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: 
frdupin@71: /* #define DEBUG_WAR_CONSOLE_ON */
frdupin@71: /* #define DEBUG_ERR_CONSOLE_ON */
etisserant@0: 
etisserant@0: #include "objacces.h"
etisserant@0: #include "sdo.h"
etisserant@0: 
frdupin@71: /* Uncomment if your compiler does not support inline functions */
frdupin@71:  #define NO_INLINE 
frdupin@71: 
frdupin@71: #ifdef NO_INLINE
frdupin@71:   #define INLINE 
frdupin@71: #else
frdupin@71: 	#define INLINE inline
frdupin@71: #endif
frdupin@71: 
frdupin@53: /*Internals prototypes*/
frdupin@53: 
frdupin@53: /** Called by writeNetworkDict */
frdupin@71: INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
frdupin@53: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
frdupin@53: 
frdupin@53: /** Called by readNetworkDict */
frdupin@71: INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, 
frdupin@53: 	UNS8 dataType, SDOCallback_t Callback);
frdupin@53: 	
frdupin@53: 
etisserant@0: /***************************************************************************/
frdupin@71: /* SDO (un)packing macros */
etisserant@0: 
etisserant@0: /** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOcs(byte) (byte >> 5)
etisserant@0: 
etisserant@0: /** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits   
etisserant@0:  */
etisserant@0: #define getSDOn2(byte) ((byte >> 2) & 3)
etisserant@0: 
etisserant@0: /** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits   
etisserant@0:  */
etisserant@0: #define getSDOn3(byte) ((byte >> 1) & 7)
etisserant@0: 
etisserant@0: /** Returns the transfer type from the first byte of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOe(byte) ((byte >> 1) & 1)
etisserant@0: 
etisserant@0: /** Returns the size indicator from the first byte of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOs(byte) (byte & 1)
etisserant@0: 
etisserant@0: /** Returns the indicator of end transmission from the first byte of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOc(byte) (byte & 1)
etisserant@0: 
etisserant@0: /** Returns the toggle from the first byte of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOt(byte) ((byte >> 4) & 1)
etisserant@0: 
etisserant@0: /** Returns the index from the bytes 1 and 2 of the SDO   
etisserant@0:  */
etisserant@0: #define getSDOindex(byte1, byte2) ((byte2 << 8) | (byte1))
etisserant@0: 
etisserant@0: /** Returns the subIndex from the byte 3 of the SDO   
etisserant@0:  */
frdupin@71: 
etisserant@0: #define getSDOsubIndex(byte3) (byte3)
etisserant@0: 
etisserant@0: /***************************************************************************
etisserant@0: **
etisserant@0: */
etisserant@0: void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
etisserant@0:     MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
etisserant@0:     MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
etisserant@0:     MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
etisserant@0:     MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex); 
frdupin@71:     /* Reset timer handler */
etisserant@0:     d->transfers[id].timer = TIMER_NONE;
frdupin@71:     /* Call the user function to inform of the problem.*/
etisserant@0:     (*d->SDOtimeoutError)(id);
frdupin@71:     /* Sending a SDO abort */
etisserant@0:     sendSDOabort(d, d->transfers[id].whoami, 
etisserant@0: 		 d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
frdupin@71:     /* Reset the line*/
etisserant@0:     resetSDOline(d, id);
etisserant@0: }
etisserant@0: 
etisserant@0: #define StopSDO_TIMER(id) \
etisserant@0: 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) \
etisserant@0: 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) \
etisserant@0: 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@0: /***************************************************************************/
etisserant@0: /** Reset all sdo buffers
etisserant@0:  */
etisserant@0: void resetSDO (CO_Data* d)
etisserant@0: {
etisserant@0:   UNS8 j;
etisserant@0: 
etisserant@0:   /* transfer structure initialization */
etisserant@0:     for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) 
etisserant@0:       resetSDOline(d, j);
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
etisserant@0: {
etisserant@0:   UNS8      size;
etisserant@0:   UNS32 errorCode;
etisserant@1:   MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
etisserant@0:   size = d->transfers[line].count;
etisserant@0:   errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, 
etisserant@0: 			 (void *) d->transfers[line].data, &size, 1);
etisserant@0:   if (errorCode != OD_SUCCESSFUL)
etisserant@0:     return errorCode;
etisserant@1:   MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
etisserant@0:   return 0;
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
etisserant@0: {
etisserant@0:   UNS8  size = 0;
etisserant@0:   UNS8  dataType;
etisserant@0:   UNS32 errorCode;
etisserant@0: 
dejoigny@12:   MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
dejoigny@12:   MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
etisserant@0: 
etisserant@0:   errorCode = getODentry(d, 	d->transfers[line].index,
etisserant@0:   				d->transfers[line].subIndex,
etisserant@0:   				(void *)d->transfers[line].data,
etisserant@0:   				&size, &dataType, 0);
etisserant@0:   
etisserant@0:   if (errorCode != OD_SUCCESSFUL)
etisserant@0:     return errorCode;
etisserant@0: 
etisserant@0:   d->transfers[line].count = size;
etisserant@0:   d->transfers[line].offset = 0;
dejoigny@12: #if 0
frdupin@71:    /*Me laisser ça, please ! (FD)*/
dejoigny@12:   {
dejoigny@12:     UNS8 i;
dejoigny@12:     for (i = 0 ; i < 10 ; i++) {
dejoigny@12:       MSG_WAR(i, "data= ", d->transfers[line].data[i]);
dejoigny@12:     }     
dejoigny@12:   }
dejoigny@12: #endif
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
etisserant@0:   UNS8 i;
etisserant@0:   UNS8 offset;
etisserant@0: 
etisserant@0:   if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
etisserant@0:     MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:     if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
etisserant@0:     MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   offset = d->transfers[line].offset;
etisserant@0:   for (i = 0 ; i < nbBytes ; i++) 
etisserant@0:     * (data + i) = d->transfers[line].data[offset + i];
etisserant@0:   d->transfers[line].offset = d->transfers[line].offset + nbBytes;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
etisserant@0: {
etisserant@0:   UNS8 i;
etisserant@0:   UNS8 offset;
etisserant@0:   
etisserant@0:   if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
etisserant@0:     MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   offset = d->transfers[line].offset;
etisserant@0:   for (i = 0 ; i < nbBytes ; i++) 
etisserant@0:     d->transfers[line].data[offset + i] = * (data + i);
etisserant@0:   d->transfers[line].offset = d->transfers[line].offset + nbBytes;
etisserant@0:   return 0;
etisserant@0: }
etisserant@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:   UNS8 err;
etisserant@0:   UNS8 line;
etisserant@0:   err = getSDOlineOnUse( d, nodeId, whoami, &line );
frdupin@71:   if (!err) /* If a line on use have been found.*/
etisserant@0:     MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
etisserant@0:   if ((! err) && (whoami == SDO_SERVER)) {
etisserant@0:     resetSDOline( d, line );
etisserant@0:     MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
etisserant@0:   }
etisserant@1:   if ((! err) && (whoami == SDO_CLIENT)) {
etisserant@1:     StopSDO_TIMER(line);
etisserant@0:     d->transfers[line].state = SDO_ABORTED_INTERNAL;
etisserant@1:   }
etisserant@0:   MSG_WAR(0x3A22, "Sending SDO abort ", 0);
etisserant@0:   err = sendSDOabort(d, whoami, index, subIndex, abortCode);
etisserant@0:   if (err) {
etisserant@0:     MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: void resetSDOline ( CO_Data* d, UNS8 line )
etisserant@0: {
etisserant@0:   UNS8 i; 
etisserant@1:   MSG_WAR(0x3A25, "reset SDO line nb : ", line); 
etisserant@0:   initSDOline(d, line, 0, 0, 0, SDO_RESET);
etisserant@0:   for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
etisserant@0:     d->transfers[line].data[i] = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
etisserant@0: {
etisserant@1:   MSG_WAR(0x3A25, "init SDO line nb : ", line); 
etisserant@0:   if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){
etisserant@0:   	StartSDO_TIMER(line)
etisserant@0:   }else{
etisserant@0:   	StopSDO_TIMER(line)
etisserant@0:   }
etisserant@0:   d->transfers[line].nodeId = nodeId; 
etisserant@0:   d->transfers[line].index = index;
etisserant@0:   d->transfers[line].subIndex = subIndex;
etisserant@0:   d->transfers[line].state = state;
etisserant@0:   d->transfers[line].toggle = 0;
etisserant@0:   d->transfers[line].count = 0;
etisserant@0:   d->transfers[line].offset = 0;
etisserant@0:   d->transfers[line].dataType = 0;
etisserant@32:   d->transfers[line].Callback = NULL;  
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
etisserant@0: {
etisserant@0: 	
etisserant@0:   UNS8 i;
etisserant@0:     
etisserant@0:   for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
etisserant@0:     if ( d->transfers[i].state == SDO_RESET ) {
etisserant@0:       *line = i;
etisserant@0:       d->transfers[i].whoami = whoami;
etisserant@0:       return 0;
frdupin@71:     } /* end if */
frdupin@71:   } /* end for */
etisserant@0:   MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
etisserant@0: {
etisserant@0: 	
etisserant@0:   UNS8 i;
etisserant@0:     
etisserant@0:   for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
etisserant@0:     if ( (d->transfers[i].state != SDO_RESET) &&
etisserant@0: 	 (d->transfers[i].nodeId == nodeId) && 
etisserant@0: 	 (d->transfers[i].whoami == whoami) ) {
etisserant@0:       *line = i;
etisserant@0:       return 0;
etisserant@0:     }
etisserant@0:   } 
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
etisserant@0: {
etisserant@0:   UNS8 err;
etisserant@0:   UNS8 line;
etisserant@0:   err = getSDOlineOnUse(d, nodeId, whoami, &line);
etisserant@0:   if (err) {
etisserant@0:     MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); 
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   resetSDOline(d, line);  
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
etisserant@0: {
frdupin@71:   if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
etisserant@0:     * nbBytes = 0;
etisserant@0:   else
etisserant@0:     * nbBytes = d->transfers[line].count - d->transfers[line].offset;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
etisserant@0: {
etisserant@0:   if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
etisserant@0:     MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   d->transfers[line].count = nbBytes;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
etisserant@0: {	
etisserant@0:   UNS16 offset;
etisserant@0:   UNS16 lastIndex;
etisserant@0:   UNS8 found = 0;
etisserant@0:   Message m;
etisserant@0:   UNS8 i;
etisserant@0:   UNS32 * pwCobId = NULL;
etisserant@0:   UNS8 * pwNodeId = NULL;
etisserant@0:   UNS8 *    pSize;
etisserant@0:   UNS8      size;
etisserant@0:   pSize = &size;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3A38, "sendSDO",0);
etisserant@0:   if( !((d->nodeState == Operational) ||  (d->nodeState == Pre_operational ))) {
etisserant@0:     MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
etisserant@0:     return 0xFF;
etisserant@0:   }  				
etisserant@0: 
etisserant@0:   /*get the server->client cobid*/
etisserant@0:   if ( whoami == SDO_SERVER )	{/*case server. Easy because today only one server SDO is authorized in CanFestival*/
etisserant@0:     offset = d->firstIndex->SDO_SVR;
etisserant@0:     if (offset == 0) {
etisserant@0:       MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); 
etisserant@0:       return 0xFF;
etisserant@0:     }
etisserant@0:     pwCobId = d->objdict[offset].pSubindex[2].pObject;
etisserant@0:     MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); 
etisserant@0:   }
etisserant@0:   else {			/*case client*/
etisserant@0:     /* Get the client->server cobid.*/
etisserant@0:     UNS16 sdoNum = 0;
etisserant@0:     offset = d->firstIndex->SDO_CLT;
etisserant@0:     lastIndex = d->lastIndex->SDO_CLT;
etisserant@0:     if (offset == 0) {
etisserant@0:       MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); 
etisserant@0:       return 0xFF;
etisserant@0:     }
etisserant@0:     /* First, have to find at the index where is defined the communication with the server node */
etisserant@0:     while (offset <= lastIndex){
etisserant@0:       MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
etisserant@0:       if (d->objdict[offset].bSubCount <= 3) {
etisserant@0: 	MSG_ERR(0x1A28, "Subindex 3  not found at index ", 0x1280 + sdoNum);
etisserant@0: 	return 0xFF;
etisserant@0:       }
etisserant@0:       pwNodeId = d->objdict[offset].pSubindex[3].pObject;
etisserant@0:       MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);	
etisserant@0:       if(*pwNodeId == sdo.nodeId) {
etisserant@0: 	found = 1;
etisserant@0: 	break;          
etisserant@0:       }      
etisserant@0:       offset ++;
etisserant@0:       sdoNum ++;
etisserant@0:     }
etisserant@0:     if (! found){
etisserant@0:       MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
etisserant@0:       return 0xFF;
etisserant@0:     }
etisserant@0:     /* Second, read the cobid client->server */
etisserant@0:     pwCobId = d->objdict[offset].pSubindex[1].pObject;
etisserant@0:   }
etisserant@0:   /* message copy for sending */
etisserant@0:   m.cob_id.w = *pwCobId;
etisserant@0:   m.rtr = NOT_A_REQUEST; 
frdupin@71:   /* the length of SDO must be 8 */
etisserant@0:   m.len = 8;
etisserant@0:   for (i = 0 ; i < 8 ; i++) {
etisserant@0:     m.data[i] =  sdo.body.data[i];
etisserant@0:   }
etisserant@0:   return (*d->canSend)(&m);
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
etisserant@0: {
etisserant@0:   s_SDO sdo;
etisserant@0:   UNS8 ret;
etisserant@1:   MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
etisserant@0:   sdo.nodeId = *d->bDeviceNodeId;
etisserant@0:   sdo.body.data[0] = 0x80;
frdupin@71:   /* Index */
frdupin@71:   sdo.body.data[1] = index & 0xFF; /* LSB */
frdupin@71:   sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
frdupin@71:   /* Subindex */
etisserant@0:   sdo.body.data[3] = subIndex;
frdupin@71:   /* Data */
etisserant@0:   sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
etisserant@0:   sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
etisserant@0:   sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
etisserant@0:   sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
etisserant@0:   ret = sendSDO(d, whoami, sdo);
etisserant@0: 
etisserant@0:   return ret;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 proceedSDO (CO_Data* d, Message *m)
etisserant@0: {
etisserant@0:   UNS8 err;
etisserant@0:   UNS8 line;
frdupin@71:   UNS8 nbBytes; /* received or to be transmited. */
frdupin@71:   UNS8 nodeId = 0;  /* The node from which the SDO is received */
etisserant@0:   UNS8 *pNodeId = NULL;
frdupin@71:   UNS8 whoami = SDO_UNKNOWN;  /* SDO_SERVER or SDO_CLIENT.*/
frdupin@71:   UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
frdupin@71:   s_SDO sdo;    /* SDO to transmit */
etisserant@0:   UNS16 index;
etisserant@0:   UNS8 subIndex;
etisserant@0:   UNS32 abortCode;
etisserant@0:   UNS8 i,j;
etisserant@0:   UNS32 *     pCobId = NULL;
etisserant@0:   UNS8 *      pSize;
etisserant@0:   UNS8        size;
etisserant@0:   UNS16 offset;
etisserant@0:   UNS16 lastIndex;
etisserant@0:   
etisserant@0:   pSize = &size; 
etisserant@0: 
etisserant@0:   MSG_WAR(0x3A60, "proceedSDO ", 0);
etisserant@0:   whoami = SDO_UNKNOWN;
frdupin@71:   /* Looking for the cobId in the object dictionary. */
frdupin@71:   /* Am-I a server ? */
etisserant@0:   offset = d->firstIndex->SDO_SVR;
etisserant@0:   lastIndex = d->lastIndex->SDO_SVR;
etisserant@0:   j = 0;
etisserant@0:   if(offset) while (offset <= lastIndex) {
etisserant@0:      if (d->objdict[offset].bSubCount <= 1) {
etisserant@0: 	  MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0:       pCobId = d->objdict[offset].pSubindex[1].pObject;
etisserant@0:       if ( *pCobId == (*m).cob_id.w ) {
etisserant@0: 	whoami = SDO_SERVER;
etisserant@0: 	MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
frdupin@71: 	/* In case of server, the node id of the client may be unknown. So we put the index minus offset */
frdupin@71: 	/* 0x1200 where the cobid received is defined. */
etisserant@0: 	nodeId = j;
etisserant@0: 	break;
etisserant@0:       }
etisserant@0:       j++;
etisserant@0:       offset++;
frdupin@71:   } /* end while */
etisserant@0:   if (whoami == SDO_UNKNOWN) {
frdupin@71:     /* Am-I client ? */
etisserant@0:     offset = d->firstIndex->SDO_CLT;
etisserant@0:     lastIndex = d->lastIndex->SDO_CLT;
etisserant@0:     j = 0;
etisserant@0:     if(offset) while (offset <= lastIndex) {
etisserant@0:        if (d->objdict[offset].bSubCount <= 3) {
etisserant@0: 	 MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
etisserant@0: 	 return 0xFF;
etisserant@0:        }
frdupin@71:        /* a) Looking for the cobid received. */
etisserant@0:        pCobId = d->objdict[offset].pSubindex[2].pObject;
etisserant@0:        if (*pCobId == (*m).cob_id.w ) {
frdupin@71: 	 /* b) cobid found, so reading the node id of the server. */
etisserant@0: 	 pNodeId = d->objdict[offset].pSubindex[3].pObject;
etisserant@0: 	 whoami = SDO_CLIENT;
etisserant@0: 	 nodeId = *pNodeId;
etisserant@0: 	 MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
etisserant@0: 	 MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
etisserant@0: 	 break;
etisserant@0: 	}
etisserant@0:        j++;
etisserant@0:        offset++;
frdupin@71:     } /* end while */
etisserant@0:   }
etisserant@0:   if (whoami == SDO_UNKNOWN) {
frdupin@71:     return 0xFF;/* This SDO was not for us ! */
frdupin@71:   }
frdupin@71: 
frdupin@71:   /* Test if the size of the SDO is ok */
etisserant@0:   if ( (*m).len != 8) {
etisserant@0:     MSG_ERR(0x1A67, "Error size SDO. CobId  : ", (*m).cob_id.w);
etisserant@0:     failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   
etisserant@0:   if (whoami == SDO_CLIENT) {
etisserant@0:     MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
etisserant@0:   }
etisserant@0:   else {
etisserant@0:     MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
etisserant@0:   }
etisserant@0:     
frdupin@71:   /* Testing the command specifier */
frdupin@71:   /* Allowed : cs = 0, 1, 2, 3, 4. (=  all except those for block tranfert). */
frdupin@71:   /* cs = other : Not allowed -> abort. */
etisserant@0:   switch (getSDOcs(m->data[0])) {
etisserant@0: 
etisserant@0:   case 0:
frdupin@71:     /* I am SERVER */
etisserant@0:     if (whoami == SDO_SERVER) {
frdupin@71:       /* Receiving a download segment data. */
frdupin@71:       /* A SDO transfert should have been yet initiated. */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", 
etisserant@0: 		nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); 
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
frdupin@71:       /* Toggle test. */
etisserant@0:       if (d->transfers[line].toggle != getSDOt(m->data[0])) {
etisserant@0: 	MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Nb of data to be downloaded */
etisserant@0:       nbBytes = 7 - getSDOn3(m->data[0]);
frdupin@71:       /* Store the data in the transfert structure. */
etisserant@0:       err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
etisserant@0:       if (err) {
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Sending the SDO response, CS = 1 */
frdupin@71:       sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */
etisserant@0:       sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
etisserant@0:       for (i = 1 ; i < 8 ; i++)
etisserant@0: 	sdo.body.data[i] = 0;
etisserant@0:       MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); 
etisserant@0:       sendSDO(d, whoami, sdo);
frdupin@71:       /* Inverting the toggle for the next segment. */
etisserant@0:       d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
frdupin@71:       /* If it was the last segment, */
etisserant@0:       if (getSDOc(m->data[0])) {
frdupin@71: 	/* Transfering line data to object dictionary. */
frdupin@71: 	/* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
etisserant@0: 	errorCode = SDOlineToObjdict(d, line);
etisserant@0: 	if (errorCode) {
etisserant@0: 	  MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); 
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
etisserant@0: 	  return 0xFF;	  
etisserant@0: 	}
frdupin@71: 	/* Release of the line */
etisserant@0: 	resetSDOline(d, line);
etisserant@0: 	MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); 
etisserant@0:       }
frdupin@71:     } /* end if SERVER */
frdupin@71:     else { /* if CLIENT */
frdupin@71:       /* I am CLIENT */
frdupin@71:       /* It is a request for a previous upload segment. We should find a line opened for this.*/
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line);
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
frdupin@71:       /* test of the toggle; */
etisserant@0:       if (d->transfers[line].toggle != getSDOt(m->data[0])) {
etisserant@0: 	MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* nb of data to be uploaded */
etisserant@0:       nbBytes = 7 - getSDOn3(m->data[0]);
frdupin@71:       /* Storing the data in the line structure. */
etisserant@0:       err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
etisserant@0:       if (err) {
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Inverting the toggle for the next segment. */
etisserant@0:       d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
frdupin@71:       /* If it was the last segment,*/
etisserant@0:       if ( getSDOc(m->data[0])) {
frdupin@71: 	/* Put in state finished */
frdupin@71: 	/* The code is safe for the case e=s=0 in initiate frame. */
etisserant@0: 	StopSDO_TIMER(line)
etisserant@0: 	d->transfers[line].state = SDO_FINISHED;
etisserant@32: 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
etisserant@32: 	
etisserant@0: 	MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
etisserant@0:       }
frdupin@71:       else { /* more segments to receive */
frdupin@71: 	     /* Sending the request for the next segment. */
etisserant@0: 	sdo.nodeId = nodeId;
etisserant@0: 	sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
etisserant@0: 	for (i = 1 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0: 	sendSDO(d, whoami, sdo);
etisserant@0: 	MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
etisserant@0:       }            
frdupin@71:     } /* End if CLIENT */
etisserant@0:     break;
etisserant@0: 
etisserant@0:   case 1:
frdupin@71:     /* I am SERVER */
frdupin@71:     /* Receive of an initiate download */
etisserant@0:     if (whoami == SDO_SERVER) {
etisserant@0:       index = getSDOindex(m->data[1],m->data[2]);
etisserant@0:       subIndex = getSDOsubIndex(m->data[3]);
etisserant@0:       MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", 
etisserant@0: 	      nodeId); 
etisserant@0:       MSG_WAR(0x3A80, "Writing at index : ", index);
etisserant@0:       MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
etisserant@0:       
frdupin@71:       /* Search if a SDO transfert have been yet initiated */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line );
etisserant@0:       if (! err) {
etisserant@0: 	MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* No line on use. Great ! */
frdupin@71:       /* Try to open a new line. */
etisserant@0:       err = getSDOfreeLine( d, whoami, &line );
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
etisserant@0:       initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);      
etisserant@0: 
frdupin@71:       if (getSDOe(m->data[0])) { /* If SDO expedited */
frdupin@71: 	/* nb of data to be downloaded */
etisserant@0: 	nbBytes = 4 - getSDOn2(m->data[0]);
frdupin@71: 	/* Storing the data in the line structure. */
etisserant@0: 	d->transfers[line].count = nbBytes;
etisserant@0: 	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
etisserant@0: 	
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}	  
etisserant@0: 
frdupin@71: 	/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
frdupin@71: 	/* The line will be reseted when it is downloading in the dictionary. */
etisserant@0: 	MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
frdupin@71: 	/* Transfering line data to object dictionary. */
etisserant@0: 	errorCode = SDOlineToObjdict(d, line);
etisserant@0: 	if (errorCode) {
etisserant@0: 	  MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); 
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
frdupin@71: 	/* Release of the line. */
etisserant@0: 	resetSDOline(d, line);
etisserant@0:       }
frdupin@71:       else {/* So, if it is not an expedited transfert */
etisserant@0: 	if (getSDOs(m->data[0])) {
frdupin@71: 	  /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
frdupin@71: 	  nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
etisserant@0: 	  err = setSDOlineRestBytes(d, nodeId, nbBytes);
etisserant@0: 	  if (err) {
etisserant@0: 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	    return 0xFF;
etisserant@0: 	  }	
etisserant@0: 	}
etisserant@0:       }
frdupin@71:       /*Sending a SDO, cs=3*/
frdupin@71:       sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/
etisserant@0:       sdo.body.data[0] = 3 << 5;
frdupin@71:       sdo.body.data[1] = index & 0xFF;        /* LSB */
frdupin@71:       sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
etisserant@0:       sdo.body.data[3] = subIndex;
etisserant@0:       for (i = 4 ; i < 8 ; i++)
etisserant@0: 		sdo.body.data[i] = 0;
etisserant@0:       sendSDO(d, whoami, sdo);
frdupin@71:     } /* end if I am SERVER */
etisserant@0:     else {
frdupin@71:       /* I am CLIENT */
frdupin@71:       /* It is a response for a previous download segment. We should find a line opened for this. */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line);
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
frdupin@71:       /* test of the toggle; */
etisserant@0:       if (d->transfers[line].toggle != getSDOt(m->data[0])) {
etisserant@0: 	MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
etisserant@0: 	return 0xFF;
etisserant@0:       }
etisserant@0: 
frdupin@71:       /* End transmission or downloading next segment. We need to know if it will be the last one. */
etisserant@0:       getSDOlineRestBytes(d, line, &nbBytes);
etisserant@0:       if (nbBytes == 0) {
etisserant@0: 	MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); 
etisserant@0: 	StopSDO_TIMER(line)
etisserant@0: 	d->transfers[line].state = SDO_FINISHED;
etisserant@32: 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
etisserant@0: 	return 0x00;
etisserant@0:       }
frdupin@71:       /* At least one transfer to send.	*/
etisserant@0:       if (nbBytes > 7) {
frdupin@71: 	/* several segments to download.*/
frdupin@71: 	/* code to send the next segment. (cs = 0; c = 0) */
etisserant@0: 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
etisserant@0: 	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0:       } 
etisserant@0:       else {
frdupin@71: 	/* Last segment. */
frdupin@71: 	/* code to send the last segment. (cs = 0; c = 1)*/
etisserant@0: 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
etisserant@0: 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0: 	for (i = nbBytes + 1 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0:       }
etisserant@0:       MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); 
etisserant@0:       sendSDO(d, whoami, sdo); 
frdupin@71:     } /* end if I am a CLIENT */			  
etisserant@0:     break;
etisserant@0: 
etisserant@0:   case 2:
frdupin@71:     /* I am SERVER */
frdupin@71:     /* Receive of an initiate upload.*/
etisserant@0:     if (whoami == SDO_SERVER) {
etisserant@0:       index = getSDOindex(m->data[1],m->data[2]);
etisserant@0:       subIndex = getSDOsubIndex(m->data[3]);
etisserant@0:       MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", 
etisserant@0: 	      nodeId); 
etisserant@0:       MSG_WAR(0x3A90, "Reading at index : ", index);
etisserant@0:       MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
frdupin@71:       /* Search if a SDO transfert have been yet initiated*/
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line );
etisserant@0:       if (! err) {
dejoigny@12: 	    MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); 
etisserant@0:         MSG_WAR(0x3A93, "nodeId = ", nodeId); 
dejoigny@12: 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
dejoigny@12: 	    return 0xFF;
etisserant@0:       }
frdupin@71:       /* No line on use. Great !*/
frdupin@71:       /* Try to open a new line.*/
etisserant@0:       err = getSDOfreeLine( d, whoami, &line );
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
etisserant@0:       initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
frdupin@71:       /* Transfer data from dictionary to the line structure. */
etisserant@0:       errorCode = objdictToSDOline(d, line);
etisserant@0:      
etisserant@0:       if (errorCode) {
etisserant@0: 	MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", 
etisserant@0: 		errorCode); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
etisserant@0: 	return 0xFF;
etisserant@0: 	}
frdupin@71:       /* Preparing the response.*/
frdupin@71:       getSDOlineRestBytes(d, line, &nbBytes);	/* Nb bytes to transfer ? */
frdupin@71:       sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0:       if (nbBytes > 4) {
frdupin@71: 	/* normal transfert. (segmented). */
frdupin@71: 	/* code to send the initiate upload response. (cs = 2) */
etisserant@0: 	sdo.body.data[0] = (2 << 5) | 1;
frdupin@71: 	sdo.body.data[1] = index & 0xFF;        /* LSB */
frdupin@71: 	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
etisserant@0: 	sdo.body.data[3] = subIndex;
frdupin@71:         sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
frdupin@71: 	/* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
frdupin@71: 	/* in the object dictionary, at every index and subindex. */
etisserant@0: 	for (i = 5 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0: 	MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); 
etisserant@0: 	sendSDO(d, whoami, sdo); 
etisserant@0:       }
etisserant@0:       else {
frdupin@71: 	/* Expedited upload. (cs = 2 ; e = 1) */
etisserant@0: 	sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;  
frdupin@71: 	sdo.body.data[1] = index & 0xFF;        /* LSB */
frdupin@71: 	sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
etisserant@0: 	sdo.body.data[3] = subIndex;
etisserant@0: 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0: 	for (i = 4 + nbBytes ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0: 	MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", 
etisserant@0: 		nodeId); 
etisserant@0: 	sendSDO(d, whoami, sdo); 
frdupin@71: 	/* Release the line.*/
etisserant@0: 	resetSDOline(d, line);
etisserant@0:       }
frdupin@71:     } /* end if I am SERVER*/
etisserant@0:     else {
frdupin@71:       /* I am CLIENT */
frdupin@71:       /* It is the response for the previous initiate upload request.*/
frdupin@71:       /* We should find a line opened for this. */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line);
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
etisserant@0:       
frdupin@71:       if (getSDOe(m->data[0])) { /* If SDO expedited */
frdupin@71: 	/* nb of data to be uploaded */
etisserant@0: 	  nbBytes = 4 - getSDOn2(m->data[0]);
frdupin@71: 	/* Storing the data in the line structure. */
etisserant@0: 	err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
frdupin@71: 	/* SDO expedited -> transfert finished. data are available via  getReadResultNetworkDict(). */
etisserant@0: 	MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
etisserant@0: 	StopSDO_TIMER(line)
etisserant@0: 	d->transfers[line].count = nbBytes;
etisserant@0: 	d->transfers[line].state = SDO_FINISHED;
etisserant@32: 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
etisserant@0: 	return 0;
etisserant@0:       }
frdupin@71:       else { /* So, if it is not an expedited transfert */
frdupin@71: 	/* Storing the nb of data to receive. */
etisserant@0: 	if (getSDOs(m->data[0])) {
frdupin@71: 	  nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
etisserant@0: 	  err = setSDOlineRestBytes(d, line, nbBytes);
etisserant@0: 	  if (err) {
etisserant@0: 	    failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	    return 0xFF;
etisserant@0: 	  }	
etisserant@0: 	}
frdupin@71: 	/* Requesting next segment. (cs = 3) */
etisserant@0: 	sdo.nodeId = nodeId;
etisserant@0: 	sdo.body.data[0] = 3 << 5;
etisserant@0: 	for (i = 1 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0: 	MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); 
etisserant@0: 	sendSDO(d, whoami, sdo);  
etisserant@0:       }
frdupin@71:     } /* End if CLIENT */
etisserant@0:     break;
etisserant@0: 
etisserant@0:   case 3:
frdupin@71:     /* I am SERVER */
etisserant@0:     if (whoami == SDO_SERVER) {
frdupin@71:       /* Receiving a upload segment. */
frdupin@71:       /* A SDO transfert should have been yet initiated. */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line ); 
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", 
etisserant@0: 		nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); 
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
frdupin@71:       /* Toggle test.*/
etisserant@0:       if (d->transfers[line].toggle != getSDOt(m->data[0])) {
etisserant@0: 	MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); 
etisserant@0: 	failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Uploading next segment. We need to know if it will be the last one. */
etisserant@0:       getSDOlineRestBytes(d, line, &nbBytes);	  	  
etisserant@0:       if (nbBytes > 7) {
frdupin@71: 	/* The segment to transfer is not the last one.*/
frdupin@71: 	/* code to send the next segment. (cs = 0; c = 0) */
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
etisserant@0: 	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
frdupin@71: 	/* Inverting the toggle for the next tranfert. */
etisserant@0: 	d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
etisserant@0: 	MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); 
etisserant@0: 	sendSDO(d, whoami, sdo); 
etisserant@0:       } 
etisserant@0:       else {
frdupin@71: 	/* Last segment. */
frdupin@71: 	/* code to send the last segment. (cs = 0; c = 1) */	    
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
etisserant@0: 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0: 	for (i = nbBytes + 1 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0: 	MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);      
etisserant@0: 	sendSDO(d, whoami, sdo);
frdupin@71: 	/* Release the line */
etisserant@0: 	resetSDOline(d, line);
etisserant@0:       }
frdupin@71:     } /* end if SERVER*/
etisserant@0:     else {
frdupin@71:       /* I am CLIENT */
frdupin@71:       /* It is the response for the previous initiate download request. */
frdupin@71:       /* We should find a line opened for this. */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line);
etisserant@0:       if (!err)
etisserant@0: 	err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
etisserant@0:       if (err) {
etisserant@0: 	MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); 
etisserant@0: 	failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
etisserant@0: 	return 0xFF;
etisserant@0:       }
frdupin@71:       /* Reset the wathdog */
etisserant@0:       RestartSDO_TIMER(line)
etisserant@0:       index = d->transfers[line].index;
etisserant@0:       subIndex = d->transfers[line].subIndex;
frdupin@71:       /* End transmission or requesting  next segment. */
etisserant@0:       getSDOlineRestBytes(d, line, &nbBytes);
etisserant@0:       if (nbBytes == 0) {
etisserant@0: 	MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); 
etisserant@0: 	StopSDO_TIMER(line)
etisserant@0: 	d->transfers[line].state = SDO_FINISHED;
etisserant@32: 	if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
etisserant@0: 	return 0x00;
etisserant@0:       }	  
etisserant@0:       if (nbBytes > 7) {
frdupin@71: 	/* more than one request to send */
frdupin@71: 	/* code to send the next segment. (cs = 0; c = 0)	*/    
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4);
etisserant@0: 	err = lineToSDO(d, line, 7, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0:       } 
etisserant@0:       else {
frdupin@71: 	/* Last segment.*/
frdupin@71: 	/* code to send the last segment. (cs = 0; c = 1)	*/   
frdupin@71: 	sdo.nodeId = nodeId; /* The server node Id; */
etisserant@0: 	sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
etisserant@0: 	err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);	 
etisserant@0: 	if (err) {
etisserant@0: 	  failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
etisserant@0: 	  return 0xFF;
etisserant@0: 	}
etisserant@0: 	for (i = nbBytes + 1 ; i < 8 ; i++)
etisserant@0: 	  sdo.body.data[i] = 0;
etisserant@0:       }
etisserant@0:       MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); 
etisserant@0:       sendSDO(d, whoami, sdo); 
etisserant@0: 
frdupin@71:     } /* end if I am a CLIENT		*/	  
etisserant@0:     break;  
etisserant@0: 
etisserant@0:   case 4:
etisserant@0:     abortCode = (*m).data[3] | 
etisserant@0:       (m->data[5] << 8) |
etisserant@0:       (m->data[6] << 16) |
etisserant@0:       (m->data[7] << 24);
frdupin@71:     /* Received SDO abort. */
frdupin@71:     /* Looking for the line concerned. */
etisserant@0:     if (whoami == SDO_SERVER) {
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line );
etisserant@0:       if (!err) {
etisserant@0: 	resetSDOline( d, line );
etisserant@0: 	MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
etisserant@0:       }
etisserant@0:       else
etisserant@0: 	MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
frdupin@71:       /* Tips : The end user has no way to know that the server node has received an abort SDO. */
frdupin@71:       /* Its is ok, I think.*/
etisserant@0:     }
frdupin@71:     else { /* If I am CLIENT */
etisserant@0:       err = getSDOlineOnUse( d, nodeId, whoami, &line );
etisserant@0:       if (!err) {
frdupin@71: 	/* The line *must* be released by the core program. */
etisserant@0: 	StopSDO_TIMER(line)
etisserant@0: 	d->transfers[line].state = SDO_ABORTED_RCV;
etisserant@0: 	MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
etisserant@0:       }
etisserant@0:       else
etisserant@0: 	MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
etisserant@0:     } 
etisserant@0:     break;
etisserant@0:   default:
frdupin@71:     /* Error : Unknown cs */
etisserant@0:     MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
etisserant@0:     return 0xFF;
etisserant@0: 
frdupin@71:   } /* End switch */
etisserant@0:   return 0;     
etisserant@0: }
etisserant@0: 
etisserant@0: /*******************************************************************)******/
frdupin@71: INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
etisserant@32: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
etisserant@0: {
etisserant@0:   UNS8 err;
etisserant@0:   UNS8 SDOfound = 0;
etisserant@0:   UNS8 line;
frdupin@71:   s_SDO sdo;    /* SDO to transmit */
etisserant@0:   UNS8 i, j;
etisserant@0:   UNS8 *    pSize;
etisserant@0:   UNS8      size;
etisserant@0:   UNS16     lastIndex;
etisserant@0:   UNS16     offset;
etisserant@0:   UNS8      *pNodeIdServer;
etisserant@0:   UNS8      nodeIdServer;
etisserant@0:   pSize = &size;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
etisserant@0:   MSG_WAR(0x3AC1, "                                   At index : ", index);
etisserant@0:   MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
etisserant@0:   MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
etisserant@0: 
frdupin@71:   /* Verify that there is no SDO communication yet. */
etisserant@0:   err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
etisserant@0:   if (!err) {
etisserant@0:     MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); 
etisserant@0:     return 0xFF;
etisserant@0:   }
frdupin@71:   /* Taking the line ... */
etisserant@0:   err = getSDOfreeLine( d, SDO_CLIENT, &line );
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
etisserant@0:     return (0xFF);
etisserant@0:   }
frdupin@71:   /* Check which SDO to use to communicate with the node */
etisserant@0:   offset = d->firstIndex->SDO_CLT;
etisserant@0:   lastIndex = d->lastIndex->SDO_CLT;
etisserant@0:   if (offset == 0) {
etisserant@0:     MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); 
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   i = 0;
etisserant@0:    while (offset <= lastIndex) {
etisserant@0:      if (d->objdict[offset].bSubCount <= 3) {
etisserant@0: 	 MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
etisserant@0: 	 return 0xFF;
etisserant@0:      }
frdupin@71:      /* looking for the nodeId server */
etisserant@0:      pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
etisserant@0:      nodeIdServer = *pNodeIdServer;
etisserant@0:      MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
etisserant@0:      MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
etisserant@0:    
etisserant@0:     if(nodeIdServer == nodeId) {
etisserant@0:       SDOfound = 1;
etisserant@0:       break;
etisserant@0:     }
etisserant@0:     offset++;
etisserant@0:     i++;
frdupin@71:   } /* end while */
etisserant@0:   if (!SDOfound) {
etisserant@0:     MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
etisserant@0:   initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
etisserant@0:   d->transfers[line].count = count;
etisserant@0:   d->transfers[line].dataType = dataType;
etisserant@0:   
frdupin@71:   /* Copy data to transfers structure. */
etisserant@0:   for (j = 0 ; j < count ; j++) {
etisserant@0: # ifdef CANOPEN_BIG_ENDIAN
etisserant@0:     if (dataType == 0)
etisserant@0:       d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
frdupin@71:     else /* String of bytes. */
etisserant@0:       d->transfers[line].data[j] = ((char *)data)[j];
etisserant@0: #  else 
etisserant@0:     d->transfers[line].data[j] = ((char *)data)[j];
etisserant@0: #  endif
etisserant@0:   }
frdupin@71:   /* Send the SDO to the server. Initiate download, cs=1. */
etisserant@0:   sdo.nodeId = nodeId;
frdupin@71:   if (count <= 4) { /* Expedited transfert */
etisserant@0:     sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
etisserant@0:     for (i = 4 ; i < 8 ; i++)
etisserant@0:       sdo.body.data[i] = d->transfers[line].data[i - 4];
etisserant@0:     d->transfers[line].offset = count;
etisserant@0:   }	
frdupin@71:   else { /* Normal transfert */
etisserant@0:     sdo.body.data[0] = (1 << 5) | 1;
frdupin@71:     sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
etisserant@0:     for (i = 5 ; i < 8 ; i++)
etisserant@0:       sdo.body.data[i] = 0;
etisserant@0:   }
frdupin@71:   sdo.body.data[1] = index & 0xFF;        /* LSB */
frdupin@71:   sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
etisserant@0:   sdo.body.data[3] = subIndex;
etisserant@0:   
etisserant@0:   err = sendSDO(d, SDO_CLIENT, sdo);
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
frdupin@71:     /* release the line */
etisserant@0:     resetSDOline(d, line);
etisserant@0:     return 0xFF;
etisserant@32:   }
etisserant@32:   d->transfers[line].Callback = Callback;
etisserant@0:   return 0;
etisserant@0: }
frdupin@53: 
frdupin@53: /*--------------------------------------------------------------------------*/
frdupin@53: 
etisserant@32: UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
etisserant@32: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
etisserant@32: {
etisserant@32: 	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL);
etisserant@32: }
etisserant@32: 
frdupin@53: /*--------------------------------------------------------------------------*/
frdupin@53: 
etisserant@32: UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, 
etisserant@32: 		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
etisserant@32: {
etisserant@32: 	return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback);	
etisserant@32: }
etisserant@32: 
etisserant@32: 
etisserant@32: /***************************************************************************/
frdupin@71: INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
etisserant@0: {
etisserant@0:   UNS8 err;
etisserant@0:   UNS8 SDOfound = 0;
etisserant@0:   UNS8 i;
etisserant@0:   UNS8 line;
etisserant@0:   UNS8 *    pSize;
etisserant@0:   UNS8      size;
frdupin@71:   s_SDO sdo;    /* SDO to transmit */
etisserant@0:   UNS8      *pNodeIdServer;
etisserant@0:   UNS8      nodeIdServer;
etisserant@0:   UNS16     offset;
etisserant@0:   UNS16     lastIndex;
etisserant@0:   pSize = &size;
etisserant@0:   MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
etisserant@0:   MSG_WAR(0x3AD6, "                                  At index : ", index);
etisserant@0:   MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
etisserant@0: 
etisserant@0: 
frdupin@71:   /* Verify that there is no SDO communication yet. */
etisserant@0:   err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
etisserant@0:   if (!err) {
etisserant@0:     MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); 
etisserant@0:     return 0xFF;
etisserant@0:   }
frdupin@71:   /* Taking the line ... */
etisserant@0:   err = getSDOfreeLine( d, SDO_CLIENT, &line );
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); 
etisserant@0:     return (0xFF);
etisserant@0:   }
etisserant@0:   else
etisserant@0:     MSG_WAR(0x3AE0, "Transmission on line : ", line);
etisserant@0: 
frdupin@71:   /* Check which SDO to use to communicate with the node */
etisserant@0:   offset = d->firstIndex->SDO_CLT;
etisserant@0:   lastIndex = d->lastIndex->SDO_CLT;
etisserant@0:   if (offset == 0) {
etisserant@0:     MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); 
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   i = 0;
etisserant@0:   while (offset <= lastIndex) {
etisserant@0:      if (d->objdict[offset].bSubCount <= 3) {
etisserant@0: 	 MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
etisserant@0: 	 return 0xFF;
etisserant@0:      }
frdupin@71:      /* looking for the nodeId server */
etisserant@0:      pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
etisserant@0:      nodeIdServer = *pNodeIdServer;
etisserant@0:    
etisserant@0:     if(nodeIdServer == nodeId) {
etisserant@0:       SDOfound = 1;
etisserant@0:       break;
etisserant@0:     }
etisserant@0:     offset++;
etisserant@0:     i++;
frdupin@71:   } /* end while */
etisserant@0:   if (!SDOfound) {
etisserant@0:     MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
etisserant@0:     return 0xFF;
etisserant@0:   }
etisserant@0:   MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
etisserant@0:   initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
etisserant@0:   getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
etisserant@0:   sdo.nodeId = nodeId;
frdupin@71:   /* Send the SDO to the server. Initiate upload, cs=2. */
etisserant@0:   d->transfers[line].dataType = dataType;				
etisserant@0:   sdo.body.data[0] = (2 << 5);	
frdupin@71:   sdo.body.data[1] = index & 0xFF;        /* LSB */
frdupin@71:   sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
etisserant@0:   sdo.body.data[3] = subIndex;
etisserant@0:   for (i = 4 ; i < 8 ; i++)
etisserant@0:     sdo.body.data[i] = 0;
etisserant@0:   err = sendSDO(d, SDO_CLIENT, sdo);
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
frdupin@71:     /* release the line */
etisserant@0:     resetSDOline(d, line);
etisserant@0:     return 0xFF;
etisserant@0:   }		
etisserant@32:   d->transfers[line].Callback = Callback;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
frdupin@53: /*--------------------------------------------------------------------------*/
frdupin@53: 
etisserant@32: UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
etisserant@32: {
etisserant@32: 	return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
etisserant@32: }
etisserant@32: 
frdupin@53: /*--------------------------------------------------------------------------*/
etisserant@32: UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
etisserant@32: {
etisserant@32: 	return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
etisserant@32: }
frdupin@53: 
etisserant@0: /***************************************************************************/
etisserant@0: 
etisserant@0: UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, 
etisserant@0: 			       UNS32 * abortCode)
etisserant@0: {
etisserant@0:   UNS8 i;
etisserant@0:   UNS8 err;
etisserant@0:   UNS8 line;
etisserant@0:   * size = 0;
etisserant@0: 
frdupin@71:   /* Looking for the line tranfert. */
etisserant@0:   err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); 
etisserant@0:     return SDO_ABORTED_INTERNAL;
etisserant@0:   }
etisserant@0:   if (d->transfers[line].state != SDO_FINISHED)
etisserant@0:     return d->transfers[line].state;
etisserant@0: 
frdupin@71:   /* Transfert is finished. Put the value in the data. */
etisserant@0:   * size = d->transfers[line].count;
etisserant@0:   for  ( i = 0 ; i < *size ; i++) {
etisserant@0: # ifdef CANOPEN_BIG_ENDIAN
etisserant@0:     if (d->transfers[line].dataType != visible_string)
etisserant@0:       ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
frdupin@71:     else /* String of bytes. */
etisserant@0:       ( (char *) data)[i] = d->transfers[line].data[i];
etisserant@0: # else 
etisserant@0:     ( (char *) data)[i] = d->transfers[line].data[i];
etisserant@0: # endif
etisserant@0:   } 
etisserant@0:   return SDO_FINISHED;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: 
etisserant@0: UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
etisserant@0: {
etisserant@0:   UNS8 line = 0;
etisserant@0:   UNS8 err;
etisserant@0: 
etisserant@0:   * abortCode = 0;
frdupin@71:   /* Looking for the line tranfert. */
etisserant@0:   err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
etisserant@0:   if (err) {
etisserant@0:     MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); 
etisserant@0:     return SDO_ABORTED_INTERNAL;
etisserant@0:   }
etisserant@0:   * abortCode = d->transfers[line].abortCode;
etisserant@0:   return d->transfers[line].state;
etisserant@0: }
etisserant@1: