CanFestival: include/sdo.h Source File

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 #ifndef __sdo_h__
-00024 #define __sdo_h__
-00025 
-00026 struct struct_s_transfer;
-00027 
-00028 #include "timer.h"
-00029 
-00030 typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
-00031 
-00032 /* The Transfer structure
-00033 Used to store the different segments of 
-00034  - a SDO received before writing in the dictionary  
-00035  - the reading of the dictionary to put on a SDO to transmit 
-00036 */
-00037 
-00038 struct struct_s_transfer {
-00039   UNS8           nodeId;     /*own ID if server, or node ID of the server if client */
-00040   
-00041   UNS8           whoami;     /* Takes the values SDO_CLIENT or SDO_SERVER */
-00042   UNS8           state;      /* state of the transmission : Takes the values SDO_... */
-00043   UNS8           toggle;
-00044   UNS32          abortCode;  /* Sent or received */
-00045   /* index and subindex of the dictionary where to store */
-00046   /* (for a received SDO) or to read (for a transmit SDO) */
-00047   UNS16          index; 
-00048   UNS8           subIndex; 
-00049   UNS32          count;      /* Number of data received or to be sent. */
-00050   UNS32          offset;     /* stack pointer of data[]
-00051                               * Used only to tranfer part of a line to or from a SDO.
-00052                               * offset is always pointing on the next free cell of data[].
-00053                               * WARNING s_transfer.data is subject to ENDIANISATION 
-00054                               * (with respect to CANOPEN_BIG_ENDIAN)
-00055                               */
-00056   UNS8           data [SDO_MAX_LENGTH_TRANSFERT];
-00057   UNS8           dataType;   /* Defined in objdictdef.h Value is visible_string 
-00058                               * if it is a string, any other value if it is not a string, 
-00059                               * like 0. In fact, it is used only if client.
-00060                               */
-00061   TIMER_HANDLE   timer;      /* Time counter to implement a timeout in milliseconds.
-00062                               * It is automatically incremented whenever 
-00063                               * the line state is in SDO_DOWNLOAD_IN_PROGRESS or 
-00064                               * SDO_UPLOAD_IN_PROGRESS, and reseted to 0 
-00065                               * when the response SDO have been received.
-00066                               */
-00067   SDOCallback_t Callback;   /* The user callback func to be called at SDO transaction end */
-00068 };
-00069 typedef struct struct_s_transfer s_transfer;
-00070   
-00071 
-00072 #include "data.h"
-00073 
-00074 /* The 8 bytes data of the SDO */
-00075 struct BODY{
-00076     UNS8 data[8];
-00077 };
-00078 
-00079 /* The SDO structure ...*/
-00080 struct struct_s_SDO {
-00081   UNS8 nodeId;          /*in any case, Node ID of the server (case sender or receiver).*/
-00082   struct BODY body;
-00083 };
-00084 
-00085 
-00086 typedef struct struct_s_SDO s_SDO;
-00087 
-00091 void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
-00092 
-00095 void resetSDO (CO_Data* d);
-00096 
-00097 
-00101 UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
-00102 
-00106 UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
-00107 
-00111 UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
-00112 
-00116 UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
-00117 
-00126 UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, 
-00127                 UNS8 subIndex, UNS32 abortCode);
-00128 
-00132 void resetSDOline (CO_Data* d, UNS8 line);
-00133 
-00137 UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
-00138 
-00147 UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
-00148 
-00156 UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
-00157 
-00162 UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
-00163 
-00168 UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);
-00169 
-00174 UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);
-00175 
-00182 UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
-00183 
-00191 UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
-00192 
-00200 UNS8 proceedSDO (CO_Data* d, Message *m);
-00201 
-00210 UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
-00211                        UNS8 subIndex, UNS8 count, UNS8 dataType, void *data); 
-00216 UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, 
-00217                        UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback);
-00225 UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
-00226                       UNS8 subIndex, UNS8 dataType);
-00227                        
-00232 UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
-00233 
-00249 UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, 
-00250                                UNS8 *size, UNS32 * abortCode);
-00251 
-00268 UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
-00269 
-00270 
-00271  
-00272 
-00273 #endif
-