sdo.h

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __sdo_h__
#define __sdo_h__

struct struct_s_transfer;

#include "timer.h"

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

/* The Transfer structure
Used to store the different segments of 
 - a SDO received before writing in the dictionary  
 - the reading of the dictionary to put on a SDO to transmit 
*/

struct struct_s_transfer {
  UNS8           nodeId;     /*own ID if server, or node ID of the server if client */
  
  UNS8           whoami;     /* Takes the values SDO_CLIENT or SDO_SERVER */
  UNS8           state;      /* state of the transmission : Takes the values SDO_... */
  UNS8           toggle;
  UNS32          abortCode;  /* Sent or received */
  /* index and subindex of the dictionary where to store */
  /* (for a received SDO) or to read (for a transmit SDO) */
  UNS16          index; 
  UNS8           subIndex; 
  UNS32          count;      /* Number of data received or to be sent. */
  UNS32          offset;     /* stack pointer of data[]
                              * Used only to tranfer part of a line to or from a SDO.
                              * offset is always pointing on the next free cell of data[].
                              * WARNING s_transfer.data is subject to ENDIANISATION 
                              * (with respect to CANOPEN_BIG_ENDIAN)
                              */
  UNS8           data [SDO_MAX_LENGTH_TRANSFERT];
  UNS8           dataType;   /* Defined in objdictdef.h Value is visible_string 
                              * if it is a string, any other value if it is not a string, 
                              * like 0. In fact, it is used only if client.
                              */
  TIMER_HANDLE   timer;      /* Time counter to implement a timeout in milliseconds.
                              * It is automatically incremented whenever 
                              * the line state is in SDO_DOWNLOAD_IN_PROGRESS or 
                              * SDO_UPLOAD_IN_PROGRESS, and reseted to 0 
                              * when the response SDO have been received.
                              */
  SDOCallback_t Callback;   /* The user callback func to be called at SDO transaction end */
};
typedef struct struct_s_transfer s_transfer;
  

#include "data.h"

/* The 8 bytes data of the SDO */
struct BODY{
    UNS8 data[8];
};

/* The SDO structure ...*/
struct struct_s_SDO {
  UNS8 nodeId;          /*in any case, Node ID of the server (case sender or receiver).*/
  struct BODY body;
};


typedef struct struct_s_SDO s_SDO;

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);


 

#endif

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