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Can_open_masternode
Diff: framework/src/sdo.c
- Revision:
- 0:9dd7c6129683
diff -r 000000000000 -r 9dd7c6129683 framework/src/sdo.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/src/sdo.c Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,1866 @@ +/* +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; +}