src/sdo.c File Reference

#include "canfestival.h"
#include "sysdep.h"

Include dependency graph for sdo.c:

Go to the source code of this file.

Defines
#define	getSDOcs(byte)   (byte >> 5)
#define	getSDOn2(byte)   ((byte >> 2) & 3)
#define	getSDOn3(byte)   ((byte >> 1) & 7)
#define	getSDOe(byte)   ((byte >> 1) & 1)
#define	getSDOs(byte)   (byte & 1)
#define	getSDOc(byte)   (byte & 1)
#define	getSDOt(byte)   ((byte >> 4) & 1)
#define	getSDOindex(byte1, byte2)   ((byte2 << 8) | (byte1))
#define	getSDOsubIndex(byte3)   (byte3)
Functions
INLINE UNS8	_writeNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
void	SDOTimeoutAlarm (CO_Data *d, UNS32 id)
	Reset of a SDO exchange on timeout. Send a SDO abort.
void	resetSDO (CO_Data *d)
	Reset all SDO buffers.
UNS32	SDOlineToObjdict (CO_Data *d, UNS8 line)
	Copy the data received from the SDO line transfert to the object dictionary.
UNS32	objdictToSDOline (CO_Data *d, UNS8 line)
	Copy the data from the object dictionary to the SDO line for a network transfert.
UNS8	lineToSDO (CO_Data *d, UNS8 line, UNS8 nbBytes, UNS8 *data)
	Copy data from an existant line in the argument "* data".
UNS8	SDOtoLine (CO_Data *d, UNS8 line, UNS8 nbBytes, UNS8 *data)
	Add data to an existant line.
UNS8	failedSDO (CO_Data *d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
	Called when an internal SDO abort occurs. Release the line * Only if server * If client, the line must be released manually in the core application. The reason of that is to permit the program to read the transfers structure before its reset, because many informations are stored on it : index, subindex, data received or trasmited, ... In all cases, sends a SDO abort.
void	resetSDOline (CO_Data *d, UNS8 line)
	Reset an unused line.
UNS8	initSDOline (CO_Data *d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
	Initialize some fields of the structure.
UNS8	getSDOfreeLine (CO_Data *d, UNS8 whoami, UNS8 *line)
	Search for an unused line in the transfers array to store a new SDO. ie a line which value of the field "state" is "SDO_RESET" An unused line have the field "state" at the value SDO_RESET.
UNS8	getSDOlineOnUse (CO_Data *d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
	Search for the line, in the transfers array, which contains the beginning of the reception of a fragmented SDO.
UNS8	closeSDOtransfer (CO_Data *d, UNS8 nodeId, UNS8 whoami)
	Close a transmission.
UNS8	getSDOlineRestBytes (CO_Data *d, UNS8 line, UNS8 *nbBytes)
	Bytes in the line structure which must be transmited (or received).
UNS8	setSDOlineRestBytes (CO_Data *d, UNS8 line, UNS8 nbBytes)
	Store in the line structure the nb of bytes which must be transmited (or received).
UNS8	sendSDO (CO_Data *d, UNS8 whoami, s_SDO sdo)
	Transmit a SDO frame on the bus bus_id.
UNS8	sendSDOabort (CO_Data *d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
	Transmit a SDO error to the client. The reasons may be : Read/Write to a undefined object Read/Write to a undefined subindex Read/write a not valid length object Write a read only object.
UNS8	proceedSDO (CO_Data *d, Message *m)
	Treat a SDO frame reception call the function sendSDO.
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

Author:

Edouard TISSERANT and Francis DUPIN

Date:

Tue Jun 5 09:32:32 2007

Definition in file sdo.c.

---

Define Documentation

#define getSDOc

(

byte

)

(byte & 1)

Returns the indicator of end transmission from the first byte of the SDO

Definition at line 81 of file sdo.c.

Referenced by proceedSDO().

#define getSDOcs

(

byte

)

(byte >> 5)

Returns the command specifier (cs, ccs, scs) from the first byte of the SDO

Definition at line 61 of file sdo.c.

Referenced by proceedSDO().

#define getSDOe

(

byte

)

((byte >> 1) & 1)

Returns the transfer type from the first byte of the SDO

Definition at line 73 of file sdo.c.

Referenced by proceedSDO().

#define getSDOindex	(	byte1,
		byte2		)	((byte2 << 8) | (byte1))

Returns the index from the bytes 1 and 2 of the SDO

Definition at line 89 of file sdo.c.

Referenced by proceedSDO().

#define getSDOn2

(

byte

)

((byte >> 2) & 3)

Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits

Definition at line 65 of file sdo.c.

Referenced by proceedSDO().

#define getSDOn3

(

byte

)

((byte >> 1) & 7)

Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits

Definition at line 69 of file sdo.c.

Referenced by proceedSDO().

#define getSDOs

(

byte

)

(byte & 1)

Returns the size indicator from the first byte of the SDO

Definition at line 77 of file sdo.c.

Referenced by proceedSDO().

#define getSDOsubIndex

(

byte3

)

(byte3)

Returns the subIndex from the byte 3 of the SDO

Definition at line 93 of file sdo.c.

Referenced by proceedSDO().

#define getSDOt

(

byte

)

((byte >> 4) & 1)

Returns the toggle from the first byte of the SDO

Definition at line 85 of file sdo.c.

Referenced by proceedSDO().

---

Function Documentation

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

Parameters:

	d
	nodeId
	index
	subIndex
	count
	dataType
	data
	Callback
	endianize

Returns:

Normal transfert

Definition at line 1223 of file sdo.c.

References struct_CO_Data::firstIndex, getSDOfreeLine(), getSDOlineOnUse(), initSDOline(), struct_CO_Data::lastIndex, struct_CO_Data::objdict, resetSDOline(), sendSDO(), and struct_CO_Data::transfers.

Referenced by writeNetworkDict(), writeNetworkDictCallBack(), and writeNetworkDictCallBackAI().

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UNS8 closeSDOtransfer	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami
	)

Close a transmission.

Parameters:

	d
	nodeId
	whoami

Returns:

Definition at line 405 of file sdo.c.

References getSDOlineOnUse(), and resetSDOline().

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UNS8 failedSDO	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode
	)

Called when an internal SDO abort occurs. Release the line * Only if server * If client, the line must be released manually in the core application. The reason of that is to permit the program to read the transfers structure before its reset, because many informations are stored on it : index, subindex, data received or trasmited, ... In all cases, sends a SDO abort.

Parameters:

	d
	nodeId
	whoami
	index
	subIndex
	abortCode

Returns:

Definition at line 271 of file sdo.c.

References getSDOlineOnUse(), resetSDOline(), sendSDOabort(), and struct_CO_Data::transfers.

Referenced by proceedSDO().

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UNS8 getSDOfreeLine	(	CO_Data *	d,
		UNS8	whoami,
		UNS8 *	line
	)

Search for an unused line in the transfers array to store a new SDO. ie a line which value of the field "state" is "SDO_RESET" An unused line have the field "state" at the value SDO_RESET.

Parameters:

	d
	whoami
	line

Returns:

Definition at line 354 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by _writeNetworkDict(), and proceedSDO().

UNS8 getSDOlineOnUse	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS8 *	line
	)

Search for the line, in the transfers array, which contains the beginning of the reception of a fragmented SDO.

Parameters:

	d
	nodeId
	whoami
	line

Returns:

Definition at line 380 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by _writeNetworkDict(), closeSDOtransfer(), failedSDO(), getReadResultNetworkDict(), getWriteResultNetworkDict(), and proceedSDO().

UNS8 getSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS8 *	nbBytes
	)

Bytes in the line structure which must be transmited (or received).

Parameters:

	d
	line
	nbBytes

Returns:

Definition at line 427 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by proceedSDO().

UNS8 initSDOline	(	CO_Data *	d,
		UNS8	line,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	state
	)

Initialize some fields of the structure.

Parameters:

	d
	line
	nodeId
	index
	subIndex
	state

Returns:

Definition at line 325 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by _writeNetworkDict(), proceedSDO(), and resetSDOline().

UNS8 lineToSDO	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes,
		UNS8 *	data
	)

Copy data from an existant line in the argument "* data".

Parameters:

	d
	line
	nbBytes
	data

Returns:

Definition at line 214 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by proceedSDO().

UNS32 objdictToSDOline	(	CO_Data *	d,
		UNS8	line
	)

Copy the data from the object dictionary to the SDO line for a network transfert.

Parameters:

	d
	line

Returns:

Definition at line 181 of file sdo.c.

References getODentry, and struct_CO_Data::transfers.

Referenced by proceedSDO().

UNS8 proceedSDO	(	CO_Data *	d,
		Message *	m
	)

Treat a SDO frame reception call the function sendSDO.

Parameters:

	d
	m

Returns:

The server node Id;

The server node Id;

Definition at line 585 of file sdo.c.

References struct_CO_Data::bDeviceNodeId, Message::cob_id, Message::data, failedSDO(), struct_CO_Data::firstIndex, getSDOc, getSDOcs, getSDOe, getSDOfreeLine(), getSDOindex, getSDOlineOnUse(), getSDOlineRestBytes(), getSDOn2, getSDOn3, getSDOs, getSDOsubIndex, getSDOt, initSDOline(), struct_CO_Data::lastIndex, lineToSDO(), struct_CO_Data::objdict, objdictToSDOline(), resetSDOline(), SDOlineToObjdict(), SDOtoLine(), sendSDO(), setSDOlineRestBytes(), and struct_CO_Data::transfers.

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void resetSDO

(

CO_Data *

d

)

Reset all SDO buffers.

Reset all sdo buffers

Parameters:

d

Definition at line 141 of file sdo.c.

References resetSDOline().

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void resetSDOline	(	CO_Data *	d,
		UNS8	line
	)

Reset an unused line.

Parameters:

	d
	line

Definition at line 302 of file sdo.c.

References initSDOline(), and struct_CO_Data::transfers.

Referenced by _writeNetworkDict(), closeSDOtransfer(), failedSDO(), proceedSDO(), resetSDO(), and SDOTimeoutAlarm().

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UNS32 SDOlineToObjdict	(	CO_Data *	d,
		UNS8	line
	)

Copy the data received from the SDO line transfert to the object dictionary.

Parameters:

	d
	line

Returns:

Definition at line 158 of file sdo.c.

References setODentry, and struct_CO_Data::transfers.

Referenced by proceedSDO().

void SDOTimeoutAlarm	(	CO_Data *	d,
		UNS32	id
	)

Reset of a SDO exchange on timeout. Send a SDO abort.

Parameters:

	d
	id

Definition at line 101 of file sdo.c.

References resetSDOline(), sendSDOabort(), and struct_CO_Data::transfers.

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UNS8 SDOtoLine	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes,
		UNS8 *	data
	)

Add data to an existant line.

Parameters:

	d
	line
	nbBytes
	data

Returns:

Definition at line 243 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by proceedSDO().

UNS8 sendSDO	(	CO_Data *	d,
		UNS8	whoami,
		s_SDO	sdo
	)

Transmit a SDO frame on the bus bus_id.

Parameters:

	d
	whoami
	sdo

Returns:

Definition at line 464 of file sdo.c.

References struct_CO_Data::canHandle, Message::cob_id, Message::data, struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, Message::len, struct_CO_Data::nodeState, struct_CO_Data::objdict, and Message::rtr.

Referenced by _writeNetworkDict(), proceedSDO(), and sendSDOabort().

UNS8 sendSDOabort	(	CO_Data *	d,
		UNS8	whoami,
		UNS8	nodeID,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode
	)

Transmit a SDO error to the client. The reasons may be : Read/Write to a undefined object Read/Write to a undefined subindex Read/write a not valid length object Write a read only object.

Parameters:

	d
	whoami
	index
	subIndex
	abortCode

Returns:

Definition at line 544 of file sdo.c.

References struct_CO_Data::bDeviceNodeId, and sendSDO().

Referenced by failedSDO(), and SDOTimeoutAlarm().

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UNS8 setSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS8	nbBytes
	)

Store in the line structure the nb of bytes which must be transmited (or received).

Parameters:

	d
	line
	nbBytes

Returns:

Definition at line 445 of file sdo.c.

References struct_CO_Data::transfers.

Referenced by proceedSDO().