2 This file is part of CanFestival, a library implementing CanOpen
5 Copyright (C): Edouard TISSERANT and Francis DUPIN
7 See COPYING file for copyrights details.
9 This library is free software; you can redistribute it and/or
10 modify it under the terms of the GNU Lesser General Public
11 License as published by the Free Software Foundation; either
12 version 2.1 of the License, or (at your option) any later version.
14 This library is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 Lesser General Public License for more details.
19 You should have received a copy of the GNU Lesser General Public
20 License along with this library; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
27 ** @author Edouard TISSERANT and Francis DUPIN
28 ** @date Mon Jun 4 17:06:12 2007
41 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
42 UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
44 const indextable *ptrTable;
52 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
56 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
58 MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
59 MSG_WAR(0x2A02, "server node : ", nodeId);
62 closeSDOtransfer(d, nodeId, SDO_CLIENT);
63 decompo_dcf(d,nodeId);
74 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
81 ODCallback_t *Callback;
83 ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
84 if (errorCode != OD_SUCCESSFUL)
89 /*Loop on all Nodes supported in DCF subindexes*/
90 while (nodeId < ptrTable->bSubCount){
93 UNS8 szData = ptrTable->pSubindex[nodeId].size;
97 UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
98 dcfend = dcf + szData;
100 d->dcf_cursor = (UNS8*)dcf + 4;
101 d->dcf_count_targets = 0;
103 nb_targets = UNS32_LE(*((UNS32*)dcf));
106 // condition on consise DCF string for NodeID, if big enough
107 if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
109 // pointer to the DCF string for NodeID
110 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
111 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
112 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
114 /*printf("Master : ConfigureSlaveNode %2.2x (Concise
116 res = _writeNetworkDict(d, /*CO_Data* d*/
117 nodeId, /*UNS8 nodeId*/
118 target_Index, /*UNS16 index*/
119 target_Subindex, /*UNS8 subindex*/
120 target_Size, /*UNS8 count*/
122 d->dcf_cursor,/*void *data*/
123 CheckSDOAndContinue,/*SDOCallback_t
125 0); /* no endianize*/
126 /*Push d->dcf_cursor to the end of data*/
128 d->dcf_cursor += target_Size;
129 d->dcf_count_targets++;
134 d->dcf_cursor = NULL;
136 /* Switch Master to preOperational state */
137 (*d->preOperational)();