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
+