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: 
fbeaulier@664: /* Block mode : Data consumer receive step 
fbeaulier@664:  * - set to RXSTEP_STARTED when client receive initiate upload response 
fbeaulier@664:  * - set to RXSTEP_END when last segment of a block received 
fbeaulier@664:  */
fbeaulier@664: typedef enum {RXSTEP_INIT, RXSTEP_STARTED, RXSTEP_END } rxStep_t;
fbeaulier@664: 
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
fbeaulier@664: WARNING : after a change in this structure check the macro s_transfer_Initializer in data.h
etisserant@0: */
etisserant@0: 
etisserant@0: struct struct_s_transfer {
fbeaulier@663:   UNS8           CliServNbr; /**< The index of the SDO client / server in our OD minus 0x1280 / 0x1200 */
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];
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636:   UNS8           *dynamicData;
Christian@636:   UNS32          dynamicDataSize;
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@664:                                     
fbeaulier@664:   UNS8           peerCRCsupport;    /**< True if peer supports CRC */
fbeaulier@664:   UNS8           blksize;           /**< Number of segments per block with 0 < blksize < 128 */
fbeaulier@664:   UNS8           ackseq;            /**< sequence number of last segment that was received successfully */
fbeaulier@664:   UNS32          objsize;           /**< Size in bytes of the object provided by data producer */
fbeaulier@664:   UNS8           lastblockoffset;   /**< Value of offset before last block */
fbeaulier@664:   UNS8           seqno;             /**< Last sequence number received OK or transmitted */   
fbeaulier@664:   UNS8           endfield;          /**< nbr of bytes in last segment of last block that do not contain data */
fbeaulier@664:   rxStep_t       rxstep;            /**< data consumer receive step - set to true when last segment of a block received */
fbeaulier@664:   UNS8           tmpData[8];        /**< temporary segment storage */
fbeaulier@664: 
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: /** 
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@539: UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 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@539: UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 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
fbeaulier@663:  * @param CliServNbr
greg@528:  * @param whoami
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param abortCode
greg@528:  * @return 0
greg@528:  */
fbeaulier@663: UNS8 failedSDO (CO_Data* d, UNS8 CliServNbr, 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
fbeaulier@663:  * @param CliServNbr
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param state
greg@528:  * @return 0
etisserant@0:  */
fbeaulier@663: UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 CliServNbr, 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
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
greg@528:  * @param *d Pointer on a CAN object data structure
fbeaulier@663:  * @param CliServNbr Client or Server object involved
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:  */
fbeaulier@663: UNS8 getSDOlineOnUse (CO_Data* d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line);
etisserant@0: 
greg@528: /** 
Christian@656:  * @brief Search for the line, in the transfers array, which contains the
Christian@656:  * beginning of the reception of a fragmented SDO
Christian@656:  *
Christian@656:  * Because getSDOlineOnUse() does not return any line in state \c SDO_ABORTED_INTERNAL,
Christian@656:  * this funtion is used to return them, too.
Christian@656:  *
Christian@656:  * @param *d Pointer on a CAN object data structure
fbeaulier@663:  * @param CliServNbr Client or Server object involved
Christian@656:  * @param whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
Christian@656:  * @param *line Pointer on a SDO line
Christian@656:  * @return 0xFF if error.  Else, return 0
Christian@656:  */
fbeaulier@663: UNS8 getSDOlineToClose (CO_Data* d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line);
Christian@656: 
Christian@656: /** 
greg@528:  * @brief Close a transmission.
greg@528:  * @param *d Pointer on a CAN object data structure
fbeaulier@663:  * @param CliServNbr Client or Server object involved
greg@528:  * @param whoami Line opened as SDO_CLIENT or SDO_SERVER
etisserant@0:  */
fbeaulier@663: UNS8 closeSDOtransfer (CO_Data* d, UNS8 CliServNbr, UNS8 whoami);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Bytes in the line structure which must be transmited (or received)
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@539: UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Store in the line structure the nb of bytes which must be transmited (or received)
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@539: UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes);
etisserant@0: 
greg@528: /**
greg@528:  * @brief Transmit a SDO frame on the bus bus_id
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param whoami Takes 2 values : SDO_CLIENT or SDO_SERVER
fbeaulier@663:  * @param CliServNbr Client or Server object involved
fbeaulier@663:  * @param data Array of the 8 bytes to transmit
greg@528:  * @return canSend(bus_id,&m) or 0xFF if error.
etisserant@0:  */
fbeaulier@663: UNS8 sendSDO (CO_Data* d, UNS8 whoami, UNS8 CliServNbr, UNS8 *pData);
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
fbeaulier@663:  * @param CliServNbr
greg@528:  * @param index
greg@528:  * @param subIndex
greg@528:  * @param abortCode
greg@528:  * @return 0
etisserant@0:  */
fbeaulier@663: UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 CliServNbr, UNS16 index, UNS8 subIndex, UNS32 abortCode);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Treat a SDO frame reception
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@561:  * @brief Used to send a SDO request frame to write the data at the index and subIndex indicated
greg@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
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@561:  * @param *data Pointer to data
greg@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFE is returned when no sdo client to communicate with node.
greg@561:  * - 0xFF is returned when error occurs.
etisserant@0:  */
etisserant@506: UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, UNS8 useBlockMode);
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@561:  * @details 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@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
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@561:  * @param *data Pointer to data
greg@528:  * @param Callback Callback function
greg@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFE is returned when no sdo client to communicate with node.
greg@561:  * - 0xFF is returned when error occurs.
etisserant@506:  */
etisserant@506: UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 useBlockMode);
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@561:  * @details 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@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
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@561:  * @param *data Pointer to data
greg@528:  * @param Callback Callback function
greg@529:  * @param endianize When not 0, data is endianized into network byte order
greg@529:  *                  when 0, data is not endianized and copied in machine native
greg@529:  *                  endianness
greg@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFF is returned when error occurs.
etisserant@506:  */
etisserant@506: UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		       UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode);
greg@528: 
greg@528: /**
greg@528:  * @ingroup sdo 
greg@561:  * @brief Used to send a SDO request frame to read.
greg@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
greg@561:  * @param index At index indicated
greg@561:  * @param subIndex At subIndex indicated
greg@561:  * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
greg@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFE is returned when no sdo client to communicate with node.
greg@561:  * - 0xFF is returned when error occurs.
greg@528:  */
fbeaulier@664: UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, UNS8 useBlockMode);
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@561:  * @details 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@561:  * @param nodeId Node Id of the slave
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@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFE is returned when no sdo client to communicate with node.
greg@561:  * - 0xFF is returned when error occurs.
etisserant@506:  */
fbeaulier@664: UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode);
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.
greg@561:  * @details 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@561:  * @param nodeId Node Id of the slave
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@561:  * @return 
greg@561:  * - 0 is returned upon success.
greg@561:  * - 0xFF is returned when error occurs.
etisserant@506:  */
fbeaulier@664: UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode);
etisserant@506: 
greg@528: /** 
greg@528:  * @ingroup sdo
greg@561:  * @brief Use this function after calling readNetworkDict to get the result.
greg@561:  * 
greg@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
fbeaulier@664:  * @param *data Pointer to the buffer to get the data
fbeaulier@664:  * @param *size Pointer to the size : MUST contain the size of the buffer before calling
fbeaulier@664:  *                                    The function set it to the actual number of written bytes
greg@561:  * @param *abortCode Pointer to the abortcode. (0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
greg@528:  * 
greg@528:  * 
greg@528:  * @return
greg@561:  *           - SDO_FINISHED             // datas are available
greg@561:  *           - SDO_ABORTED_RCV          // Transfert failed (abort SDO received)
greg@561:  *           - SDO_ABORTED_INTERNAL     // Transfert failed (internal abort)
greg@561:  *           - SDO_UPLOAD_IN_PROGRESS   // Datas are not yet available
greg@561:  *           - SDO_DOWNLOAD_IN_PROGRESS // Download is in progress
fbeaulier@664:  *           - SDO_PROVIDED_BUFFER_TOO_SMALL //The value *size is not enough to store the received data
greg@561:  * \n\n
greg@561:  * example :
greg@529:  * @code
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@561:  * while (getReadResultNetworkDict (0, 0x05, &data, &size) == SDO_UPLOAD_IN_PROGRESS);
greg@529:  * @endcode
etisserant@0: */
etisserant@539: UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size, UNS32 * abortCode);
etisserant@0: 
etisserant@0: /**
greg@561:  * @ingroup sdo
greg@561:  * @brief Use this function after calling writeNetworkDict function to get the result of the write.
greg@561:  * @details It is mandatory to call this function because it is releasing the line used for the transfer.
greg@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Node Id of the slave
greg@561:  * @param *abortCode Pointer to the abortcode
greg@561:  * - 0 = not available. 
greg@561:  * - SDO abort code (received if return SDO_ABORTED_RCV)
greg@528:  * 
greg@528:  * @return : 
greg@561:  *           - SDO_FINISHED             // datas are available
greg@561:  *           - SDO_ABORTED_RCV          // Transfert failed (abort SDO received)
greg@561:  *           - SDO_ABORTED_INTERNAL     // Transfert failed (Internal abort)
greg@561:  *           - SDO_DOWNLOAD_IN_PROGRESS // Datas are not yet available
greg@561:  *           - SDO_UPLOAD_IN_PROGRESS   // Upload in progress
greg@561:  * \n\n
greg@561:  * example :
greg@529:  * @code
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@561:  * while (getWriteResultNetworkDict (0, 0x05, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS);
greg@529:  * @endcode
etisserant@0: */
etisserant@0: UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
etisserant@0: 
etisserant@0: #endif