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