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
42 extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
43 UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
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 send_consise_dcf(d,nodeId);
74 void send_consise_dcf(CO_Data* d,UNS8 nodeId)
76 /* Fetch DCF OD entry, if not already done */
80 ODCallback_t *Callback;
81 d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
82 /* If DCF entry do not exist... Nothing to do.*/
83 if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
86 /* Loop on all DCF subindexes, corresponding to nodes ID */
87 while (nodeId < d->dcf_odentry->bSubCount){
90 UNS8 szData = d->dcf_odentry->pSubindex[nodeId].size;
94 UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
95 dcfend = dcf + szData;
97 d->dcf_cursor = (UNS8*)dcf + 4;
98 d->dcf_entries_count = 0;
100 nb_entries = UNS32_LE(*((UNS32*)dcf));
103 /* condition on consise DCF string for NodeID, if big enough */
104 if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries)
107 UNS8 target_Subindex;
110 /* pointer to the DCF string for NodeID */
111 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
112 target_Subindex = *((UNS8*)((UNS8*)d->dcf_cursor++));
113 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
115 _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_entries_count++;
130 /* send_consise_dcf will be called by CheckSDOAndContinue for next DCF entry*/
134 d->dcf_cursor = NULL;
137 /* Switch Master to preOperational state */
138 (*d->preOperational)();