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Can_open_masternode
framework/src/sdo.c
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:9dd7c6129683
File content as of revision 0:9dd7c6129683:
/* 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 */ /*! ** @file sdo.c ** @author Edouard TISSERANT and Francis DUPIN ** @date Tue Jun 5 09:32:32 2007 ** ** @brief ** ** */ /* #define DEBUG_WAR_CONSOLE_ON */ /* #define DEBUG_ERR_CONSOLE_ON */ #include "canfestival.h" #include "sysdep.h" /* Uncomment if your compiler does not support inline functions */ #define NO_INLINE #ifdef NO_INLINE #define INLINE #else #define INLINE inline #endif /*Internals prototypes*/ /*! ** Called by writeNetworkDict ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param count ** @param dataType ** @param data ** @param Callback ** @param endianize ** ** @return **/ INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize); /*! ** Called by readNetworkDict ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param dataType ** @param Callback ** ** @return **/ INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback); /***************************************************************************/ /* SDO (un)packing macros */ /** Returns the command specifier (cs, ccs, scs) from the first byte of the SDO */ #define getSDOcs(byte) (byte >> 5) /** Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits */ #define getSDOn2(byte) ((byte >> 2) & 3) /** Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits */ #define getSDOn3(byte) ((byte >> 1) & 7) /** Returns the transfer type from the first byte of the SDO */ #define getSDOe(byte) ((byte >> 1) & 1) /** Returns the size indicator from the first byte of the SDO */ #define getSDOs(byte) (byte & 1) /** Returns the indicator of end transmission from the first byte of the SDO */ #define getSDOc(byte) (byte & 1) /** Returns the toggle from the first byte of the SDO */ #define getSDOt(byte) ((byte >> 4) & 1) /** Returns the index from the bytes 1 and 2 of the SDO */ #define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) | ((UNS16)byte1)) /** Returns the subIndex from the byte 3 of the SDO */ #define getSDOsubIndex(byte3) (byte3) /*! ** ** ** @param d ** @param id **/ void SDOTimeoutAlarm(CO_Data* d, UNS32 id) { MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0); MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId); MSG_WAR(0x2A02, " index : ", d->transfers[id].index); MSG_WAR(0x2A02, " subIndex : ", d->transfers[id].subIndex); /* Reset timer handler */ d->transfers[id].timer = TIMER_NONE; /*Set aborted state*/ d->transfers[id].state = SDO_ABORTED_INTERNAL; /* Sending a SDO abort */ sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId, d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT); 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); /*Reset the line if (whoami == SDO_SERVER) or the callback did not close the line. Otherwise this sdo transfer would never be closed. */ resetSDOline(d, (UNS8)id); } #define StopSDO_TIMER(id) \ MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\ d->transfers[id].timer = DelAlarm(d->transfers[id].timer); #define StartSDO_TIMER(id) \ MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\ d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0); #define RestartSDO_TIMER(id) \ MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\ if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) } /*! ** Reset all sdo buffers ** ** @param d **/ void resetSDO (CO_Data* d) { UNS8 j; /* transfer structure initialization */ for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++) resetSDOline(d, j); } /*! ** ** ** @param d ** @param line ** ** @return **/ UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line) { UNS32 size; UNS32 errorCode; MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line); /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/ if( d->transfers[line].count == 0) d->transfers[line].count = d->transfers[line].offset; size = d->transfers[line].count; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION if (size > SDO_MAX_LENGTH_TRANSFERT) { errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *) d->transfers[line].dynamicData, &size, 1); } else { errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *) d->transfers[line].data, &size, 1); } #else //SDO_DYNAMIC_BUFFER_ALLOCATION errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *) d->transfers[line].data, &size, 1); #endif //SDO_DYNAMIC_BUFFER_ALLOCATION if (errorCode != OD_SUCCESSFUL) return errorCode; MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line); return 0; } /*! ** ** ** @param d ** @param line ** ** @return **/ UNS32 objdictToSDOline (CO_Data* d, UNS8 line) { UNS32 size = 0; UNS8 dataType; UNS32 errorCode; MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index); MSG_WAR(0x3A06, " subIndex : ", d->transfers[line].subIndex); #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION //TODO: Read the size of the object. Depending o it put data into data or dynamicData errorCode = getODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].data, &size, &dataType, 1); #else //SDO_DYNAMIC_BUFFER_ALLOCATION errorCode = getODentry(d, d->transfers[line].index, d->transfers[line].subIndex, (void *)d->transfers[line].data, &size, &dataType, 1); #endif //SDO_DYNAMIC_BUFFER_ALLOCATION if (errorCode != OD_SUCCESSFUL) return errorCode; d->transfers[line].count = size; d->transfers[line].offset = 0; return 0; } /*! ** ** ** @param d ** @param line ** @param nbBytes ** @param data ** ** @return **/ UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) { UNS8 i; UNS32 offset; #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) { MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); return 0xFF; } #endif //SDO_DYNAMIC_BUFFER_ALLOCATION if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) { MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes); return 0xFF; } offset = d->transfers[line].offset; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION if (d->transfers[line].count <= SDO_MAX_LENGTH_TRANSFERT) { for (i = 0 ; i < nbBytes ; i++) * (data + i) = d->transfers[line].data[offset + i]; } else { if (d->transfers[line].dynamicData == NULL) { MSG_ERR(0x1A11,"SDO's dynamic buffer not allocated. Line", line); return 0xFF; } for (i = 0 ; i < nbBytes ; i++) * (data + i) = d->transfers[line].dynamicData[offset + i]; } #else //SDO_DYNAMIC_BUFFER_ALLOCATION for (i = 0 ; i < nbBytes ; i++) * (data + i) = d->transfers[line].data[offset + i]; #endif //SDO_DYNAMIC_BUFFER_ALLOCATION d->transfers[line].offset = d->transfers[line].offset + nbBytes; return 0; } /*! ** ** ** @param d ** @param line ** @param nbBytes ** @param data ** ** @return **/ UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) { UNS8 i; UNS32 offset; #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) { MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); return 0xFF; } #endif //SDO_DYNAMIC_BUFFER_ALLOCATION offset = d->transfers[line].offset; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION { UNS8* lineData = d->transfers[line].data; if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) { if (d->transfers[line].dynamicData == NULL) { d->transfers[line].dynamicData = (UNS8*) malloc(SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE); d->transfers[line].dynamicDataSize = SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE; if (d->transfers[line].dynamicData == NULL) { MSG_ERR(0x1A15,"SDO allocating dynamic buffer failed, size", SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE); return 0xFF; } //Copy present data memcpy(d->transfers[line].dynamicData, d->transfers[line].data, offset); } else if ((d->transfers[line].offset + nbBytes) > d->transfers[line].dynamicDataSize) { UNS8* newDynamicBuffer = (UNS8*) realloc(d->transfers[line].dynamicData, d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE); if (newDynamicBuffer == NULL) { MSG_ERR(0x1A15,"SDO reallocating dynamic buffer failed, size", d->transfers[line].dynamicDataSize + SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE); return 0xFF; } d->transfers[line].dynamicData = newDynamicBuffer; d->transfers[line].dynamicDataSize += SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE; } lineData = d->transfers[line].dynamicData; } for (i = 0 ; i < nbBytes ; i++) lineData[offset + i] = * (data + i); } #else //SDO_DYNAMIC_BUFFER_ALLOCATION for (i = 0 ; i < nbBytes ; i++) d->transfers[line].data[offset + i] = * (data + i); #endif //SDO_DYNAMIC_BUFFER_ALLOCATION d->transfers[line].offset = d->transfers[line].offset + nbBytes; return 0; } /*! ** ** ** @param d ** @param nodeId ** @param whoami ** @param index ** @param subIndex ** @param abortCode ** ** @return **/ UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode) { UNS8 err; UNS8 line; err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (!err) /* If a line on use have been found.*/ MSG_WAR(0x3A20, "FailedSDO : line found : ", line); if ((! err) && (whoami == SDO_SERVER)) { resetSDOline( d, line ); MSG_WAR(0x3A21, "FailedSDO : line released : ", line); } if ((! err) && (whoami == SDO_CLIENT)) { StopSDO_TIMER(line); d->transfers[line].state = SDO_ABORTED_INTERNAL; } MSG_WAR(0x3A22, "Sending SDO abort ", 0); err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode); if (err) { MSG_WAR(0x3A23, "Unable to send the SDO abort", 0); return 0xFF; } return 0; } /*! ** ** ** @param d ** @param line **/ void resetSDOline ( CO_Data* d, UNS8 line ) { UNS32 i; MSG_WAR(0x3A25, "reset SDO line nb : ", line); initSDOline(d, line, 0, 0, 0, SDO_RESET); for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++) d->transfers[line].data[i] = 0; d->transfers[line].whoami = 0; d->transfers[line].abortCode = 0; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION free(d->transfers[line].dynamicData); d->transfers[line].dynamicData = 0; d->transfers[line].dynamicDataSize = 0; #endif //SDO_DYNAMIC_BUFFER_ALLOCATION } /*! ** ** ** @param d ** @param line ** @param nodeId ** @param index ** @param subIndex ** @param state ** ** @return **/ UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state) { MSG_WAR(0x3A25, "init SDO line nb : ", line); if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS){ StartSDO_TIMER(line) }else{ StopSDO_TIMER(line) } d->transfers[line].nodeId = nodeId; d->transfers[line].index = index; d->transfers[line].subIndex = subIndex; d->transfers[line].state = state; d->transfers[line].toggle = 0; d->transfers[line].count = 0; d->transfers[line].offset = 0; d->transfers[line].dataType = 0; d->transfers[line].Callback = NULL; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION free(d->transfers[line].dynamicData); d->transfers[line].dynamicData = 0; d->transfers[line].dynamicDataSize = 0; #endif //SDO_DYNAMIC_BUFFER_ALLOCATION return 0; } /*! ** ** ** @param d ** @param whoami ** @param line ** ** @return **/ UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line ) { UNS8 i; for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){ if ( d->transfers[i].state == SDO_RESET ) { *line = i; d->transfers[i].whoami = whoami; return 0; } /* end if */ } /* end for */ MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i); return 0xFF; } /*! ** ** ** @param d ** @param nodeId ** @param whoami ** @param line ** ** @return **/ UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) { UNS8 i; for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){ if ( (d->transfers[i].state != SDO_RESET) && (d->transfers[i].state != SDO_ABORTED_INTERNAL) && (d->transfers[i].nodeId == nodeId) && (d->transfers[i].whoami == whoami) ) { if (line) *line = i; return 0; } } return 0xFF; } /*! ** ** ** @param d ** @param nodeId ** @param whoami ** @param line ** ** @return **/ UNS8 getSDOlineToClose (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line) { UNS8 i; for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){ if ( (d->transfers[i].state != SDO_RESET) && (d->transfers[i].nodeId == nodeId) && (d->transfers[i].whoami == whoami) ) { if (line) *line = i; return 0; } } return 0xFF; } /*! ** ** ** @param d ** @param nodeId ** @param whoami ** ** @return **/ UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami) { UNS8 err; UNS8 line; err = getSDOlineToClose(d, nodeId, whoami, &line); if (err) { MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId); return 0xFF; } resetSDOline(d, line); return 0; } /*! ** ** ** @param d ** @param line ** @param nbBytes ** ** @return **/ UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes) { /* SDO initiated with e=0 and s=0 have count set to null */ if (d->transfers[line].count == 0) * nbBytes = 0; else * nbBytes = d->transfers[line].count - d->transfers[line].offset; return 0; } /*! ** ** ** @param d ** @param line ** @param nbBytes ** ** @return **/ UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes) { #ifndef SDO_DYNAMIC_BUFFER_ALLOCATION if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) { MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes); return 0xFF; } #endif //SDO_DYNAMIC_BUFFER_ALLOCATION d->transfers[line].count = nbBytes; return 0; } /*! ** ** ** @param d ** @param whoami ** @param sdo ** ** @return **/ UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo) { UNS16 offset; UNS16 lastIndex; UNS8 found = 0; Message m; UNS8 i; UNS32 * pwCobId = NULL; UNS8 * pwNodeId = NULL; MSG_WAR(0x3A38, "sendSDO",0); if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) { MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState); return 0xFF; } /*get the server->client cobid*/ if ( whoami == SDO_SERVER ) {/*case server. only one SDO server*/ offset = d->firstIndex->SDO_SVR; if (offset == 0) { MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0); return 0xFF; } pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject; MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId); } else { /*case client*/ /* Get the client->server cobid.*/ UNS16 sdoNum = 0; offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; if (offset == 0) { MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0); return 0xFF; } /* find index for communication server node */ while (offset <= lastIndex){ MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum); if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum); return 0xFF; } pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId); if(*pwNodeId == sdo.nodeId) { found = 1; break; } offset ++; sdoNum ++; } if (! found){ MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId); return 0xFF; } /* read the client->server cobid */ pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject; } /* message copy for sending */ m.cob_id = (UNS16)UNS16_LE(*pwCobId); m.rtr = NOT_A_REQUEST; /* the length of SDO must be 8 */ m.len = 8; for (i = 0 ; i < 8 ; i++) { m.data[i] = sdo.body.data[i]; } return canSend(d->canHandle,&m); } /*! ** ** ** @param d ** @param whoami ** @param index ** @param subIndex ** @param abortCode ** ** @return **/ UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode) { s_SDO sdo; UNS8 ret; MSG_WAR(0x2A50,"Sending SDO abort ", abortCode); if(whoami == SDO_SERVER) { sdo.nodeId = *d->bDeviceNodeId; } else { sdo.nodeId = nodeID; } sdo.body.data[0] = 0x80; /* Index */ sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ /* Subindex */ sdo.body.data[3] = subIndex; /* Data */ sdo.body.data[4] = (UNS8)(abortCode & 0xFF); sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF); sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF); sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF); ret = sendSDO(d, whoami, sdo); return ret; } /*! ** ** ** @param d ** @param m ** ** @return **/ UNS8 proceedSDO (CO_Data* d, Message *m) { UNS8 err; UNS8 line; UNS32 nbBytes; /* received or to be transmited. */ UNS8 nodeId = 0; /* The node from which the SDO is received */ UNS8 *pNodeId = NULL; UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/ UNS32 errorCode; /* while reading or writing in the local object dictionary.*/ s_SDO sdo; /* SDO to transmit */ UNS16 index; UNS8 subIndex; UNS32 abortCode; UNS32 i; UNS8 j; UNS32 *pCobId = NULL; UNS16 offset; UNS16 lastIndex; MSG_WAR(0x3A60, "proceedSDO ", 0); whoami = SDO_UNKNOWN; /* Looking for the cobId in the object dictionary. */ /* Am-I a server ? */ offset = d->firstIndex->SDO_SVR; lastIndex = d->lastIndex->SDO_SVR; j = 0; if(offset) while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 1) { MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j); return 0xFF; } pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject; if ( *pCobId == UNS16_LE(m->cob_id) ) { whoami = SDO_SERVER; MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j); /* In case of server, the node id of the client may be unknown. So we put the index minus offset */ /* 0x1200 where the cobid received is defined. */ nodeId = j; break; } j++; offset++; } /* end while */ if (whoami == SDO_UNKNOWN) { /* Am-I client ? */ offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; j = 0; if(offset) while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j); return 0xFF; } /* a) Looking for the cobid received. */ pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject; if (*pCobId == UNS16_LE(m->cob_id) ) { /* b) cobid found, so reading the node id of the server. */ pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject; whoami = SDO_CLIENT; nodeId = *pNodeId; MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j); MSG_WAR(0x3A65, " Server nodeId : ", nodeId); break; } j++; offset++; } /* end while */ } if (whoami == SDO_UNKNOWN) { return 0xFF;/* This SDO was not for us ! */ } /* Test if the size of the SDO is ok */ if ( (*m).len != 8) { MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id)); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR); return 0xFF; } if (whoami == SDO_CLIENT) { MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId); } else { MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id)); } /* Testing the command specifier */ /* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */ /* cs = other : Not allowed -> abort. */ switch (getSDOcs(m->data[0])) { case 0: /* I am SERVER */ if (whoami == SDO_SERVER) { /* Receiving a download segment data. */ /* A SDO transfert should have been yet initiated. */ err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (!err) err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the wathdog */ RestartSDO_TIMER(line) MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId); index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; /* Toggle test. */ if (d->transfers[line].toggle != getSDOt(m->data[0])) { MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0])); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); return 0xFF; } /* Nb of data to be downloaded */ nbBytes = 7 - getSDOn3(m->data[0]); /* Store the data in the transfert structure. */ err = SDOtoLine(d, line, nbBytes, (*m).data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } /* Sending the SDO response, CS = 1 */ sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */ sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4); for (i = 1 ; i < 8 ; i++) sdo.body.data[i] = 0; MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId); sendSDO(d, whoami, sdo); /* Inverting the toggle for the next segment. */ d->transfers[line].toggle = ! d->transfers[line].toggle & 1; /* If it was the last segment, */ if (getSDOc(m->data[0])) { /* Transfering line data to object dictionary. */ /* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */ errorCode = SDOlineToObjdict(d, line); if (errorCode) { MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0); failedSDO(d, nodeId, whoami, index, subIndex, errorCode); return 0xFF; } /* Release of the line */ resetSDOline(d, line); MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId); } } /* end if SERVER */ else { /* if CLIENT */ /* I am CLIENT */ /* It is a request for a previous upload segment. We should find a line opened for this.*/ err = getSDOlineOnUse( d, nodeId, whoami, &line); if (!err) err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the wathdog */ RestartSDO_TIMER(line) index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; /* test of the toggle; */ if (d->transfers[line].toggle != getSDOt(m->data[0])) { MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); return 0xFF; } /* nb of data to be uploaded */ nbBytes = 7 - getSDOn3(m->data[0]); /* Storing the data in the line structure. */ err = SDOtoLine(d, line, nbBytes, (*m).data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } /* Inverting the toggle for the next segment. */ d->transfers[line].toggle = ! d->transfers[line].toggle & 1; /* If it was the last segment,*/ if ( getSDOc(m->data[0])) { /* Put in state finished */ /* The code is safe for the case e=s=0 in initiate frame. */ StopSDO_TIMER(line) d->transfers[line].state = SDO_FINISHED; if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId); } else { /* more segments to receive */ /* Sending the request for the next segment. */ sdo.nodeId = nodeId; sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4); for (i = 1 ; i < 8 ; i++) sdo.body.data[i] = 0; sendSDO(d, whoami, sdo); MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId); } } /* End if CLIENT */ break; case 1: /* I am SERVER */ /* Receive of an initiate download */ if (whoami == SDO_SERVER) { index = getSDOindex(m->data[1],m->data[2]); subIndex = getSDOsubIndex(m->data[3]); MSG_WAR(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ", nodeId); MSG_WAR(0x3A80, "Writing at index : ", index); MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex); /* Search if a SDO transfert have been yet initiated */ err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (! err) { MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* No line on use. Great ! */ /* Try to open a new line. */ err = getSDOfreeLine( d, whoami, &line ); if (err) { MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); if (getSDOe(m->data[0])) { /* If SDO expedited */ /* nb of data to be downloaded */ nbBytes = 4 - getSDOn2(m->data[0]); /* Storing the data in the line structure. */ d->transfers[line].count = nbBytes; err = SDOtoLine(d, line, nbBytes, (*m).data + 4); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } /* SDO expedited -> transfert finished. Data can be stored in the dictionary. */ /*The line will be reseted when it is downloading in the dictionary. */ MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId); /* Transfering line data to object dictionary. */ errorCode = SDOlineToObjdict(d, line); if (errorCode) { MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0); failedSDO(d, nodeId, whoami, index, subIndex, errorCode); return 0xFF; } /* Release of the line. */ resetSDOline(d, line); } else {/* So, if it is not an expedited transfert */ if (getSDOs(m->data[0])) { nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24); err = setSDOlineRestBytes(d, nodeId, nbBytes); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } } } /*Sending a SDO, cs=3*/ sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/ sdo.body.data[0] = 3 << 5; sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ sdo.body.data[3] = subIndex; for (i = 4 ; i < 8 ; i++) sdo.body.data[i] = 0; sendSDO(d, whoami, sdo); } /* end if I am SERVER */ else { /* I am CLIENT */ /* It is a response for a previous download segment. We should find a line opened for this. */ err = getSDOlineOnUse( d, nodeId, whoami, &line); if (!err) err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the wathdog */ RestartSDO_TIMER(line) index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; /* test of the toggle; */ if (d->transfers[line].toggle != getSDOt(m->data[0])) { MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); return 0xFF; } /* End transmission or downloading next segment. We need to know if it will be the last one. */ getSDOlineRestBytes(d, line, &nbBytes); if (nbBytes == 0) { MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId); StopSDO_TIMER(line) d->transfers[line].state = SDO_FINISHED; if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); return 0x00; } /* At least one transfer to send. */ if (nbBytes > 7) { /* several segments to download.*/ /* code to send the next segment. (cs = 0; c = 0) */ d->transfers[line].toggle = ! d->transfers[line].toggle & 1; sdo.nodeId = nodeId; /* The server node Id; */ sdo.body.data[0] = (d->transfers[line].toggle << 4); err = lineToSDO(d, line, 7, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } } else { /* Last segment. */ /* code to send the last segment. (cs = 0; c = 1)*/ d->transfers[line].toggle = ! d->transfers[line].toggle & 1; sdo.nodeId = nodeId; /* The server node Id; */ sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1); err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } for (i = nbBytes + 1 ; i < 8 ; i++) sdo.body.data[i] = 0; } MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId); sendSDO(d, whoami, sdo); } /* end if I am a CLIENT */ break; case 2: /* I am SERVER */ /* Receive of an initiate upload.*/ if (whoami == SDO_SERVER) { index = getSDOindex(m->data[1],m->data[2]); subIndex = getSDOsubIndex(m->data[3]); MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ", nodeId); MSG_WAR(0x3A90, "Reading at index : ", index); MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex); /* Search if a SDO transfert have been yet initiated*/ err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (! err) { MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line); MSG_WAR(0x3A93, "nodeId = ", nodeId); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* No line on use. Great !*/ /* Try to open a new line.*/ err = getSDOfreeLine( d, whoami, &line ); if (err) { MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); /* Transfer data from dictionary to the line structure. */ errorCode = objdictToSDOline(d, line); if (errorCode) { MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ", errorCode); failedSDO(d, nodeId, whoami, index, subIndex, errorCode); return 0xFF; } /* Preparing the response.*/ getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */ sdo.nodeId = nodeId; /* The server node Id; */ if (nbBytes > 4) { /* normal transfert. (segmented). */ /* code to send the initiate upload response. (cs = 2) */ sdo.body.data[0] = (2 << 5) | 1; sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ sdo.body.data[3] = subIndex; sdo.body.data[4] = (UNS8)nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/ /* It takes too much memory to upgrate to 2^32 because the size of data is also coded */ /* in the object dictionary, at every index and subindex. */ for (i = 5 ; i < 8 ; i++) sdo.body.data[i] = 0; MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId); sendSDO(d, whoami, sdo); } else { /* Expedited upload. (cs = 2 ; e = 1) */ sdo.body.data[0] = (UNS8)((2 << 5) | ((4 - nbBytes) << 2) | 3); sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ sdo.body.data[3] = subIndex; err = lineToSDO(d, line, nbBytes, sdo.body.data + 4); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } for (i = 4 + nbBytes ; i < 8 ; i++) sdo.body.data[i] = 0; MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ", nodeId); sendSDO(d, whoami, sdo); /* Release the line.*/ resetSDOline(d, line); } } /* end if I am SERVER*/ else { /* I am CLIENT */ /* It is the response for the previous initiate upload request.*/ /* We should find a line opened for this. */ err = getSDOlineOnUse( d, nodeId, whoami, &line); if (!err) err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the wathdog */ RestartSDO_TIMER(line) index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; if (getSDOe(m->data[0])) { /* If SDO expedited */ /* nb of data to be uploaded */ nbBytes = 4 - getSDOn2(m->data[0]); /* Storing the data in the line structure. */ err = SDOtoLine(d, line, nbBytes, (*m).data + 4); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } /* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */ MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId); StopSDO_TIMER(line) d->transfers[line].count = nbBytes; d->transfers[line].state = SDO_FINISHED; if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); return 0; } else { /* So, if it is not an expedited transfert */ /* Storing the nb of data to receive. */ if (getSDOs(m->data[0])) { nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24); err = setSDOlineRestBytes(d, line, nbBytes); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } } /* Requesting next segment. (cs = 3) */ sdo.nodeId = nodeId; sdo.body.data[0] = 3 << 5; for (i = 1 ; i < 8 ; i++) sdo.body.data[i] = 0; MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId); sendSDO(d, whoami, sdo); } } /* End if CLIENT */ break; case 3: /* I am SERVER */ if (whoami == SDO_SERVER) { /* Receiving a upload segment. */ /* A SDO transfert should have been yet initiated. */ err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (!err) err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the wathdog */ RestartSDO_TIMER(line) MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId); index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; /* Toggle test.*/ if (d->transfers[line].toggle != getSDOt(m->data[0])) { MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0])); failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED); return 0xFF; } /* Uploading next segment. We need to know if it will be the last one. */ getSDOlineRestBytes(d, line, &nbBytes); if (nbBytes > 7) { /* The segment to transfer is not the last one.*/ /* code to send the next segment. (cs = 0; c = 0) */ sdo.nodeId = nodeId; /* The server node Id; */ sdo.body.data[0] = (d->transfers[line].toggle << 4); err = lineToSDO(d, line, 7, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } /* Inverting the toggle for the next tranfert. */ d->transfers[line].toggle = ! d->transfers[line].toggle & 1; MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId); sendSDO(d, whoami, sdo); } else { /* Last segment. */ /* code to send the last segment. (cs = 0; c = 1) */ sdo.nodeId = nodeId; /** The server node Id; */ sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1); err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } for (i = nbBytes + 1 ; i < 8 ; i++) sdo.body.data[i] = 0; MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId); sendSDO(d, whoami, sdo); /* Release the line */ resetSDOline(d, line); } } /* end if SERVER*/ else { /* I am CLIENT */ /* It is the response for the previous initiate download request. */ /* We should find a line opened for this. */ err = getSDOlineOnUse( d, nodeId, whoami, &line); if (!err) err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS; if (err) { MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId); failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR); return 0xFF; } /* Reset the watchdog */ RestartSDO_TIMER(line) index = d->transfers[line].index; subIndex = d->transfers[line].subIndex; /* End transmission or requesting next segment. */ getSDOlineRestBytes(d, line, &nbBytes); if (nbBytes == 0) { MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId); StopSDO_TIMER(line) d->transfers[line].state = SDO_FINISHED; if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); return 0x00; } if (nbBytes > 7) { /* more than one request to send */ /* code to send the next segment. (cs = 0; c = 0) */ sdo.nodeId = nodeId; /** The server node Id; */ sdo.body.data[0] = (d->transfers[line].toggle << 4); err = lineToSDO(d, line, 7, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } } else { /* Last segment.*/ /* code to send the last segment. (cs = 0; c = 1) */ sdo.nodeId = nodeId; /* The server node Id; */ sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1); err = lineToSDO(d, line, nbBytes, sdo.body.data + 1); if (err) { failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR); return 0xFF; } for (i = nbBytes + 1 ; i < 8 ; i++) sdo.body.data[i] = 0; } MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId); sendSDO(d, whoami, sdo); } /* end if I am a CLIENT */ break; case 4: abortCode = (UNS32)m->data[4] | ((UNS32)m->data[5] << 8) | ((UNS32)m->data[6] << 16) | ((UNS32)m->data[7] << 24); /* Received SDO abort. */ /* Looking for the line concerned. */ if (whoami == SDO_SERVER) { err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (!err) { resetSDOline( d, line ); MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode); } else MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode); /* Tips : The end user has no way to know that the server node has received an abort SDO. */ /* Its is ok, I think.*/ } else { /* If I am CLIENT */ err = getSDOlineOnUse( d, nodeId, whoami, &line ); if (!err) { /* The line *must* be released by the core program. */ StopSDO_TIMER(line) d->transfers[line].state = SDO_ABORTED_RCV; d->transfers[line].abortCode = abortCode; MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode); if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId); } else MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode); } break; default: /* Error : Unknown cs */ MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0])); return 0xFF; } /* End switch */ return 0; } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param count ** @param dataType ** @param data ** @param Callback ** @param endianize ** ** @return **/ INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize) { UNS8 err; UNS8 SDOfound = 0; UNS8 line; s_SDO sdo; /* SDO to transmit */ UNS8 i; UNS32 j; UNS16 lastIndex; UNS16 offset; UNS8 *pNodeIdServer; UNS8 nodeIdServer; MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId); MSG_WAR(0x3AC1, " At index : ", index); MSG_WAR(0x3AC2, " subIndex : ", subIndex); MSG_WAR(0x3AC3, " nb bytes : ", count); /* Verify that there is no SDO communication yet. */ err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); if (!err) { MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId); return 0xFF; } /* Taking the line ... */ err = getSDOfreeLine( d, SDO_CLIENT, &line ); if (err) { MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); return (0xFF); } /* Check which SDO to use to communicate with the node */ offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; if (offset == 0) { MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); return 0xFF; } i = 0; while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); return 0xFF; } /* looking for the nodeId server */ pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; nodeIdServer = *pNodeIdServer; MSG_WAR(0x1AD2, "index : ", 0x1280 + i); MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer); if(nodeIdServer == nodeId) { SDOfound = 1; break; } offset++; i++; } /* end while */ if (!SDOfound) { MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId); return 0xFE; } MSG_WAR(0x3AD0," SDO client defined at index : ", 0x1280 + i); initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS); d->transfers[line].count = count; d->transfers[line].dataType = dataType; #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION { UNS8* lineData = d->transfers[line].data; if (count > SDO_MAX_LENGTH_TRANSFERT) { d->transfers[line].dynamicData = (UNS8*) malloc(count); d->transfers[line].dynamicDataSize = count; if (d->transfers[line].dynamicData == NULL) { MSG_ERR(0x1AC9, "SDO. Error. Could not allocate enough bytes : ", count); return 0xFE; } lineData = d->transfers[line].dynamicData; } #endif //SDO_DYNAMIC_BUFFER_ALLOCATION /* Copy data to transfers structure. */ for (j = 0 ; j < count ; j++) { #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION # ifdef CANOPEN_BIG_ENDIAN if (dataType == 0 && endianize) lineData[count - 1 - j] = ((char *)data)[j]; else /* String of bytes. */ lineData[j] = ((char *)data)[j]; # else lineData[j] = ((char *)data)[j]; # endif } #else //SDO_DYNAMIC_BUFFER_ALLOCATION # ifdef CANOPEN_BIG_ENDIAN if (dataType == 0 && endianize) d->transfers[line].data[count - 1 - j] = ((char *)data)[j]; else /* String of bytes. */ d->transfers[line].data[j] = ((char *)data)[j]; # else d->transfers[line].data[j] = ((char *)data)[j]; # endif #endif //SDO_DYNAMIC_BUFFER_ALLOCATION } /* Send the SDO to the server. Initiate download, cs=1. */ sdo.nodeId = nodeId; if (count <= 4) { /* Expedited transfert */ sdo.body.data[0] = (UNS8)((1 << 5) | ((4 - count) << 2) | 3); for (i = 4 ; i < 8 ; i++) sdo.body.data[i] = d->transfers[line].data[i - 4]; d->transfers[line].offset = count; } else { /** Normal transfert */ sdo.body.data[0] = (1 << 5) | 1; for (i = 0 ; i < 4 ; i++) sdo.body.data[i+4] = (UNS8)((count >> (i<<3))); /* i*8 */ } sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ sdo.body.data[3] = subIndex; d->transfers[line].Callback = Callback; err = sendSDO(d, SDO_CLIENT, sdo); if (err) { MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId); /* release the line */ resetSDOline(d, line); return 0xFF; } return 0; } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param count ** @param dataType ** @param data ** ** @return **/ UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data) { return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1); } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param count ** @param dataType ** @param data ** @param Callback ** ** @return **/ UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback) { return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1); } UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize) { UNS8 ret; UNS16 lastIndex; UNS16 offset; UNS8 nodeIdServer; UNS8 i; ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize); if(ret == 0xFE) { offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; if (offset == 0) { MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); return 0xFF; } i = 0; while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); return 0xFF; } nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject; if(nodeIdServer == 0) { *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId); *(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId); *(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId; return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1); } offset++; } return 0xFF; } else if(ret == 0) { return 0; } else { return 0xFF; } } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param dataType ** @param Callback ** ** @return **/ INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) { UNS8 err; UNS8 SDOfound = 0; UNS8 i; UNS8 line; s_SDO sdo; /* SDO to transmit */ UNS8 *pNodeIdServer; UNS8 nodeIdServer; UNS16 offset; UNS16 lastIndex; MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId); MSG_WAR(0x3AD6, " At index : ", index); MSG_WAR(0x3AD7, " subIndex : ", subIndex); /* Verify that there is no SDO communication yet. */ err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); if (!err) { MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId); return 0xFF; } /* Taking the line ... */ err = getSDOfreeLine( d, SDO_CLIENT, &line ); if (err) { MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId); return (0xFF); } else MSG_WAR(0x3AE0, "Transmission on line : ", line); /* Check which SDO to use to communicate with the node */ offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; if (offset == 0) { MSG_ERR(0x1AE1, "writeNetworkDict : No SDO client index found", 0); return 0xFF; } i = 0; while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i); return 0xFF; } /* looking for the nodeId server */ pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject; nodeIdServer = *pNodeIdServer; if(nodeIdServer == nodeId) { SDOfound = 1; break; } offset++; i++; } /* end while */ if (!SDOfound) { MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId); return 0xFE; } MSG_WAR(0x3AE4," SDO client defined at index : ", 0x1280 + i); initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS); getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); sdo.nodeId = nodeId; /* Send the SDO to the server. Initiate upload, cs=2. */ d->transfers[line].dataType = dataType; sdo.body.data[0] = (2 << 5); sdo.body.data[1] = index & 0xFF; /* LSB */ sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */ sdo.body.data[3] = subIndex; for (i = 4 ; i < 8 ; i++) sdo.body.data[i] = 0; d->transfers[line].Callback = Callback; err = sendSDO(d, SDO_CLIENT, sdo); if (err) { MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId); /* release the line */ resetSDOline(d, line); return 0xFF; } return 0; } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param dataType ** ** @return **/ UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType) { return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL); } /*! ** ** ** @param d ** @param nodeId ** @param index ** @param subIndex ** @param dataType ** @param Callback ** ** @return **/ UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) { return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); } UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback) { UNS8 ret; UNS16 lastIndex; UNS16 offset; UNS8 nodeIdServer; UNS8 i; ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); if(ret == 0xFE) { offset = d->firstIndex->SDO_CLT; lastIndex = d->lastIndex->SDO_CLT; if (offset == 0) { MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0); return 0xFF; } i = 0; while (offset <= lastIndex) { if (d->objdict[offset].bSubCount <= 3) { MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i); return 0xFF; } nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject; if(nodeIdServer == 0) { *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId); *(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId); *(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId; return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback); } offset++; } return 0xFF; } else if(ret == 0) { return 0; } else { return 0xFF; } } /*! ** ** ** @param d ** @param nodeId ** @param data ** @param size pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size ** @param abortCode ** ** @return **/ UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size, UNS32 * abortCode) { UNS32 i; UNS8 err; UNS8 line; * abortCode = 0; /* Looking for the line tranfert. */ err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); if (err) { MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId); return SDO_ABORTED_INTERNAL; } * abortCode = d->transfers[line].abortCode; if (d->transfers[line].state != SDO_FINISHED) return d->transfers[line].state; /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/ if( d->transfers[line].count == 0) d->transfers[line].count = d->transfers[line].offset; /* use transfers[line].count as max size */ if( d->transfers[line].count < *size ) *size = d->transfers[line].count; /* Copy payload to data pointer */ #ifdef SDO_DYNAMIC_BUFFER_ALLOCATION { UNS8 *lineData = d->transfers[line].data; if (d->transfers[line].dynamicData && d->transfers[line].dynamicDataSize) { lineData = d->transfers[line].dynamicData; } for ( i = 0 ; i < *size ; i++) { # ifdef CANOPEN_BIG_ENDIAN if (d->transfers[line].dataType != visible_string) ( (char *) data)[*size - 1 - i] = lineData[i]; else /* String of bytes. */ ( (char *) data)[i] = lineData[i]; # else ( (char *) data)[i] = lineData[i]; # endif } } #else //SDO_DYNAMIC_BUFFER_ALLOCATION for ( i = 0 ; i < *size ; i++) { # ifdef CANOPEN_BIG_ENDIAN if (d->transfers[line].dataType != visible_string) ( (char *) data)[*size - 1 - i] = d->transfers[line].data[i]; else /* String of bytes. */ ( (char *) data)[i] = d->transfers[line].data[i]; # else ( (char *) data)[i] = d->transfers[line].data[i]; # endif } #endif //SDO_DYNAMIC_BUFFER_ALLOCATION return SDO_FINISHED; } /*! ** ** ** @param d ** @param nodeId ** @param abortCode ** ** @return **/ UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode) { UNS8 line = 0; UNS8 err; * abortCode = 0; /* Looking for the line tranfert. */ err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line); if (err) { MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId); return SDO_ABORTED_INTERNAL; } * abortCode = d->transfers[line].abortCode; return d->transfers[line].state; }