Sam Grove
CANfestival - an open source CANopen framework
Diff: framework/src/sdo.c
- Revision:
- 0:6219434a0cb5
diff -r 000000000000 -r 6219434a0cb5 framework/src/sdo.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/sdo.c Mon May 30 07:14:41 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;
+}