etisserant@0: /*
fbeaulier@663:    This file is part of CanFestival, a library implementing CanOpen Stack.
fbeaulier@663: 
fbeaulier@663:    Copyright (C): Edouard TISSERANT and Francis DUPIN
fbeaulier@663: 
fbeaulier@663:    See COPYING file for copyrights details.
fbeaulier@663: 
fbeaulier@663:    This library is free software; you can redistribute it and/or
fbeaulier@663:    modify it under the terms of the GNU Lesser General Public
fbeaulier@663:    License as published by the Free Software Foundation; either
fbeaulier@663:    version 2.1 of the License, or (at your option) any later version.
fbeaulier@663: 
fbeaulier@663:    This library is distributed in the hope that it will be useful,
fbeaulier@663:    but WITHOUT ANY WARRANTY; without even the implied warranty of
fbeaulier@663:    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
fbeaulier@663:    Lesser General Public License for more details.
fbeaulier@663: 
fbeaulier@663:    You should have received a copy of the GNU Lesser General Public
fbeaulier@663:    License along with this library; if not, write to the Free Software
fbeaulier@663:    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
fbeaulier@663:    */
fbeaulier@663: /*!
fbeaulier@663:  ** @file   sdo.c
fbeaulier@663:  ** @author Edouard TISSERANT and Francis DUPIN
fbeaulier@663:  ** @date   Tue Jun  5 09:32:32 2007
fbeaulier@663:  **
fbeaulier@663:  ** @brief
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  */
etisserant@0: 
frdupin@84: /* #define DEBUG_WAR_CONSOLE_ON */
frdupin@84: /* #define DEBUG_ERR_CONSOLE_ON */
etisserant@0: 
fbeaulier@667: #include <stdlib.h>
fbeaulier@667: 
etisserant@383: #include "canfestival.h"
etisserant@370: #include "sysdep.h"
etisserant@0: 
frdupin@71: /* Uncomment if your compiler does not support inline functions */
etisserant@506: #define NO_INLINE
frdupin@71: 
frdupin@71: #ifdef NO_INLINE
fbeaulier@663: #define INLINE
frdupin@71: #else
fbeaulier@663: #define INLINE inline
frdupin@71: #endif
frdupin@71: 
frdupin@53: /*Internals prototypes*/
frdupin@53: 
Mongo@669: UNS8 GetSDOClientFromNodeId( CO_Data* d, UNS8 nodeId );
Mongo@669: 
nico@208: /*!
fbeaulier@663:  ** Called by writeNetworkDict
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param count
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param data
fbeaulier@663:  ** @param Callback
fbeaulier@663:  ** @param endianize
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@506: INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode);
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  ** Called by readNetworkDict
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param Callback
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@506: INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
fbeaulier@664: 		UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode);
etisserant@506: 
frdupin@53: 
etisserant@0: /***************************************************************************/
frdupin@71: /* SDO (un)packing macros */
etisserant@0: 
etisserant@506: /** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOcs(byte) (byte >> 5)
etisserant@0: 
etisserant@506: /** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits
fbeaulier@663: */
etisserant@0: #define getSDOn2(byte) ((byte >> 2) & 3)
etisserant@0: 
etisserant@506: /** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits
fbeaulier@663: */
etisserant@0: #define getSDOn3(byte) ((byte >> 1) & 7)
etisserant@0: 
etisserant@506: /** Returns the transfer type from the first byte of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOe(byte) ((byte >> 1) & 1)
etisserant@0: 
etisserant@506: /** Returns the size indicator from the first byte of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOs(byte) (byte & 1)
etisserant@0: 
etisserant@506: /** Returns the indicator of end transmission from the first byte of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOc(byte) (byte & 1)
etisserant@0: 
etisserant@506: /** Returns the toggle from the first byte of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOt(byte) ((byte >> 4) & 1)
etisserant@0: 
etisserant@506: /** Returns the index from the bytes 1 and 2 of the SDO
fbeaulier@663: */
edouard@604: #define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) | ((UNS16)byte1))
etisserant@0: 
etisserant@506: /** Returns the subIndex from the byte 3 of the SDO
fbeaulier@663: */
etisserant@0: #define getSDOsubIndex(byte3) (byte3)
etisserant@0: 
JaFojtik@694: /** Returns the subcommand in SDO block transfer
fbeaulier@664: */
fbeaulier@664: #define getSDOblockSC(byte) (byte & 3)
fbeaulier@664: 
fbeaulier@664: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param id
fbeaulier@663:  **/
etisserant@0: void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
fbeaulier@663: 	UNS16 offset;
fbeaulier@663: 	UNS8 nodeId;
fbeaulier@663: 	/* Get the client->server cobid.*/
fbeaulier@663: 	offset = d->firstIndex->SDO_CLT;
fbeaulier@663: 	if ((offset == 0) || ((offset+d->transfers[id].CliServNbr) > d->lastIndex->SDO_CLT)) {
fbeaulier@663: 		return ;
fbeaulier@663: 	}
fbeaulier@663: 	nodeId = *((UNS32*) d->objdict[offset+d->transfers[id].CliServNbr].pSubindex[3].pObject);
fbeaulier@663: 	MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
fbeaulier@664: 	MSG_WAR(0x2A02, "server node id : ", nodeId);
fbeaulier@664: 	MSG_WAR(0x2A02, "         index : ", d->transfers[id].index);
fbeaulier@664: 	MSG_WAR(0x2A02, "      subIndex : ", d->transfers[id].subIndex);
fbeaulier@663: 	/* Reset timer handler */
fbeaulier@663: 	d->transfers[id].timer = TIMER_NONE;
fbeaulier@663: 	/*Set aborted state*/
fbeaulier@663: 	d->transfers[id].state = SDO_ABORTED_INTERNAL;
fbeaulier@663: 	/* Sending a SDO abort */
fbeaulier@663: 	sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].CliServNbr,
fbeaulier@663: 			d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
fbeaulier@663: 	d->transfers[id].abortCode = SDOABT_TIMED_OUT;
fbeaulier@663: 	/* Call the user function to inform of the problem.*/
fbeaulier@663: 	if(d->transfers[id].Callback)
fbeaulier@663: 		/*If ther is a callback, it is responsible to close SDO transfer (client)*/
fbeaulier@663: 		(*d->transfers[id].Callback)(d, nodeId);
fbeaulier@663: 	/*Reset the line if (whoami == SDO_SERVER) or the callback did not close the line.
fbeaulier@663: 	  Otherwise this sdo transfer would never be closed. */
fbeaulier@665: 	if(d->transfers[id].abortCode == SDOABT_TIMED_OUT) 
fbeaulier@665: 		resetSDOline(d, (UNS8)id);
etisserant@0: }
etisserant@0: 
etisserant@0: #define StopSDO_TIMER(id) \
fbeaulier@663: 	MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
etisserant@0: d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
etisserant@0: 
etisserant@0: #define StartSDO_TIMER(id) \
fbeaulier@663: 	MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
etisserant@0: d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
etisserant@0: 
etisserant@0: #define RestartSDO_TIMER(id) \
fbeaulier@663: 	MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
etisserant@0: if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
etisserant@0: 
etisserant@506: /*!
fbeaulier@663:  ** Reset all sdo buffers
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  **/
etisserant@0: void resetSDO (CO_Data* d)
etisserant@0: {
fbeaulier@663: 	UNS8 j;
fbeaulier@663: 
fbeaulier@663: 	/* transfer structure initialization */
JaFojtik@694: 	for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERS ; j++)
fbeaulier@663: 		resetSDOline(d, j);
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@0: UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
etisserant@0: {
fbeaulier@663: 	UNS32 size;
fbeaulier@663: 	UNS32 errorCode;
fbeaulier@663: 	MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
fbeaulier@663: 	/* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
fbeaulier@663: 	if( d->transfers[line].count == 0)
fbeaulier@663: 		d->transfers[line].count = d->transfers[line].offset;
fbeaulier@663: 	size = d->transfers[line].count;
Christian@636: 
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
JaFojtik@694: 	if (size > SDO_MAX_LENGTH_TRANSFER)
fbeaulier@663: 	{
fbeaulier@663: 		errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
fbeaulier@663: 				(void *) d->transfers[line].dynamicData, &size, 1);
fbeaulier@663: 	}
fbeaulier@663: 	else
fbeaulier@663: 	{
fbeaulier@663: 		errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
fbeaulier@663: 				(void *) d->transfers[line].data, &size, 1);
fbeaulier@663: 	}
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
fbeaulier@663: 			(void *) d->transfers[line].data, &size, 1);
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 	if (errorCode != OD_SUCCESSFUL)
fbeaulier@663: 		return errorCode;
fbeaulier@663: 	MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
fbeaulier@663: 	return 0;
fbeaulier@663: 
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@0: UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
etisserant@0: {
JaFojtik@694:     UNS32  size = SDO_MAX_LENGTH_TRANSFER;
fbeaulier@663: 	UNS8  dataType;
fbeaulier@663: 	UNS32 errorCode;
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
fbeaulier@663: 	MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
etisserant@0: 
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@666:     /* Try to use the static buffer.                                            */
fbeaulier@663: 	errorCode = getODentry(d, 	d->transfers[line].index,
fbeaulier@663: 			d->transfers[line].subIndex,
fbeaulier@663: 			(void *)d->transfers[line].data,
fbeaulier@663: 			&size, &dataType, 1);
fbeaulier@666:     if (errorCode == SDOABT_OUT_OF_MEMORY) {
fbeaulier@666:         /* The static buffer is too small, try again using a dynamic buffer.      *
fbeaulier@666:         * 'size' now contains the real size of the requested object.             */
fbeaulier@666:         if (size <= SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE) {
fbeaulier@666:             d->transfers[line].dynamicData = (UNS8 *) malloc(size * sizeof(UNS8));
fbeaulier@666:             if (d->transfers[line].dynamicData != NULL) {
fbeaulier@666:                 d->transfers[line].dynamicDataSize = size;
fbeaulier@666:                 errorCode = getODentry(d,
fbeaulier@666:                 d->transfers[line].index,
fbeaulier@666:                 d->transfers[line].subIndex,
fbeaulier@666:                 (void *) d->transfers[line].dynamicData,
fbeaulier@666:                 &d->transfers[line].dynamicDataSize,
fbeaulier@666:                 &dataType,
fbeaulier@666:                 1);
fbeaulier@666:             }
fbeaulier@666:         }
fbeaulier@666:     }
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	errorCode = getODentry(d, 	d->transfers[line].index,
fbeaulier@663: 			d->transfers[line].subIndex,
fbeaulier@663: 			(void *)d->transfers[line].data,
fbeaulier@663: 			&size, &dataType, 1);
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
etisserant@506: 
fbeaulier@663: 	if (errorCode != OD_SUCCESSFUL)
fbeaulier@663: 		return errorCode;
fbeaulier@663: 
fbeaulier@663: 	d->transfers[line].count = size;
fbeaulier@663: 	d->transfers[line].offset = 0;
fbeaulier@663: 
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  ** @param nbBytes
fbeaulier@663:  ** @param data
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@539: UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 	UNS32 offset;
etisserant@0: 
Christian@636: #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
JaFojtik@694: 	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
JaFojtik@694: 		MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 	if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
fbeaulier@663: 		MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	offset = d->transfers[line].offset;
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
JaFojtik@694: 	if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFER)
fbeaulier@663: 	{
fbeaulier@663: 		for (i = 0 ; i < nbBytes ; i++)
fbeaulier@663: 			* (data + i) = d->transfers[line].data[offset + i];
fbeaulier@663: 	}
fbeaulier@663: 	else
fbeaulier@663: 	{
fbeaulier@663: 		if (d->transfers[line].dynamicData == NULL)
fbeaulier@663: 		{
fbeaulier@663: 			MSG_ERR(0x1A11,"SDO's dynamic buffer not allocated. Line", line);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 		}
fbeaulier@663: 		for (i = 0 ; i < nbBytes ; i++)
fbeaulier@663: 			* (data + i) = d->transfers[line].dynamicData[offset + i];
fbeaulier@663: 	}
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	for (i = 0 ; i < nbBytes ; i++)
fbeaulier@663: 		* (data + i) = d->transfers[line].data[offset + i];
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  ** @param nbBytes
fbeaulier@663:  ** @param data
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@539: UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
etisserant@0: {
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 	UNS32 offset;
Christian@636: #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
JaFojtik@694: 	if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
JaFojtik@694: 		MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 	offset = d->transfers[line].offset;
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	{
fbeaulier@663: 		UNS8* lineData = d->transfers[line].data;
JaFojtik@694: 		if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFER) {
fbeaulier@663: 			if (d->transfers[line].dynamicData == NULL) {
fbeaulier@663: 				d->transfers[line].dynamicData = (UNS8*) malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
fbeaulier@663: 				d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
fbeaulier@663: 
fbeaulier@663: 				if (d->transfers[line].dynamicData == NULL) {
fbeaulier@663: 					MSG_ERR(0x1A15,"SDO allocating dynamic buffer failed, size", SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				//Copy present data
fbeaulier@663: 				memcpy(d->transfers[line].dynamicData, d->transfers[line].data, offset);
fbeaulier@663: 			}
fbeaulier@663: 			else if ((d->transfers[line].offset + nbBytes) > d->transfers[line].dynamicDataSize)
fbeaulier@663: 			{
fbeaulier@663: 				UNS8* newDynamicBuffer = (UNS8*) realloc(d->transfers[line].dynamicData, d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
fbeaulier@663: 				if (newDynamicBuffer == NULL) {
fbeaulier@663: 					MSG_ERR(0x1A15,"SDO reallocating dynamic buffer failed, size", d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				d->transfers[line].dynamicData = newDynamicBuffer;
fbeaulier@663: 				d->transfers[line].dynamicDataSize += SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE;
fbeaulier@663: 			}
fbeaulier@663: 			lineData = d->transfers[line].dynamicData;
fbeaulier@663: 		}
fbeaulier@663: 
fbeaulier@663: 		for (i = 0 ; i < nbBytes ; i++)
fbeaulier@663: 			lineData[offset + i] = * (data + i);
fbeaulier@663: 	}
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	for (i = 0 ; i < nbBytes ; i++)
fbeaulier@663: 		d->transfers[line].data[offset + i] = * (data + i);
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 	d->transfers[line].offset = d->transfers[line].offset + nbBytes;
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param abortCode
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 failedSDO (CO_Data* d, UNS8 CliServNbr, UNS8 whoami, UNS16 index,
etisserant@0: 		UNS8 subIndex, UNS32 abortCode)
etisserant@0: {
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 line;
fbeaulier@663: 	err = getSDOlineOnUse( d, CliServNbr, whoami, &line );
fbeaulier@663: 	if (!err) /* If a line on use have been found.*/
fbeaulier@663: 		MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
fbeaulier@663: 	if ((! err) && (whoami == SDO_SERVER)) {
fbeaulier@663: 		resetSDOline( d, line );
fbeaulier@663: 		MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
fbeaulier@663: 	}
fbeaulier@663: 	if ((! err) && (whoami == SDO_CLIENT)) {
fbeaulier@663: 		StopSDO_TIMER(line);
fbeaulier@663: 		d->transfers[line].state = SDO_ABORTED_INTERNAL;
fbeaulier@664: 		d->transfers[line].abortCode = abortCode;
fbeaulier@663: 	}
fbeaulier@663: 	MSG_WAR(0x3A22, "Sending SDO abort ", 0);
fbeaulier@663: 	err = sendSDOabort(d, whoami, CliServNbr, index, subIndex, abortCode);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  **/
etisserant@0: void resetSDOline ( CO_Data* d, UNS8 line )
etisserant@0: {
fbeaulier@663: 	UNS32 i;
fbeaulier@663: 	MSG_WAR(0x3A25, "reset SDO line nb : ", line);
fbeaulier@663: 	initSDOline(d, line, 0, 0, 0, SDO_RESET);
JaFojtik@694: 	for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFER ; i++)
fbeaulier@663: 		d->transfers[line].data[i] = 0;
fbeaulier@663: 	d->transfers[line].whoami = 0;
fbeaulier@663: 	d->transfers[line].abortCode = 0;
etisserant@0: }
etisserant@0: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param state
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 CliServNbr, UNS16 index, UNS8 subIndex, UNS8 state)
fbeaulier@663: {
fbeaulier@663: 	MSG_WAR(0x3A25, "init SDO line nb : ", line);
fbeaulier@664: 	if (state == SDO_DOWNLOAD_IN_PROGRESS       || state == SDO_UPLOAD_IN_PROGRESS ||
fbeaulier@664:         state == SDO_BLOCK_DOWNLOAD_IN_PROGRESS || state == SDO_BLOCK_UPLOAD_IN_PROGRESS){
fbeaulier@663: 		StartSDO_TIMER(line)
fbeaulier@663: 	}else{
fbeaulier@663: 		StopSDO_TIMER(line)
fbeaulier@663: 	}
fbeaulier@663: 	d->transfers[line].CliServNbr = CliServNbr;
fbeaulier@663: 	d->transfers[line].index = index;
fbeaulier@663: 	d->transfers[line].subIndex = subIndex;
fbeaulier@663: 	d->transfers[line].state = state;
fbeaulier@663: 	d->transfers[line].toggle = 0;
fbeaulier@663: 	d->transfers[line].count = 0;
fbeaulier@663: 	d->transfers[line].offset = 0;
fbeaulier@664:     d->transfers[line].peerCRCsupport = 0;
fbeaulier@664:     d->transfers[line].blksize = 0;
fbeaulier@664:     d->transfers[line].ackseq = 0;
fbeaulier@664:     d->transfers[line].objsize = 0;
fbeaulier@664:     d->transfers[line].lastblockoffset = 0;
fbeaulier@664:     d->transfers[line].seqno = 0;
fbeaulier@664:     d->transfers[line].endfield = 0;
fbeaulier@664:     d->transfers[line].rxstep = RXSTEP_INIT;
fbeaulier@663: 	d->transfers[line].dataType = 0;
fbeaulier@663: 	d->transfers[line].Callback = NULL;
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	free(d->transfers[line].dynamicData);
fbeaulier@663: 	d->transfers[line].dynamicData = 0;
fbeaulier@663: 	d->transfers[line].dynamicDataSize = 0;
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param line
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@0: UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
etisserant@0: {
etisserant@506: 
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 
JaFojtik@694: 	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
fbeaulier@663: 		if ( d->transfers[i].state == SDO_RESET ) {
fbeaulier@663: 			*line = i;
fbeaulier@663: 			d->transfers[i].whoami = whoami;
fbeaulier@663: 			return 0;
fbeaulier@663: 		} /* end if */
fbeaulier@663: 	} /* end for */
fbeaulier@663: 	MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
fbeaulier@663: 	return 0xFF;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param line
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 getSDOlineOnUse (CO_Data* d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line)
fbeaulier@663: {
fbeaulier@663: 
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 
JaFojtik@694: 	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
fbeaulier@663: 		if ( (d->transfers[i].state != SDO_RESET) &&
fbeaulier@663: 				(d->transfers[i].state != SDO_ABORTED_INTERNAL) &&
fbeaulier@663: 				(d->transfers[i].CliServNbr == CliServNbr) &&
fbeaulier@663: 				(d->transfers[i].whoami == whoami) ) {
fbeaulier@663: 			if (line) *line = i;
fbeaulier@663: 			return 0;
fbeaulier@663: 		}
fbeaulier@663: 	}
fbeaulier@663: 	return 0xFF;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param line
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 getSDOlineToClose (CO_Data* d, UNS8 CliServNbr, UNS8 whoami, UNS8 *line)
fbeaulier@663: {
fbeaulier@663: 
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 
JaFojtik@694: 	for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERS ; i++){
fbeaulier@663: 		if ( (d->transfers[i].state != SDO_RESET) &&
fbeaulier@663: 				(d->transfers[i].CliServNbr == CliServNbr) &&
fbeaulier@663: 				(d->transfers[i].whoami == whoami) ) {
fbeaulier@663: 			if (line) *line = i;
fbeaulier@663: 			return 0;
fbeaulier@663: 		}
fbeaulier@663: 	}
fbeaulier@663: 	return 0xFF;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param whoami
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
Mongo@669: UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
fbeaulier@663: {
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 line;
Mongo@669:     UNS8 CliNbr;
Mongo@669: 	/* First let's find the corresponding SDO client in our OD  */
Mongo@669: 	CliNbr = GetSDOClientFromNodeId(d, nodeId);
Mongo@669: 	if(CliNbr >= 0xFE)
Mongo@669: 		return SDO_ABORTED_INTERNAL;
Mongo@669:     err = getSDOlineToClose(d, CliNbr, whoami, &line);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_WAR(0x2A30, "No SDO communication to close", 0);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	resetSDOline(d, line);
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  ** @param nbBytes
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@539: UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
etisserant@0: {
fbeaulier@663: 	/* SDO initiated with e=0 and s=0 have count set to null */
fbeaulier@663: 	if (d->transfers[line].count == 0)
fbeaulier@663: 		* nbBytes = 0;
fbeaulier@663: 	else
fbeaulier@663: 		* nbBytes = d->transfers[line].count - d->transfers[line].offset;
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param line
fbeaulier@663:  ** @param nbBytes
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@539: UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
etisserant@0: {
Christian@636: #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION
JaFojtik@694: 	if (nbBytes > SDO_MAX_LENGTH_TRANSFER) {
JaFojtik@694: 		MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFER", nbBytes);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 	d->transfers[line].count = nbBytes;
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param CliServNbr
fbeaulier@663:  ** @param pData
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 sendSDO (CO_Data* d, UNS8 whoami, UNS8 CliServNbr, UNS8 *pData)
fbeaulier@663: {
fbeaulier@663: 	UNS16 offset;
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 	Message m;
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x3A38, "sendSDO",0);
fbeaulier@663: 	if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {
fbeaulier@663: 		MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 
fbeaulier@663: 	/*get the server->client cobid*/
fbeaulier@663: 	if ( whoami == SDO_SERVER )	{
fbeaulier@663: 		offset = d->firstIndex->SDO_SVR;
fbeaulier@663: 		if ((offset == 0) || ((offset+CliServNbr) > d->lastIndex->SDO_SVR)) {
fbeaulier@663: 			MSG_ERR(0x1A42, "SendSDO : SDO server not found", 0);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 		}
fbeaulier@663: 		m.cob_id = *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[2].pObject);
fbeaulier@664: 		MSG_WAR(0x3A41, "I am server Tx cobId : ", m.cob_id);
fbeaulier@663: 	}
fbeaulier@663: 	else {			/*case client*/
fbeaulier@663: 		/* Get the client->server cobid.*/
fbeaulier@663: 		offset = d->firstIndex->SDO_CLT;
fbeaulier@663: 		if ((offset == 0) || ((offset+CliServNbr) > d->lastIndex->SDO_CLT)) {
fbeaulier@663: 			MSG_ERR(0x1A42, "SendSDO : SDO client not found", 0);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 		}
fbeaulier@663: 		m.cob_id = *((UNS32*) d->objdict[offset+CliServNbr].pSubindex[1].pObject);
fbeaulier@664: 		MSG_WAR(0x3A41, "I am client Tx cobId : ", m.cob_id);
fbeaulier@663: 	}
fbeaulier@663: 	/* message copy for sending */
fbeaulier@663: 	m.rtr = NOT_A_REQUEST;
fbeaulier@663: 	/* the length of SDO must be 8 */
fbeaulier@663: 	m.len = 8;
fbeaulier@663: 	for (i = 0 ; i < 8 ; i++) {
fbeaulier@663: 		m.data[i] =  pData[i];
fbeaulier@663: 	}
fbeaulier@663: 	return canSend(d->canHandle,&m);
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param whoami
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param abortCode
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 CliServNbr, UNS16 index, UNS8 subIndex, UNS32 abortCode)
fbeaulier@663: {
fbeaulier@663: 	UNS8 data[8];
fbeaulier@663: 	UNS8 ret;
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
fbeaulier@663: 	data[0] = 0x80;
fbeaulier@663: 	/* Index */
fbeaulier@663: 	data[1] = index & 0xFF; /* LSB */
fbeaulier@663: 	data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@663: 	/* Subindex */
fbeaulier@663: 	data[3] = subIndex;
fbeaulier@663: 	/* Data */
fbeaulier@663: 	data[4] = (UNS8)(abortCode & 0xFF);
fbeaulier@663: 	data[5] = (UNS8)((abortCode >> 8) & 0xFF);
fbeaulier@663: 	data[6] = (UNS8)((abortCode >> 16) & 0xFF);
fbeaulier@663: 	data[7] = (UNS8)((abortCode >> 24) & 0xFF);
fbeaulier@663: 	ret = sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 
fbeaulier@663: 	return ret;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param m
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@0: UNS8 proceedSDO (CO_Data* d, Message *m)
etisserant@0: {
fbeaulier@663: 	UNS8 err;
fbeaulier@664: 	UNS8 cs;
fbeaulier@663: 	UNS8 line;
fbeaulier@663: 	UNS32 nbBytes; 		/* received or to be transmited. */
fbeaulier@663: 	UNS8 nodeId = 0;  	/* The node Id of the server if client otherwise unused */
fbeaulier@663: 	UNS8 CliServNbr;
fbeaulier@663: 	UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
fbeaulier@663: 	UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
fbeaulier@663: 	UNS8 data[8];    /* data for SDO to transmit */
fbeaulier@663: 	UNS16 index;
fbeaulier@663: 	UNS8 subIndex;
fbeaulier@663: 	UNS32 abortCode;
fbeaulier@663: 	UNS32 i;
fbeaulier@663: 	UNS8	j;
fbeaulier@663: 	UNS32 *pCobId = NULL;
fbeaulier@663: 	UNS16 offset;
fbeaulier@663: 	UNS16 lastIndex;
JaFojtik@694: 	UNS8 SubCommand;	/* Block transfer only */
JaFojtik@694:     UNS8 SeqNo;         /* Sequence number in block transfer */
fbeaulier@664:     UNS8 AckSeq;        /* Sequence number of last segment that was received successfully */
JaFojtik@694: 	UNS8 NbBytesNoData; /* Number of bytes that do not contain data in last segment of block transfer */ 
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x3A60, "proceedSDO ", 0);
fbeaulier@663: 	whoami = SDO_UNKNOWN;
fbeaulier@663: 	/* Looking for the cobId in the object dictionary. */
fbeaulier@663: 	/* Am-I a server ? */
fbeaulier@663: 	offset = d->firstIndex->SDO_SVR;
fbeaulier@663: 	lastIndex = d->lastIndex->SDO_SVR;
fbeaulier@663: 	j = 0;
fbeaulier@663: 	if(offset) while (offset <= lastIndex) {
fbeaulier@663: 		if (d->objdict[offset].bSubCount <= 1) {
fbeaulier@663: 			MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 		}
fbeaulier@663: 		/* Looking for the cobid received. */
fbeaulier@663: 		pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
fbeaulier@663: 		if ( *pCobId == UNS16_LE(m->cob_id) ) {
fbeaulier@663: 			whoami = SDO_SERVER;
fbeaulier@663: 			MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
fbeaulier@663: 			/* Defining Server number = index minus 0x1200 where the cobid received is defined. */
fbeaulier@663: 			CliServNbr = j;
fbeaulier@663: 			break;
fbeaulier@663: 		}
fbeaulier@663: 		j++;
fbeaulier@663: 		offset++;
fbeaulier@663: 	} /* end while */
fbeaulier@663: 	if (whoami == SDO_UNKNOWN) {
fbeaulier@663: 		/* Am-I client ? */
fbeaulier@663: 		offset = d->firstIndex->SDO_CLT;
fbeaulier@663: 		lastIndex = d->lastIndex->SDO_CLT;
fbeaulier@663: 		j = 0;
fbeaulier@663: 		if(offset) while (offset <= lastIndex) {
fbeaulier@663: 			if (d->objdict[offset].bSubCount <= 3) {
fbeaulier@663: 				MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
fbeaulier@663: 				return 0xFF;
fbeaulier@663: 			}
fbeaulier@663: 			/* Looking for the cobid received. */
fbeaulier@663: 			pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
fbeaulier@663: 			if (*pCobId == UNS16_LE(m->cob_id) ) {
fbeaulier@663: 				whoami = SDO_CLIENT;
fbeaulier@664: 				MSG_WAR(0x3A64, "proceedSDO. I am client index : ", 0x1280 + j);
fbeaulier@663: 				/* Defining Client number = index minus 0x1280 where the cobid received is defined. */
fbeaulier@663: 				CliServNbr = j;
fbeaulier@663: 				/* Reading the server node ID, if client it is mandatory in the OD */
fbeaulier@663: 				nodeId = *((UNS8*) d->objdict[offset].pSubindex[3].pObject);
fbeaulier@663: 				break;
fbeaulier@663: 			}
fbeaulier@663: 			j++;
fbeaulier@663: 			offset++;
fbeaulier@663: 		} /* end while */
fbeaulier@663: 	}
fbeaulier@663: 	if (whoami == SDO_UNKNOWN) {
fbeaulier@663: 		return 0xFF;/* This SDO was not for us ! */
fbeaulier@663: 	}
fbeaulier@663: 
fbeaulier@663: 	/* Test if the size of the SDO is ok */
fbeaulier@663: 	if ( (*m).len != 8) {
fbeaulier@663: 		MSG_ERR(0x1A67, "Error size SDO", 0);
fbeaulier@663: 		failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_GENERAL_ERROR);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 
fbeaulier@663: 	if (whoami == SDO_CLIENT) {
fbeaulier@663: 		MSG_WAR(0x3A68, "I am CLIENT number ", CliServNbr);
fbeaulier@663: 	}
fbeaulier@663: 	else {
fbeaulier@663: 		MSG_WAR(0x3A69, "I am SERVER number ", CliServNbr);
fbeaulier@663: 	}
fbeaulier@663: 
JaFojtik@694: 	/* Look for an SDO transfer already initiated. */
fbeaulier@664: 	err = getSDOlineOnUse( d, CliServNbr, whoami, &line );
fbeaulier@664: 
fbeaulier@664: 	/* Let's find cs value, first it is set as "not valid" */
fbeaulier@664: 	cs = 0xFF; 
JaFojtik@694: 	/* Special cases for block transfer : in frames with segment data cs is not spécified */
fbeaulier@664:    	if (!err) {
fbeaulier@664: 		if ((whoami == SDO_SERVER) && (d->transfers[line].state == SDO_BLOCK_DOWNLOAD_IN_PROGRESS) ||
fbeaulier@664: 			(whoami == SDO_CLIENT) && (d->transfers[line].state == SDO_BLOCK_UPLOAD_IN_PROGRESS)) {		
fbeaulier@664: 			if(m->data[0] == 0x80)	/* If first byte is 0x80 it is an abort frame (seqno = 0 not allowed) */
fbeaulier@664: 				cs = 4;
fbeaulier@664: 			else
fbeaulier@664: 				cs = 6;
fbeaulier@664: 		}
fbeaulier@664: 	}
fbeaulier@664: 	/* Other cases : cs is specified */
fbeaulier@664: 	if (cs == 0xFF)
fbeaulier@664: 		cs = getSDOcs(m->data[0]);
fbeaulier@664: 
fbeaulier@663: 	/* Testing the command specifier */
fbeaulier@664: 	/* Allowed : cs = 0, 1, 2, 3, 4, 5, 6 */
fbeaulier@663: 	/* cs = other : Not allowed -> abort. */
fbeaulier@664: 	switch (cs) {
fbeaulier@663: 
fbeaulier@663: 		case 0:
fbeaulier@663: 			/* I am SERVER */
fbeaulier@663: 			if (whoami == SDO_SERVER) {
JaFojtik@694: 				/* Receiving a download segment data : an SDO transfer should have been yet initiated. */
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
fbeaulier@663: 							CliServNbr);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the wathdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 				index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 				/* Toggle test. */
fbeaulier@663: 				if (d->transfers[line].toggle != getSDOt(m->data[0])) {
fbeaulier@663: 					MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Nb of data to be downloaded */
fbeaulier@663: 				nbBytes = 7 - getSDOn3(m->data[0]);
JaFojtik@694: 				/* Store the data in the transfer structure. */
fbeaulier@663: 				err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
fbeaulier@663: 				if (err) {
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Sending the SDO response, CS = 1 */
fbeaulier@663: 				data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
fbeaulier@663: 				for (i = 1 ; i < 8 ; i++)
fbeaulier@663: 					data[i] = 0;
fbeaulier@663: 				MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 				sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 				/* Inverting the toggle for the next segment. */
fbeaulier@663: 				d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
fbeaulier@663: 				/* If it was the last segment, */
fbeaulier@663: 				if (getSDOc(m->data[0])) {
fbeaulier@663: 					/* Transfering line data to object dictionary. */
fbeaulier@663: 					/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
fbeaulier@663: 					errorCode = SDOlineToObjdict(d, line);
fbeaulier@663: 					if (errorCode) {
fbeaulier@663: 						MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					/* Release of the line */
fbeaulier@663: 					resetSDOline(d, line);
fbeaulier@663: 					MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 				}
fbeaulier@663: 			} /* end if SERVER */
fbeaulier@663: 			else { /* if CLIENT */
fbeaulier@663: 				/* I am CLIENT */
fbeaulier@663: 				/* It is a request for a previous upload segment. We should find a line opened for this.*/
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the wathdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 				/* test of the toggle; */
fbeaulier@663: 				if (d->transfers[line].toggle != getSDOt(m->data[0])) {
fbeaulier@663: 					MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* nb of data to be uploaded */
fbeaulier@663: 				nbBytes = 7 - getSDOn3(m->data[0]);
fbeaulier@663: 				/* Storing the data in the line structure. */
fbeaulier@663: 				err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
fbeaulier@663: 				if (err) {
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Inverting the toggle for the next segment. */
fbeaulier@663: 				d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
fbeaulier@663: 				/* If it was the last segment,*/
fbeaulier@663: 				if ( getSDOc(m->data[0])) {
fbeaulier@663: 					/* Put in state finished */
fbeaulier@663: 					/* The code is safe for the case e=s=0 in initiate frame. */
fbeaulier@663: 					StopSDO_TIMER(line)
fbeaulier@663: 						d->transfers[line].state = SDO_FINISHED;
fbeaulier@663: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@663: 
fbeaulier@663: 					MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
fbeaulier@663: 				}
fbeaulier@663: 				else { /* more segments to receive */
fbeaulier@663: 					/* Sending the request for the next segment. */
fbeaulier@663: 					data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
fbeaulier@663: 					for (i = 1 ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 					MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
fbeaulier@663: 				}
fbeaulier@663: 			} /* End if CLIENT */
fbeaulier@663: 			break;
fbeaulier@663: 
fbeaulier@663: 		case 1:
fbeaulier@663: 			/* I am SERVER */
fbeaulier@663: 			/* Receive of an initiate download */
fbeaulier@663: 			if (whoami == SDO_SERVER) {
fbeaulier@663: 				index = getSDOindex(m->data[1],m->data[2]);
fbeaulier@663: 				subIndex = getSDOsubIndex(m->data[3]);
fbeaulier@663: 				MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
fbeaulier@663: 						CliServNbr);
fbeaulier@663: 				MSG_WAR(0x3A80, "Writing at index : ", index);
fbeaulier@663: 				MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
fbeaulier@663: 
JaFojtik@694: 				/* Search if a SDO transfer have been yet initiated */
fbeaulier@663: 				if (! err) {
fbeaulier@663: 					MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* No line on use. Great ! */
fbeaulier@663: 				/* Try to open a new line. */
fbeaulier@663: 				err = getSDOfreeLine( d, whoami, &line );
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				initSDOline(d, line, CliServNbr, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
fbeaulier@663: 
fbeaulier@663: 				if (getSDOe(m->data[0])) { /* If SDO expedited */
fbeaulier@663: 					/* nb of data to be downloaded */
fbeaulier@663: 					nbBytes = 4 - getSDOn2(m->data[0]);
fbeaulier@663: 					/* Storing the data in the line structure. */
fbeaulier@663: 					d->transfers[line].count = nbBytes;
fbeaulier@663: 					err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
fbeaulier@663: 
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 
JaFojtik@694: 					/* SDO expedited -> transfer finished. Data can be stored in the dictionary. */
fbeaulier@663: 					/*The line will be reseted when it is downloading in the dictionary. */
JaFojtik@694: 					MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfer. Finished. ", 0);
fbeaulier@663: 					/* Transfering line data to object dictionary. */
fbeaulier@663: 					errorCode = SDOlineToObjdict(d, line);
fbeaulier@663: 					if (errorCode) {
fbeaulier@663: 						MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					/* Release of the line. */
fbeaulier@663: 					resetSDOline(d, line);
fbeaulier@663: 				}
JaFojtik@694: 				else {/* So, if it is not an expedited transfer */
fbeaulier@663: 					if (getSDOs(m->data[0])) {
fbeaulier@663: 						nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
hacking@682: 						err = setSDOlineRestBytes(d, line, nbBytes);
fbeaulier@663: 						if (err) {
fbeaulier@663: 							failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 							return 0xFF;
fbeaulier@663: 						}
fbeaulier@663: 					}
fbeaulier@663: 				}
fbeaulier@663: 				/*Sending a SDO, cs=3*/
fbeaulier@663: 				data[0] = 3 << 5;
fbeaulier@663: 				data[1] = index & 0xFF;        /* LSB */
fbeaulier@663: 				data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@663: 				data[3] = subIndex;
fbeaulier@663: 				for (i = 4 ; i < 8 ; i++)
fbeaulier@663: 					data[i] = 0;
fbeaulier@663: 				sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 			} /* end if I am SERVER */
fbeaulier@663: 			else {
fbeaulier@663: 				/* I am CLIENT */
fbeaulier@663: 				/* It is a response for a previous download segment. We should find a line opened for this. */
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the wathdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 				/* test of the toggle; */
fbeaulier@663: 				if (d->transfers[line].toggle != getSDOt(m->data[0])) {
fbeaulier@663: 					MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 
fbeaulier@663: 				/* End transmission or downloading next segment. We need to know if it will be the last one. */
fbeaulier@663: 				getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@663: 				if (nbBytes == 0) {
fbeaulier@663: 					MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
fbeaulier@663: 					StopSDO_TIMER(line)
fbeaulier@663: 						d->transfers[line].state = SDO_FINISHED;
fbeaulier@663: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@663: 					return 0x00;
fbeaulier@663: 				}
fbeaulier@663: 				/* At least one transfer to send.	*/
fbeaulier@663: 				if (nbBytes > 7) {
fbeaulier@663: 					/* several segments to download.*/
fbeaulier@663: 					/* code to send the next segment. (cs = 0; c = 0) */
fbeaulier@663: 					d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
fbeaulier@663: 					data[0] = (d->transfers[line].toggle << 4);
fbeaulier@663: 					err = lineToSDO(d, line, 7, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 				}
fbeaulier@663: 				else {
fbeaulier@663: 					/* Last segment. */
fbeaulier@663: 					/* code to send the last segment. (cs = 0; c = 1)*/
fbeaulier@663: 					d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
fbeaulier@663: 					data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
fbeaulier@663: 					err = lineToSDO(d, line, nbBytes, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					for (i = nbBytes + 1 ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 				}
fbeaulier@663: 				MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
fbeaulier@663: 				sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 			} /* end if I am a CLIENT */
fbeaulier@663: 			break;
fbeaulier@663: 
fbeaulier@663: 		case 2:
fbeaulier@663: 			/* I am SERVER */
fbeaulier@663: 			/* Receive of an initiate upload.*/
fbeaulier@663: 			if (whoami == SDO_SERVER) {
fbeaulier@663: 				index = getSDOindex(m->data[1],m->data[2]);
fbeaulier@663: 				subIndex = getSDOsubIndex(m->data[3]);
fbeaulier@663: 				MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
fbeaulier@663: 						CliServNbr);
fbeaulier@663: 				MSG_WAR(0x3A90, "Reading at index : ", index);
fbeaulier@663: 				MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
JaFojtik@694: 				/* Search if a SDO transfer have been yet initiated*/
fbeaulier@663: 				if (! err) {
fbeaulier@663: 					MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
fbeaulier@663: 					MSG_WAR(0x3A93, "Server Nbr = ", CliServNbr);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* No line on use. Great !*/
fbeaulier@663: 				/* Try to open a new line.*/
fbeaulier@663: 				err = getSDOfreeLine( d, whoami, &line );
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				initSDOline(d, line, CliServNbr, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
fbeaulier@663: 				/* Transfer data from dictionary to the line structure. */
fbeaulier@663: 				errorCode = objdictToSDOline(d, line);
fbeaulier@663: 
fbeaulier@663: 				if (errorCode) {
fbeaulier@663: 					MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
fbeaulier@663: 							errorCode);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Preparing the response.*/
fbeaulier@663: 				getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
fbeaulier@663: 				if (nbBytes > 4) {
JaFojtik@694: 					/* normal transfer. (segmented). */
fbeaulier@663: 					/* code to send the initiate upload response. (cs = 2) */
fbeaulier@663: 					data[0] = (2 << 5) | 1;
fbeaulier@663: 					data[1] = index & 0xFF;        /* LSB */
fbeaulier@663: 					data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@663: 					data[3] = subIndex;
fbeaulier@664: 					data[4] = nbBytes; 
fbeaulier@664: 					data[5] = nbBytes >> 8; 
fbeaulier@664: 					data[6] = nbBytes >> 16; 
fbeaulier@664: 					data[7] = nbBytes >> 24; 
fbeaulier@664:  					MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 				}
fbeaulier@663: 				else {
fbeaulier@663: 					/* Expedited upload. (cs = 2 ; e = 1) */
fbeaulier@663: 					data[0] = (UNS8)((2 << 5) | ((4 - nbBytes) << 2) | 3);
fbeaulier@663: 					data[1] = index & 0xFF;        /* LSB */
fbeaulier@663: 					data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@663: 					data[3] = subIndex;
fbeaulier@663: 					err = lineToSDO(d, line, nbBytes, data + 4);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					for (i = 4 + nbBytes ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 					MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
fbeaulier@663: 							CliServNbr);
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 					/* Release the line.*/
fbeaulier@663: 					resetSDOline(d, line);
fbeaulier@663: 				}
fbeaulier@663: 			} /* end if I am SERVER*/
fbeaulier@663: 			else {
fbeaulier@663: 				/* I am CLIENT */
fbeaulier@663: 				/* It is the response for the previous initiate upload request.*/
fbeaulier@663: 				/* We should find a line opened for this. */
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the wathdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 
fbeaulier@663: 				if (getSDOe(m->data[0])) { /* If SDO expedited */
fbeaulier@663: 					/* nb of data to be uploaded */
fbeaulier@663: 					nbBytes = 4 - getSDOn2(m->data[0]);
fbeaulier@663: 					/* Storing the data in the line structure. */
fbeaulier@663: 					err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
JaFojtik@694: 					/* SDO expedited -> transfer finished. data are available via  getReadResultNetworkDict(). */
fbeaulier@663: 					MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
fbeaulier@663: 					StopSDO_TIMER(line)
fbeaulier@663: 						d->transfers[line].count = nbBytes;
fbeaulier@663: 					d->transfers[line].state = SDO_FINISHED;
fbeaulier@663: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@663: 					return 0;
fbeaulier@663: 				}
JaFojtik@694: 				else { /* So, if it is not an expedited transfer */
fbeaulier@663: 					/* Storing the nb of data to receive. */
fbeaulier@663: 					if (getSDOs(m->data[0])) {
fbeaulier@663: 						nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
fbeaulier@663: 						err = setSDOlineRestBytes(d, line, nbBytes);
fbeaulier@663: 						if (err) {
fbeaulier@663: 							failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 							return 0xFF;
fbeaulier@663: 						}
fbeaulier@663: 					}
fbeaulier@663: 					/* Requesting next segment. (cs = 3) */
fbeaulier@663: 					data[0] = 3 << 5;
fbeaulier@663: 					for (i = 1 ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 					MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 				}
fbeaulier@663: 			} /* End if CLIENT */
fbeaulier@663: 			break;
fbeaulier@663: 
fbeaulier@663: 		case 3:
fbeaulier@663: 			/* I am SERVER */
fbeaulier@663: 			if (whoami == SDO_SERVER) {
fbeaulier@663: 				/* Receiving a upload segment. */
JaFojtik@694: 				/* A SDO transfer should have been yet initiated. */
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
fbeaulier@663: 							CliServNbr);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the wathdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 				index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 				/* Toggle test.*/
fbeaulier@663: 				if (d->transfers[line].toggle != getSDOt(m->data[0])) {
fbeaulier@663: 					MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Uploading next segment. We need to know if it will be the last one. */
fbeaulier@663: 				getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@663: 				if (nbBytes > 7) {
fbeaulier@663: 					/* The segment to transfer is not the last one.*/
fbeaulier@663: 					/* code to send the next segment. (cs = 0; c = 0) */
fbeaulier@663: 					data[0] = (d->transfers[line].toggle << 4);
fbeaulier@663: 					err = lineToSDO(d, line, 7, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					/* Inverting the toggle for the next tranfert. */
fbeaulier@663: 					d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
fbeaulier@663: 					MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 				}
fbeaulier@663: 				else {
fbeaulier@663: 					/* Last segment. */
fbeaulier@663: 					/* code to send the last segment. (cs = 0; c = 1) */
fbeaulier@663: 					data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
fbeaulier@663: 					err = lineToSDO(d, line, nbBytes, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					for (i = nbBytes + 1 ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 					MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@663: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 					/* Release the line */
fbeaulier@663: 					resetSDOline(d, line);
fbeaulier@663: 				}
fbeaulier@663: 			} /* end if SERVER*/
fbeaulier@663: 			else {
fbeaulier@663: 				/* I am CLIENT */
fbeaulier@663: 				/* It is the response for the previous initiate download request. */
fbeaulier@663: 				/* We should find a line opened for this. */
fbeaulier@663: 				if (!err)
fbeaulier@663: 					err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
fbeaulier@663: 				if (err) {
fbeaulier@663: 					MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
fbeaulier@663: 					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@663: 					return 0xFF;
fbeaulier@663: 				}
fbeaulier@663: 				/* Reset the watchdog */
fbeaulier@663: 				RestartSDO_TIMER(line)
fbeaulier@663: 					index = d->transfers[line].index;
fbeaulier@663: 				subIndex = d->transfers[line].subIndex;
fbeaulier@663: 				/* End transmission or requesting  next segment. */
fbeaulier@663: 				getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@663: 				if (nbBytes == 0) {
fbeaulier@663: 					MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
fbeaulier@663: 					StopSDO_TIMER(line)
fbeaulier@663: 						d->transfers[line].state = SDO_FINISHED;
fbeaulier@663: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@663: 					return 0x00;
fbeaulier@663: 				}
fbeaulier@663: 				if (nbBytes > 7) {
fbeaulier@663: 					/* more than one request to send */
fbeaulier@663: 					/* code to send the next segment. (cs = 0; c = 0)	*/
fbeaulier@663: 					data[0] = (d->transfers[line].toggle << 4);
fbeaulier@663: 					err = lineToSDO(d, line, 7, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 				}
fbeaulier@663: 				else {
fbeaulier@663: 					/* Last segment.*/
fbeaulier@663: 					/* code to send the last segment. (cs = 0; c = 1)	*/
fbeaulier@663: 					data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
fbeaulier@663: 					err = lineToSDO(d, line, nbBytes, data + 1);
fbeaulier@663: 					if (err) {
fbeaulier@663: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@663: 						return 0xFF;
fbeaulier@663: 					}
fbeaulier@663: 					for (i = nbBytes + 1 ; i < 8 ; i++)
fbeaulier@663: 						data[i] = 0;
fbeaulier@663: 				}
fbeaulier@663: 				MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
fbeaulier@663: 				sendSDO(d, whoami, CliServNbr, data);
fbeaulier@663: 
fbeaulier@663: 			} /* end if I am a CLIENT		*/
fbeaulier@663: 			break;
fbeaulier@663: 
fbeaulier@663: 		case 4:
fbeaulier@663: 			abortCode =
fbeaulier@663: 				(UNS32)m->data[4] |
fbeaulier@663: 				((UNS32)m->data[5] << 8) |
fbeaulier@663: 				((UNS32)m->data[6] << 16) |
fbeaulier@663: 				((UNS32)m->data[7] << 24);
fbeaulier@663: 			/* Received SDO abort. */
fbeaulier@663: 			if (whoami == SDO_SERVER) {
fbeaulier@663: 				if (!err) {
fbeaulier@663: 					resetSDOline( d, line );
fbeaulier@663: 					MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
fbeaulier@663: 				}
fbeaulier@663: 				else
fbeaulier@663: 					MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
fbeaulier@663: 				/* Tips : The end user has no way to know that the server node has received an abort SDO. */
fbeaulier@663: 				/* Its is ok, I think.*/
fbeaulier@663: 			}
fbeaulier@663: 			else { /* If I am CLIENT */
fbeaulier@663: 				if (!err) {
fbeaulier@663: 					/* The line *must* be released by the core program. */
fbeaulier@663: 					StopSDO_TIMER(line)
fbeaulier@663: 						d->transfers[line].state = SDO_ABORTED_RCV;
fbeaulier@663: 					d->transfers[line].abortCode = abortCode;
fbeaulier@663: 					MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
fbeaulier@663: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@663: 				}
fbeaulier@663: 				else
fbeaulier@663: 					MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
fbeaulier@663: 			}
fbeaulier@663: 			break;
fbeaulier@664: 		case 5: /* Command specifier for data transmission - the client or server is the data producer */
fbeaulier@664: 			SubCommand = getSDOblockSC(m->data[0]);
fbeaulier@664: 			if (whoami == SDO_SERVER) { /* Server block upload */
fbeaulier@664: 				if (SubCommand == SDO_BCS_INITIATE_UPLOAD_REQUEST) {
fbeaulier@664: 				    index = getSDOindex(m->data[1],m->data[2]);
fbeaulier@664: 				    subIndex = getSDOsubIndex(m->data[3]);
fbeaulier@664: 				    MSG_WAR(0x3AB2, "Received SDO Initiate block upload defined at index 0x1200 + ",
fbeaulier@664: 						CliServNbr);
fbeaulier@664: 				    MSG_WAR(0x3AB3, "Reading at index : ", index);
fbeaulier@664: 				    MSG_WAR(0x3AB4, "Reading at subIndex : ", subIndex);
JaFojtik@694: 				    /* Search if a SDO transfer have been yet initiated */
fbeaulier@664: 				    if (! err) {
fbeaulier@664: 					    MSG_ERR(0x1A93, "SDO error : Transmission yet started at line : ", line);
fbeaulier@664: 					    MSG_WAR(0x3AB5, "Server Nbr = ", CliServNbr);
fbeaulier@664: 					    failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664: 				    /* No line on use. Great !*/
fbeaulier@664: 				    /* Try to open a new line.*/
fbeaulier@664: 				    err = getSDOfreeLine( d, whoami, &line );
fbeaulier@664: 				    if (err) {
fbeaulier@664: 					    MSG_ERR(0x1A73, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
fbeaulier@664: 					    failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664: 				    initSDOline(d, line, CliServNbr, index, subIndex, SDO_BLOCK_UPLOAD_IN_PROGRESS);
fbeaulier@664:                     d->transfers[line].peerCRCsupport = ((m->data[0])>>2) & 1;
fbeaulier@664:                     d->transfers[line].blksize = m->data[4];
fbeaulier@664: 				    /* Transfer data from dictionary to the line structure. */
fbeaulier@664: 				    errorCode = objdictToSDOline(d, line);
fbeaulier@664: 				    if (errorCode) {
fbeaulier@664: 					    MSG_ERR(0x1A95, "SDO error : Unable to copy the data from object dictionary. Err code : ",
fbeaulier@664: 							errorCode);
fbeaulier@664: 					    failedSDO(d, CliServNbr, whoami, index, subIndex, errorCode);
fbeaulier@664: 					    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664:  				    /* Preparing the response.*/
fbeaulier@664: 				    getSDOlineRestBytes(d, line, &nbBytes);	/* get Nb bytes to transfer */
fbeaulier@664:                     d->transfers[line].objsize = nbBytes;
fbeaulier@664:                     data[0] = (6 << 5) | (1 << 1) | SDO_BSS_INITIATE_UPLOAD_RESPONSE;
fbeaulier@664: 					data[1] = index & 0xFF;        /* LSB */
fbeaulier@664: 					data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@664: 					data[3] = subIndex;
fbeaulier@664: 					data[4] = nbBytes;
fbeaulier@664: 					data[5] = nbBytes >> 8;
fbeaulier@664: 					data[6] = nbBytes >> 16;
fbeaulier@664: 					data[7] = nbBytes >> 24;
fbeaulier@664: 					MSG_WAR(0x3A9A, "SDO. Sending normal block upload initiate response defined at index 0x1200 + ", nodeId);
fbeaulier@664: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                 }
fbeaulier@664: 				else if (SubCommand == SDO_BCS_END_UPLOAD_REQUEST) {
fbeaulier@664: 				    MSG_WAR(0x3AA2, "Received SDO block END upload request defined at index 0x1200 + ", CliServNbr);
JaFojtik@694:  				    /* A SDO transfer should have been yet initiated. */
fbeaulier@664: 				    if (!err)
fbeaulier@664: 					    err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;
fbeaulier@664: 				    if (err) {
fbeaulier@664: 					    MSG_ERR(0x1AA1, "SDO error : Received block upload request for unstarted trans. index 0x1200 + ",
fbeaulier@664: 							    CliServNbr);
fbeaulier@664: 					    failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664:                     /* Release the line */
fbeaulier@664: 					resetSDOline(d, line);
fbeaulier@664:                 }
fbeaulier@664: 				else if ((SubCommand == SDO_BCS_UPLOAD_RESPONSE) || (SubCommand == SDO_BCS_START_UPLOAD)) {
JaFojtik@694:  				    /* A SDO transfer should have been yet initiated. */
fbeaulier@664: 				    if (!err)
fbeaulier@664: 					    err = d->transfers[line].state != SDO_BLOCK_UPLOAD_IN_PROGRESS;
fbeaulier@664: 				    if (err) {
fbeaulier@664: 					    MSG_ERR(0x1AA1, "SDO error : Received block upload response for unstarted trans. index 0x1200 + ",
fbeaulier@664: 							    CliServNbr);
fbeaulier@664: 					    failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664: 				    /* Reset the wathdog */
fbeaulier@664: 				    RestartSDO_TIMER(line);
fbeaulier@664: 				    /* Uploading first or next block */
fbeaulier@664: 				    index = d->transfers[line].index;
fbeaulier@664: 				    subIndex = d->transfers[line].subIndex;
fbeaulier@664:                     if (SubCommand == SDO_BCS_UPLOAD_RESPONSE) {
fbeaulier@664: 					    MSG_WAR(0x3AA2, "Received SDO block upload response defined at index 0x1200 + ", CliServNbr);
fbeaulier@664:                         d->transfers[line].blksize = m->data[2];
fbeaulier@664:                         AckSeq = (m->data[1]) & 0x7f;
fbeaulier@664:                         getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@664:                         if((nbBytes == 0) && (AckSeq == d->transfers[line].seqno)){ /* Si tout est envoyé et confirmé reçu on envoi un block end upload response */
fbeaulier@664:                             data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2) | SDO_BSS_END_UPLOAD_RESPONSE;
fbeaulier@664:                             for (i = 1 ; i < 8 ; i++)
fbeaulier@664: 						        data[i] = 0;
fbeaulier@664: 					        MSG_WAR(0x3AA5, "SDO. Sending block END upload response defined at index 0x1200 + ", CliServNbr);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             break;
fbeaulier@664:                         }
fbeaulier@664:                         else
fbeaulier@664:                             d->transfers[line].offset = d->transfers[line].lastblockoffset + 7 * AckSeq;
fbeaulier@664:                         if(d->transfers[line].offset > d->transfers[line].count) { /* Bad AckSeq reveived (too high) */
fbeaulier@664: 					        MSG_ERR(0x1AA1, "SDO error : Received upload response with bad ackseq index 0x1200 + ",
fbeaulier@664: 							    CliServNbr);
fbeaulier@664: 					        failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					        return 0xFF;
fbeaulier@664:                         }
fbeaulier@664:            			}
fbeaulier@664:                     else
fbeaulier@664: 					    MSG_WAR(0x3AA2, "Received SDO block START upload defined at index 0x1200 + ", CliServNbr);
fbeaulier@664:                     d->transfers[line].lastblockoffset = d->transfers[line].offset;
fbeaulier@664:                     for(SeqNo = 1 ; SeqNo <= d->transfers[line].blksize ; SeqNo++) {
fbeaulier@664:                         d->transfers[line].seqno = SeqNo;
fbeaulier@664: 				        getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@664:                         if (nbBytes > 7) {
fbeaulier@664: 					        /* The segment to transfer is not the last one.*/
fbeaulier@664:  					        data[0] = SeqNo;
fbeaulier@664: 					        err = lineToSDO(d, line, 7, data + 1);
fbeaulier@664: 					        if (err) {
fbeaulier@664: 						        failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						        return 0xFF;
fbeaulier@664: 					        }
fbeaulier@664: 					        MSG_WAR(0x3AA5, "SDO. Sending upload segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664: 				        }
fbeaulier@664: 				        else {
fbeaulier@664: 					        /* Last segment is in this block */
fbeaulier@664: 					        data[0] = 0x80 | SeqNo;
fbeaulier@664: 					        err = lineToSDO(d, line, nbBytes, data + 1);
fbeaulier@664: 					        if (err) {
fbeaulier@664: 						        failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						        return 0xFF;
fbeaulier@664: 					        }
fbeaulier@664: 					        for (i = nbBytes + 1 ; i < 8 ; i++)
fbeaulier@664: 						        data[i] = 0;
fbeaulier@664: 					        MSG_WAR(0x3AA5, "SDO. Sending last upload segment defined at index 0x1200 + ", CliServNbr);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             d->transfers[line].endfield = 7 - nbBytes;
fbeaulier@664:                             break;
fbeaulier@664: 				        }
fbeaulier@664:                     }
fbeaulier@664:                 }
fbeaulier@664: 			}      /* end if SERVER */
fbeaulier@664: 			else { /* if CLIENT (block download) */
fbeaulier@664:                 if ((SubCommand == SDO_BSS_INITIATE_DOWNLOAD_RESPONSE) || (SubCommand == SDO_BSS_DOWNLOAD_RESPONSE)) {
fbeaulier@664:                     /* We should find a line opened for this. */
fbeaulier@664:                     if (!err)
fbeaulier@664:                         err = d->transfers[line].state != SDO_BLOCK_DOWNLOAD_IN_PROGRESS;
fbeaulier@664:                     if (err) {
fbeaulier@664:                         MSG_ERR(0x1AAA, "SDO error : Received response for unknown block download request from node id", nodeId);
fbeaulier@664:                         failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664:                         return 0xFF;
fbeaulier@664:                     }
fbeaulier@664:                     /* Reset the watchdog */
fbeaulier@664:                     RestartSDO_TIMER(line)
fbeaulier@664:                     if (SubCommand == SDO_BSS_INITIATE_DOWNLOAD_RESPONSE) {
fbeaulier@664:                            index = d->transfers[line].index;
fbeaulier@664:                         subIndex = d->transfers[line].subIndex;
fbeaulier@664:                         d->transfers[line].peerCRCsupport = ((m->data[0])>>2) & 1;
fbeaulier@664:                         d->transfers[line].blksize = m->data[4];
fbeaulier@664:                     }
fbeaulier@664:                     else {
fbeaulier@664:                     	d->transfers[line].blksize = m->data[2];
fbeaulier@664:                         AckSeq = (m->data[1]) & 0x7f;
fbeaulier@664:                         getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@664:                         if((nbBytes == 0) && (AckSeq == d->transfers[line].seqno)){ /* Si tout est envoyé et confirmé reçu on envoi un block end download request */
fbeaulier@664:                             data[0] = (6 << 5) | ((d->transfers[line].endfield) << 2) | SDO_BCS_END_DOWNLOAD_REQUEST;
fbeaulier@664:                             for (i = 1 ; i < 8 ; i++)
fbeaulier@664: 						        data[i] = 0;
fbeaulier@664: 					        MSG_WAR(0x3AA5, "SDO. Sending block END download request defined at index 0x1200 + ", CliServNbr);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             break;
fbeaulier@664:                         }
fbeaulier@664:                         else
fbeaulier@664:                             d->transfers[line].offset = d->transfers[line].lastblockoffset + 7 * AckSeq;
fbeaulier@664:                         if(d->transfers[line].offset > d->transfers[line].count) { /* Bad AckSeq reveived (too high) */
fbeaulier@664: 					        MSG_ERR(0x1AA1, "SDO error : Received upload segment with bad ackseq index 0x1200 + ",
fbeaulier@664: 							    CliServNbr);
fbeaulier@664: 					        failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 					        return 0xFF;
fbeaulier@664:                         }
fbeaulier@664: 					}
fbeaulier@664:                  	d->transfers[line].lastblockoffset = d->transfers[line].offset;
fbeaulier@664:                 	for(SeqNo = 1 ; SeqNo <= d->transfers[line].blksize ; SeqNo++) {
fbeaulier@664:                         d->transfers[line].seqno = SeqNo;
fbeaulier@664: 				        getSDOlineRestBytes(d, line, &nbBytes);
fbeaulier@664:                         if (nbBytes > 7) {
fbeaulier@664: 					        /* The segment to transfer is not the last one.*/
fbeaulier@664:  					        data[0] = SeqNo;
fbeaulier@664: 					        err = lineToSDO(d, line, 7, data + 1);
fbeaulier@664: 					        if (err) {
fbeaulier@664: 						        failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						        return 0xFF;
fbeaulier@664: 					        }
fbeaulier@664: 					        MSG_WAR(0x3AAB, "SDO. Sending download segment to node id ", nodeId);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664: 				        }
fbeaulier@664: 				        else {
fbeaulier@664: 					        /* Last segment is in this block */
fbeaulier@664: 					        data[0] = 0x80 | SeqNo;
fbeaulier@664: 					        err = lineToSDO(d, line, nbBytes, data + 1);
fbeaulier@664: 					        if (err) {
fbeaulier@664: 						        failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						        return 0xFF;
fbeaulier@664: 					        }
fbeaulier@664: 					        for (i = nbBytes + 1 ; i < 8 ; i++)
fbeaulier@664: 						        data[i] = 0;
fbeaulier@664: 					        MSG_WAR(0x3AAB, "SDO. Sending last download segment to node id ", nodeId);
fbeaulier@664: 					        sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             d->transfers[line].endfield = 7 - nbBytes;
fbeaulier@664:                             break;
fbeaulier@664: 				        }
fbeaulier@664:                     }
fbeaulier@664: 				}
fbeaulier@664: 				else if (SubCommand == SDO_BSS_END_DOWNLOAD_RESPONSE) {
fbeaulier@664: 					MSG_WAR(0x3AAC, "SDO End block download response from nodeId", nodeId);
fbeaulier@664: 					StopSDO_TIMER(line)
fbeaulier@664: 					d->transfers[line].state = SDO_FINISHED;
fbeaulier@664: 					if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@664: 					return 0x00;
fbeaulier@664: 				}
fbeaulier@664: 				else {
fbeaulier@664: 			    	MSG_ERR(0x1AAB, "SDO error block download : Received wrong subcommand from nodeId", nodeId);
fbeaulier@664:     				failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    			return 0xFF;
fbeaulier@664: 				}
fbeaulier@664: 			}      /* end if CLIENT */
fbeaulier@664: 			break;
fbeaulier@664: 		case 6: /* Command specifier for data reception - the client or server is the data consumer */
fbeaulier@664: 			if (whoami == SDO_SERVER) { /* Server block download */
fbeaulier@664: 				if (err) {
fbeaulier@664: 					/* Nothing already started */
fbeaulier@664: 					SubCommand = (m->data[0]) & 1;
fbeaulier@664: 					if (SubCommand != SDO_BCS_INITIATE_DOWNLOAD_REQUEST) {
fbeaulier@664: 			    	    MSG_ERR(0x1AAC, "SDO error block download : Received wrong subcommand from node id", nodeId);
fbeaulier@664:     				    failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    			    return 0xFF;
fbeaulier@664: 				    }
fbeaulier@664: 					index = getSDOindex(m->data[1],m->data[2]);
fbeaulier@664: 					subIndex = getSDOsubIndex(m->data[3]);
fbeaulier@664: 					MSG_WAR(0x3A9B, "Received SDO block download initiate defined at index 0x1200 + ",
fbeaulier@664: 						CliServNbr);
fbeaulier@664: 					MSG_WAR(0x3A9B, "Writing at index : ", index);
fbeaulier@664: 					MSG_WAR(0x3A9B, "Writing at subIndex : ", subIndex);
fbeaulier@664: 					/* Try to open a new line. */
fbeaulier@664: 					err = getSDOfreeLine( d, whoami, &line );
fbeaulier@664: 					if (err) {
fbeaulier@664: 						MSG_ERR(0x1A89, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
fbeaulier@664: 						failedSDO(d, CliServNbr, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 						return 0xFF;
fbeaulier@664: 					}
fbeaulier@664: 					initSDOline(d, line, CliServNbr, index, subIndex, SDO_BLOCK_DOWNLOAD_IN_PROGRESS);
fbeaulier@664:                     d->transfers[line].rxstep = RXSTEP_STARTED;
fbeaulier@664:                     d->transfers[line].peerCRCsupport = ((m->data[0])>>2) & 1;
fbeaulier@664: 					if ((m->data[0]) & 2)	/* if data set size is indicated */
fbeaulier@664:                     	d->transfers[line].objsize = (UNS32)m->data[4] + (UNS32)m->data[5]*256 + (UNS32)m->data[6]*256*256 + (UNS32)m->data[7]*256*256*256;
fbeaulier@664:                     data[0] = (5 << 5) | SDO_BSS_INITIATE_DOWNLOAD_RESPONSE;
fbeaulier@664: 					data[1] = index;        /* LSB */
fbeaulier@664: 					data[2] = index >> 8;   /* MSB */
fbeaulier@664: 					data[3] = subIndex;
fbeaulier@664: 					data[4] = SDO_BLOCK_SIZE;
fbeaulier@664: 					data[5] = data[6] = data[7] = 0;
fbeaulier@664: 					MSG_WAR(0x3AAD, "SDO. Sending block download initiate response - index 0x1200 + ", CliServNbr);
fbeaulier@664: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664: 				}
fbeaulier@664: 				else if (d->transfers[line].rxstep == RXSTEP_STARTED) {
fbeaulier@664: 					MSG_WAR(0x3A9B, "Received SDO block download data segment - index 0x1200 + ", CliServNbr);
fbeaulier@664:     		    	RestartSDO_TIMER(line)
fbeaulier@664: 					SeqNo = m->data[0] & 0x7F;
fbeaulier@664: 					if (m->data[0] & 0x80) {	/* Last segment ? */
fbeaulier@664: 					    if(SeqNo == (d->transfers[line].seqno + 1)) {
fbeaulier@664: 							d->transfers[line].rxstep = RXSTEP_END;
fbeaulier@664: 							d->transfers[line].seqno = SeqNo;
fbeaulier@664: 							/* Store the data temporary because we don't know yet how many bytes do not contain data */
fbeaulier@664: 							memcpy(d->transfers[line].tmpData, m->data, 8);
fbeaulier@664: 						}
fbeaulier@664: 						data[0] = (5 << 5) | SDO_BSS_DOWNLOAD_RESPONSE;
fbeaulier@664: 						data[1] = d->transfers[line].seqno;
fbeaulier@664: 						data[2] = SDO_BLOCK_SIZE;
fbeaulier@664: 						data[3] = data[4] = data[5] = data[6] = data[7] = 0;
fbeaulier@664: 						MSG_WAR(0x3AAE, "SDO. Sending block download response - index 0x1200 + ", CliServNbr);
fbeaulier@664: 						sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                         d->transfers[line].seqno = 0;
fbeaulier@664: 					}
fbeaulier@664: 					else {
fbeaulier@664: 					   	if (SeqNo == (d->transfers[line].seqno + 1)) {	
fbeaulier@664: 							d->transfers[line].seqno = SeqNo;
JaFojtik@694: 							/* Store the data in the transfer structure. */
fbeaulier@664: 							err = SDOtoLine(d, line, 7, (*m).data + 1);
fbeaulier@664: 							if (err) {
fbeaulier@664: 								failedSDO(d, CliServNbr, whoami, d->transfers[line].index,  d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 								return 0xFF;
fbeaulier@664: 							}
fbeaulier@664: 						}
fbeaulier@664: 						if (SeqNo == SDO_BLOCK_SIZE) {
fbeaulier@664: 							data[0] = (5 << 5) | SDO_BSS_DOWNLOAD_RESPONSE;
fbeaulier@664: 							data[1] = d->transfers[line].seqno;
fbeaulier@664: 							data[2] = SDO_BLOCK_SIZE;
fbeaulier@664: 							data[3] = data[4] = data[5] = data[6] = data[7] = 0;
fbeaulier@664: 							MSG_WAR(0x3AAE, "SDO. Sending block download response - index 0x1200 + ", CliServNbr);
fbeaulier@664: 							sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             d->transfers[line].seqno = 0;
fbeaulier@664: 						}
fbeaulier@664: 					}
fbeaulier@664: 				}
fbeaulier@664: 				else if (d->transfers[line].rxstep == RXSTEP_END) { /* endphase */
fbeaulier@664: 					MSG_WAR(0x3A9B, "Received SDO block download end request - index 0x1200 + ", CliServNbr);
fbeaulier@664: 					/* here store remaining bytes in tmpData to line, check size and confirm or abort */
fbeaulier@664: 					if ((m->data[0] & 1) != SDO_BCS_END_DOWNLOAD_REQUEST) {
fbeaulier@664: 		    			MSG_ERR(0x1AAD, "SDO error block download : Received wrong subcommand - index 0x1200 + ", CliServNbr);
fbeaulier@664:     					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    				return 0xFF;
fbeaulier@664: 					}
fbeaulier@664:     		    	RestartSDO_TIMER(line)
fbeaulier@664: 					NbBytesNoData = (m->data[0]>>2) & 0x07;
JaFojtik@694: 					/* Store the data in the transfer structure. */
fbeaulier@664: 					err = SDOtoLine(d, line, 7-NbBytesNoData, d->transfers[line].tmpData + 1);
fbeaulier@664: 					if (err) {
fbeaulier@664: 						failedSDO(d, CliServNbr, whoami, d->transfers[line].index,  d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						return 0xFF;
fbeaulier@664: 					}
fbeaulier@664: 					if(d->transfers[line].objsize){ /* If size was indicated in the initiate request */
fbeaulier@664: 						if (d->transfers[line].objsize != d->transfers[line].offset){
fbeaulier@664: 		    					MSG_ERR(0x1AAE, "SDO error block download : sizes do not match - index 0x1200 + ", CliServNbr);
fbeaulier@664:     							failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    						return 0xFF;
fbeaulier@664: 						}
fbeaulier@664: 					}
fbeaulier@664: 					data[0] = (5 << 5) | SDO_BSS_END_DOWNLOAD_RESPONSE;
fbeaulier@664: 					for (i = 1 ; i < 8 ; i++)
fbeaulier@664: 						data[i] = 0;
fbeaulier@664: 					MSG_WAR(0x3AAF, "SDO. Sending block download end response - index 0x1200 + ", CliServNbr);
fbeaulier@664: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664: 					/* Transfering line data to object dictionary. */
fbeaulier@664: 					errorCode = SDOlineToObjdict(d, line);
fbeaulier@664: 					if (errorCode) {
fbeaulier@664: 						MSG_ERR(0x1AAF, "SDO error : Unable to copy the data in the object dictionary", 0);
fbeaulier@664: 						failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, errorCode);
fbeaulier@664: 						return 0xFF;
fbeaulier@664: 					}
fbeaulier@664: 					/* Release of the line */
fbeaulier@664: 					resetSDOline(d, line);
fbeaulier@664: 					MSG_WAR(0x3AAF, "SDO. End of block download defined at index 0x1200 + ", CliServNbr);
fbeaulier@664: 				}
fbeaulier@664: 		    }      /* end if SERVER */
fbeaulier@664: 		    else { /* if CLIENT (block upload) */
fbeaulier@664: 				if (err) {
fbeaulier@664:        				/* Nothing already started */
fbeaulier@664: 			    	MSG_ERR(0x1AAD, "SDO error block upload : no transmission started", nodeId);
fbeaulier@664:     				failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    			return 0xFF;
fbeaulier@664: 				}
fbeaulier@664:     			RestartSDO_TIMER(line)
fbeaulier@664: 				if (d->transfers[line].rxstep == RXSTEP_INIT) {
fbeaulier@664: 				    if ((m->data[0] & 1) == SDO_BSS_INITIATE_UPLOAD_RESPONSE) {
fbeaulier@664: 					    MSG_WAR(0x3A9C, "Received SDO block upload response from node id ", nodeId);
fbeaulier@664: 						d->transfers[line].rxstep = RXSTEP_STARTED;
fbeaulier@664:                         d->transfers[line].peerCRCsupport = ((m->data[0])>>2) & 1;
fbeaulier@664: 					    if ((m->data[0]) & 2)	/* if data set size is indicated */
fbeaulier@664:                     	    d->transfers[line].objsize = (UNS32)m->data[4] + (UNS32)m->data[5]*256 + (UNS32)m->data[6]*256*256 + (UNS32)m->data[7]*256*256*256;
fbeaulier@664:                         data[0] = (5 << 5) | SDO_BCS_START_UPLOAD;
fbeaulier@664: 					    for (i = 1 ; i < 8 ; i++)
fbeaulier@664: 						    data[i] = 0;
fbeaulier@664:                         MSG_WAR(0x3AB6, "SDO. Sending block upload start to node id ", nodeId);
fbeaulier@664: 					    sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                     }
fbeaulier@664:                 }
fbeaulier@664: 				else if (d->transfers[line].rxstep == RXSTEP_STARTED) {
fbeaulier@664: 					SeqNo = m->data[0] & 0x7F;
fbeaulier@664: 					if (m->data[0] & 0x80) {	/* Last segment ? */
fbeaulier@664: 					    if(SeqNo == (d->transfers[line].seqno + 1)) {
fbeaulier@664: 							d->transfers[line].rxstep = RXSTEP_END;
fbeaulier@664: 							d->transfers[line].seqno = SeqNo;
fbeaulier@664: 							/* Store the data temporary because we don't know yet how many bytes do not contain data */
fbeaulier@664: 							memcpy(d->transfers[line].tmpData, m->data, 8);
fbeaulier@664: 						}
fbeaulier@664: 						data[0] = (5 << 5) | SDO_BCS_UPLOAD_RESPONSE;
fbeaulier@664: 						data[1] = d->transfers[line].seqno;
fbeaulier@664: 						data[2] = SDO_BLOCK_SIZE;
fbeaulier@664: 						data[3] = data[4] = data[5] = data[6] = data[7] = 0;
fbeaulier@664: 						MSG_WAR(0x3AB7, "SDO. Sending block upload response to node id ", nodeId);
fbeaulier@664: 						sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                         d->transfers[line].seqno = 0;
fbeaulier@664: 					}
fbeaulier@664: 					else {
fbeaulier@664: 					   	if (SeqNo == (d->transfers[line].seqno + 1)) {	
fbeaulier@664: 							d->transfers[line].seqno = SeqNo;
JaFojtik@694: 							/* Store the data in the transfer structure. */
fbeaulier@664: 							err = SDOtoLine(d, line, 7, (*m).data + 1);
fbeaulier@664: 							if (err) {
fbeaulier@664: 								failedSDO(d, CliServNbr, whoami, d->transfers[line].index,  d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 								return 0xFF;
fbeaulier@664: 							}
fbeaulier@664: 						}
fbeaulier@664: 						if (SeqNo == SDO_BLOCK_SIZE) {
fbeaulier@664: 							data[0] = (5 << 5) | SDO_BCS_UPLOAD_RESPONSE;
fbeaulier@664: 							data[1] = d->transfers[line].seqno;
fbeaulier@664: 							data[2] = SDO_BLOCK_SIZE;
fbeaulier@664: 							data[3] = data[4] = data[5] = data[6] = data[7] = 0;
fbeaulier@664: 							MSG_WAR(0x3AAE, "SDO. Sending block upload response to node id ", nodeId);
fbeaulier@664: 							sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664:                             d->transfers[line].seqno = 0;
fbeaulier@664: 						}
fbeaulier@664: 					}
fbeaulier@664: 				}
fbeaulier@664: 				else if (d->transfers[line].rxstep == RXSTEP_END) { /* endphase */
fbeaulier@664: 					/* here store remaining bytes in tmpData to line, check size and confirm or abort */
fbeaulier@664: 					if ((m->data[0] & 1) != SDO_BSS_END_UPLOAD_RESPONSE) {
fbeaulier@664: 			    		MSG_ERR(0x1AAD, "SDO error block upload : Received wrong subcommand from node id ", nodeId);
fbeaulier@664:     					failedSDO(d, CliServNbr, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    				return 0xFF;
fbeaulier@664: 					}
fbeaulier@664: 					NbBytesNoData = (m->data[0]>>2) & 0x07;
JaFojtik@694: 					/* Store the data in the transfer structure. */
fbeaulier@664: 					err = SDOtoLine(d, line, 7-NbBytesNoData, d->transfers[line].tmpData + 1);
fbeaulier@664: 					if (err) {
fbeaulier@664: 						failedSDO(d, CliServNbr, whoami, d->transfers[line].index,  d->transfers[line].subIndex, SDOABT_GENERAL_ERROR);
fbeaulier@664: 						return 0xFF;
fbeaulier@664: 					}
fbeaulier@664: 					if(d->transfers[line].objsize){ /* If size was indicated in the initiate request */
fbeaulier@664: 						if (d->transfers[line].objsize != d->transfers[line].offset){
fbeaulier@664: 			    				MSG_ERR(0x1AAE, "SDO error block download : sizes do not match - from node id ", nodeId);
fbeaulier@664:     							failedSDO(d, CliServNbr, whoami, d->transfers[line].index, d->transfers[line].subIndex, SDOABT_LOCAL_CTRL_ERROR);
fbeaulier@664: 	    						return 0xFF;
fbeaulier@664: 						}
fbeaulier@664: 					}
fbeaulier@664: 					data[0] = (5 << 5) | SDO_BCS_END_UPLOAD_REQUEST;
fbeaulier@664: 					for (i = 1 ; i < 8 ; i++)
fbeaulier@664: 						data[i] = 0;
fbeaulier@664: 					MSG_WAR(0x3AAF, "SDO. Sending block upload end request to node id ", nodeId);
fbeaulier@664: 					sendSDO(d, whoami, CliServNbr, data);
fbeaulier@664: 					MSG_WAR(0x3AAF, "SDO. End of block upload request", 0);
fbeaulier@664:                     StopSDO_TIMER(line)
fbeaulier@664: 					d->transfers[line].state = SDO_FINISHED;
fbeaulier@664: 				    if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
fbeaulier@664: 				}
fbeaulier@664: 			}      /* end if CLIENT */
fbeaulier@664: 			break;
fbeaulier@663: 		default:
fbeaulier@663: 			/* Error : Unknown cs */
fbeaulier@664: 			MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", cs);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 
fbeaulier@663: 	} /* End switch */
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  ** 	0xFF : No SDO client available
fbeaulier@663:  **     0xFE : Not found
fbeaulier@663:  **     otherwise : SDO client number
fbeaulier@663:  **/
fbeaulier@663: UNS8 GetSDOClientFromNodeId( CO_Data* d, UNS8 nodeId )
fbeaulier@663: {
fbeaulier@663: 	UNS8 SDOfound = 0;
fbeaulier@663: 	UNS8 CliNbr;
fbeaulier@663: 	UNS16 lastIndex;
fbeaulier@663: 	UNS16 offset;
fbeaulier@663: 	UNS8 nodeIdServer;
fbeaulier@663: 
fbeaulier@663: 	offset = d->firstIndex->SDO_CLT;
fbeaulier@663: 	lastIndex = d->lastIndex->SDO_CLT;
fbeaulier@663: 	if (offset == 0) {
fbeaulier@663: 		MSG_ERR(0x1AC6, "No SDO client index found for nodeId ", nodeId);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	CliNbr = 0;
fbeaulier@663: 	while (offset <= lastIndex) {
fbeaulier@663: 		if (d->objdict[offset].bSubCount <= 3) {
fbeaulier@663: 			MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + CliNbr);
fbeaulier@663: 			return 0xFF;
fbeaulier@663: 		}
fbeaulier@663: 		/* looking for the server nodeId */
fbeaulier@663: 		nodeIdServer = *((UNS8*) d->objdict[offset].pSubindex[3].pObject);
fbeaulier@663: 		MSG_WAR(0x1AD2, "index : ", 0x1280 + CliNbr);
fbeaulier@663: 		MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
fbeaulier@663: 
fbeaulier@663: 		if(nodeIdServer == nodeId) {
fbeaulier@663: 			SDOfound = 1;
fbeaulier@663: 			break;
fbeaulier@663: 		}
fbeaulier@663: 		offset++;
fbeaulier@663: 		CliNbr++;
fbeaulier@663: 	} /* end while */
fbeaulier@663: 	if (!SDOfound) {
fbeaulier@663: 		MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
fbeaulier@663: 		return 0xFE;
fbeaulier@663: 	}
fbeaulier@663: 	MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + CliNbr);
fbeaulier@663: 
fbeaulier@663: 	return CliNbr;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param count
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param data
fbeaulier@663:  ** @param Callback
fbeaulier@663:  ** @param endianize
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@663: INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize, UNS8 useBlockMode)
fbeaulier@663: {
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 line;
fbeaulier@663: 	UNS8 CliNbr;
fbeaulier@663: 	UNS32 j;
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 	UNS8 buf[8];
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
fbeaulier@663: 	MSG_WAR(0x3AC1, "                                   At index : ", index);
fbeaulier@663: 	MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
fbeaulier@663: 	MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
fbeaulier@663: 
fbeaulier@663: 	/* First let's find the corresponding SDO client in our OD  */
fbeaulier@663: 	CliNbr = GetSDOClientFromNodeId( d, nodeId);
fbeaulier@663: 	if(CliNbr >= 0xFE)
fbeaulier@663: 		return CliNbr;
fbeaulier@663: 	/* Verify that there is no SDO communication yet. */
fbeaulier@663: 	err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);
fbeaulier@663: 	if (!err) {
fbeaulier@663: 		MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	/* Taking the line ... */
fbeaulier@663: 	err = getSDOfreeLine( d, SDO_CLIENT, &line );
etisserant@0: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
fbeaulier@663: 		return (0xFF);
fbeaulier@663: 	}
Mongo@669: 	else
Mongo@669: 		MSG_WAR(0x3AE1, "Transmission on line : ", line);
fbeaulier@664:     if(useBlockMode) {
fbeaulier@664: 	    initSDOline(d, line, CliNbr, index, subIndex, SDO_BLOCK_DOWNLOAD_IN_PROGRESS);
fbeaulier@664: 	    d->transfers[line].objsize = count;
fbeaulier@664:     }
fbeaulier@664:     else 
fbeaulier@664: 	    initSDOline(d, line, CliNbr, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
fbeaulier@663: 	d->transfers[line].count = count;
fbeaulier@663: 	d->transfers[line].dataType = dataType;
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	{
fbeaulier@663: 		UNS8* lineData = d->transfers[line].data;
JaFojtik@694: 		if (count > SDO_MAX_LENGTH_TRANSFER)
fbeaulier@663: 		{
fbeaulier@663: 			d->transfers[line].dynamicData = (UNS8*) malloc(count);
fbeaulier@663: 			d->transfers[line].dynamicDataSize = count;
fbeaulier@663: 			if (d->transfers[line].dynamicData == NULL)
fbeaulier@663: 			{
fbeaulier@663: 				MSG_ERR(0x1AC9, "SDO. Error. Could not allocate enough bytes : ", count);
fbeaulier@663: 				return 0xFE;
fbeaulier@663: 			}
fbeaulier@663: 			lineData = d->transfers[line].dynamicData;
fbeaulier@663: 		}
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: 
fbeaulier@663: 		/* Copy data to transfers structure. */
fbeaulier@663: 		for (j = 0 ; j < count ; j++) {
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
Christian@636: # ifdef CANOPEN_BIG_ENDIAN
fbeaulier@663: 			if (dataType == 0 && endianize)
fbeaulier@663: 				lineData[count - 1 - j] = ((char *)data)[j];
fbeaulier@663: 			else /* String of bytes. */
fbeaulier@663: 				lineData[j] = ((char *)data)[j];
Christian@636: #  else
fbeaulier@663: 			lineData[j] = ((char *)data)[j];
Christian@636: #  endif
fbeaulier@663: 		}
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
etisserant@0: # ifdef CANOPEN_BIG_ENDIAN
fbeaulier@663: 		if (dataType == 0 && endianize)
fbeaulier@663: 			d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
fbeaulier@663: 		else /* String of bytes. */
fbeaulier@663: 			d->transfers[line].data[j] = ((char *)data)[j];
etisserant@506: #  else
fbeaulier@663: 		d->transfers[line].data[j] = ((char *)data)[j];
etisserant@0: #  endif
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	}
fbeaulier@664:     if(useBlockMode) {
fbeaulier@664: 	    buf[0] = (6 << 5) | (1 << 1 );   /* CCS = 6 , CC = 0 , S = 1 , CS = 0 */
fbeaulier@664:  	    for (i = 0 ; i < 4 ; i++)
fbeaulier@664: 		    buf[i+4] = (UNS8)((count >> (i<<3))); /* i*8 */
fbeaulier@664:     }
fbeaulier@664:     else {
fbeaulier@664: 	    /* Send the SDO to the server. Initiate download, cs=1. */
JaFojtik@694: 	    if (count <= 4) { /* Expedited transfer */
fbeaulier@664: 		    buf[0] = (UNS8)((1 << 5) | ((4 - count) << 2) | 3);
fbeaulier@664: 		    for (i = 4 ; i < 8 ; i++)
fbeaulier@664: 			    buf[i] = d->transfers[line].data[i - 4];
fbeaulier@664: 		    d->transfers[line].offset = count;
fbeaulier@664: 	    }
JaFojtik@694: 	    else { /** Normal transfer */
fbeaulier@664: 		    buf[0] = (1 << 5) | 1;
fbeaulier@664: 		    for (i = 0 ; i < 4 ; i++)
fbeaulier@664: 			    buf[i+4] = (UNS8)((count >> (i<<3))); /* i*8 */
fbeaulier@664: 	    }
fbeaulier@664:     }
fbeaulier@663: 	buf[1] = index & 0xFF;        /* LSB */
fbeaulier@663: 	buf[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@663: 	buf[3] = subIndex;
fbeaulier@663: 
fbeaulier@663: 	d->transfers[line].Callback = Callback;
fbeaulier@663: 
fbeaulier@663: 	err = sendSDO(d, SDO_CLIENT, CliNbr, buf);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
fbeaulier@663: 		/* release the line */
fbeaulier@663: 		resetSDOline(d, line);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 
fbeaulier@663: 
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param count
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param data
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@506: UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
fbeaulier@664: 		UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, UNS8 useBlockMode)
fbeaulier@664: {
fbeaulier@664: 	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1, useBlockMode);
etisserant@32: }
etisserant@32: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param count
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param data
fbeaulier@663:  ** @param Callback
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
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)
fbeaulier@664: {
fbeaulier@664: 	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1, useBlockMode);
etisserant@506: }
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)
etisserant@506: {
etisserant@506: 	UNS8 ret;
etisserant@506: 	UNS16 lastIndex;
etisserant@506: 	UNS16 offset;
etisserant@506: 	UNS8 nodeIdServer;
etisserant@506: 	UNS8 i;
etisserant@506: 
fbeaulier@664: 	ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize, useBlockMode);
etisserant@506: 	if(ret == 0xFE)
etisserant@506: 	{
etisserant@506: 		offset = d->firstIndex->SDO_CLT;
etisserant@506: 		lastIndex = d->lastIndex->SDO_CLT;
etisserant@506: 		if (offset == 0)
etisserant@506: 		{
etisserant@506: 			MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
etisserant@506: 			return 0xFF;
etisserant@506: 		}
etisserant@506: 		i = 0;
etisserant@506: 		while (offset <= lastIndex)
etisserant@506: 		{
etisserant@506: 			if (d->objdict[offset].bSubCount <= 3)
fbeaulier@663: 			{
fbeaulier@663: 				MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
fbeaulier@663: 				return 0xFF;
fbeaulier@663: 			}
etisserant@506: 			nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
etisserant@506: 			if(nodeIdServer == 0)
etisserant@506: 			{
etisserant@506: 				*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
etisserant@506: 				*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
etisserant@506: 				*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
Mongo@672: 				return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize, useBlockMode);
etisserant@506: 			}
etisserant@506: 			offset++;
etisserant@506: 		}
etisserant@506: 		return 0xFF;
etisserant@506: 	}
etisserant@506: 	else if(ret == 0)
etisserant@506: 	{
etisserant@506: 		return 0;
etisserant@506: 	}
etisserant@506: 	else
etisserant@506: 	{
etisserant@506: 		return 0xFF;
etisserant@506: 	}
etisserant@506: }
etisserant@506: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param Callback
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@664: INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
etisserant@0: {
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 i;
fbeaulier@663: 	UNS8 CliNbr;
fbeaulier@663: 	UNS8 line;
fbeaulier@663: 	UNS8 data[8];
fbeaulier@663: 
fbeaulier@663: 	MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
fbeaulier@663: 	MSG_WAR(0x3AD6, "                                  At index : ", index);
fbeaulier@663: 	MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
fbeaulier@663: 
fbeaulier@663: 	/* First let's find the corresponding SDO client in our OD  */
fbeaulier@663: 	CliNbr = GetSDOClientFromNodeId( d, nodeId);
fbeaulier@663: 	if(CliNbr >= 0xFE)
fbeaulier@663: 		return CliNbr;
fbeaulier@663: 
fbeaulier@663: 	/* Verify that there is no SDO communication yet. */
fbeaulier@663: 	err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);
fbeaulier@663: 	if (!err) {
fbeaulier@663: 		MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	/* Taking the line ... */
fbeaulier@663: 	err = getSDOfreeLine( d, SDO_CLIENT, &line );
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
fbeaulier@663: 		return (0xFF);
fbeaulier@663: 	}
fbeaulier@663: 	else
fbeaulier@663: 		MSG_WAR(0x3AE0, "Transmission on line : ", line);
fbeaulier@663: 
fbeaulier@664:     if(useBlockMode) {
fbeaulier@664: 	    initSDOline(d, line, CliNbr, index, subIndex, SDO_BLOCK_UPLOAD_IN_PROGRESS);
fbeaulier@664: 	    /* Send the SDO to the server. Initiate block upload, cs=0. */
fbeaulier@664: 	    d->transfers[line].dataType = dataType;
fbeaulier@664: 	    data[0] = (5 << 5) | SDO_BCS_INITIATE_UPLOAD_REQUEST;
fbeaulier@664: 	    data[1] = index & 0xFF;        /* LSB */
fbeaulier@664: 	    data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@664: 	    data[3] = subIndex;
fbeaulier@664: 	    data[4] = SDO_BLOCK_SIZE;
fbeaulier@664: 	    for (i = 5 ; i < 8 ; i++)
fbeaulier@664: 		    data[i] = 0;
fbeaulier@664:     }
fbeaulier@664:     else {
fbeaulier@664: 	    initSDOline(d, line, CliNbr, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
fbeaulier@664: 	    /* Send the SDO to the server. Initiate upload, cs=2. */
fbeaulier@664: 	    d->transfers[line].dataType = dataType;
fbeaulier@664: 	    data[0] = (2 << 5);
fbeaulier@664: 	    data[1] = index & 0xFF;        /* LSB */
fbeaulier@664: 	    data[2] = (index >> 8) & 0xFF; /* MSB */
fbeaulier@664: 	    data[3] = subIndex;
fbeaulier@664: 	    for (i = 4 ; i < 8 ; i++)
fbeaulier@664: 		    data[i] = 0;
fbeaulier@664:     }
fbeaulier@663: 	d->transfers[line].Callback = Callback;
fbeaulier@663: 	err = sendSDO(d, SDO_CLIENT, CliNbr, data);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
fbeaulier@663: 		/* release the line */
fbeaulier@663: 		resetSDOline(d, line);
fbeaulier@663: 		return 0xFF;
fbeaulier@663: 	}
fbeaulier@663: 	return 0;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param dataType
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@664: UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, UNS8 useBlockMode)
fbeaulier@664: {
fbeaulier@664: 	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL, useBlockMode);
etisserant@32: }
etisserant@32: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param index
fbeaulier@663:  ** @param subIndex
fbeaulier@663:  ** @param dataType
fbeaulier@663:  ** @param Callback
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
fbeaulier@664: UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
fbeaulier@664: {
fbeaulier@664: 	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback, useBlockMode);
fbeaulier@664: }
fbeaulier@664: 
fbeaulier@664: UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback, UNS8 useBlockMode)
etisserant@506: {
etisserant@506: 	UNS8 ret;
etisserant@506: 	UNS16 lastIndex;
etisserant@506: 	UNS16 offset;
etisserant@506: 	UNS8 nodeIdServer;
etisserant@506: 	UNS8 i;
etisserant@506: 
fbeaulier@664: 	ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback, useBlockMode);
etisserant@506: 	if(ret == 0xFE)
etisserant@506: 	{
etisserant@506: 		offset = d->firstIndex->SDO_CLT;
etisserant@506: 		lastIndex = d->lastIndex->SDO_CLT;
etisserant@506: 		if (offset == 0)
etisserant@506: 		{
etisserant@506: 			MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
etisserant@506: 			return 0xFF;
etisserant@506: 		}
etisserant@506: 		i = 0;
etisserant@506: 		while (offset <= lastIndex)
etisserant@506: 		{
etisserant@506: 			if (d->objdict[offset].bSubCount <= 3)
fbeaulier@663: 			{
fbeaulier@663: 				MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
fbeaulier@663: 				return 0xFF;
fbeaulier@663: 			}
etisserant@506: 			nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
etisserant@506: 			if(nodeIdServer == 0)
etisserant@506: 			{
etisserant@506: 				*(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
etisserant@506: 				*(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
etisserant@506: 				*(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
fbeaulier@664: 				return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback, useBlockMode);
etisserant@506: 			}
etisserant@506: 			offset++;
etisserant@506: 		}
etisserant@506: 		return 0xFF;
etisserant@506: 	}
etisserant@506: 	else if(ret == 0)
etisserant@506: 	{
etisserant@506: 		return 0;
etisserant@506: 	}
etisserant@506: 	else
etisserant@506: 	{
etisserant@506: 		return 0xFF;
etisserant@506: 	}
etisserant@506: }
etisserant@506: 
etisserant@506: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param data
fbeaulier@664:  ** @param size : *size MUST contain the size of *data buffer before calling
fbeaulier@664:  **                     The function set it to the actual number of written bytes
fbeaulier@663:  ** @param abortCode
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@664:  **    SDO_PROVIDED_BUFFER_TOO_SMALL if *data is not big enough
fbeaulier@664:  **    or any transmission status value.
fbeaulier@663:  **/
etisserant@539: UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
fbeaulier@663: 		UNS32 * abortCode)
fbeaulier@663: {
fbeaulier@663: 	UNS32 i;
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 CliNbr;
fbeaulier@663: 	UNS8 line;
fbeaulier@663: 	* abortCode = 0;
fbeaulier@663: 
fbeaulier@663: 	/* First let's find the corresponding SDO client in our OD  */
fbeaulier@663: 	CliNbr = GetSDOClientFromNodeId(d, nodeId);
fbeaulier@664: 	if(CliNbr >= 0xFE) {
fbeaulier@664:         *size = 0;
fbeaulier@663: 		return SDO_ABORTED_INTERNAL;
fbeaulier@664:     }
fbeaulier@663: 
fbeaulier@663: 	/* Looking for the line tranfert. */
fbeaulier@663: 	err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
fbeaulier@664:         *size = 0;
fbeaulier@664:         return SDO_ABORTED_INTERNAL;
fbeaulier@664: 	}
fbeaulier@664: 
JaFojtik@694:     /* If transfer not finished just return, but if aborted set abort code and size to 0 */
fbeaulier@664:     if (d->transfers[line].state != SDO_FINISHED) {
fbeaulier@664: 	    if((d->transfers[line].state == SDO_ABORTED_RCV) || (d->transfers[line].state == SDO_ABORTED_INTERNAL)) {
fbeaulier@664:             *abortCode = d->transfers[line].abortCode;
fbeaulier@664:             *size = 0;
fbeaulier@664:         }
fbeaulier@663: 		return d->transfers[line].state;
fbeaulier@664:     }
fbeaulier@663: 
fbeaulier@663: 	/* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
fbeaulier@663: 	if( d->transfers[line].count == 0)
fbeaulier@663: 		d->transfers[line].count = d->transfers[line].offset;
fbeaulier@664: 
fbeaulier@664:     /* Check if the provided buffer is big enough */
fbeaulier@664:     if(*size < d->transfers[line].count) {
fbeaulier@664: 		*size = 0;
fbeaulier@664: 		return SDO_PROVIDED_BUFFER_TOO_SMALL;
fbeaulier@664:     }
fbeaulier@664: 	
fbeaulier@664:     /* Give back actual size */
fbeaulier@664:     *size = d->transfers[line].count;
fbeaulier@663: 
fbeaulier@663: 	/* Copy payload to data pointer */
Christian@636: #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	{
fbeaulier@663: 		UNS8 *lineData = d->transfers[line].data;
fbeaulier@663: 
fbeaulier@663: 		if (d->transfers[line].dynamicData && d->transfers[line].dynamicDataSize)
fbeaulier@663: 		{
fbeaulier@663: 			lineData = d->transfers[line].dynamicData;
fbeaulier@663: 		}
fbeaulier@663: 		for  ( i = 0 ; i < *size ; i++) {
Christian@636: # ifdef CANOPEN_BIG_ENDIAN
fbeaulier@663: 			if (d->transfers[line].dataType != visible_string)
fbeaulier@663: 				( (char *) data)[*size - 1 - i] = lineData[i];
fbeaulier@663: 			else /* String of bytes. */
fbeaulier@663: 				( (char *) data)[i] = lineData[i];
Christian@636: # else
fbeaulier@663: 			( (char *) data)[i] = lineData[i];
Christian@636: # endif
fbeaulier@663: 		}
fbeaulier@663: 	}
Christian@636: #else //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@663: 	for  ( i = 0 ; i < *size ; i++) {
etisserant@0: # ifdef CANOPEN_BIG_ENDIAN
fbeaulier@663: 		if (d->transfers[line].dataType != visible_string)
fbeaulier@663: 			( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
fbeaulier@663: 		else /* String of bytes. */
fbeaulier@663: 			( (char *) data)[i] = d->transfers[line].data[i];
etisserant@506: # else
fbeaulier@663: 		( (char *) data)[i] = d->transfers[line].data[i];
etisserant@0: # endif
fbeaulier@663: 	}
Christian@636: #endif //SDO_DYNAMIC_BUFFER_ALLOCATION
fbeaulier@664:     resetSDOline(d, line);
fbeaulier@663: 	return SDO_FINISHED;
fbeaulier@663: }
fbeaulier@663: 
fbeaulier@663: /*!
fbeaulier@663:  **
fbeaulier@663:  **
fbeaulier@663:  ** @param d
fbeaulier@663:  ** @param nodeId
fbeaulier@663:  ** @param abortCode
fbeaulier@663:  **
fbeaulier@663:  ** @return
fbeaulier@663:  **/
etisserant@0: UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
etisserant@0: {
fbeaulier@663: 	UNS8 line = 0;
fbeaulier@663: 	UNS8 err;
fbeaulier@663: 	UNS8 CliNbr;
fbeaulier@663: 	* abortCode = 0;
fbeaulier@663: 	
fbeaulier@663: 	/* First let's find the corresponding SDO client in our OD  */
fbeaulier@663: 	CliNbr = GetSDOClientFromNodeId(d, nodeId);
fbeaulier@663: 	if(CliNbr >= 0xFE)
fbeaulier@663: 		return SDO_ABORTED_INTERNAL;
fbeaulier@663: 
fbeaulier@663: 	/* Looking for the line tranfert. */
fbeaulier@663: 	err = getSDOlineOnUse(d, CliNbr, SDO_CLIENT, &line);
fbeaulier@663: 	if (err) {
fbeaulier@663: 		MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
fbeaulier@663: 		return SDO_ABORTED_INTERNAL;
fbeaulier@663: 	}
fbeaulier@663: 	* abortCode = d->transfers[line].abortCode;
fbeaulier@664:     if (d->transfers[line].state != SDO_FINISHED)
fbeaulier@664: 	    return d->transfers[line].state;
fbeaulier@664:     resetSDOline(d, line);
fbeaulier@664: 	return SDO_FINISHED;
fbeaulier@664: }