = 0;
/* Looking for the line tranfert. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (err) {
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
return SDO_ABORTED_INTERNAL;
}
* abortCode = d->transfers[line].abortCode;
if (d->transfers[line].state != SDO_FINISHED)
return d->transfers[line].state;
/* Transfert is finished. Put the value in the data. */
/* use transfers[line].count as max size */
if( (UNS8)d->transfers[line].count < *size )
*size = (UNS8)d->transfers[line].count;
for ( i = 0 ; i < *size ; i++) {
# ifdef CANOPEN_BIG_ENDIAN
if (d->transfers[line].dataType != visible_string)
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
else /* String of bytes. */
( (char *) data)[i] = d->transfers[line].data[i];
# else
( (char *) data)[i] = d->transfers[line].data[i];
# endif
}
return SDO_FINISHED;
}
/*!
**
**
** @param d
** @param nodeId
** @param abortCode
**
** @return
**/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
{
UNS8 line = 0;
UNS8 err;
* abortCode = 0;
/* Looking for the line tranfert. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (err) {
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
return SDO_ABORTED_INTERNAL;
}
* abortCode = d->transfers[line].abortCode;
return d->transfers[line].state;
}