CanFestival: src/sdo.c File Reference

#define getSDOc ( byte ) (byte & 1)

Returns the indicator of end transmission from the first byte of the SDO

Definition at line 109 of file sdo.c.

Referenced by proceedSDO().

#define getSDOcs ( byte ) (byte >> 5)

Returns the command specifier (cs, ccs, scs) from the first byte of the SDO

Definition at line 89 of file sdo.c.

Referenced by proceedSDO().

#define getSDOe ( byte ) ((byte >> 1) & 1)

Returns the transfer type from the first byte of the SDO

Definition at line 101 of file sdo.c.

Referenced by proceedSDO().

#define getSDOindex	(	byte1,
		byte2		)	((byte2 << 8) \| (byte1))

Returns the index from the bytes 1 and 2 of the SDO

Definition at line 117 of file sdo.c.

Referenced by proceedSDO().

#define getSDOn2 ( byte ) ((byte >> 2) & 3)

Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits

Definition at line 93 of file sdo.c.

Referenced by proceedSDO().

#define getSDOn3 ( byte ) ((byte >> 1) & 7)

Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits

Definition at line 97 of file sdo.c.

Referenced by proceedSDO().

#define getSDOs ( byte ) (byte & 1)

Returns the size indicator from the first byte of the SDO

Definition at line 105 of file sdo.c.

Referenced by proceedSDO().

#define getSDOsubIndex ( byte3 ) (byte3)

Returns the subIndex from the byte 3 of the SDO

Definition at line 121 of file sdo.c.

Referenced by proceedSDO().

#define getSDOt ( byte ) ((byte >> 4) & 1)

Returns the toggle from the first byte of the SDO

Definition at line 113 of file sdo.c.

Referenced by proceedSDO().

#define INLINE

Definition at line 43 of file sdo.c.

#define NO_INLINE

Definition at line 40 of file sdo.c.

#define RestartSDO_TIMER ( id )

Value:

MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }

Definition at line 160 of file sdo.c.

Referenced by proceedSDO().

#define StartSDO_TIMER ( id )

Value:

MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);

Definition at line 156 of file sdo.c.

Referenced by initSDOline().

#define StopSDO_TIMER ( id )

Value:

MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
d->transfers[id].timer = DelAlarm(d->transfers[id].timer);

Definition at line 152 of file sdo.c.

Referenced by failedSDO(), initSDOline(), and proceedSDO().

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

Parameters:

	d
	nodeId
	index
	subIndex
	dataType
	Callback

Returns:

Definition at line 1406 of file sdo.c.

References struct_s_SDO::body, td_indextable::bSubCount, struct_s_transfer::Callback, struct_s_timer_entry::d, BODY::data, struct_s_transfer::dataType, struct_CO_Data::firstIndex, getSDOfreeLine(), getSDOlineOnUse(), initSDOline(), struct_CO_Data::lastIndex, MSG_ERR, MSG_WAR, struct_s_SDO::nodeId, struct_CO_Data::objdict, td_subindex::pObject, td_indextable::pSubindex, resetSDOline(), SDO_CLIENT, s_quick_index::SDO_CLT, SDO_UPLOAD_IN_PROGRESS, sendSDO(), struct_CO_Data::transfers, UNS16, UNS32, and UNS8.

Referenced by readNetworkDict(), and readNetworkDictCallback().

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

Called by writeNetworkDict

Parameters:

	d
	nodeId
	index
	subIndex
	count
	dataType
	data
	Callback
	endianize

Returns:

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

Parameters:

	d
	nodeId
	whoami

Returns:

Definition at line 439 of file sdo.c.

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

Referenced by ReadSDO(), and TestMaster_post_TPDO().

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

Parameters:

	d
	nodeId
	whoami
	index
	subIndex
	abortCode

Returns:

Definition at line 307 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.

Referenced by proceedSDO().

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

Parameters:

	d
	nodeId
	data
	size
	abortCode

Returns:

Definition at line 1532 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.

Referenced by ReadSDO(), and TestMaster_post_TPDO().

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

Parameters:

	d
	whoami
	line

Returns:

Definition at line 388 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.

Referenced by _readNetworkDict(), _writeNetworkDict(), and proceedSDO().

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

Parameters:

	d
	nodeId
	whoami
	line

Returns:

Definition at line 414 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.

Referenced by _readNetworkDict(), _writeNetworkDict(), closeSDOtransfer(), failedSDO(), getReadResultNetworkDict(), getWriteResultNetworkDict(), and proceedSDO().

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

Parameters:

	d
	line
	nbBytes

Returns:

Definition at line 461 of file sdo.c.

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

Referenced by proceedSDO().

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

Parameters:

	d
	nodeId
	abortCode

Returns:

Definition at line 1573 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.

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

Parameters:

	d
	line
	nodeId
	index
	subIndex
	state

Returns:

Definition at line 359 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.

Referenced by _readNetworkDict(), _writeNetworkDict(), proceedSDO(), and resetSDOline().

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

Parameters:

	d
	line
	nbBytes
	data

Returns:

Definition at line 250 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.

Referenced by proceedSDO().

UNS32 objdictToSDOline	(	CO_Data *	d,
		UNS8	line
	)

Parameters:

	d
	line

Returns:

Definition at line 209 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.

Referenced by proceedSDO().

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UNS8 proceedSDO	(	CO_Data *	d,
		Message *	m
	)

Parameters:

	d
	m

Returns:

The server node Id;

Definition at line 608 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, Message::data, BODY::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.

Referenced by canDispatch().

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

Parameters:

	d
	nodeId
	index
	subIndex
	dataType

Returns:

Definition at line 1499 of file sdo.c.

References _readNetworkDict(), and struct_s_timer_entry::d.

Referenced by ReadSDO(), and TestMaster_post_TPDO().

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

Parameters:

	d
	nodeId
	index
	subIndex
	dataType
	Callback

Returns:

Definition at line 1516 of file sdo.c.

References _readNetworkDict(), and struct_s_timer_entry::d.

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void resetSDO ( CO_Data * d )

Reset all sdo buffers

Parameters:

d

Definition at line 169 of file sdo.c.

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

Referenced by switchCommunicationState().

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void resetSDOline	(	CO_Data *	d,
		UNS8	line
	)

Parameters:

	d
	line

Definition at line 338 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.

Referenced by _readNetworkDict(), _writeNetworkDict(), closeSDOtransfer(), failedSDO(), proceedSDO(), resetSDO(), and SDOTimeoutAlarm().

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UNS32 SDOlineToObjdict	(	CO_Data *	d,
		UNS8	line
	)

Parameters:

	d
	line

Returns:

Definition at line 186 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.

Referenced by proceedSDO().

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void SDOTimeoutAlarm	(	CO_Data *	d,
		UNS32	id
	)

Parameters:

	d
	id

Definition at line 129 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.

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

Parameters:

	d
	line
	nbBytes
	data

Returns:

Definition at line 279 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.

Referenced by proceedSDO().

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

Parameters:

	d
	whoami
	sdo

Returns:

Definition at line 498 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, Message::data, BODY::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.

Referenced by _readNetworkDict(), _writeNetworkDict(), proceedSDO(), and sendSDOabort().

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

Parameters:

	d
	whoami
	index
	subIndex
	abortCode

Returns:

Definition at line 578 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.

Referenced by failedSDO(), and SDOTimeoutAlarm().

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

Parameters:

	d
	line
	nbBytes

Returns:

Definition at line 479 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.

Referenced by proceedSDO().

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

Parameters:

	d
	nodeId
	index
	subIndex
	count
	dataType
	data

Returns:

Definition at line 1368 of file sdo.c.

References _writeNetworkDict(), and struct_s_timer_entry::d.

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

Parameters:

	d
	nodeId
	index
	subIndex
	count
	dataType
	data
	Callback

Returns:

Definition at line 1388 of file sdo.c.

References _writeNetworkDict(), and struct_s_timer_entry::d.

Referenced by TestMaster_post_TPDO().

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sdo.c File Reference

Defines

Functions

Detailed Description

Define Documentation

Function Documentation


Defines
#define	NO_INLINE
#define	INLINE
#define	getSDOcs(byte) (byte >> 5)
#define	getSDOn2(byte) ((byte >> 2) & 3)
#define	getSDOn3(byte) ((byte >> 1) & 7)
#define	getSDOe(byte) ((byte >> 1) & 1)
#define	getSDOs(byte) (byte & 1)
#define	getSDOc(byte) (byte & 1)
#define	getSDOt(byte) ((byte >> 4) & 1)
#define	getSDOindex(byte1, byte2) ((byte2 << 8) \| (byte1))
#define	getSDOsubIndex(byte3) (byte3)
#define	StopSDO_TIMER(id)
#define	StartSDO_TIMER(id)
#define	RestartSDO_TIMER(id)
Functions
INLINE UNS8	_writeNetworkDict (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data, SDOCallback_t Callback, UNS8 endianize)
INLINE UNS8	_readNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
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)