CanFestival: /home/epimerde/documents/tc11/CanFestival-3/include/sdo.h File Reference

typedef struct struct_s_SDO s_SDO

Definition at line 86 of file sdo.h.

typedef struct struct_s_transfer s_transfer

Definition at line 69 of file sdo.h.

typedef void(*) SDOCallback_t(CO_Data *d, UNS8 nodeId)

Definition at line 30 of file sdo.h.

UNS8 closeSDOtransfer	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami
	)

Close a transmission. nodeId : Node id of the server if both server or client whoami : Line opened as SDO_CLIENT or SDO_SERVER

Definition at line 318 of file sdo.c.

References struct_s_timer_entry::d, getSDOlineOnUse(), MSG_WAR, resetSDOline(), and UNS8.

UNS8 failedSDO	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode
	)

Called when an internal SDO abort occurs. Release the line * Only if server * If client, the line must be released manually in the core application. The reason of that is to permit the program to read the transfers[][] structure before its reset, because many informations are stored on it : index, subindex, data received or trasmited, ... In all cases, sends a SDO abort. Returns 0

Definition at line 227 of file sdo.c.

References struct_s_timer_entry::d, getSDOlineOnUse(), MSG_WAR, resetSDOline(), SDO_ABORTED_INTERNAL, SDO_CLIENT, SDO_SERVER, sendSDOabort(), struct_s_transfer::state, StopSDO_TIMER, struct_CO_Data::transfers, and UNS8.

UNS8 getReadResultNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		void *	data,
		UNS8 *	size,
		UNS32 *	abortCode
	)

Use this function after a readNetworkDict to get the result. Returns : SDO_FINISHED // data is available SDO_ABORTED_RCV // Transfert failed. (abort SDO received) SDO_ABORTED_INTERNAL // Transfert failed. Internal abort. SDO_UPLOAD_IN_PROGRESS // Data not yet available SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !

dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals. abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV) example : UNS32 data; UNS8 size; readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5 while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);

Definition at line 1295 of file sdo.c.

References CANOPEN_BIG_ENDIAN, struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::data, struct_s_transfer::dataType, getSDOlineOnUse(), MSG_ERR, SDO_ABORTED_INTERNAL, SDO_CLIENT, SDO_FINISHED, struct_s_transfer::state, struct_CO_Data::transfers, UNS8, and visible_string.

UNS8 getSDOfreeLine	(	CO_Data *	d,
		UNS8	whoami,
		UNS8 *	line
	)

Search for an unused line in the transfers array to store a new SDO. ie a line which value of the field "state" is "SDO_RESET" An unused line have the field "state" at the value SDO_RESET bus_id is hardware dependant whoami : create the line for a SDO_SERVER or SDO_CLIENT. return 0xFF if all the lines are on use. Else, return 0

Definition at line 284 of file sdo.c.

References struct_s_timer_entry::d, SDO_MAX_SIMULTANEOUS_TRANSFERTS, SDO_RESET, struct_s_transfer::state, struct_CO_Data::transfers, UNS8, and struct_s_transfer::whoami.

UNS8 getSDOlineOnUse	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS8 *	line
	)

Search for the line, in the transfers array, which contains the beginning of the reception of a fragmented SDO whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER bus_id is hardware dependant nodeId correspond to the message node-id return 0xFF if error. Else, return 0

Definition at line 301 of file sdo.c.

References struct_s_timer_entry::d, struct_s_transfer::nodeId, SDO_MAX_SIMULTANEOUS_TRANSFERTS, SDO_RESET, struct_s_transfer::state, struct_CO_Data::transfers, UNS8, and struct_s_transfer::whoami.

UNS8 getSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS8 *	nbBytes
	)

Bytes in the line structure which must be transmited (or received) bus_id is hardware dependant. return 0.

Definition at line 332 of file sdo.c.

References struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::offset, struct_CO_Data::transfers, and UNS8.

UNS8 getWriteResultNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS32 *	abortCode
	)

Use this function after a writeNetworkDict to get the result of the write It is mandatory to call this function because it is releasing the line used for the transfer. Returns : SDO_FINISHED // data is available SDO_ABORTED_RCV // Transfert failed. (abort SDO received) SDO_ABORTED_INTERNAL // Transfert failed. Internal abort. SDO_DOWNLOAD_IN_PROGRESS // Data not yet available SDO_UPLOAD_IN_PROGRESS // Should not arrive ! abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV) example : UNS32 data = 0x50; UNS8 size; UNS32 abortCode; writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5 while ( getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);

Definition at line 1329 of file sdo.c.

References struct_s_transfer::abortCode, struct_s_timer_entry::d, getSDOlineOnUse(), MSG_ERR, SDO_ABORTED_INTERNAL, SDO_CLIENT, struct_s_transfer::state, struct_CO_Data::transfers, and UNS8.

UNS8 initSDOline	(	CO_Data *	d,
		UNS8	line,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	state
	)

Initialize some fields of the structure. Returns 0

Definition at line 263 of file sdo.c.

References struct_s_transfer::Callback, struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::dataType, struct_s_transfer::index, MSG_WAR, struct_s_transfer::nodeId, struct_s_transfer::offset, SDO_DOWNLOAD_IN_PROGRESS, SDO_UPLOAD_IN_PROGRESS, StartSDO_TIMER, struct_s_transfer::state, StopSDO_TIMER, struct_s_transfer::subIndex, struct_s_transfer::toggle, and struct_CO_Data::transfers.

UNS8 lineToSDO	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes,
		UNS8 *	data
	)

copy data from an existant line in the argument "* data" Returns 0xFF if error. Else, returns 0;

Definition at line 189 of file sdo.c.

References struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::data, MSG_ERR, struct_s_transfer::offset, SDO_MAX_LENGTH_TRANSFERT, struct_CO_Data::transfers, and UNS8.

UNS32 objdictToSDOline	(	CO_Data *	d,
		UNS8	line
	)

Copy the data from the object dictionary to the SDO line for a network transfert. Returns SDO error code if error. Else, returns 0;

Definition at line 157 of file sdo.c.

References struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::data, getODentry(), struct_s_transfer::index, MSG_WAR, OD_SUCCESSFUL, struct_s_transfer::offset, struct_s_transfer::subIndex, struct_CO_Data::transfers, UNS32, and UNS8.

UNS8 proceedSDO	(	CO_Data *	d,
		Message *	m
	)

Treat a SDO frame reception bus_id is hardware dependant call the function sendSDO return 0xFF if error 0x80 if transfert aborted by the server 0x0 ok

Definition at line 447 of file sdo.c.

References struct_s_transfer::abortCode, struct_CO_Data::bDeviceNodeId, struct_s_SDO::body, td_indextable::bSubCount, struct_s_transfer::Callback, struct_s_transfer::count, struct_s_timer_entry::d, BODY::data, Message::data, failedSDO(), struct_CO_Data::firstIndex, getSDOc, getSDOcs, getSDOe, getSDOfreeLine(), getSDOindex, getSDOlineOnUse(), getSDOlineRestBytes(), getSDOn2, getSDOn3, getSDOs, getSDOsubIndex, getSDOt, struct_s_transfer::index, initSDOline(), struct_CO_Data::lastIndex, lineToSDO(), MSG_ERR, MSG_WAR, struct_s_SDO::nodeId, struct_CO_Data::objdict, objdictToSDOline(), td_subindex::pObject, td_indextable::pSubindex, resetSDOline(), RestartSDO_TIMER, SDO_ABORTED_RCV, SDO_CLIENT, s_quick_index::SDO_CLT, SDO_DOWNLOAD_IN_PROGRESS, SDO_FINISHED, SDO_SERVER, s_quick_index::SDO_SVR, SDO_UNKNOWN, SDO_UPLOAD_IN_PROGRESS, SDOABT_GENERAL_ERROR, SDOABT_LOCAL_CTRL_ERROR, SDOABT_TOGGLE_NOT_ALTERNED, SDOlineToObjdict(), SDOtoLine(), sendSDO(), setSDOlineRestBytes(), struct_s_transfer::state, StopSDO_TIMER, struct_s_transfer::subIndex, struct_s_transfer::toggle, struct_CO_Data::transfers, UNS16, UNS32, and UNS8.

UNS8 readNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	dataType
	)

Used by the application to send a SDO request frame to read in the dictionary of a server node whose node_id is ID at the index and subIndex indicated bus_id is hardware dependant datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. return 0xFF if error, else return 0

Definition at line 1282 of file sdo.c.

References _readNetworkDict(), and struct_s_timer_entry::d.

UNS8 readNetworkDictCallback	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	dataType,
		SDOCallback_t	Callback
	)

Used to send a SDO request frame to read in a distant node dictionnary. The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort).

Definition at line 1288 of file sdo.c.

References _readNetworkDict(), and struct_s_timer_entry::d.

void resetSDO ( CO_Data * d )

Reset all sdo buffers

Definition at line 131 of file sdo.c.

References struct_s_timer_entry::d, resetSDOline(), SDO_MAX_SIMULTANEOUS_TRANSFERTS, and UNS8.

void resetSDOline	(	CO_Data *	d,
		UNS8	line
	)

Reset an unused line.

Definition at line 253 of file sdo.c.

References struct_s_timer_entry::d, struct_s_transfer::data, initSDOline(), MSG_WAR, SDO_MAX_LENGTH_TRANSFERT, SDO_RESET, struct_CO_Data::transfers, and UNS8.

UNS32 SDOlineToObjdict	(	CO_Data *	d,
		UNS8	line
	)

Copy the data received from the SDO line transfert to the object dictionary Returns SDO error code if error. Else, returns 0;

Definition at line 141 of file sdo.c.

References struct_s_transfer::count, struct_s_timer_entry::d, struct_s_transfer::data, struct_s_transfer::index, MSG_WAR, OD_SUCCESSFUL, setODentry(), struct_s_transfer::subIndex, struct_CO_Data::transfers, UNS32, and UNS8.

void SDOTimeoutAlarm	(	CO_Data *	d,
		UNS32	id
	)

Reset of a SDO exchange on timeout. Send a SDO abort

Definition at line 93 of file sdo.c.

References struct_s_transfer::abortCode, struct_s_transfer::Callback, struct_s_timer_entry::d, struct_s_transfer::index, MSG_ERR, MSG_WAR, struct_s_transfer::nodeId, resetSDOline(), SDO_ABORTED_INTERNAL, SDO_SERVER, SDOABT_TIMED_OUT, sendSDOabort(), struct_s_transfer::state, struct_s_transfer::subIndex, struct_s_transfer::timer, struct_CO_Data::transfers, UNS8, and struct_s_transfer::whoami.

UNS8 SDOtoLine	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes,
		UNS8 *	data
	)

Add data to an existant line Returns 0xFF if error. Else, returns 0;

Definition at line 210 of file sdo.c.

References struct_s_timer_entry::d, struct_s_transfer::data, MSG_ERR, struct_s_transfer::offset, SDO_MAX_LENGTH_TRANSFERT, struct_CO_Data::transfers, and UNS8.

UNS8 sendSDO	(	CO_Data *	d,
		UNS8	whoami,
		s_SDO	sdo
	)

Transmit a SDO frame on the bus bus_id sdo is a structure which contains the sdo to transmit bus_id is hardware dependant whoami takes 2 values : SDO_CLIENT or SDO_SERVER return canSend(bus_id,&m) or 0xFF if error

Definition at line 354 of file sdo.c.

References struct_s_SDO::body, td_indextable::bSubCount, struct_CO_Data::canHandle, canSend(), Message::cob_id, struct_s_timer_entry::d, BODY::data, Message::data, struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, Message::len, MSG_ERR, MSG_WAR, struct_s_SDO::nodeId, struct_CO_Data::nodeState, NOT_A_REQUEST, struct_CO_Data::objdict, Operational, td_subindex::pObject, Pre_operational, td_indextable::pSubindex, Message::rtr, s_quick_index::SDO_CLT, SDO_SERVER, s_quick_index::SDO_SVR, UNS16, UNS32, UNS8, and SHORT_CAN::w.

UNS8 sendSDOabort	(	CO_Data *	d,
		UNS8	whoami,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode
	)

Transmit a SDO error to the client. The reasons may be : Read/Write to a undefined object Read/Write to a undefined subindex Read/write a not valid length object Write a read only object whoami takes 2 values : SDO_CLIENT or SDO_SERVER

Definition at line 424 of file sdo.c.

References struct_CO_Data::bDeviceNodeId, struct_s_SDO::body, struct_s_timer_entry::d, BODY::data, MSG_WAR, struct_s_SDO::nodeId, sendSDO(), and UNS8.

UNS8 setSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes
	)

Store in the line structure the nb of bytes which must be transmited (or received) bus_id is hardware dependant. return 0 if success, 0xFF if error.

Definition at line 342 of file sdo.c.

References struct_s_transfer::count, struct_s_timer_entry::d, MSG_ERR, SDO_MAX_LENGTH_TRANSFERT, and struct_CO_Data::transfers.

UNS8 writeNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	count,
		UNS8	dataType,
		void *	data
	)

Used by the application to send a SDO request frame to write the data *data at the index and subIndex indicated in the dictionary of the slave whose node_id is nodeId Count : nb of bytes to write in the dictionnary. datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. bus_id is hardware dependant return 0xFF if error, else return 0

Definition at line 1182 of file sdo.c.

References _writeNetworkDict(), and struct_s_timer_entry::d.

UNS8 writeNetworkDictCallBack	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	count,
		UNS8	dataType,
		void *	data,
		SDOCallback_t	Callback
	)

Used to send a SDO request frame to write in a distant node dictionnary. The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort).

Definition at line 1190 of file sdo.c.

References _writeNetworkDict(), and struct_s_timer_entry::d.

/home/epimerde/documents/tc11/CanFestival-3/include/sdo.h File Reference

Data Structures

Typedefs

Functions

Typedef Documentation

Function Documentation


Data Structures
struct	struct_s_transfer
struct	BODY
struct	struct_s_SDO
Typedefs
typedef void(*)	SDOCallback_t (CO_Data *d, UNS8 nodeId)
typedef struct_s_transfer	s_transfer
typedef struct_s_SDO	s_SDO
Functions
void	SDOTimeoutAlarm (CO_Data *d, UNS32 id)
void	resetSDO (CO_Data *d)
UNS32	SDOlineToObjdict (CO_Data *d, UNS8 line)
UNS32	objdictToSDOline (CO_Data *d, UNS8 line)
UNS8	lineToSDO (CO_Data d, UNS8 line, UNS8 nbBytes, UNS8 data)
UNS8	SDOtoLine (CO_Data d, UNS8 line, UNS8 nbBytes, UNS8 data)
UNS8	failedSDO (CO_Data *d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
void	resetSDOline (CO_Data *d, UNS8 line)
UNS8	initSDOline (CO_Data *d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
UNS8	getSDOfreeLine (CO_Data d, UNS8 whoami, UNS8 line)
UNS8	getSDOlineOnUse (CO_Data d, UNS8 nodeId, UNS8 whoami, UNS8 line)
UNS8	closeSDOtransfer (CO_Data *d, UNS8 nodeId, UNS8 whoami)
UNS8	getSDOlineRestBytes (CO_Data d, UNS8 line, UNS8 nbBytes)
UNS8	setSDOlineRestBytes (CO_Data *d, UNS8 line, UNS8 nbBytes)
UNS8	sendSDO (CO_Data *d, UNS8 whoami, s_SDO sdo)
UNS8	sendSDOabort (CO_Data *d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
UNS8	proceedSDO (CO_Data d, Message m)
UNS8	writeNetworkDict (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data)
UNS8	writeNetworkDictCallBack (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data, SDOCallback_t Callback)
UNS8	readNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
UNS8	readNetworkDictCallback (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
UNS8	getReadResultNetworkDict (CO_Data d, UNS8 nodeId, void data, UNS8 size, UNS32 abortCode)
UNS8	getWriteResultNetworkDict (CO_Data d, UNS8 nodeId, UNS32 abortCode)