etisserant@0: /*
etisserant@506: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
greg@528: /** @defgroup comobj Communication Objects
greg@528:  *  @ingroup userapi
greg@528:  */
greg@528:  
greg@528: /** @defgroup sdo Service Data Object (SDO)
greg@528:  *  SDOs provide the access to entries in the CANopen Object Dictionary.
greg@528:  * 	An SDO is made up of at least two CAN messages with different identifiers.
greg@528:  * 	SDO s are always confirmed point-to-point communications services. 
greg@528:  *  @ingroup comobj
greg@528:  */
greg@528:  
etisserant@0: #ifndef __sdo_h__
etisserant@0: #define __sdo_h__
etisserant@0: 
etisserant@0: struct struct_s_transfer;
etisserant@0: 
etisserant@0: #include "timer.h"
etisserant@0: 
etisserant@32: typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
etisserant@32: 
etisserant@0: /* The Transfer structure
etisserant@506: Used to store the different segments of
etisserant@506:  - a SDO received before writing in the dictionary
etisserant@506:  - the reading of the dictionary to put on a SDO to transmit
etisserant@0: */
etisserant@0: 
etisserant@0: struct struct_s_transfer {
greg@528:   UNS8           nodeId;     /**<own ID if server, or node ID of the server if client */
greg@528: 
greg@528:   UNS8           whoami;     /**< Takes the values SDO_CLIENT or SDO_SERVER */
greg@528:   UNS8           state;      /**< state of the transmission : Takes the values SDO_... */
greg@528:   UNS8           toggle;	
greg@528:   UNS32          abortCode;  /**< Sent or received */
greg@528:   /**< index and subindex of the dictionary where to store */
greg@528:   /**< (for a received SDO) or to read (for a transmit SDO) */
etisserant@506:   UNS16          index;
etisserant@506:   UNS8           subIndex;
greg@528:   UNS32          count;      /**< Number of data received or to be sent. */
greg@528:   UNS32          offset;     /**< stack pointer of data[]
frdupin@71:                               * Used only to tranfer part of a line to or from a SDO.
frdupin@71:                               * offset is always pointing on the next free cell of data[].
etisserant@506:                               * WARNING s_transfer.data is subject to ENDIANISATION
frdupin@71:                               * (with respect to CANOPEN_BIG_ENDIAN)
frdupin@71:                               */
etisserant@0:   UNS8           data [SDO_MAX_LENGTH_TRANSFERT];
greg@528:   UNS8           dataType;   /**< Defined in objdictdef.h Value is visible_string
etisserant@506:                               * if it is a string, any other value if it is not a string,
frdupin@71:                               * like 0. In fact, it is used only if client.
frdupin@71:                               */
greg@528:   TIMER_HANDLE   timer;      /**< Time counter to implement a timeout in milliseconds.
etisserant@506:                               * It is automatically incremented whenever
etisserant@506:                               * the line state is in SDO_DOWNLOAD_IN_PROGRESS or
etisserant@506:                               * SDO_UPLOAD_IN_PROGRESS, and reseted to 0
frdupin@74:                               * when the response SDO have been received.
frdupin@71:                               */
greg@528:   SDOCallback_t Callback;   /**< The user callback func to be called at SDO transaction end */
etisserant@0: };
etisserant@0: typedef struct struct_s_transfer s_transfer;
etisserant@506: 
etisserant@0: 
etisserant@0: #include "data.h"
etisserant@0: 
greg@528: 
etisserant@0: struct BODY{
greg@528:     UNS8 data[8]; /**< The 8 bytes data of the SDO */
etisserant@0: };
etisserant@0: 
frdupin@71: /* The SDO structure ...*/
etisserant@0: struct struct_s_SDO {
greg@528:   UNS8 nodeId;		/**< In any case, Node ID of the server (case sender or receiver).*/
etisserant@0:   struct BODY body;
etisserant@0: };
etisserant@0: 
etisserant@0: 
etisserant@0: typedef struct struct_s_SDO s_SDO;
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Reset of a SDO exchange on timeout.
greg@528:  * Send a SDO abort.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param id
frdupin@53:  */
frdupin@53: void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
frdupin@53: 
greg@528: /** 
greg@528:  * @brief Reset all SDO buffers.
greg@528:  * @param *d Pointer on a CAN object data structure
etisserant@0:  */
etisserant@0: void resetSDO (CO_Data* d);
etisserant@0: 
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Copy the data received from the SDO line transfert to the object dictionary.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line SDO line
greg@528:  * @return SDO error code if error. Else, returns 0.
etisserant@0:  */
etisserant@0: UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Copy the data from the object dictionary to the SDO line for a network transfert.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line SDO line
greg@528:  * @return SDO error code if error. Else, returns 0.
etisserant@0:  */
etisserant@0: UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Copy data from an existant line in the argument "* data"
greg@528:  * @param d Pointer on a CAN object data structure
greg@528:  * @param line SDO line
greg@528:  * @param nbBytes
greg@528:  * @param *data Pointer on the data
greg@528:  * @return 0xFF if error. Else, returns 0.
etisserant@0:  */
etisserant@0: UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Add data to an existant line
greg@528:  * @param d Pointer on a CAN object data structure
greg@528:  * @param line SDO line
greg@528:  * @param nbBytes
greg@528:  * @param *data Pointer on the data
greg@528:  * @return 0xFF if error. Else, returns 0.
etisserant@0:  */
etisserant@0: UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Called when an internal SDO abort occurs.
etisserant@506:  * Release the line * Only if server *
etisserant@0:  * If client, the line must be released manually in the core application.
greg@528:  * The reason of that is to permit the program to read the transfers structure before its reset,
etisserant@0:  * because many informations are stored on it : index, subindex, data received or trasmited, ...
etisserant@0:  * In all cases, sends a SDO abort.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId
greg@528:  * @param whoami
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param abortCode
greg@528:  * @return 0
greg@528:  */
greg@528: UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
greg@528: 
greg@528: /** 
greg@528:  * @brief Reset an unused line.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line SDO line
etisserant@0:  */
etisserant@0: void resetSDOline (CO_Data* d, UNS8 line);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Initialize some fields of the structure.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line
greg@528:  * @param nodeId
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param state
greg@528:  * @return 0
etisserant@0:  */
etisserant@0: UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Search for an unused line in the transfers array
etisserant@0:  * to store a new SDO.
etisserant@0:  * ie a line which value of the field "state" is "SDO_RESET"
etisserant@0:  * An unused line have the field "state" at the value SDO_RESET
etisserant@0:  * bus_id is hardware dependant
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param whoami Create the line for a SDO_SERVER or SDO_CLIENT.
greg@528:  * @param *line Pointer on a SDO line 
greg@528:  * @return 0xFF if all the lines are on use. Else, return 0.
etisserant@0:  */
etisserant@0: UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Search for the line, in the transfers array, which contains the
etisserant@0:  * beginning of the reception of a fragmented SDO
etisserant@0:  * bus_id is hardware dependant
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId correspond to the message node-id
greg@528:  * @param whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
greg@528:  * @param *line Pointer on a SDO line 
greg@528:  * @return 0xFF if error.  Else, return 0
etisserant@0:  */
etisserant@0: UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Close a transmission.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId Node id of the server if both server or client
greg@528:  * @param whoami Line opened as SDO_CLIENT or SDO_SERVER
etisserant@0:  */
etisserant@0: UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Bytes in the line structure which must be transmited (or received)
etisserant@0:  * bus_id is hardware dependant.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line SDO line 
greg@528:  * @param *nbBytes Pointer on nbBytes
greg@528:  * @return 0.
etisserant@0:  */
etisserant@0: UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Store in the line structure the nb of bytes which must be transmited (or received)
etisserant@0:  * bus_id is hardware dependant.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param line SDO line 
greg@528:  * @param nbBytes
greg@528:  * @return 0 if success, 0xFF if error.
etisserant@0:  */
etisserant@0: UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);
etisserant@0: 
greg@528: /**
greg@528:  * @brief Transmit a SDO frame on the bus bus_id
etisserant@0:  * bus_id is hardware dependant
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param whoami Takes 2 values : SDO_CLIENT or SDO_SERVER
greg@528:  * @param sdo SDO Structure which contains the sdo to transmit
greg@528:  * @return canSend(bus_id,&m) or 0xFF if error.
etisserant@0:  */
etisserant@0: UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Transmit a SDO error to the client. The reasons may be :
etisserant@0:  * Read/Write to a undefined object
etisserant@0:  * Read/Write to a undefined subindex
etisserant@0:  * Read/write a not valid length object
etisserant@0:  * Write a read only object
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param whoami takes 2 values : SDO_CLIENT or SDO_SERVER
greg@528:  * @param nodeId
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param abortCode
greg@528:  * @return 0
etisserant@0:  */
etisserant@499: UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 abortCode);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Treat a SDO frame reception
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * call the function sendSDO
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param *m Pointer on a CAN message structure 
greg@528:  * @return code : 
greg@528:  * 		   - 0xFF if error
greg@528:  *         - 0x80 if transfert aborted by the server
greg@528:  *         - 0x0  ok
etisserant@0:  */
etisserant@0: UNS8 proceedSDO (CO_Data* d, Message *m);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@528:  * @brief Used by the application to send a SDO request frame to write the data *data
etisserant@0:  * at the index and subIndex indicated
etisserant@0:  * bus_id is hardware dependant
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param count number of bytes to write in the dictionnary.
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@528:  * @param *data Pointer on data
greg@528:  * @return 0xFF if error, else return 0
etisserant@0:  */
etisserant@506: UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
etisserant@506: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data);
greg@528: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@528:  * @brief Used to send a SDO request frame to write in a distant node dictionnary.
greg@528:  * The function Callback which must be defined in the user code is called at the
frdupin@53:  * end of the exchange. (on succes or abort).
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param count number of bytes to write in the dictionnary.
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@528:  * @param *data Pointer on data
greg@528:  * @param Callback Callback function
greg@528:  * @return 0xFF if error, else return 0
etisserant@506:  */
etisserant@506: UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
frdupin@53: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
greg@528: 
greg@528: /**
greg@528:  * @ingroup sdo 
greg@528:  * @brief Used to send a SDO request frame to write in a distant node dictionnary.
etisserant@506:  * The function Callback	which must be defined in the user code is called at the
etisserant@506:  * end of the exchange. (on succes or abort). First free SDO client parameter is
etisserant@506:  * automatically initialized for specific node if not already defined.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param count number of bytes to write in the dictionnary.
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@528:  * @param *data Pointer on data
greg@528:  * @param Callback Callback function
greg@528:  * @param endianize
greg@528:  * @return 0xFF if error, else return 0
etisserant@506:  */
etisserant@506: UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
etisserant@506: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
greg@528: 
greg@528: /**
greg@528:  * @ingroup sdo 
greg@528:  * @brief Used by the application to send a SDO request frame to read
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. * bus_id is hardware dependant
greg@528:  * @return 0xFF if error, else return 0
greg@528:  */
greg@528: UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType);
greg@528: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@528:  * @brief Used to send a SDO request frame to read in a distant node dictionnary.
greg@528:  * The function Callback which must be defined in the user code is called at the
frdupin@53:  * end of the exchange. (on succes or abort).
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@528:  * @param Callback Callback function
greg@528:  * @return 0xFF if error, else return 0
etisserant@506:  */
frdupin@53: UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@528:  * @brief Used to send a SDO request frame to read in a distant node dictionnary.
etisserant@506:  * The function Callback which must be defined in the user code is called at the
etisserant@506:  * end of the exchange. (on succes or abort). First free SDO client parameter is
etisserant@506:  * automatically initialized for specific node if not already defined.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param index At index indicated
greg@528:  * @param subIndex At subIndex indicated
greg@528:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@528:  * @param Callback Callback function
greg@528:  * @return 0xFF if error, else return 0
etisserant@506:  */
etisserant@506: UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
etisserant@506: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@528:  * @brief Use this function after a readNetworkDict to get the result.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param *data Pointer on data
greg@528:  * @param *size Pointer on size
greg@528:  * @param *abortCode Pointer on the abortcode. 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
greg@528:  * 
greg@528:  * 
greg@528:  * @return
greg@528:  *           - SDO_FINISHED             // data is available
greg@528:  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
greg@528:  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
greg@528:  *           - SDO_UPLOAD_IN_PROGRESS   // Data not yet available
greg@528:  *           - SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
greg@528:  *
greg@528:  * example :
greg@528:  * UNS32 data;
greg@528:  * UNS8 size;
greg@528:  * readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
greg@528:  * while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);
etisserant@0: */
greg@528: UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
etisserant@0: 
etisserant@0: /**
greg@528:  * @brief Use this function after a writeNetworkDict to get the result of the write
greg@528:  * It is mandatory to call this function because it is releasing the line used for the transfer.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId In the dictionary of the slave whose node_id is nodeId
greg@528:  * @param *abortCode Pointer on the abortcode. 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
greg@528:  * 
greg@528:  * @return : 
greg@528:  *           - SDO_FINISHED             // data is available
greg@528:  *           - SDO_ABORTED_RCV          // Transfert failed. (abort SDO received)
greg@528:  *           - SDO_ABORTED_INTERNAL     // Transfert failed. Internal abort.
greg@528:  *           - SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
greg@528:  *           - SDO_UPLOAD_IN_PROGRESS   // Should not arrive !
greg@528:  * 
greg@528:  * example :
greg@528:  * UNS32 data = 0x50;
greg@528:  * UNS8 size;
greg@528:  * UNS32 abortCode;
greg@528:  * writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
greg@528:  * while (getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);
etisserant@0: */
etisserant@0: UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
etisserant@0: 
etisserant@0: #endif