--- a/examples/TestMasterMicroMod/TestMasterMicroMod.c Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMasterMicroMod.c Tue Apr 24 13:26:03 2007 +0200
@@ -47,12 +47,6 @@
eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
}
-/*****************************************************************************/
-void TestMaster_SDOtimeoutError (UNS8 line)
-{
- eprintf("TestMaster_SDOtimeoutError %d\n", line);
-}
-
/********************************************************
* ConfigureSlaveNode is responsible to
* - setup master RPDO 1 to receive TPDO 1 from id 0x40
@@ -343,7 +337,6 @@
#endif
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
- TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
--- a/examples/TestMasterSlave/Master.c Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterSlave/Master.c Tue Apr 24 13:26:03 2007 +0200
@@ -30,12 +30,6 @@
eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
}
-/*****************************************************************************/
-void TestMaster_SDOtimeoutError (UNS8 line)
-{
- eprintf("TestMaster_SDOtimeoutError %d\n", line);
-}
-
/********************************************************
* ConfigureSlaveNode is responsible to
* - setup master RPDO 1 to receive TPDO 1 from id 2
--- a/examples/TestMasterSlave/Master.h Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterSlave/Master.h Tue Apr 24 13:26:03 2007 +0200
@@ -1,6 +1,5 @@
#include "TestMaster.h"
-void TestMaster_SDOtimeoutError(UNS8 line);
void TestMaster_heartbeatError(UNS8);
UNS8 TestMaster_canSend(Message *);
--- a/examples/TestMasterSlave/Slave.c Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterSlave/Slave.c Tue Apr 24 13:26:03 2007 +0200
@@ -30,12 +30,6 @@
eprintf("TestSlave_heartbeatError %d\n", heartbeatID);
}
-/*****************************************************************************/
-void TestSlave_SDOtimeoutError (UNS8 line)
-{
- eprintf("TestSlave_SDOtimeoutError %d\n", line);
-}
-
void TestSlave_initialisation()
{
eprintf("TestSlave_initialisation\n");
--- a/examples/TestMasterSlave/Slave.h Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterSlave/Slave.h Tue Apr 24 13:26:03 2007 +0200
@@ -1,6 +1,5 @@
#include "TestSlave.h"
-void TestSlave_SDOtimeoutError(UNS8 line);
void TestSlave_heartbeatError(UNS8);
UNS8 TestSlave_canSend(Message *);
--- a/examples/TestMasterSlave/TestMasterSlave.c Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/TestMasterSlave/TestMasterSlave.c Tue Apr 24 13:26:03 2007 +0200
@@ -191,7 +191,6 @@
if(strcmp( SlaveBoard.baudrate, "none")){
TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
- TestSlave_Data.SDOtimeoutError = TestSlave_SDOtimeoutError;
TestSlave_Data.initialisation = TestSlave_initialisation;
TestSlave_Data.preOperational = TestSlave_preOperational;
TestSlave_Data.operational = TestSlave_operational;
@@ -209,7 +208,6 @@
if(strcmp( MasterBoard.baudrate, "none")){
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
- TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
@@ -234,9 +232,9 @@
StopTimerLoop();
// Close CAN devices (and can threads)
- if(SlaveBoard.baudrate) canClose(&TestSlave_Data);
+ if(strcmp( SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
fail_master:
- if(MasterBoard.baudrate) canClose(&TestMaster_Data);
+ if(strcmp( MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
fail_slave:
--- a/examples/gene_SYNC_HCS12/appli.c Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/gene_SYNC_HCS12/appli.c Tue Apr 24 13:26:03 2007 +0200
@@ -269,22 +269,6 @@
}
//------------------------------------------------------------------------------
-void gene_SYNC_SDOtimeoutError (UNS8 line)
-{
- // This function was implemented for the Client's use (client = the one which initiate the dialog),
- // but we can use it also for the server.
- // Note : if for an other reason than a timeout, a SDO to read or write
- // faile, we do not have implemented a warning function at the server side.
- // Of course, there is one on the client side.
-
- MSG_ERR(0x1F01, "SDO timeout for line : ", line);
- // See the transfer structure in sdo.h to know what informations
- // you can retreive.
- MSG_ERR(0x1F02, " to access index ", gene_SYNC_Data.transfers[line].index);
- MSG_ERR(0x1F03, " subIndex ", gene_SYNC_Data.transfers[line].subIndex);
-}
-
-//------------------------------------------------------------------------------
void gene_SYNC_initialisation()
{
MSG_WAR (0x3F00, "Entering in INIT ", 0);
@@ -402,7 +386,6 @@
MSG_WAR(0x3F34, "Entering in the main ", 0);
//----------------------------- INITIALISATION --------------------------------
gene_SYNC_Data.heartbeatError = gene_SYNC_heartbeatError;
- gene_SYNC_Data.SDOtimeoutError = gene_SYNC_SDOtimeoutError;
gene_SYNC_Data.initialisation = gene_SYNC_initialisation;
gene_SYNC_Data.preOperational = gene_SYNC_preOperational;
gene_SYNC_Data.preOperational = gene_SYNC_operational;
--- a/examples/gene_SYNC_HCS12/objdict.h Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/gene_SYNC_HCS12/objdict.h Tue Apr 24 13:26:03 2007 +0200
@@ -8,7 +8,6 @@
const indextable * gene_SYNC_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
/* prototypes of function to be filled by app. */
-void gene_SYNC_SDOtimeoutError(UNS8 line);
void gene_SYNC_heartbeatError(UNS8);
UNS8 gene_SYNC_canSend(Message *);
--- a/examples/win32test/win32test.h Thu Apr 19 09:54:34 2007 +0200
+++ b/examples/win32test/win32test.h Tue Apr 24 13:26:03 2007 +0200
@@ -8,7 +8,6 @@
const indextable * win32test_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
/* prototypes of function to be filled by app. */
-void win32test_SDOtimeoutError(UNS8 line);
void win32test_heartbeatError(UNS8);
UNS8 win32test_canSend(Message *);
--- a/include/data.h Thu Apr 19 09:54:34 2007 +0200
+++ b/include/data.h Tue Apr 24 13:26:03 2007 +0200
@@ -55,7 +55,6 @@
/* SDO */
s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
- SDOtimeoutError_t SDOtimeoutError;
/* s_sdo_parameter *sdo_parameters; */
/* State machine */
@@ -128,7 +127,6 @@
{\
REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
},\
- _SDOtimeoutError, /* SDOtimeoutError */\
\
/* State machine*/\
Unknown_state, /* nodeState */\
--- a/include/sdo.h Thu Apr 19 09:54:34 2007 +0200
+++ b/include/sdo.h Tue Apr 24 13:26:03 2007 +0200
@@ -23,9 +23,6 @@
#ifndef __sdo_h__
#define __sdo_h__
-typedef void (*SDOtimeoutError_t)(UNS8 line);
-void _SDOtimeoutError (UNS8);
-
struct struct_s_transfer;
#include "timer.h"
--- a/src/sdo.c Thu Apr 19 09:54:34 2007 +0200
+++ b/src/sdo.c Tue Apr 24 13:26:03 2007 +0200
@@ -98,13 +98,19 @@
MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex);
/* Reset timer handler */
d->transfers[id].timer = TIMER_NONE;
- /* Call the user function to inform of the problem.*/
- (*d->SDOtimeoutError)((UNS8)id);
+ /*Set aborted state*/
+ d->transfers[id].state = SDO_ABORTED_INTERNAL;
/* Sending a SDO abort */
sendSDOabort(d, d->transfers[id].whoami,
d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
- /* Reset the line*/
- resetSDOline(d, (UNS8)id);
+ d->transfers[id].abortCode = SDOABT_TIMED_OUT;
+ /* Call the user function to inform of the problem.*/
+ if(d->transfers[id].Callback)
+ /*If ther is a callback, it is responsible to close SDO transfer (client)*/
+ (*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
+ else if(d->transfers[id].whoami == SDO_SERVER)
+ /*Else, if server, reset the line*/
+ resetSDOline(d, (UNS8)id);
}
#define StopSDO_TIMER(id) \
@@ -1335,5 +1341,3 @@
* abortCode = d->transfers[line].abortCode;
return d->transfers[line].state;
}
-
-void _SDOtimeoutError (UNS8 line){}