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<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>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">/* #define DEBUG_WAR_CONSOLE_ON */</span>
<a name="l00024"></a>00024 <span class="comment">/* #define DEBUG_ERR_CONSOLE_ON */</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#include "objacces.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "sdo.h"</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="comment">/* Uncomment if your compiler does not support inline functions */</span>
<a name="l00031"></a><a class="code" href="sdo_8c.html#b5ce7bd7fe4169a9f709815f03f9870b">00031</a> <span class="preprocessor">#define NO_INLINE </span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="preprocessor">#ifdef NO_INLINE</span>
<a name="l00034"></a><a class="code" href="sdo_8c.html#2eb6f9e0395b47b8d5e3eeae4fe0c116">00034</a> <span class="preprocessor"></span><span class="preprocessor"> #define INLINE </span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor"> #define INLINE inline</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="comment">/*Internals prototypes*/</span>
<a name="l00040"></a>00040
<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,
<a name="l00043"></a>00043 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
<a name="l00044"></a>00044
<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,
<a name="l00047"></a>00047 UNS8 dataType, SDOCallback_t Callback);
<a name="l00048"></a>00048
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="comment">/***************************************************************************/</span>
<a name="l00051"></a>00051 <span class="comment">/* SDO (un)packing macros */</span>
<a name="l00052"></a>00052
<a name="l00055"></a><a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">00055</a> <span class="preprocessor">#define getSDOcs(byte) (byte >> 5)</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span>
<a name="l00059"></a><a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">00059</a> <span class="preprocessor">#define getSDOn2(byte) ((byte >> 2) & 3)</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00063"></a><a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">00063</a> <span class="preprocessor">#define getSDOn3(byte) ((byte >> 1) & 7)</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00067"></a><a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">00067</a> <span class="preprocessor">#define getSDOe(byte) ((byte >> 1) & 1)</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00071"></a><a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">00071</a> <span class="preprocessor">#define getSDOs(byte) (byte & 1)</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span>
<a name="l00075"></a><a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">00075</a> <span class="preprocessor">#define getSDOc(byte) (byte & 1)</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span>
<a name="l00079"></a><a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">00079</a> <span class="preprocessor">#define getSDOt(byte) ((byte >> 4) & 1)</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span>
<a name="l00083"></a><a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">00083</a> <span class="preprocessor">#define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span>
<a name="l00088"></a><a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">00088</a> <span class="preprocessor">#define getSDOsubIndex(byte3) (byte3)</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span>
<a name="l00090"></a>00090 <span class="comment">/***************************************************************************</span>
<a name="l00091"></a>00091 <span class="comment">**</span>
<a name="l00092"></a>00092 <span class="comment">*/</span>
<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>)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 MSG_ERR(0x1A01, <span class="stringliteral">"SDO timeout. SDO response not received."</span>, 0);
<a name="l00096"></a>00096 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, d->transfers[<span class="keywordtype">id</span>].nodeId);
<a name="l00097"></a>00097 MSG_WAR(0x2A02, <span class="stringliteral">" index : "</span>, d->transfers[<span class="keywordtype">id</span>].index);
<a name="l00098"></a>00098 MSG_WAR(0x2A02, <span class="stringliteral">" subIndex : "</span>, d->transfers[<span class="keywordtype">id</span>].subIndex);
<a name="l00099"></a>00099 <span class="comment">/* Reset timer handler */</span>
<a name="l00100"></a>00100 d->transfers[id].timer = TIMER_NONE;
<a name="l00101"></a>00101 <span class="comment">/*Set aborted state*/</span>
<a name="l00102"></a>00102 d->transfers[id].state = SDO_ABORTED_INTERNAL;
<a name="l00103"></a>00103 <span class="comment">/* Sending a SDO abort */</span>
<a name="l00104"></a>00104 <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, d->transfers[<span class="keywordtype">id</span>].whoami,
<a name="l00105"></a>00105 d->transfers[<span class="keywordtype">id</span>].index, d->transfers[<span class="keywordtype">id</span>].subIndex, SDOABT_TIMED_OUT);
<a name="l00106"></a>00106 d->transfers[id].abortCode = SDOABT_TIMED_OUT;
<a name="l00107"></a>00107 <span class="comment">/* Call the user function to inform of the problem.*/</span>
<a name="l00108"></a>00108 <span class="keywordflow">if</span>(d->transfers[<span class="keywordtype">id</span>].Callback)
<a name="l00109"></a>00109 <span class="comment">/*If ther is a callback, it is responsible to close SDO transfer (client)*/</span>
<a name="l00110"></a>00110 (*d->transfers[id].Callback)(d,d->transfers[<span class="keywordtype">id</span>].nodeId);
<a name="l00111"></a>00111 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(d->transfers[<span class="keywordtype">id</span>].whoami == SDO_SERVER)
<a name="l00112"></a>00112 <span class="comment">/*Else, if server, reset the line*/</span>
<a name="l00113"></a>00113 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, (UNS8)<span class="keywordtype">id</span>);
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a><a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">00116</a> <span class="preprocessor">#define StopSDO_TIMER(id) \</span>
<a name="l00117"></a>00117 <span class="preprocessor">MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\</span>
<a name="l00118"></a>00118 <span class="preprocessor">d->transfers[id].timer = DelAlarm(d->transfers[id].timer);</span>
<a name="l00119"></a>00119 <span class="preprocessor"></span>
<a name="l00120"></a><a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">00120</a> <span class="preprocessor">#define StartSDO_TIMER(id) \</span>
<a name="l00121"></a>00121 <span class="preprocessor">MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\</span>
<a name="l00122"></a>00122 <span class="preprocessor">d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span>
<a name="l00124"></a><a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">00124</a> <span class="preprocessor">#define RestartSDO_TIMER(id) \</span>
<a name="l00125"></a>00125 <span class="preprocessor">MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\</span>
<a name="l00126"></a>00126 <span class="preprocessor">if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }</span>
<a name="l00127"></a>00127 <span class="preprocessor"></span>
<a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 UNS8 j;
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="comment">/* transfer structure initialization */</span>
<a name="l00136"></a>00136 <span class="keywordflow">for</span> (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
<a name="l00137"></a>00137 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, j);
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143 UNS8 size;
<a name="l00144"></a>00144 UNS32 errorCode;
<a name="l00145"></a>00145 MSG_WAR(0x3A08, <span class="stringliteral">"Enter in SDOlineToObjdict "</span>, line);
<a name="l00146"></a>00146 size = (UNS8)d->transfers[line].count;
<a name="l00147"></a>00147 errorCode = <a class="code" href="objacces_8c.html#17e598cc1b2e60380e2e4e75afe9b3b0">setODentry</a>(d, d->transfers[line].index, d->transfers[line].subIndex,
<a name="l00148"></a>00148 (<span class="keywordtype">void</span> *) d->transfers[line].data, &size, 1);
<a name="l00149"></a>00149 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
<a name="l00150"></a>00150 <span class="keywordflow">return</span> errorCode;
<a name="l00151"></a>00151 MSG_WAR(0x3A08, <span class="stringliteral">"exit of SDOlineToObjdict "</span>, line);
<a name="l00152"></a>00152 <span class="keywordflow">return</span> 0;
<a name="l00153"></a>00153
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 UNS8 size = 0;
<a name="l00160"></a>00160 UNS8 dataType;
<a name="l00161"></a>00161 UNS32 errorCode;
<a name="l00162"></a>00162
<a name="l00163"></a>00163 MSG_WAR(0x3A05, <span class="stringliteral">"objdict->line index : "</span>, d->transfers[line].index);
<a name="l00164"></a>00164 MSG_WAR(0x3A06, <span class="stringliteral">" subIndex : "</span>, d->transfers[line].subIndex);
<a name="l00165"></a>00165
<a name="l00166"></a>00166 errorCode = <a class="code" href="objacces_8c.html#39c263a4bc5d2d824fefe22fdb4c2dac">getODentry</a>(d, d->transfers[line].index,
<a name="l00167"></a>00167 d->transfers[line].subIndex,
<a name="l00168"></a>00168 (<span class="keywordtype">void</span> *)d->transfers[line].data,
<a name="l00169"></a>00169 &size, &dataType, 0);
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
<a name="l00172"></a>00172 <span class="keywordflow">return</span> errorCode;
<a name="l00173"></a>00173
<a name="l00174"></a>00174 d->transfers[line].count = size;
<a name="l00175"></a>00175 d->transfers[line].offset = 0;
<a name="l00176"></a>00176 <span class="preprocessor">#if 0</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span> <span class="comment">/*Me laisser ça, please ! (FD)*/</span>
<a name="l00178"></a>00178 {
<a name="l00179"></a>00179 UNS8 i;
<a name="l00180"></a>00180 <span class="keywordflow">for</span> (i = 0 ; i < 10 ; i++) {
<a name="l00181"></a>00181 MSG_WAR(i, <span class="stringliteral">"data= "</span>, d->transfers[line].data[i]);
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184 <span class="preprocessor">#endif</span>
<a name="l00185"></a>00185 <span class="preprocessor"></span> <span class="keywordflow">return</span> 0;
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="comment">/***************************************************************************/</span>
<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) {
<a name="l00190"></a>00190 UNS8 i;
<a name="l00191"></a>00191 UNS8 offset;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
<a name="l00194"></a>00194 MSG_ERR(0x1A10,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
<a name="l00195"></a>00195 <span class="keywordflow">return</span> 0xFF;
<a name="l00196"></a>00196 }
<a name="l00197"></a>00197 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
<a name="l00198"></a>00198 MSG_ERR(0x1A11,<span class="stringliteral">"SDO Size of data too large. Exceed count"</span>, nbBytes);
<a name="l00199"></a>00199 <span class="keywordflow">return</span> 0xFF;
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201 offset = (UNS8)d->transfers[line].offset;
<a name="l00202"></a>00202 for (i = 0 ; i < nbBytes ; i++)
<a name="l00203"></a>00203 * (data + i) = d->transfers[line].data[offset + i];
<a name="l00204"></a>00204 d->transfers[line].offset = d->transfers[line].offset + nbBytes;
<a name="l00205"></a>00205 <span class="keywordflow">return</span> 0;
<a name="l00206"></a>00206 }
<a name="l00207"></a>00207
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212 UNS8 i;
<a name="l00213"></a>00213 UNS8 offset;
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="keywordflow">if</span> ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
<a name="l00216"></a>00216 MSG_ERR(0x1A15,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
<a name="l00217"></a>00217 <span class="keywordflow">return</span> 0xFF;
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219 offset = (UNS8)d->transfers[line].offset;
<a name="l00220"></a>00220 for (i = 0 ; i < nbBytes ; i++)
<a name="l00221"></a>00221 d->transfers[line].data[offset + i] = * (data + i);
<a name="l00222"></a>00222 d->transfers[line].offset = d->transfers[line].offset + nbBytes;
<a name="l00223"></a>00223 <span class="keywordflow">return</span> 0;
<a name="l00224"></a>00224 }
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="comment">/***************************************************************************/</span>
<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,
<a name="l00228"></a>00228 UNS8 subIndex, UNS32 abortCode)
<a name="l00229"></a>00229 {
<a name="l00230"></a>00230 UNS8 err;
<a name="l00231"></a>00231 UNS8 line;
<a name="l00232"></a>00232 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l00233"></a>00233 <span class="keywordflow">if</span> (!err) <span class="comment">/* If a line on use have been found.*/</span>
<a name="l00234"></a>00234 MSG_WAR(0x3A20, <span class="stringliteral">"FailedSDO : line found : "</span>, line);
<a name="l00235"></a>00235 <span class="keywordflow">if</span> ((! err) && (whoami == SDO_SERVER)) {
<a name="l00236"></a>00236 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
<a name="l00237"></a>00237 MSG_WAR(0x3A21, <span class="stringliteral">"FailedSDO : line released : "</span>, line);
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239 <span class="keywordflow">if</span> ((! err) && (whoami == SDO_CLIENT)) {
<a name="l00240"></a>00240 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line);
<a name="l00241"></a>00241 d->transfers[line].state = SDO_ABORTED_INTERNAL;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243 MSG_WAR(0x3A22, <span class="stringliteral">"Sending SDO abort "</span>, 0);
<a name="l00244"></a>00244 err = <a class="code" href="sdo_8c.html#b26c3f2fb63d81055809d6ccaa785b7c">sendSDOabort</a>(d, whoami, index, subIndex, abortCode);
<a name="l00245"></a>00245 <span class="keywordflow">if</span> (err) {
<a name="l00246"></a>00246 MSG_WAR(0x3A23, <span class="stringliteral">"Unable to send the SDO abort"</span>, 0);
<a name="l00247"></a>00247 <span class="keywordflow">return</span> 0xFF;
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249 <span class="keywordflow">return</span> 0;
<a name="l00250"></a>00250 }
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <span class="comment">/***************************************************************************/</span>
<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 )
<a name="l00254"></a>00254 {
<a name="l00255"></a>00255 UNS8 i;
<a name="l00256"></a>00256 MSG_WAR(0x3A25, <span class="stringliteral">"reset SDO line nb : "</span>, line);
<a name="l00257"></a>00257 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, 0, 0, 0, SDO_RESET);
<a name="l00258"></a>00258 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
<a name="l00259"></a>00259 d->transfers[line].data[i] = 0;
<a name="l00260"></a>00260 }
<a name="l00261"></a>00261
<a name="l00262"></a>00262 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00264"></a>00264 {
<a name="l00265"></a>00265 MSG_WAR(0x3A25, <span class="stringliteral">"init SDO line nb : "</span>, line);
<a name="l00266"></a>00266 <span class="keywordflow">if</span> (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
<a name="l00267"></a>00267 <a class="code" href="sdo_8c.html#c1e9eb7a28803b958d298b6997cc60ca">StartSDO_TIMER</a>(line)
<a name="l00268"></a>00268 }<span class="keywordflow">else</span>{
<a name="l00269"></a>00269 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l00270"></a>00270 }
<a name="l00271"></a>00271 d->transfers[line].nodeId = nodeId;
<a name="l00272"></a>00272 d->transfers[line].index = index;
<a name="l00273"></a>00273 d->transfers[line].subIndex = subIndex;
<a name="l00274"></a>00274 d->transfers[line].state = state;
<a name="l00275"></a>00275 d->transfers[line].toggle = 0;
<a name="l00276"></a>00276 d->transfers[line].count = 0;
<a name="l00277"></a>00277 d->transfers[line].offset = 0;
<a name="l00278"></a>00278 d->transfers[line].dataType = 0;
<a name="l00279"></a>00279 d->transfers[line].Callback = NULL;
<a name="l00280"></a>00280 <span class="keywordflow">return</span> 0;
<a name="l00281"></a>00281 }
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="comment">/***************************************************************************/</span>
<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 )
<a name="l00285"></a>00285 {
<a name="l00286"></a>00286
<a name="l00287"></a>00287 UNS8 i;
<a name="l00288"></a>00288
<a name="l00289"></a>00289 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
<a name="l00290"></a>00290 <span class="keywordflow">if</span> ( d->transfers[i].state == SDO_RESET ) {
<a name="l00291"></a>00291 *line = i;
<a name="l00292"></a>00292 d->transfers[i].whoami = whoami;
<a name="l00293"></a>00293 <span class="keywordflow">return</span> 0;
<a name="l00294"></a>00294 } <span class="comment">/* end if */</span>
<a name="l00295"></a>00295 } <span class="comment">/* end for */</span>
<a name="l00296"></a>00296 MSG_ERR(0x1A25, <span class="stringliteral">"Too many SDO in progress. Aborted."</span>, i);
<a name="l00297"></a>00297 <span class="keywordflow">return</span> 0xFF;
<a name="l00298"></a>00298 }
<a name="l00299"></a>00299
<a name="l00300"></a>00300 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00302"></a>00302 {
<a name="l00303"></a>00303
<a name="l00304"></a>00304 UNS8 i;
<a name="l00305"></a>00305
<a name="l00306"></a>00306 <span class="keywordflow">for</span> (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
<a name="l00307"></a>00307 <span class="keywordflow">if</span> ( (d->transfers[i].state != SDO_RESET) &&
<a name="l00308"></a>00308 (d->transfers[i].nodeId == nodeId) &&
<a name="l00309"></a>00309 (d->transfers[i].whoami == whoami) ) {
<a name="l00310"></a>00310 *line = i;
<a name="l00311"></a>00311 <span class="keywordflow">return</span> 0;
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313 }
<a name="l00314"></a>00314 <span class="keywordflow">return</span> 0xFF;
<a name="l00315"></a>00315 }
<a name="l00316"></a>00316
<a name="l00317"></a>00317 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00319"></a>00319 {
<a name="l00320"></a>00320 UNS8 err;
<a name="l00321"></a>00321 UNS8 line;
<a name="l00322"></a>00322 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, whoami, &line);
<a name="l00323"></a>00323 <span class="keywordflow">if</span> (err) {
<a name="l00324"></a>00324 MSG_WAR(0x2A30, <span class="stringliteral">"No SDO communication to close for node : "</span>, nodeId);
<a name="l00325"></a>00325 <span class="keywordflow">return</span> 0xFF;
<a name="l00326"></a>00326 }
<a name="l00327"></a>00327 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l00328"></a>00328 <span class="keywordflow">return</span> 0;
<a name="l00329"></a>00329 }
<a name="l00330"></a>00330
<a name="l00331"></a>00331 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00333"></a>00333 {
<a name="l00334"></a>00334 <span class="keywordflow">if</span> (d->transfers[line].count == 0) <span class="comment">/* if received initiate SDO protocol with e=0 and s=0 */</span>
<a name="l00335"></a>00335 * nbBytes = 0;
<a name="l00336"></a>00336 <span class="keywordflow">else</span>
<a name="l00337"></a>00337 * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
<a name="l00338"></a>00338 <span class="keywordflow">return</span> 0;
<a name="l00339"></a>00339 }
<a name="l00340"></a>00340
<a name="l00341"></a>00341 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00343"></a>00343 {
<a name="l00344"></a>00344 <span class="keywordflow">if</span> (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
<a name="l00345"></a>00345 MSG_ERR(0x1A35,<span class="stringliteral">"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT"</span>, nbBytes);
<a name="l00346"></a>00346 <span class="keywordflow">return</span> 0xFF;
<a name="l00347"></a>00347 }
<a name="l00348"></a>00348 d->transfers[line].count = nbBytes;
<a name="l00349"></a>00349 <span class="keywordflow">return</span> 0;
<a name="l00350"></a>00350 }
<a name="l00351"></a>00351
<a name="l00352"></a>00352
<a name="l00353"></a>00353 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00355"></a>00355 {
<a name="l00356"></a>00356 UNS16 offset;
<a name="l00357"></a>00357 UNS16 lastIndex;
<a name="l00358"></a>00358 UNS8 found = 0;
<a name="l00359"></a>00359 Message m;
<a name="l00360"></a>00360 UNS8 i;
<a name="l00361"></a>00361 UNS32 * pwCobId = NULL;
<a name="l00362"></a>00362 UNS32 * pwNodeId = NULL;
<a name="l00363"></a>00363
<a name="l00364"></a>00364 MSG_WAR(0x3A38, <span class="stringliteral">"sendSDO"</span>,0);
<a name="l00365"></a>00365 <span class="keywordflow">if</span>( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
<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->nodeState);
<a name="l00367"></a>00367 <span class="keywordflow">return</span> 0xFF;
<a name="l00368"></a>00368 }
<a name="l00369"></a>00369
<a name="l00370"></a>00370 <span class="comment">/*get the server->client cobid*/</span>
<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>
<a name="l00372"></a>00372 offset = d->firstIndex->SDO_SVR;
<a name="l00373"></a>00373 <span class="keywordflow">if</span> (offset == 0) {
<a name="l00374"></a>00374 MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO server found"</span>, 0);
<a name="l00375"></a>00375 <span class="keywordflow">return</span> 0xFF;
<a name="l00376"></a>00376 }
<a name="l00377"></a>00377 pwCobId = d->objdict[offset].pSubindex[2].pObject;
<a name="l00378"></a>00378 MSG_WAR(0x3A41, <span class="stringliteral">"I am server. cobId : "</span>, *pwCobId);
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380 <span class="keywordflow">else</span> { <span class="comment">/*case client*/</span>
<a name="l00381"></a>00381 <span class="comment">/* Get the client->server cobid.*/</span>
<a name="l00382"></a>00382 UNS16 sdoNum = 0;
<a name="l00383"></a>00383 offset = d->firstIndex->SDO_CLT;
<a name="l00384"></a>00384 lastIndex = d->lastIndex->SDO_CLT;
<a name="l00385"></a>00385 <span class="keywordflow">if</span> (offset == 0) {
<a name="l00386"></a>00386 MSG_ERR(0x1A42, <span class="stringliteral">"SendSDO : No SDO client index found"</span>, 0);
<a name="l00387"></a>00387 <span class="keywordflow">return</span> 0xFF;
<a name="l00388"></a>00388 }
<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>
<a name="l00390"></a>00390 <span class="keywordflow">while</span> (offset <= lastIndex){
<a name="l00391"></a>00391 MSG_WAR(0x3A43,<span class="stringliteral">"Reading index : "</span>, 0x1280 + sdoNum);
<a name="l00392"></a>00392 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
<a name="l00393"></a>00393 MSG_ERR(0x1A28, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + sdoNum);
<a name="l00394"></a>00394 <span class="keywordflow">return</span> 0xFF;
<a name="l00395"></a>00395 }
<a name="l00396"></a>00396 pwNodeId = d->objdict[offset].pSubindex[3].pObject;
<a name="l00397"></a>00397 MSG_WAR(0x3A44, <span class="stringliteral">"Found nodeId server = "</span>, *pwNodeId);
<a name="l00398"></a>00398 <span class="keywordflow">if</span>(*pwNodeId == sdo.nodeId) {
<a name="l00399"></a>00399 found = 1;
<a name="l00400"></a>00400 <span class="keywordflow">break</span>;
<a name="l00401"></a>00401 }
<a name="l00402"></a>00402 offset ++;
<a name="l00403"></a>00403 sdoNum ++;
<a name="l00404"></a>00404 }
<a name="l00405"></a>00405 <span class="keywordflow">if</span> (! found){
<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);
<a name="l00407"></a>00407 <span class="keywordflow">return</span> 0xFF;
<a name="l00408"></a>00408 }
<a name="l00409"></a>00409 <span class="comment">/* Second, read the cobid client->server */</span>
<a name="l00410"></a>00410 pwCobId = d->objdict[offset].pSubindex[1].pObject;
<a name="l00411"></a>00411 }
<a name="l00412"></a>00412 <span class="comment">/* message copy for sending */</span>
<a name="l00413"></a>00413 m.cob_id.w = *pwCobId;
<a name="l00414"></a>00414 m.rtr = NOT_A_REQUEST;
<a name="l00415"></a>00415 <span class="comment">/* the length of SDO must be 8 */</span>
<a name="l00416"></a>00416 m.len = 8;
<a name="l00417"></a>00417 <span class="keywordflow">for</span> (i = 0 ; i < 8 ; i++) {
<a name="l00418"></a>00418 m.data[i] = sdo.body.data[i];
<a name="l00419"></a>00419 }
<a name="l00420"></a>00420 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
<a name="l00421"></a>00421 }
<a name="l00422"></a>00422
<a name="l00423"></a>00423 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00425"></a>00425 {
<a name="l00426"></a>00426 s_SDO sdo;
<a name="l00427"></a>00427 UNS8 ret;
<a name="l00428"></a>00428 MSG_WAR(0x2A50,<span class="stringliteral">"Sending SDO abort "</span>, abortCode);
<a name="l00429"></a>00429 sdo.nodeId = *d->bDeviceNodeId;
<a name="l00430"></a>00430 sdo.body.data[0] = 0x80;
<a name="l00431"></a>00431 <span class="comment">/* Index */</span>
<a name="l00432"></a>00432 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l00433"></a>00433 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l00434"></a>00434 <span class="comment">/* Subindex */</span>
<a name="l00435"></a>00435 sdo.body.data[3] = subIndex;
<a name="l00436"></a>00436 <span class="comment">/* Data */</span>
<a name="l00437"></a>00437 sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
<a name="l00438"></a>00438 sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
<a name="l00439"></a>00439 sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
<a name="l00440"></a>00440 sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
<a name="l00441"></a>00441 ret = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00442"></a>00442
<a name="l00443"></a>00443 <span class="keywordflow">return</span> ret;
<a name="l00444"></a>00444 }
<a name="l00445"></a>00445
<a name="l00446"></a>00446 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l00448"></a>00448 {
<a name="l00449"></a>00449 UNS8 err;
<a name="l00450"></a>00450 UNS8 line;
<a name="l00451"></a>00451 UNS8 nbBytes; <span class="comment">/* received or to be transmited. */</span>
<a name="l00452"></a>00452 UNS8 nodeId = 0; <span class="comment">/* The node from which the SDO is received */</span>
<a name="l00453"></a>00453 UNS32 nodeId_32; <span class="comment">/* node id in 32 bits, for temporary use */</span>
<a name="l00454"></a>00454 UNS32 *pNodeId = NULL;
<a name="l00455"></a>00455 UNS8 whoami = SDO_UNKNOWN; <span class="comment">/* SDO_SERVER or SDO_CLIENT.*/</span>
<a name="l00456"></a>00456 UNS32 errorCode; <span class="comment">/* while reading or writing in the local object dictionary.*/</span>
<a name="l00457"></a>00457 s_SDO sdo; <span class="comment">/* SDO to transmit */</span>
<a name="l00458"></a>00458 UNS16 index;
<a name="l00459"></a>00459 UNS8 subIndex;
<a name="l00460"></a>00460 UNS32 abortCode;
<a name="l00461"></a>00461 UNS8 i,j;
<a name="l00462"></a>00462 UNS32 * pCobId = NULL;
<a name="l00463"></a>00463 UNS16 offset;
<a name="l00464"></a>00464 UNS16 lastIndex;
<a name="l00465"></a>00465
<a name="l00466"></a>00466 MSG_WAR(0x3A60, <span class="stringliteral">"proceedSDO "</span>, 0);
<a name="l00467"></a>00467 whoami = SDO_UNKNOWN;
<a name="l00468"></a>00468 <span class="comment">/* Looking for the cobId in the object dictionary. */</span>
<a name="l00469"></a>00469 <span class="comment">/* Am-I a server ? */</span>
<a name="l00470"></a>00470 offset = d->firstIndex->SDO_SVR;
<a name="l00471"></a>00471 lastIndex = d->lastIndex->SDO_SVR;
<a name="l00472"></a>00472 j = 0;
<a name="l00473"></a>00473 <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset <= lastIndex) {
<a name="l00474"></a>00474 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 1) {
<a name="l00475"></a>00475 MSG_ERR(0x1A61, <span class="stringliteral">"Subindex 1 not found at index "</span>, 0x1200 + j);
<a name="l00476"></a>00476 <span class="keywordflow">return</span> 0xFF;
<a name="l00477"></a>00477 }
<a name="l00478"></a>00478 pCobId = d->objdict[offset].pSubindex[1].pObject;
<a name="l00479"></a>00479 <span class="keywordflow">if</span> ( *pCobId == (*m).cob_id.w ) {
<a name="l00480"></a>00480 whoami = SDO_SERVER;
<a name="l00481"></a>00481 MSG_WAR(0x3A62, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1200 + j);
<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>
<a name="l00483"></a>00483 <span class="comment">/* 0x1200 where the cobid received is defined. */</span>
<a name="l00484"></a>00484 nodeId = j;
<a name="l00485"></a>00485 <span class="keywordflow">break</span>;
<a name="l00486"></a>00486 }
<a name="l00487"></a>00487 j++;
<a name="l00488"></a>00488 offset++;
<a name="l00489"></a>00489 } <span class="comment">/* end while */</span>
<a name="l00490"></a>00490 <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
<a name="l00491"></a>00491 <span class="comment">/* Am-I client ? */</span>
<a name="l00492"></a>00492 offset = d->firstIndex->SDO_CLT;
<a name="l00493"></a>00493 lastIndex = d->lastIndex->SDO_CLT;
<a name="l00494"></a>00494 j = 0;
<a name="l00495"></a>00495 <span class="keywordflow">if</span>(offset) <span class="keywordflow">while</span> (offset <= lastIndex) {
<a name="l00496"></a>00496 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
<a name="l00497"></a>00497 MSG_ERR(0x1A63, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + j);
<a name="l00498"></a>00498 <span class="keywordflow">return</span> 0xFF;
<a name="l00499"></a>00499 }
<a name="l00500"></a>00500 <span class="comment">/* a) Looking for the cobid received. */</span>
<a name="l00501"></a>00501 pCobId = d->objdict[offset].pSubindex[2].pObject;
<a name="l00502"></a>00502 <span class="keywordflow">if</span> (*pCobId == (*m).cob_id.w ) {
<a name="l00503"></a>00503 <span class="comment">/* b) cobid found, so reading the node id of the server. */</span>
<a name="l00504"></a>00504 pNodeId = d->objdict[offset].pSubindex[3].pObject;
<a name="l00505"></a>00505 whoami = SDO_CLIENT;
<a name="l00506"></a>00506 nodeId_32 = *pNodeId;
<a name="l00507"></a>00507 nodeId = (UNS8)nodeId_32;
<a name="l00508"></a>00508 MSG_WAR(0x3A64, <span class="stringliteral">"proceedSDO. I am server. index : "</span>, 0x1280 + j);
<a name="l00509"></a>00509 MSG_WAR(0x3A65, <span class="stringliteral">" Server nodeId : "</span>, nodeId);
<a name="l00510"></a>00510 <span class="keywordflow">break</span>;
<a name="l00511"></a>00511 }
<a name="l00512"></a>00512 j++;
<a name="l00513"></a>00513 offset++;
<a name="l00514"></a>00514 } <span class="comment">/* end while */</span>
<a name="l00515"></a>00515 }
<a name="l00516"></a>00516 <span class="keywordflow">if</span> (whoami == SDO_UNKNOWN) {
<a name="l00517"></a>00517 <span class="keywordflow">return</span> 0xFF;<span class="comment">/* This SDO was not for us ! */</span>
<a name="l00518"></a>00518 }
<a name="l00519"></a>00519
<a name="l00520"></a>00520 <span class="comment">/* Test if the size of the SDO is ok */</span>
<a name="l00521"></a>00521 <span class="keywordflow">if</span> ( (*m).len != 8) {
<a name="l00522"></a>00522 MSG_ERR(0x1A67, <span class="stringliteral">"Error size SDO. CobId : "</span>, (*m).cob_id.w);
<a name="l00523"></a>00523 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
<a name="l00524"></a>00524 <span class="keywordflow">return</span> 0xFF;
<a name="l00525"></a>00525 }
<a name="l00526"></a>00526
<a name="l00527"></a>00527 <span class="keywordflow">if</span> (whoami == SDO_CLIENT) {
<a name="l00528"></a>00528 MSG_WAR(0x3A68, <span class="stringliteral">"I am CLIENT. Received SDO from nodeId : "</span>, nodeId);
<a name="l00529"></a>00529 }
<a name="l00530"></a>00530 <span class="keywordflow">else</span> {
<a name="l00531"></a>00531 MSG_WAR(0x3A69, <span class="stringliteral">"I am SERVER. Received SDO cobId : "</span>, (*m).cob_id.w);
<a name="l00532"></a>00532 }
<a name="l00533"></a>00533
<a name="l00534"></a>00534 <span class="comment">/* Testing the command specifier */</span>
<a name="l00535"></a>00535 <span class="comment">/* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */</span>
<a name="l00536"></a>00536 <span class="comment">/* cs = other : Not allowed -> abort. */</span>
<a name="l00537"></a>00537 <span class="keywordflow">switch</span> (<a class="code" href="sdo_8c.html#ce5a1634ff4089db3b228cdd5010c321">getSDOcs</a>(m->data[0])) {
<a name="l00538"></a>00538
<a name="l00539"></a>00539 <span class="keywordflow">case</span> 0:
<a name="l00540"></a>00540 <span class="comment">/* I am SERVER */</span>
<a name="l00541"></a>00541 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
<a name="l00542"></a>00542 <span class="comment">/* Receiving a download segment data. */</span>
<a name="l00543"></a>00543 <span class="comment">/* A SDO transfert should have been yet initiated. */</span>
<a name="l00544"></a>00544 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l00545"></a>00545 <span class="keywordflow">if</span> (!err)
<a name="l00546"></a>00546 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
<a name="l00547"></a>00547 <span class="keywordflow">if</span> (err) {
<a name="l00548"></a>00548 MSG_ERR(0x1A70, <span class="stringliteral">"SDO error : Received download segment for unstarted trans. index 0x1200 + "</span>,
<a name="l00549"></a>00549 nodeId);
<a name="l00550"></a>00550 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00551"></a>00551 <span class="keywordflow">return</span> 0xFF;
<a name="l00552"></a>00552 }
<a name="l00553"></a>00553 <span class="comment">/* Reset the wathdog */</span>
<a name="l00554"></a>00554 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00555"></a>00555 MSG_WAR(0x3A71, <span class="stringliteral">"Received SDO download segment defined at index 0x1200 + "</span>, nodeId);
<a name="l00556"></a>00556 index = d->transfers[line].index;
<a name="l00557"></a>00557 subIndex = d->transfers[line].subIndex;
<a name="l00558"></a>00558 <span class="comment">/* Toggle test. */</span>
<a name="l00559"></a>00559 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
<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->data[0]));
<a name="l00561"></a>00561 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
<a name="l00562"></a>00562 <span class="keywordflow">return</span> 0xFF;
<a name="l00563"></a>00563 }
<a name="l00564"></a>00564 <span class="comment">/* Nb of data to be downloaded */</span>
<a name="l00565"></a>00565 nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m->data[0]);
<a name="l00566"></a>00566 <span class="comment">/* Store the data in the transfert structure. */</span>
<a name="l00567"></a>00567 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
<a name="l00568"></a>00568 <span class="keywordflow">if</span> (err) {
<a name="l00569"></a>00569 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00570"></a>00570 <span class="keywordflow">return</span> 0xFF;
<a name="l00571"></a>00571 }
<a name="l00572"></a>00572 <span class="comment">/* Sending the SDO response, CS = 1 */</span>
<a name="l00573"></a>00573 sdo.nodeId = *d->bDeviceNodeId; <span class="comment">/* The node id of the server, (here it is the sender). */</span>
<a name="l00574"></a>00574 sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
<a name="l00575"></a>00575 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
<a name="l00576"></a>00576 sdo.body.data[i] = 0;
<a name="l00577"></a>00577 MSG_WAR(0x3A73, <span class="stringliteral">"SDO. Send response to download request defined at index 0x1200 + "</span>, nodeId);
<a name="l00578"></a>00578 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00579"></a>00579 <span class="comment">/* Inverting the toggle for the next segment. */</span>
<a name="l00580"></a>00580 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
<a name="l00581"></a>00581 <span class="comment">/* If it was the last segment, */</span>
<a name="l00582"></a>00582 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m->data[0])) {
<a name="l00583"></a>00583 <span class="comment">/* Transfering line data to object dictionary. */</span>
<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>
<a name="l00585"></a>00585 errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
<a name="l00586"></a>00586 <span class="keywordflow">if</span> (errorCode) {
<a name="l00587"></a>00587 MSG_ERR(0x1A54, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0);
<a name="l00588"></a>00588 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
<a name="l00589"></a>00589 <span class="keywordflow">return</span> 0xFF;
<a name="l00590"></a>00590 }
<a name="l00591"></a>00591 <span class="comment">/* Release of the line */</span>
<a name="l00592"></a>00592 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l00593"></a>00593 MSG_WAR(0x3A74, <span class="stringliteral">"SDO. End of download defined at index 0x1200 + "</span>, nodeId);
<a name="l00594"></a>00594 }
<a name="l00595"></a>00595 } <span class="comment">/* end if SERVER */</span>
<a name="l00596"></a>00596 <span class="keywordflow">else</span> { <span class="comment">/* if CLIENT */</span>
<a name="l00597"></a>00597 <span class="comment">/* I am CLIENT */</span>
<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>
<a name="l00599"></a>00599 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
<a name="l00600"></a>00600 <span class="keywordflow">if</span> (!err)
<a name="l00601"></a>00601 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
<a name="l00602"></a>00602 <span class="keywordflow">if</span> (err) {
<a name="l00603"></a>00603 MSG_ERR(0x1A75, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId);
<a name="l00604"></a>00604 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00605"></a>00605 <span class="keywordflow">return</span> 0xFF;
<a name="l00606"></a>00606 }
<a name="l00607"></a>00607 <span class="comment">/* Reset the wathdog */</span>
<a name="l00608"></a>00608 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00609"></a>00609 index = d->transfers[line].index;
<a name="l00610"></a>00610 subIndex = d->transfers[line].subIndex;
<a name="l00611"></a>00611 <span class="comment">/* test of the toggle; */</span>
<a name="l00612"></a>00612 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
<a name="l00613"></a>00613 MSG_ERR(0x1A76, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId);
<a name="l00614"></a>00614 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
<a name="l00615"></a>00615 <span class="keywordflow">return</span> 0xFF;
<a name="l00616"></a>00616 }
<a name="l00617"></a>00617 <span class="comment">/* nb of data to be uploaded */</span>
<a name="l00618"></a>00618 nbBytes = 7 - <a class="code" href="sdo_8c.html#e5677ca12bfb71b06cbd6e99e9be0955">getSDOn3</a>(m->data[0]);
<a name="l00619"></a>00619 <span class="comment">/* Storing the data in the line structure. */</span>
<a name="l00620"></a>00620 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 1);
<a name="l00621"></a>00621 <span class="keywordflow">if</span> (err) {
<a name="l00622"></a>00622 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00623"></a>00623 <span class="keywordflow">return</span> 0xFF;
<a name="l00624"></a>00624 }
<a name="l00625"></a>00625 <span class="comment">/* Inverting the toggle for the next segment. */</span>
<a name="l00626"></a>00626 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
<a name="l00627"></a>00627 <span class="comment">/* If it was the last segment,*/</span>
<a name="l00628"></a>00628 <span class="keywordflow">if</span> ( <a class="code" href="sdo_8c.html#e5a2dafe8497bff1fd88f881ea74414d">getSDOc</a>(m->data[0])) {
<a name="l00629"></a>00629 <span class="comment">/* Put in state finished */</span>
<a name="l00630"></a>00630 <span class="comment">/* The code is safe for the case e=s=0 in initiate frame. */</span>
<a name="l00631"></a>00631 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l00632"></a>00632 d->transfers[line].state = SDO_FINISHED;
<a name="l00633"></a>00633 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
<a name="l00634"></a>00634
<a name="l00635"></a>00635 MSG_WAR(0x3A77, <span class="stringliteral">"SDO. End of upload from node : "</span>, nodeId);
<a name="l00636"></a>00636 }
<a name="l00637"></a>00637 <span class="keywordflow">else</span> { <span class="comment">/* more segments to receive */</span>
<a name="l00638"></a>00638 <span class="comment">/* Sending the request for the next segment. */</span>
<a name="l00639"></a>00639 sdo.nodeId = nodeId;
<a name="l00640"></a>00640 sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
<a name="l00641"></a>00641 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
<a name="l00642"></a>00642 sdo.body.data[i] = 0;
<a name="l00643"></a>00643 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00644"></a>00644 MSG_WAR(0x3A78, <span class="stringliteral">"SDO send upload segment request to nodeId"</span>, nodeId);
<a name="l00645"></a>00645 }
<a name="l00646"></a>00646 } <span class="comment">/* End if CLIENT */</span>
<a name="l00647"></a>00647 <span class="keywordflow">break</span>;
<a name="l00648"></a>00648
<a name="l00649"></a>00649 <span class="keywordflow">case</span> 1:
<a name="l00650"></a>00650 <span class="comment">/* I am SERVER */</span>
<a name="l00651"></a>00651 <span class="comment">/* Receive of an initiate download */</span>
<a name="l00652"></a>00652 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
<a name="l00653"></a>00653 index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m->data[1],m->data[2]);
<a name="l00654"></a>00654 subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m->data[3]);
<a name="l00655"></a>00655 MSG_WAR(0x3A79, <span class="stringliteral">"Received SDO Initiate Download (to store data) defined at index 0x1200 + "</span>,
<a name="l00656"></a>00656 nodeId);
<a name="l00657"></a>00657 MSG_WAR(0x3A80, <span class="stringliteral">"Writing at index : "</span>, index);
<a name="l00658"></a>00658 MSG_WAR(0x3A80, <span class="stringliteral">"Writing at subIndex : "</span>, subIndex);
<a name="l00659"></a>00659
<a name="l00660"></a>00660 <span class="comment">/* Search if a SDO transfert have been yet initiated */</span>
<a name="l00661"></a>00661 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l00662"></a>00662 <span class="keywordflow">if</span> (! err) {
<a name="l00663"></a>00663 MSG_ERR(0x1A81, <span class="stringliteral">"SDO error : Transmission yet started."</span>, 0);
<a name="l00664"></a>00664 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00665"></a>00665 <span class="keywordflow">return</span> 0xFF;
<a name="l00666"></a>00666 }
<a name="l00667"></a>00667 <span class="comment">/* No line on use. Great ! */</span>
<a name="l00668"></a>00668 <span class="comment">/* Try to open a new line. */</span>
<a name="l00669"></a>00669 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &line );
<a name="l00670"></a>00670 <span class="keywordflow">if</span> (err) {
<a name="l00671"></a>00671 MSG_ERR(0x1A82, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
<a name="l00672"></a>00672 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00673"></a>00673 <span class="keywordflow">return</span> 0xFF;
<a name="l00674"></a>00674 }
<a name="l00675"></a>00675 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
<a name="l00676"></a>00676
<a name="l00677"></a>00677 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m->data[0])) { <span class="comment">/* If SDO expedited */</span>
<a name="l00678"></a>00678 <span class="comment">/* nb of data to be downloaded */</span>
<a name="l00679"></a>00679 nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m->data[0]);
<a name="l00680"></a>00680 <span class="comment">/* Storing the data in the line structure. */</span>
<a name="l00681"></a>00681 d->transfers[line].count = nbBytes;
<a name="l00682"></a>00682 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
<a name="l00683"></a>00683
<a name="l00684"></a>00684 <span class="keywordflow">if</span> (err) {
<a name="l00685"></a>00685 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00686"></a>00686 <span class="keywordflow">return</span> 0xFF;
<a name="l00687"></a>00687 }
<a name="l00688"></a>00688
<a name="l00689"></a>00689 <span class="comment">/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */</span>
<a name="l00690"></a>00690 <span class="comment">/* The line will be reseted when it is downloading in the dictionary. */</span>
<a name="l00691"></a>00691 MSG_WAR(0x3A83, <span class="stringliteral">"SDO Initiate Download is an expedited transfert. Finished.: "</span>, nodeId);
<a name="l00692"></a>00692 <span class="comment">/* Transfering line data to object dictionary. */</span>
<a name="l00693"></a>00693 errorCode = <a class="code" href="sdo_8c.html#2eb5309dca3a7363da5e5e7230b85d58">SDOlineToObjdict</a>(d, line);
<a name="l00694"></a>00694 <span class="keywordflow">if</span> (errorCode) {
<a name="l00695"></a>00695 MSG_ERR(0x1A84, <span class="stringliteral">"SDO error : Unable to copy the data in the object dictionary"</span>, 0);
<a name="l00696"></a>00696 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
<a name="l00697"></a>00697 <span class="keywordflow">return</span> 0xFF;
<a name="l00698"></a>00698 }
<a name="l00699"></a>00699 <span class="comment">/* Release of the line. */</span>
<a name="l00700"></a>00700 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l00701"></a>00701 }
<a name="l00702"></a>00702 <span class="keywordflow">else</span> {<span class="comment">/* So, if it is not an expedited transfert */</span>
<a name="l00703"></a>00703 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m->data[0])) {
<a name="l00704"></a>00704 <span class="comment">/* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */</span>
<a name="l00705"></a>00705 nbBytes = m->data[4]; <span class="comment">/* Transfert limited to 255 bytes. */</span>
<a name="l00706"></a>00706 err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, nodeId, nbBytes);
<a name="l00707"></a>00707 <span class="keywordflow">if</span> (err) {
<a name="l00708"></a>00708 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00709"></a>00709 <span class="keywordflow">return</span> 0xFF;
<a name="l00710"></a>00710 }
<a name="l00711"></a>00711 }
<a name="l00712"></a>00712 }
<a name="l00713"></a>00713 <span class="comment">/*Sending a SDO, cs=3*/</span>
<a name="l00714"></a>00714 sdo.nodeId = *d->bDeviceNodeId; <span class="comment">/* The node id of the server, (here it is the sender).*/</span>
<a name="l00715"></a>00715 sdo.body.data[0] = 3 << 5;
<a name="l00716"></a>00716 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l00717"></a>00717 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l00718"></a>00718 sdo.body.data[3] = subIndex;
<a name="l00719"></a>00719 <span class="keywordflow">for</span> (i = 4 ; i < 8 ; i++)
<a name="l00720"></a>00720 sdo.body.data[i] = 0;
<a name="l00721"></a>00721 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00722"></a>00722 } <span class="comment">/* end if I am SERVER */</span>
<a name="l00723"></a>00723 <span class="keywordflow">else</span> {
<a name="l00724"></a>00724 <span class="comment">/* I am CLIENT */</span>
<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>
<a name="l00726"></a>00726 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
<a name="l00727"></a>00727 <span class="keywordflow">if</span> (!err)
<a name="l00728"></a>00728 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
<a name="l00729"></a>00729 <span class="keywordflow">if</span> (err) {
<a name="l00730"></a>00730 MSG_ERR(0x1A85, <span class="stringliteral">"SDO error : Received segment response for unknown trans. from nodeId"</span>, nodeId);
<a name="l00731"></a>00731 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00732"></a>00732 <span class="keywordflow">return</span> 0xFF;
<a name="l00733"></a>00733 }
<a name="l00734"></a>00734 <span class="comment">/* Reset the wathdog */</span>
<a name="l00735"></a>00735 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00736"></a>00736 index = d->transfers[line].index;
<a name="l00737"></a>00737 subIndex = d->transfers[line].subIndex;
<a name="l00738"></a>00738 <span class="comment">/* test of the toggle; */</span>
<a name="l00739"></a>00739 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
<a name="l00740"></a>00740 MSG_ERR(0x1A86, <span class="stringliteral">"SDO error : Received segment response Toggle error. from nodeId"</span>, nodeId);
<a name="l00741"></a>00741 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
<a name="l00742"></a>00742 <span class="keywordflow">return</span> 0xFF;
<a name="l00743"></a>00743 }
<a name="l00744"></a>00744
<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>
<a name="l00746"></a>00746 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
<a name="l00747"></a>00747 <span class="keywordflow">if</span> (nbBytes == 0) {
<a name="l00748"></a>00748 MSG_WAR(0x3A87, <span class="stringliteral">"SDO End download. segment response received. OK. from nodeId"</span>, nodeId);
<a name="l00749"></a>00749 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l00750"></a>00750 d->transfers[line].state = SDO_FINISHED;
<a name="l00751"></a>00751 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
<a name="l00752"></a>00752 <span class="keywordflow">return</span> 0x00;
<a name="l00753"></a>00753 }
<a name="l00754"></a>00754 <span class="comment">/* At least one transfer to send. */</span>
<a name="l00755"></a>00755 <span class="keywordflow">if</span> (nbBytes > 7) {
<a name="l00756"></a>00756 <span class="comment">/* several segments to download.*/</span>
<a name="l00757"></a>00757 <span class="comment">/* code to send the next segment. (cs = 0; c = 0) */</span>
<a name="l00758"></a>00758 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
<a name="l00759"></a>00759 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l00760"></a>00760 sdo.body.data[0] = (d->transfers[line].toggle << 4);
<a name="l00761"></a>00761 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
<a name="l00762"></a>00762 <span class="keywordflow">if</span> (err) {
<a name="l00763"></a>00763 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00764"></a>00764 <span class="keywordflow">return</span> 0xFF;
<a name="l00765"></a>00765 }
<a name="l00766"></a>00766 }
<a name="l00767"></a>00767 <span class="keywordflow">else</span> {
<a name="l00768"></a>00768 <span class="comment">/* Last segment. */</span>
<a name="l00769"></a>00769 <span class="comment">/* code to send the last segment. (cs = 0; c = 1)*/</span>
<a name="l00770"></a>00770 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
<a name="l00771"></a>00771 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l00772"></a>00772 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
<a name="l00773"></a>00773 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
<a name="l00774"></a>00774 <span class="keywordflow">if</span> (err) {
<a name="l00775"></a>00775 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00776"></a>00776 <span class="keywordflow">return</span> 0xFF;
<a name="l00777"></a>00777 }
<a name="l00778"></a>00778 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
<a name="l00779"></a>00779 sdo.body.data[i] = 0;
<a name="l00780"></a>00780 }
<a name="l00781"></a>00781 MSG_WAR(0x3A88, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId);
<a name="l00782"></a>00782 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00783"></a>00783 } <span class="comment">/* end if I am a CLIENT */</span>
<a name="l00784"></a>00784 <span class="keywordflow">break</span>;
<a name="l00785"></a>00785
<a name="l00786"></a>00786 <span class="keywordflow">case</span> 2:
<a name="l00787"></a>00787 <span class="comment">/* I am SERVER */</span>
<a name="l00788"></a>00788 <span class="comment">/* Receive of an initiate upload.*/</span>
<a name="l00789"></a>00789 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
<a name="l00790"></a>00790 index = <a class="code" href="sdo_8c.html#d9b34e26bf67f1251f3bb364756e17f1">getSDOindex</a>(m->data[1],m->data[2]);
<a name="l00791"></a>00791 subIndex = <a class="code" href="sdo_8c.html#52a96f6fa6083f6b291133135b7155a8">getSDOsubIndex</a>(m->data[3]);
<a name="l00792"></a>00792 MSG_WAR(0x3A89, <span class="stringliteral">"Received SDO Initiate upload (to send data) defined at index 0x1200 + "</span>,
<a name="l00793"></a>00793 nodeId);
<a name="l00794"></a>00794 MSG_WAR(0x3A90, <span class="stringliteral">"Reading at index : "</span>, index);
<a name="l00795"></a>00795 MSG_WAR(0x3A91, <span class="stringliteral">"Reading at subIndex : "</span>, subIndex);
<a name="l00796"></a>00796 <span class="comment">/* Search if a SDO transfert have been yet initiated*/</span>
<a name="l00797"></a>00797 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l00798"></a>00798 <span class="keywordflow">if</span> (! err) {
<a name="l00799"></a>00799 MSG_ERR(0x1A92, <span class="stringliteral">"SDO error : Transmission yet started at line : "</span>, line);
<a name="l00800"></a>00800 MSG_WAR(0x3A93, <span class="stringliteral">"nodeId = "</span>, nodeId);
<a name="l00801"></a>00801 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00802"></a>00802 <span class="keywordflow">return</span> 0xFF;
<a name="l00803"></a>00803 }
<a name="l00804"></a>00804 <span class="comment">/* No line on use. Great !*/</span>
<a name="l00805"></a>00805 <span class="comment">/* Try to open a new line.*/</span>
<a name="l00806"></a>00806 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, whoami, &line );
<a name="l00807"></a>00807 <span class="keywordflow">if</span> (err) {
<a name="l00808"></a>00808 MSG_ERR(0x1A71, <span class="stringliteral">"SDO error : No line free, too many SDO in progress. Aborted."</span>, 0);
<a name="l00809"></a>00809 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00810"></a>00810 <span class="keywordflow">return</span> 0xFF;
<a name="l00811"></a>00811 }
<a name="l00812"></a>00812 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
<a name="l00813"></a>00813 <span class="comment">/* Transfer data from dictionary to the line structure. */</span>
<a name="l00814"></a>00814 errorCode = <a class="code" href="sdo_8c.html#29427a80fd1aeabff30bf0602fbc220f">objdictToSDOline</a>(d, line);
<a name="l00815"></a>00815
<a name="l00816"></a>00816 <span class="keywordflow">if</span> (errorCode) {
<a name="l00817"></a>00817 MSG_ERR(0x1A94, <span class="stringliteral">"SDO error : Unable to copy the data from object dictionary. Err code : "</span>,
<a name="l00818"></a>00818 errorCode);
<a name="l00819"></a>00819 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, errorCode);
<a name="l00820"></a>00820 <span class="keywordflow">return</span> 0xFF;
<a name="l00821"></a>00821 }
<a name="l00822"></a>00822 <span class="comment">/* Preparing the response.*/</span>
<a name="l00823"></a>00823 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes); <span class="comment">/* Nb bytes to transfer ? */</span>
<a name="l00824"></a>00824 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l00825"></a>00825 <span class="keywordflow">if</span> (nbBytes > 4) {
<a name="l00826"></a>00826 <span class="comment">/* normal transfert. (segmented). */</span>
<a name="l00827"></a>00827 <span class="comment">/* code to send the initiate upload response. (cs = 2) */</span>
<a name="l00828"></a>00828 sdo.body.data[0] = (2 << 5) | 1;
<a name="l00829"></a>00829 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l00830"></a>00830 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l00831"></a>00831 sdo.body.data[3] = subIndex;
<a name="l00832"></a>00832 sdo.body.data[4] = nbBytes; <span class="comment">/* Limitation of canfestival2 : Max tranfert is 256 bytes.*/</span>
<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>
<a name="l00834"></a>00834 <span class="comment">/* in the object dictionary, at every index and subindex. */</span>
<a name="l00835"></a>00835 <span class="keywordflow">for</span> (i = 5 ; i < 8 ; i++)
<a name="l00836"></a>00836 sdo.body.data[i] = 0;
<a name="l00837"></a>00837 MSG_WAR(0x3A95, <span class="stringliteral">"SDO. Sending normal upload initiate response defined at index 0x1200 + "</span>, nodeId);
<a name="l00838"></a>00838 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00839"></a>00839 }
<a name="l00840"></a>00840 <span class="keywordflow">else</span> {
<a name="l00841"></a>00841 <span class="comment">/* Expedited upload. (cs = 2 ; e = 1) */</span>
<a name="l00842"></a>00842 sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
<a name="l00843"></a>00843 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l00844"></a>00844 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l00845"></a>00845 sdo.body.data[3] = subIndex;
<a name="l00846"></a>00846 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 4);
<a name="l00847"></a>00847 <span class="keywordflow">if</span> (err) {
<a name="l00848"></a>00848 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00849"></a>00849 <span class="keywordflow">return</span> 0xFF;
<a name="l00850"></a>00850 }
<a name="l00851"></a>00851 <span class="keywordflow">for</span> (i = 4 + nbBytes ; i < 8 ; i++)
<a name="l00852"></a>00852 sdo.body.data[i] = 0;
<a name="l00853"></a>00853 MSG_WAR(0x3A96, <span class="stringliteral">"SDO. Sending expedited upload initiate response defined at index 0x1200 + "</span>,
<a name="l00854"></a>00854 nodeId);
<a name="l00855"></a>00855 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00856"></a>00856 <span class="comment">/* Release the line.*/</span>
<a name="l00857"></a>00857 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l00858"></a>00858 }
<a name="l00859"></a>00859 } <span class="comment">/* end if I am SERVER*/</span>
<a name="l00860"></a>00860 <span class="keywordflow">else</span> {
<a name="l00861"></a>00861 <span class="comment">/* I am CLIENT */</span>
<a name="l00862"></a>00862 <span class="comment">/* It is the response for the previous initiate upload request.*/</span>
<a name="l00863"></a>00863 <span class="comment">/* We should find a line opened for this. */</span>
<a name="l00864"></a>00864 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
<a name="l00865"></a>00865 <span class="keywordflow">if</span> (!err)
<a name="l00866"></a>00866 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
<a name="l00867"></a>00867 <span class="keywordflow">if</span> (err) {
<a name="l00868"></a>00868 MSG_ERR(0x1A97, <span class="stringliteral">"SDO error : Received response for unknown upload request from nodeId"</span>, nodeId);
<a name="l00869"></a>00869 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00870"></a>00870 <span class="keywordflow">return</span> 0xFF;
<a name="l00871"></a>00871 }
<a name="l00872"></a>00872 <span class="comment">/* Reset the wathdog */</span>
<a name="l00873"></a>00873 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00874"></a>00874 index = d->transfers[line].index;
<a name="l00875"></a>00875 subIndex = d->transfers[line].subIndex;
<a name="l00876"></a>00876
<a name="l00877"></a>00877 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#cf60675f20de8746e279dce3a5c8e3c6">getSDOe</a>(m->data[0])) { <span class="comment">/* If SDO expedited */</span>
<a name="l00878"></a>00878 <span class="comment">/* nb of data to be uploaded */</span>
<a name="l00879"></a>00879 nbBytes = 4 - <a class="code" href="sdo_8c.html#dfd3877d80f6b903b491a115e587bd14">getSDOn2</a>(m->data[0]);
<a name="l00880"></a>00880 <span class="comment">/* Storing the data in the line structure. */</span>
<a name="l00881"></a>00881 err = <a class="code" href="sdo_8c.html#18b6f7e9c9441640a88ffef1e8720694">SDOtoLine</a>(d, line, nbBytes, (*m).data + 4);
<a name="l00882"></a>00882 <span class="keywordflow">if</span> (err) {
<a name="l00883"></a>00883 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00884"></a>00884 <span class="keywordflow">return</span> 0xFF;
<a name="l00885"></a>00885 }
<a name="l00886"></a>00886 <span class="comment">/* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */</span>
<a name="l00887"></a>00887 MSG_WAR(0x3A98, <span class="stringliteral">"SDO expedited upload finished. Response received from node : "</span>, nodeId);
<a name="l00888"></a>00888 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l00889"></a>00889 d->transfers[line].count = nbBytes;
<a name="l00890"></a>00890 d->transfers[line].state = SDO_FINISHED;
<a name="l00891"></a>00891 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
<a name="l00892"></a>00892 <span class="keywordflow">return</span> 0;
<a name="l00893"></a>00893 }
<a name="l00894"></a>00894 <span class="keywordflow">else</span> { <span class="comment">/* So, if it is not an expedited transfert */</span>
<a name="l00895"></a>00895 <span class="comment">/* Storing the nb of data to receive. */</span>
<a name="l00896"></a>00896 <span class="keywordflow">if</span> (<a class="code" href="sdo_8c.html#f7f9e9bc3d59c9772d4c767b199dcf89">getSDOs</a>(m->data[0])) {
<a name="l00897"></a>00897 nbBytes = m->data[4]; <span class="comment">/* Remember the limitation to 255 bytes to transfert */</span>
<a name="l00898"></a>00898 err = <a class="code" href="sdo_8c.html#601a837ecb5f21bf4c66b058c5ae7810">setSDOlineRestBytes</a>(d, line, nbBytes);
<a name="l00899"></a>00899 <span class="keywordflow">if</span> (err) {
<a name="l00900"></a>00900 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00901"></a>00901 <span class="keywordflow">return</span> 0xFF;
<a name="l00902"></a>00902 }
<a name="l00903"></a>00903 }
<a name="l00904"></a>00904 <span class="comment">/* Requesting next segment. (cs = 3) */</span>
<a name="l00905"></a>00905 sdo.nodeId = nodeId;
<a name="l00906"></a>00906 sdo.body.data[0] = 3 << 5;
<a name="l00907"></a>00907 <span class="keywordflow">for</span> (i = 1 ; i < 8 ; i++)
<a name="l00908"></a>00908 sdo.body.data[i] = 0;
<a name="l00909"></a>00909 MSG_WAR(0x3A99, <span class="stringliteral">"SDO. Sending upload segment request to node : "</span>, nodeId);
<a name="l00910"></a>00910 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00911"></a>00911 }
<a name="l00912"></a>00912 } <span class="comment">/* End if CLIENT */</span>
<a name="l00913"></a>00913 <span class="keywordflow">break</span>;
<a name="l00914"></a>00914
<a name="l00915"></a>00915 <span class="keywordflow">case</span> 3:
<a name="l00916"></a>00916 <span class="comment">/* I am SERVER */</span>
<a name="l00917"></a>00917 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
<a name="l00918"></a>00918 <span class="comment">/* Receiving a upload segment. */</span>
<a name="l00919"></a>00919 <span class="comment">/* A SDO transfert should have been yet initiated. */</span>
<a name="l00920"></a>00920 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l00921"></a>00921 <span class="keywordflow">if</span> (!err)
<a name="l00922"></a>00922 err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
<a name="l00923"></a>00923 <span class="keywordflow">if</span> (err) {
<a name="l00924"></a>00924 MSG_ERR(0x1AA0, <span class="stringliteral">"SDO error : Received upload segment for unstarted trans. index 0x1200 + "</span>,
<a name="l00925"></a>00925 nodeId);
<a name="l00926"></a>00926 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00927"></a>00927 <span class="keywordflow">return</span> 0xFF;
<a name="l00928"></a>00928 }
<a name="l00929"></a>00929 <span class="comment">/* Reset the wathdog */</span>
<a name="l00930"></a>00930 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00931"></a>00931 MSG_WAR(0x3AA1, <span class="stringliteral">"Received SDO upload segment defined at index 0x1200 + "</span>, nodeId);
<a name="l00932"></a>00932 index = d->transfers[line].index;
<a name="l00933"></a>00933 subIndex = d->transfers[line].subIndex;
<a name="l00934"></a>00934 <span class="comment">/* Toggle test.*/</span>
<a name="l00935"></a>00935 <span class="keywordflow">if</span> (d->transfers[line].toggle != <a class="code" href="sdo_8c.html#464b29fd628d92426de0a841232bdd12">getSDOt</a>(m->data[0])) {
<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->data[0]));
<a name="l00937"></a>00937 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
<a name="l00938"></a>00938 <span class="keywordflow">return</span> 0xFF;
<a name="l00939"></a>00939 }
<a name="l00940"></a>00940 <span class="comment">/* Uploading next segment. We need to know if it will be the last one. */</span>
<a name="l00941"></a>00941 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
<a name="l00942"></a>00942 <span class="keywordflow">if</span> (nbBytes > 7) {
<a name="l00943"></a>00943 <span class="comment">/* The segment to transfer is not the last one.*/</span>
<a name="l00944"></a>00944 <span class="comment">/* code to send the next segment. (cs = 0; c = 0) */</span>
<a name="l00945"></a>00945 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l00946"></a>00946 sdo.body.data[0] = (d->transfers[line].toggle << 4);
<a name="l00947"></a>00947 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
<a name="l00948"></a>00948 <span class="keywordflow">if</span> (err) {
<a name="l00949"></a>00949 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00950"></a>00950 <span class="keywordflow">return</span> 0xFF;
<a name="l00951"></a>00951 }
<a name="l00952"></a>00952 <span class="comment">/* Inverting the toggle for the next tranfert. */</span>
<a name="l00953"></a>00953 d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
<a name="l00954"></a>00954 MSG_WAR(0x3AA3, <span class="stringliteral">"SDO. Sending upload segment defined at index 0x1200 + "</span>, nodeId);
<a name="l00955"></a>00955 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00956"></a>00956 }
<a name="l00957"></a>00957 <span class="keywordflow">else</span> {
<a name="l00958"></a>00958 <span class="comment">/* Last segment. */</span>
<a name="l00959"></a>00959 <span class="comment">/* code to send the last segment. (cs = 0; c = 1) */</span>
<a name="l00960"></a>00960 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l00961"></a>00961 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
<a name="l00962"></a>00962 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
<a name="l00963"></a>00963 <span class="keywordflow">if</span> (err) {
<a name="l00964"></a>00964 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l00965"></a>00965 <span class="keywordflow">return</span> 0xFF;
<a name="l00966"></a>00966 }
<a name="l00967"></a>00967 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
<a name="l00968"></a>00968 sdo.body.data[i] = 0;
<a name="l00969"></a>00969 MSG_WAR(0x3AA4, <span class="stringliteral">"SDO. Sending last upload segment defined at index 0x1200 + "</span>, nodeId);
<a name="l00970"></a>00970 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l00971"></a>00971 <span class="comment">/* Release the line */</span>
<a name="l00972"></a>00972 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l00973"></a>00973 }
<a name="l00974"></a>00974 } <span class="comment">/* end if SERVER*/</span>
<a name="l00975"></a>00975 <span class="keywordflow">else</span> {
<a name="l00976"></a>00976 <span class="comment">/* I am CLIENT */</span>
<a name="l00977"></a>00977 <span class="comment">/* It is the response for the previous initiate download request. */</span>
<a name="l00978"></a>00978 <span class="comment">/* We should find a line opened for this. */</span>
<a name="l00979"></a>00979 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line);
<a name="l00980"></a>00980 <span class="keywordflow">if</span> (!err)
<a name="l00981"></a>00981 err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
<a name="l00982"></a>00982 <span class="keywordflow">if</span> (err) {
<a name="l00983"></a>00983 MSG_ERR(0x1AA5, <span class="stringliteral">"SDO error : Received response for unknown download request from nodeId"</span>, nodeId);
<a name="l00984"></a>00984 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
<a name="l00985"></a>00985 <span class="keywordflow">return</span> 0xFF;
<a name="l00986"></a>00986 }
<a name="l00987"></a>00987 <span class="comment">/* Reset the watchdog */</span>
<a name="l00988"></a>00988 <a class="code" href="sdo_8c.html#b3938a9884014e96cafc42aeee743c0f">RestartSDO_TIMER</a>(line)
<a name="l00989"></a>00989 index = d->transfers[line].index;
<a name="l00990"></a>00990 subIndex = d->transfers[line].subIndex;
<a name="l00991"></a>00991 <span class="comment">/* End transmission or requesting next segment. */</span>
<a name="l00992"></a>00992 <a class="code" href="sdo_8c.html#acceb714c6e457e98deb9ba164ba2a2f">getSDOlineRestBytes</a>(d, line, &nbBytes);
<a name="l00993"></a>00993 <span class="keywordflow">if</span> (nbBytes == 0) {
<a name="l00994"></a>00994 MSG_WAR(0x3AA6, <span class="stringliteral">"SDO End download expedited. Response received. from nodeId"</span>, nodeId);
<a name="l00995"></a>00995 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l00996"></a>00996 d->transfers[line].state = SDO_FINISHED;
<a name="l00997"></a>00997 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
<a name="l00998"></a>00998 <span class="keywordflow">return</span> 0x00;
<a name="l00999"></a>00999 }
<a name="l01000"></a>01000 <span class="keywordflow">if</span> (nbBytes > 7) {
<a name="l01001"></a>01001 <span class="comment">/* more than one request to send */</span>
<a name="l01002"></a>01002 <span class="comment">/* code to send the next segment. (cs = 0; c = 0) */</span>
<a name="l01003"></a>01003 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l01004"></a>01004 sdo.body.data[0] = (d->transfers[line].toggle << 4);
<a name="l01005"></a>01005 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, 7, sdo.body.data + 1);
<a name="l01006"></a>01006 <span class="keywordflow">if</span> (err) {
<a name="l01007"></a>01007 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l01008"></a>01008 <span class="keywordflow">return</span> 0xFF;
<a name="l01009"></a>01009 }
<a name="l01010"></a>01010 }
<a name="l01011"></a>01011 <span class="keywordflow">else</span> {
<a name="l01012"></a>01012 <span class="comment">/* Last segment.*/</span>
<a name="l01013"></a>01013 <span class="comment">/* code to send the last segment. (cs = 0; c = 1) */</span>
<a name="l01014"></a>01014 sdo.nodeId = nodeId; <span class="comment">/* The server node Id; */</span>
<a name="l01015"></a>01015 sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
<a name="l01016"></a>01016 err = <a class="code" href="sdo_8c.html#ad6eb8be03b832ebba4dfb87aaba4065">lineToSDO</a>(d, line, nbBytes, sdo.body.data + 1);
<a name="l01017"></a>01017 <span class="keywordflow">if</span> (err) {
<a name="l01018"></a>01018 <a class="code" href="sdo_8c.html#2019db2a4d17e6d29c055cbae173e2b9">failedSDO</a>(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
<a name="l01019"></a>01019 <span class="keywordflow">return</span> 0xFF;
<a name="l01020"></a>01020 }
<a name="l01021"></a>01021 <span class="keywordflow">for</span> (i = nbBytes + 1 ; i < 8 ; i++)
<a name="l01022"></a>01022 sdo.body.data[i] = 0;
<a name="l01023"></a>01023 }
<a name="l01024"></a>01024 MSG_WAR(0x3AA7, <span class="stringliteral">"SDO sending download segment to nodeId"</span>, nodeId);
<a name="l01025"></a>01025 <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, whoami, sdo);
<a name="l01026"></a>01026
<a name="l01027"></a>01027 } <span class="comment">/* end if I am a CLIENT */</span>
<a name="l01028"></a>01028 <span class="keywordflow">break</span>;
<a name="l01029"></a>01029
<a name="l01030"></a>01030 <span class="keywordflow">case</span> 4:
<a name="l01031"></a>01031 abortCode = (*m).data[3] |
<a name="l01032"></a>01032 ((UNS32)m->data[5] << 8) |
<a name="l01033"></a>01033 ((UNS32)m->data[6] << 16) |
<a name="l01034"></a>01034 ((UNS32)m->data[7] << 24);
<a name="l01035"></a>01035 <span class="comment">/* Received SDO abort. */</span>
<a name="l01036"></a>01036 <span class="comment">/* Looking for the line concerned. */</span>
<a name="l01037"></a>01037 <span class="keywordflow">if</span> (whoami == SDO_SERVER) {
<a name="l01038"></a>01038 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l01039"></a>01039 <span class="keywordflow">if</span> (!err) {
<a name="l01040"></a>01040 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>( d, line );
<a name="l01041"></a>01041 MSG_WAR(0x3AA8, <span class="stringliteral">"SD0. Received SDO abort. Line released. Code : "</span>, abortCode);
<a name="l01042"></a>01042 }
<a name="l01043"></a>01043 <span class="keywordflow">else</span>
<a name="l01044"></a>01044 MSG_WAR(0x3AA9, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
<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>
<a name="l01046"></a>01046 <span class="comment">/* Its is ok, I think.*/</span>
<a name="l01047"></a>01047 }
<a name="l01048"></a>01048 <span class="keywordflow">else</span> { <span class="comment">/* If I am CLIENT */</span>
<a name="l01049"></a>01049 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>( d, nodeId, whoami, &line );
<a name="l01050"></a>01050 <span class="keywordflow">if</span> (!err) {
<a name="l01051"></a>01051 <span class="comment">/* The line *must* be released by the core program. */</span>
<a name="l01052"></a>01052 <a class="code" href="sdo_8c.html#b90f05aac908e8eee39a34b3e21e0ea9">StopSDO_TIMER</a>(line)
<a name="l01053"></a>01053 d->transfers[line].state = SDO_ABORTED_RCV;
<a name="l01054"></a>01054 d->transfers[line].abortCode = abortCode;
<a name="l01055"></a>01055 MSG_WAR(0x3AB0, <span class="stringliteral">"SD0. Received SDO abort. Line state ABORTED. Code : "</span>, abortCode);
<a name="l01056"></a>01056 <span class="keywordflow">if</span>(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
<a name="l01057"></a>01057 }
<a name="l01058"></a>01058 <span class="keywordflow">else</span>
<a name="l01059"></a>01059 MSG_WAR(0x3AB1, <span class="stringliteral">"SD0. Received SDO abort. No line found. Code : "</span>, abortCode);
<a name="l01060"></a>01060 }
<a name="l01061"></a>01061 <span class="keywordflow">break</span>;
<a name="l01062"></a>01062 <span class="keywordflow">default</span>:
<a name="l01063"></a>01063 <span class="comment">/* Error : Unknown cs */</span>
<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->data[0]));
<a name="l01065"></a>01065 <span class="keywordflow">return</span> 0xFF;
<a name="l01066"></a>01066
<a name="l01067"></a>01067 } <span class="comment">/* End switch */</span>
<a name="l01068"></a>01068 <span class="keywordflow">return</span> 0;
<a name="l01069"></a>01069 }
<a name="l01070"></a>01070
<a name="l01071"></a>01071 <span class="comment">/*******************************************************************)******/</span>
<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,
<a name="l01073"></a>01073 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize)
<a name="l01074"></a>01074 {
<a name="l01075"></a>01075 UNS8 err;
<a name="l01076"></a>01076 UNS8 SDOfound = 0;
<a name="l01077"></a>01077 UNS8 line;
<a name="l01078"></a>01078 s_SDO sdo; <span class="comment">/* SDO to transmit */</span>
<a name="l01079"></a>01079 UNS8 i, j;
<a name="l01080"></a>01080 UNS16 lastIndex;
<a name="l01081"></a>01081 UNS16 offset;
<a name="l01082"></a>01082 UNS32 *pNodeIdServer;
<a name="l01083"></a>01083 UNS32 nodeIdServer;
<a name="l01084"></a>01084
<a name="l01085"></a>01085 MSG_WAR(0x3AC0, <span class="stringliteral">"Send SDO to write in the dictionary of node : "</span>, nodeId);
<a name="l01086"></a>01086 MSG_WAR(0x3AC1, <span class="stringliteral">" At index : "</span>, index);
<a name="l01087"></a>01087 MSG_WAR(0x3AC2, <span class="stringliteral">" subIndex : "</span>, subIndex);
<a name="l01088"></a>01088 MSG_WAR(0x3AC3, <span class="stringliteral">" nb bytes : "</span>, count);
<a name="l01089"></a>01089
<a name="l01090"></a>01090 <span class="comment">/* Verify that there is no SDO communication yet. */</span>
<a name="l01091"></a>01091 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
<a name="l01092"></a>01092 <span class="keywordflow">if</span> (!err) {
<a name="l01093"></a>01093 MSG_ERR(0x1AC4, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId);
<a name="l01094"></a>01094 <span class="keywordflow">return</span> 0xFF;
<a name="l01095"></a>01095 }
<a name="l01096"></a>01096 <span class="comment">/* Taking the line ... */</span>
<a name="l01097"></a>01097 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &line );
<a name="l01098"></a>01098 <span class="keywordflow">if</span> (err) {
<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);
<a name="l01100"></a>01100 <span class="keywordflow">return</span> (0xFF);
<a name="l01101"></a>01101 }
<a name="l01102"></a>01102 <span class="comment">/* Check which SDO to use to communicate with the node */</span>
<a name="l01103"></a>01103 offset = d->firstIndex->SDO_CLT;
<a name="l01104"></a>01104 lastIndex = d->lastIndex->SDO_CLT;
<a name="l01105"></a>01105 <span class="keywordflow">if</span> (offset == 0) {
<a name="l01106"></a>01106 MSG_ERR(0x1AC6, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0);
<a name="l01107"></a>01107 <span class="keywordflow">return</span> 0xFF;
<a name="l01108"></a>01108 }
<a name="l01109"></a>01109 i = 0;
<a name="l01110"></a>01110 <span class="keywordflow">while</span> (offset <= lastIndex) {
<a name="l01111"></a>01111 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
<a name="l01112"></a>01112 MSG_ERR(0x1AC8, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + i);
<a name="l01113"></a>01113 <span class="keywordflow">return</span> 0xFF;
<a name="l01114"></a>01114 }
<a name="l01115"></a>01115 <span class="comment">/* looking for the nodeId server */</span>
<a name="l01116"></a>01116 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
<a name="l01117"></a>01117 nodeIdServer = *pNodeIdServer;
<a name="l01118"></a>01118 MSG_WAR(0x1AD2, <span class="stringliteral">"index : "</span>, 0x1280 + i);
<a name="l01119"></a>01119 MSG_WAR(0x1AD3, <span class="stringliteral">"nodeIdServer : "</span>, nodeIdServer);
<a name="l01120"></a>01120
<a name="l01121"></a>01121 <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
<a name="l01122"></a>01122 SDOfound = 1;
<a name="l01123"></a>01123 <span class="keywordflow">break</span>;
<a name="l01124"></a>01124 }
<a name="l01125"></a>01125 offset++;
<a name="l01126"></a>01126 i++;
<a name="l01127"></a>01127 } <span class="comment">/* end while */</span>
<a name="l01128"></a>01128 <span class="keywordflow">if</span> (!SDOfound) {
<a name="l01129"></a>01129 MSG_ERR(0x1AC9, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
<a name="l01130"></a>01130 <span class="keywordflow">return</span> 0xFF;
<a name="l01131"></a>01131 }
<a name="l01132"></a>01132 MSG_WAR(0x3AD0,<span class="stringliteral">" SDO client defined at index : "</span>, 0x1280 + i);
<a name="l01133"></a>01133 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
<a name="l01134"></a>01134 d->transfers[line].count = count;
<a name="l01135"></a>01135 d->transfers[line].dataType = dataType;
<a name="l01136"></a>01136
<a name="l01137"></a>01137 <span class="comment">/* Copy data to transfers structure. */</span>
<a name="l01138"></a>01138 <span class="keywordflow">for</span> (j = 0 ; j < count ; j++) {
<a name="l01139"></a>01139 # ifdef CANOPEN_BIG_ENDIAN
<a name="l01140"></a>01140 <span class="keywordflow">if</span> (dataType == 0 && endianize)
<a name="l01141"></a>01141 d->transfers[line].data[count - 1 - j] = ((<span class="keywordtype">char</span> *)data)[j];
<a name="l01142"></a>01142 <span class="keywordflow">else</span> <span class="comment">/* String of bytes. */</span>
<a name="l01143"></a>01143 d->transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
<a name="l01144"></a>01144 # <span class="keywordflow">else</span>
<a name="l01145"></a>01145 d->transfers[line].data[j] = ((<span class="keywordtype">char</span> *)data)[j];
<a name="l01146"></a>01146 # endif
<a name="l01147"></a>01147 }
<a name="l01148"></a>01148 <span class="comment">/* Send the SDO to the server. Initiate download, cs=1. */</span>
<a name="l01149"></a>01149 sdo.nodeId = nodeId;
<a name="l01150"></a>01150 <span class="keywordflow">if</span> (count <= 4) { <span class="comment">/* Expedited transfert */</span>
<a name="l01151"></a>01151 sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
<a name="l01152"></a>01152 for (i = 4 ; i < 8 ; i++)
<a name="l01153"></a>01153 sdo.body.data[i] = d->transfers[line].data[i - 4];
<a name="l01154"></a>01154 d->transfers[line].offset = count;
<a name="l01155"></a>01155 }
<a name="l01156"></a>01156 <span class="keywordflow">else</span> { <span class="comment">/* Normal transfert */</span>
<a name="l01157"></a>01157 sdo.body.data[0] = (1 << 5) | 1;
<a name="l01158"></a>01158 sdo.body.data[4] = count; <span class="comment">/* nb of byte to transmit. Max = 255. (canfestival2 limitation). */</span>
<a name="l01159"></a>01159 <span class="keywordflow">for</span> (i = 5 ; i < 8 ; i++)
<a name="l01160"></a>01160 sdo.body.data[i] = 0;
<a name="l01161"></a>01161 }
<a name="l01162"></a>01162 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l01163"></a>01163 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l01164"></a>01164 sdo.body.data[3] = subIndex;
<a name="l01165"></a>01165
<a name="l01166"></a>01166 d->transfers[line].Callback = Callback;
<a name="l01167"></a>01167
<a name="l01168"></a>01168 err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
<a name="l01169"></a>01169 <span class="keywordflow">if</span> (err) {
<a name="l01170"></a>01170 MSG_ERR(0x1AD1, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
<a name="l01171"></a>01171 <span class="comment">/* release the line */</span>
<a name="l01172"></a>01172 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l01173"></a>01173 <span class="keywordflow">return</span> 0xFF;
<a name="l01174"></a>01174 }
<a name="l01175"></a>01175
<a name="l01176"></a>01176
<a name="l01177"></a>01177 <span class="keywordflow">return</span> 0;
<a name="l01178"></a>01178 }
<a name="l01179"></a>01179
<a name="l01180"></a>01180 <span class="comment">/*--------------------------------------------------------------------------*/</span>
<a name="l01181"></a>01181
<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,
<a name="l01183"></a>01183 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data)
<a name="l01184"></a>01184 {
<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);
<a name="l01186"></a>01186 }
<a name="l01187"></a>01187
<a name="l01188"></a>01188 <span class="comment">/*--------------------------------------------------------------------------*/</span>
<a name="l01189"></a>01189
<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,
<a name="l01191"></a>01191 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback)
<a name="l01192"></a>01192 {
<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);
<a name="l01194"></a>01194 }
<a name="l01195"></a>01195
<a name="l01196"></a>01196
<a name="l01197"></a>01197 <span class="comment">/***************************************************************************/</span>
<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)
<a name="l01199"></a>01199 {
<a name="l01200"></a>01200 UNS8 err;
<a name="l01201"></a>01201 UNS8 SDOfound = 0;
<a name="l01202"></a>01202 UNS8 i;
<a name="l01203"></a>01203 UNS8 line;
<a name="l01204"></a>01204 s_SDO sdo; <span class="comment">/* SDO to transmit */</span>
<a name="l01205"></a>01205 UNS32 *pNodeIdServer;
<a name="l01206"></a>01206 UNS32 nodeIdServer;
<a name="l01207"></a>01207 UNS16 offset;
<a name="l01208"></a>01208 UNS16 lastIndex;
<a name="l01209"></a>01209 MSG_WAR(0x3AD5, <span class="stringliteral">"Send SDO to read in the dictionary of node : "</span>, nodeId);
<a name="l01210"></a>01210 MSG_WAR(0x3AD6, <span class="stringliteral">" At index : "</span>, index);
<a name="l01211"></a>01211 MSG_WAR(0x3AD7, <span class="stringliteral">" subIndex : "</span>, subIndex);
<a name="l01212"></a>01212
<a name="l01213"></a>01213
<a name="l01214"></a>01214 <span class="comment">/* Verify that there is no SDO communication yet. */</span>
<a name="l01215"></a>01215 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
<a name="l01216"></a>01216 <span class="keywordflow">if</span> (!err) {
<a name="l01217"></a>01217 MSG_ERR(0x1AD8, <span class="stringliteral">"SDO error : Communication yet established. with node : "</span>, nodeId);
<a name="l01218"></a>01218 <span class="keywordflow">return</span> 0xFF;
<a name="l01219"></a>01219 }
<a name="l01220"></a>01220 <span class="comment">/* Taking the line ... */</span>
<a name="l01221"></a>01221 err = <a class="code" href="sdo_8c.html#58d1f9691977617601beb9e5b4123252">getSDOfreeLine</a>( d, SDO_CLIENT, &line );
<a name="l01222"></a>01222 <span class="keywordflow">if</span> (err) {
<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);
<a name="l01224"></a>01224 <span class="keywordflow">return</span> (0xFF);
<a name="l01225"></a>01225 }
<a name="l01226"></a>01226 <span class="keywordflow">else</span>
<a name="l01227"></a>01227 MSG_WAR(0x3AE0, <span class="stringliteral">"Transmission on line : "</span>, line);
<a name="l01228"></a>01228
<a name="l01229"></a>01229 <span class="comment">/* Check which SDO to use to communicate with the node */</span>
<a name="l01230"></a>01230 offset = d->firstIndex->SDO_CLT;
<a name="l01231"></a>01231 lastIndex = d->lastIndex->SDO_CLT;
<a name="l01232"></a>01232 <span class="keywordflow">if</span> (offset == 0) {
<a name="l01233"></a>01233 MSG_ERR(0x1AE1, <span class="stringliteral">"writeNetworkDict : No SDO client index found"</span>, 0);
<a name="l01234"></a>01234 <span class="keywordflow">return</span> 0xFF;
<a name="l01235"></a>01235 }
<a name="l01236"></a>01236 i = 0;
<a name="l01237"></a>01237 <span class="keywordflow">while</span> (offset <= lastIndex) {
<a name="l01238"></a>01238 <span class="keywordflow">if</span> (d->objdict[offset].bSubCount <= 3) {
<a name="l01239"></a>01239 MSG_ERR(0x1AE2, <span class="stringliteral">"Subindex 3 not found at index "</span>, 0x1280 + i);
<a name="l01240"></a>01240 <span class="keywordflow">return</span> 0xFF;
<a name="l01241"></a>01241 }
<a name="l01242"></a>01242 <span class="comment">/* looking for the nodeId server */</span>
<a name="l01243"></a>01243 pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
<a name="l01244"></a>01244 nodeIdServer = *pNodeIdServer;
<a name="l01245"></a>01245
<a name="l01246"></a>01246 <span class="keywordflow">if</span>(nodeIdServer == (UNS32)nodeId) {
<a name="l01247"></a>01247 SDOfound = 1;
<a name="l01248"></a>01248 <span class="keywordflow">break</span>;
<a name="l01249"></a>01249 }
<a name="l01250"></a>01250 offset++;
<a name="l01251"></a>01251 i++;
<a name="l01252"></a>01252 } <span class="comment">/* end while */</span>
<a name="l01253"></a>01253 <span class="keywordflow">if</span> (!SDOfound) {
<a name="l01254"></a>01254 MSG_ERR(0x1AE3, <span class="stringliteral">"SDO. Error. No client found to communicate with node : "</span>, nodeId);
<a name="l01255"></a>01255 <span class="keywordflow">return</span> 0xFF;
<a name="l01256"></a>01256 }
<a name="l01257"></a>01257 MSG_WAR(0x3AE4,<span class="stringliteral">" SDO client defined at index : "</span>, 0x1280 + i);
<a name="l01258"></a>01258 <a class="code" href="sdo_8c.html#b9c873a15f55b29112b5527a6cc6898d">initSDOline</a>(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
<a name="l01259"></a>01259 <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
<a name="l01260"></a>01260 sdo.nodeId = nodeId;
<a name="l01261"></a>01261 <span class="comment">/* Send the SDO to the server. Initiate upload, cs=2. */</span>
<a name="l01262"></a>01262 d->transfers[line].dataType = dataType;
<a name="l01263"></a>01263 sdo.body.data[0] = (2 << 5);
<a name="l01264"></a>01264 sdo.body.data[1] = index & 0xFF; <span class="comment">/* LSB */</span>
<a name="l01265"></a>01265 sdo.body.data[2] = (index >> 8) & 0xFF; <span class="comment">/* MSB */</span>
<a name="l01266"></a>01266 sdo.body.data[3] = subIndex;
<a name="l01267"></a>01267 <span class="keywordflow">for</span> (i = 4 ; i < 8 ; i++)
<a name="l01268"></a>01268 sdo.body.data[i] = 0;
<a name="l01269"></a>01269 d->transfers[line].Callback = Callback;
<a name="l01270"></a>01270 err = <a class="code" href="sdo_8c.html#c6b5d7d1439d537da992a96644a1ca5d">sendSDO</a>(d, SDO_CLIENT, sdo);
<a name="l01271"></a>01271 <span class="keywordflow">if</span> (err) {
<a name="l01272"></a>01272 MSG_ERR(0x1AE5, <span class="stringliteral">"SDO. Error while sending SDO to node : "</span>, nodeId);
<a name="l01273"></a>01273 <span class="comment">/* release the line */</span>
<a name="l01274"></a>01274 <a class="code" href="sdo_8c.html#42d33be015d4c4c83c73f1f0e588f481">resetSDOline</a>(d, line);
<a name="l01275"></a>01275 <span class="keywordflow">return</span> 0xFF;
<a name="l01276"></a>01276 }
<a name="l01277"></a>01277 <span class="keywordflow">return</span> 0;
<a name="l01278"></a>01278 }
<a name="l01279"></a>01279
<a name="l01280"></a>01280 <span class="comment">/*--------------------------------------------------------------------------*/</span>
<a name="l01281"></a>01281
<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)
<a name="l01283"></a>01283 {
<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);
<a name="l01285"></a>01285 }
<a name="l01286"></a>01286
<a name="l01287"></a>01287 <span class="comment">/*--------------------------------------------------------------------------*/</span>
<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)
<a name="l01289"></a>01289 {
<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);
<a name="l01291"></a>01291 }
<a name="l01292"></a>01292
<a name="l01293"></a>01293 <span class="comment">/***************************************************************************/</span>
<a name="l01294"></a>01294
<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,
<a name="l01296"></a>01296 UNS32 * abortCode)
<a name="l01297"></a>01297 {
<a name="l01298"></a>01298 UNS8 i;
<a name="l01299"></a>01299 UNS8 err;
<a name="l01300"></a>01300 UNS8 line;
<a name="l01301"></a>01301 * size = 0;
<a name="l01302"></a>01302
<a name="l01303"></a>01303 <span class="comment">/* Looking for the line tranfert. */</span>
<a name="l01304"></a>01304 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
<a name="l01305"></a>01305 <span class="keywordflow">if</span> (err) {
<a name="l01306"></a>01306 MSG_ERR(0x1AF0, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId);
<a name="l01307"></a>01307 <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
<a name="l01308"></a>01308 }
<a name="l01309"></a>01309 <span class="keywordflow">if</span> (d->transfers[line].state != SDO_FINISHED)
<a name="l01310"></a>01310 <span class="keywordflow">return</span> d->transfers[line].state;
<a name="l01311"></a>01311
<a name="l01312"></a>01312 <span class="comment">/* Transfert is finished. Put the value in the data. */</span>
<a name="l01313"></a>01313 * size = (UNS8)d->transfers[line].count;
<a name="l01314"></a>01314 for ( i = 0 ; i < *size ; i++) {
<a name="l01315"></a>01315 # ifdef CANOPEN_BIG_ENDIAN
<a name="l01316"></a>01316 <span class="keywordflow">if</span> (d->transfers[line].dataType != visible_string)
<a name="l01317"></a>01317 ( (<span class="keywordtype">char</span> *) data)[*size - 1 - i] = d->transfers[line].data[i];
<a name="l01318"></a>01318 <span class="keywordflow">else</span> <span class="comment">/* String of bytes. */</span>
<a name="l01319"></a>01319 ( (<span class="keywordtype">char</span> *) data)[i] = d->transfers[line].data[i];
<a name="l01320"></a>01320 # else
<a name="l01321"></a>01321 ( (<span class="keywordtype">char</span> *) data)[i] = d->transfers[line].data[i];
<a name="l01322"></a>01322 # endif
<a name="l01323"></a>01323 }
<a name="l01324"></a>01324 <span class="keywordflow">return</span> SDO_FINISHED;
<a name="l01325"></a>01325 }
<a name="l01326"></a>01326
<a name="l01327"></a>01327 <span class="comment">/***************************************************************************/</span>
<a name="l01328"></a>01328
<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)
<a name="l01330"></a>01330 {
<a name="l01331"></a>01331 UNS8 line = 0;
<a name="l01332"></a>01332 UNS8 err;
<a name="l01333"></a>01333
<a name="l01334"></a>01334 * abortCode = 0;
<a name="l01335"></a>01335 <span class="comment">/* Looking for the line tranfert. */</span>
<a name="l01336"></a>01336 err = <a class="code" href="sdo_8c.html#bb0c376b048ab2c6e0524b135b62376f">getSDOlineOnUse</a>(d, nodeId, SDO_CLIENT, &line);
<a name="l01337"></a>01337 <span class="keywordflow">if</span> (err) {
<a name="l01338"></a>01338 MSG_ERR(0x1AF1, <span class="stringliteral">"SDO error : No line found for communication with node : "</span>, nodeId);
<a name="l01339"></a>01339 <span class="keywordflow">return</span> SDO_ABORTED_INTERNAL;
<a name="l01340"></a>01340 }
<a name="l01341"></a>01341 * abortCode = d->transfers[line].abortCode;
<a name="l01342"></a>01342 <span class="keywordflow">return</span> d->transfers[line].state;
<a name="l01343"></a>01343 }
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