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
28 ** @author Edouard TISSERANT and Francis DUPIN
29 ** @date Mon Jun 4 17:06:12 2007
31 ** @brief EXEMPLE OF SOMMARY
40 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
41 UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
43 const indextable *ptrTable;
51 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
55 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
57 MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
58 MSG_WAR(0x2A02, "server node : ", nodeId);
61 closeSDOtransfer(d, nodeId, SDO_CLIENT);
62 decompo_dcf(d,nodeId);
73 UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
80 ODCallback_t *Callback;
82 ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
83 if (errorCode != OD_SUCCESSFUL)
88 /** Loop on all Nodes supported in DCF subindexes*/
89 while (nodeId < ptrTable->bSubCount){
92 UNS8 szData = ptrTable->pSubindex[nodeId].size;
96 UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
97 dcfend = dcf + szData;
99 d->dcf_cursor = (UNS8*)dcf + 4;
100 d->dcf_count_targets = 0;
102 nb_targets = UNS32_LE(*((UNS32*)dcf));
105 /** condition on consise DCF string for NodeID, if big enough */
106 if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
108 /** pointer to the DCF string for NodeID */
109 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
110 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
111 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
113 /* printf("Master : ConfigureSlaveNode %2.2x (Concise
115 res = _writeNetworkDict(d, /** CO_Data* d*/
116 nodeId, /** UNS8 nodeId*/
117 target_Index, /** UNS16 index*/
118 target_Subindex, /** UNS8 subindex*/
119 target_Size, /** UNS8 count*/
120 0, /** UNS8 dataType*/
121 d->dcf_cursor,/** void *data*/
122 CheckSDOAndContinue,/** SDOCallback_t
124 0); /** no endianize*/
125 /** Push d->dcf_cursor to the end of data*/
127 d->dcf_cursor += target_Size;
128 d->dcf_count_targets++;
133 d->dcf_cursor = NULL;
135 /** Switch Master to preOperational state */
136 (*d->preOperational)();