Service Data Object (SDO)
[Communication Objects]

Collaboration diagram for Service Data Object (SDO):


Functions
UNS8	writeNetworkDict (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data)
	Used to send a SDO request frame to write the data at the index and subIndex indicated.
UNS8	writeNetworkDictCallBack (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data, SDOCallback_t Callback)
	Used to send a SDO request frame to write in a distant node dictionnary.
UNS8	writeNetworkDictCallBackAI (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void data, SDOCallback_t Callback, UNS8 endianize)
	Used to send a SDO request frame to write in a distant node dictionnary.
UNS8	readNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
	Used to send a SDO request frame to read.
UNS8	readNetworkDictCallback (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
	Used to send a SDO request frame to read in a distant node dictionnary.
UNS8	readNetworkDictCallbackAI (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
	Used to send a SDO request frame to read in a distant node dictionnary.
UNS8	getReadResultNetworkDict (CO_Data d, UNS8 nodeId, void data, UNS8 size, UNS32 abortCode)
	Use this function after calling readNetworkDict to get the result.
UNS8	getWriteResultNetworkDict (CO_Data d, UNS8 nodeId, UNS32 abortCode)
	Use this function after calling writeNetworkDict function to get the result of the write.

Detailed Description

SDOs provide the access to entries in the CANopen Object Dictionary. An SDO is made up of at least two CAN messages with different identifiers. SDO s are always confirmed point-to-point communications services.

Function Documentation

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

Use this function after calling readNetworkDict to get the result.

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	*data	Pointer to the datas
	*size	Pointer to the size
	*abortCode	Pointer to the abortcode. (0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

Returns:

SDO_FINISHED // datas are available
SDO_ABORTED_RCV // Transfert failed (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed (internal abort)
SDO_UPLOAD_IN_PROGRESS // Datas are not yet available

SDO_DOWNLOAD_IN_PROGRESS // Download is in progress

example :

 UNS32 data;
 UNS8 size;
 readNetworkDict(0, 0x05, 0x1016, 1, 0) // get the data index 1016 subindex 1 of node 5
 while (getReadResultNetworkDict (0, 0x05, &data, &size) != SDO_UPLOAD_IN_PROGRESS);

Definition at line 1532 of file sdo.c.

References getSDOlineOnUse(), and struct_CO_Data::transfers.

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

Use this function after calling writeNetworkDict function to get the result of the write.

It is mandatory to call this function because it is releasing the line used for the transfer.

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	*abortCode	Pointer to the abortcode 0 = not available. SDO abort code (received if return SDO_ABORTED_RCV)

Returns:

:

SDO_FINISHED // datas are available
SDO_ABORTED_RCV // Transfert failed (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed (Internal abort)
SDO_DOWNLOAD_IN_PROGRESS // Datas are not yet available

SDO_UPLOAD_IN_PROGRESS // Upload in progress

example :

 UNS32 data = 0x50;
 UNS8 size;
 UNS32 abortCode;
 writeNetworkDict(0, 0x05, 0x1016, 1, size, &data) // write the data index 1016 subindex 1 of node 5
 while (getWriteResultNetworkDict (0, 0x05, &abortCode) != SDO_DOWNLOAD_IN_PROGRESS);

Definition at line 1567 of file sdo.c.

References getSDOlineOnUse(), and struct_CO_Data::transfers.

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

Used to send a SDO request frame to read.

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

Returns:

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1474 of file sdo.c.

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

Used to send a SDO request frame to read in a distant node dictionnary.

The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort).

Parameters:

	*d	Pointer on a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
	Callback	Callback function

Returns:

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1479 of file sdo.c.

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

Used to send a SDO request frame to read in a distant node dictionnary.

The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort). First free SDO client parameter is automatically initialized for specific node if not already defined.

Parameters:

	*d	Pointer on a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
	Callback	Callback function

Returns:

0 is returned upon success.
0xFF is returned when error occurs.

Definition at line 1484 of file sdo.c.

References struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, and struct_CO_Data::objdict.

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

Used to send a SDO request frame to write the data at the index and subIndex indicated.

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	count	number of bytes to write in the dictionnary.
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
	*data	Pointer to data

Returns:

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1331 of file sdo.c.

References _writeNetworkDict().

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

Used to send a SDO request frame to write in a distant node dictionnary.

The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort).

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	count	number of bytes to write in the dictionnary.
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
	*data	Pointer to data
	Callback	Callback function

Returns:

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1337 of file sdo.c.

References _writeNetworkDict().

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

Used to send a SDO request frame to write in a distant node dictionnary.

The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort). First free SDO client parameter is automatically initialized for specific node if not already defined.

Parameters:

	*d	Pointer to a CAN object data structure
	nodeId	Node Id of the slave
	index	At index indicated
	subIndex	At subIndex indicated
	count	number of bytes to write in the dictionnary.
	dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
	*data	Pointer to data
	Callback	Callback function
	endianize	When not 0, data is endianized into network byte order when 0, data is not endianized and copied in machine native endianness

Returns:

0 is returned upon success.
0xFF is returned when error occurs.

Definition at line 1343 of file sdo.c.

References _writeNetworkDict(), struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, and struct_CO_Data::objdict.

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Service Data Object (SDO) [Communication Objects]

Functions

Detailed Description

Function Documentation

Service Data Object (SDO)
[Communication Objects]