Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/** @defgroup comobj Communication Objects
+ * @ingroup userapi
+ */
+
+/** @defgroup sdo Service Data Object (SDO)
+ * 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.
+ * @ingroup comobj
+ */
+
#ifndef __sdo_h__
#define __sdo_h__
*/
struct struct_s_transfer {
- UNS8 nodeId; /*own ID if server, or node ID of the server if client */
-
- UNS8 whoami; /* Takes the values SDO_CLIENT or SDO_SERVER */
- UNS8 state; /* state of the transmission : Takes the values SDO_... */
- UNS8 toggle;
- UNS32 abortCode; /* Sent or received */
- /* index and subindex of the dictionary where to store */
- /* (for a received SDO) or to read (for a transmit SDO) */
+ UNS8 nodeId; /**<own ID if server, or node ID of the server if client */
+
+ UNS8 whoami; /**< Takes the values SDO_CLIENT or SDO_SERVER */
+ UNS8 state; /**< state of the transmission : Takes the values SDO_... */
+ UNS8 toggle;
+ UNS32 abortCode; /**< Sent or received */
+ /**< index and subindex of the dictionary where to store */
+ /**< (for a received SDO) or to read (for a transmit SDO) */
UNS16 index;
UNS8 subIndex;
- UNS32 count; /* Number of data received or to be sent. */
- UNS32 offset; /* stack pointer of data[]
+ UNS32 count; /**< Number of data received or to be sent. */
+ UNS32 offset; /**< stack pointer of data[]
* Used only to tranfer part of a line to or from a SDO.
* offset is always pointing on the next free cell of data[].
* WARNING s_transfer.data is subject to ENDIANISATION
* (with respect to CANOPEN_BIG_ENDIAN)
*/
UNS8 data [SDO_MAX_LENGTH_TRANSFERT];
- UNS8 dataType; /* Defined in objdictdef.h Value is visible_string
+ UNS8 dataType; /**< Defined in objdictdef.h Value is visible_string
* if it is a string, any other value if it is not a string,
* like 0. In fact, it is used only if client.
*/
- TIMER_HANDLE timer; /* Time counter to implement a timeout in milliseconds.
+ TIMER_HANDLE timer; /**< Time counter to implement a timeout in milliseconds.
* It is automatically incremented whenever
* the line state is in SDO_DOWNLOAD_IN_PROGRESS or
* SDO_UPLOAD_IN_PROGRESS, and reseted to 0
* when the response SDO have been received.
*/
- SDOCallback_t Callback; /* The user callback func to be called at SDO transaction end */
+ SDOCallback_t Callback; /**< The user callback func to be called at SDO transaction end */
};
typedef struct struct_s_transfer s_transfer;
#include "data.h"
-/* The 8 bytes data of the SDO */
+
struct BODY{
- UNS8 data[8];
+ UNS8 data[8]; /**< The 8 bytes data of the SDO */
};
/* The SDO structure ...*/
struct struct_s_SDO {
- UNS8 nodeId; /*in any case, Node ID of the server (case sender or receiver).*/
+ UNS8 nodeId; /**< In any case, Node ID of the server (case sender or receiver).*/
struct BODY body;
};
typedef struct struct_s_SDO s_SDO;
-/** Reset of a SDO exchange on timeout.
- * Send a SDO abort
+/**
+ * @brief Reset of a SDO exchange on timeout.
+ * Send a SDO abort.
+ * @param *d Pointer on a CAN object data structure
+ * @param id
*/
void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
-/** Reset all sdo buffers
+/**
+ * @brief Reset all SDO buffers.
+ * @param *d Pointer on a CAN object data structure
*/
void resetSDO (CO_Data* d);
-/** Copy the data received from the SDO line transfert to the object dictionary
- * Returns SDO error code if error. Else, returns 0;
+/**
+ * @brief Copy the data received from the SDO line transfert to the object dictionary.
+ * @param *d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @return SDO error code if error. Else, returns 0.
*/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
-/** Copy the data from the object dictionary to the SDO line for a network transfert.
- * Returns SDO error code if error. Else, returns 0;
+/**
+ * @brief Copy the data from the object dictionary to the SDO line for a network transfert.
+ * @param *d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @return SDO error code if error. Else, returns 0.
*/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
-/** copy data from an existant line in the argument "* data"
- * Returns 0xFF if error. Else, returns 0;
+/**
+ * @brief Copy data from an existant line in the argument "* data"
+ * @param d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @param nbBytes
+ * @param *data Pointer on the data
+ * @return 0xFF if error. Else, returns 0.
*/
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
-/** Add data to an existant line
- * Returns 0xFF if error. Else, returns 0;
+/**
+ * @brief Add data to an existant line
+ * @param d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @param nbBytes
+ * @param *data Pointer on the data
+ * @return 0xFF if error. Else, returns 0.
*/
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8 * data);
-/** Called when an internal SDO abort occurs.
+/**
+ * @brief 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,
+ * 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.
- * Returns 0
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId
+ * @param whoami
+ * @param index
+ * @param subIndex
+ * @param abortCode
+ * @return 0
*/
-UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
- UNS8 subIndex, UNS32 abortCode);
+UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
-/** Reset an unused line.
- *
+/**
+ * @brief Reset an unused line.
+ * @param *d Pointer on a CAN object data structure
+ * @param line SDO line
*/
void resetSDOline (CO_Data* d, UNS8 line);
-/** Initialize some fields of the structure.
- * Returns 0
+/**
+ * @brief Initialize some fields of the structure.
+ * @param *d Pointer on a CAN object data structure
+ * @param line
+ * @param nodeId
+ * @param index
+ * @param subIndex
+ * @param state
+ * @return 0
*/
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
-/** Search for an unused line in the transfers array
+/**
+ * @brief 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
* bus_id is hardware dependant
- * whoami : create the line for a SDO_SERVER or SDO_CLIENT.
- * return 0xFF if all the lines are on use. Else, return 0
+ * @param *d Pointer on a CAN object data structure
+ * @param whoami Create the line for a SDO_SERVER or SDO_CLIENT.
+ * @param *line Pointer on a SDO line
+ * @return 0xFF if all the lines are on use. Else, return 0.
*/
UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
-/** Search for the line, in the transfers array, which contains the
+/**
+ * @brief Search for the line, in the transfers array, which contains the
* beginning of the reception of a fragmented SDO
- * whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
* bus_id is hardware dependant
- * nodeId correspond to the message node-id
- * return 0xFF if error. Else, return 0
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId correspond to the message node-id
+ * @param whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
+ * @param *line Pointer on a SDO line
+ * @return 0xFF if error. Else, return 0
*/
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
-/** Close a transmission.
- * nodeId : Node id of the server if both server or client
- * whoami : Line opened as SDO_CLIENT or SDO_SERVER
+/**
+ * @brief Close a transmission.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId Node id of the server if both server or client
+ * @param whoami Line opened as SDO_CLIENT or SDO_SERVER
*/
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
-/** Bytes in the line structure which must be transmited (or received)
+/**
+ * @brief Bytes in the line structure which must be transmited (or received)
* bus_id is hardware dependant.
- * return 0.
+ * @param *d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @param *nbBytes Pointer on nbBytes
+ * @return 0.
*/
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes);
-/** Store in the line structure the nb of bytes which must be transmited (or received)
+/**
+ * @brief Store in the line structure the nb of bytes which must be transmited (or received)
* bus_id is hardware dependant.
- * return 0 if success, 0xFF if error.
+ * @param *d Pointer on a CAN object data structure
+ * @param line SDO line
+ * @param nbBytes
+ * @return 0 if success, 0xFF if error.
*/
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes);
-/** Transmit a SDO frame on the bus bus_id
- * sdo is a structure which contains the sdo to transmit
+/**
+ * @brief Transmit a SDO frame on the bus bus_id
* bus_id is hardware dependant
- * whoami takes 2 values : SDO_CLIENT or SDO_SERVER
- * return canSend(bus_id,&m) or 0xFF if error
+ * @param *d Pointer on a CAN object data structure
+ * @param whoami Takes 2 values : SDO_CLIENT or SDO_SERVER
+ * @param sdo SDO Structure which contains the sdo to transmit
+ * @return canSend(bus_id,&m) or 0xFF if error.
*/
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
-/** Transmit a SDO error to the client. The reasons may be :
+/**
+ * @brief 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
- * whoami takes 2 values : SDO_CLIENT or SDO_SERVER
+ * @param *d Pointer on a CAN object data structure
+ * @param whoami takes 2 values : SDO_CLIENT or SDO_SERVER
+ * @param nodeId
+ * @param index
+ * @param subIndex
+ * @param abortCode
+ * @return 0
*/
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 abortCode);
-/** Treat a SDO frame reception
+/**
+ * @brief Treat a SDO frame reception
* bus_id is hardware dependant
* call the function sendSDO
- * return 0xFF if error
- * 0x80 if transfert aborted by the server
- * 0x0 ok
+ * @param *d Pointer on a CAN object data structure
+ * @param *m Pointer on a CAN message structure
+ * @return code :
+ * - 0xFF if error
+ * - 0x80 if transfert aborted by the server
+ * - 0x0 ok
*/
UNS8 proceedSDO (CO_Data* d, Message *m);
-/** Used by the application to send a SDO request frame to write the data *data
+/**
+ * @ingroup sdo
+ * @brief Used by the application to send a SDO request frame to write the data *data
* at the index and subIndex indicated
- * in the dictionary of the slave whose node_id is nodeId
- * Count : nb 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.
* bus_id is hardware dependant
- * return 0xFF if error, else return 0
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param count number of bytes to write in the dictionnary.
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
+ * @param *data Pointer on data
+ * @return 0xFF if error, else return 0
*/
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 in a distant node dictionnary.
- * The function Callback which must be defined in the user code is called at the
+
+/**
+ * @ingroup sdo
+ * @brief 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).
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param count number of bytes to write in the dictionnary.
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
+ * @param *data Pointer on data
+ * @param Callback Callback function
+ * @return 0xFF if error, else return 0
*/
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.
+
+/**
+ * @ingroup sdo
+ * @brief 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.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param count number of bytes to write in the dictionnary.
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
+ * @param *data Pointer on data
+ * @param Callback Callback function
+ * @param endianize
+ * @return 0xFF if error, else return 0
*/
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
-/** Used by the application to send a SDO request frame to read
- * in the dictionary of a server node whose node_id is ID
- * at the index and subIndex indicated
- * bus_id is hardware dependant
- * datatype (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
- * return 0xFF if error, else return 0
+
+/**
+ * @ingroup sdo
+ * @brief Used by the application to send a SDO request frame to read
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value. * bus_id is hardware dependant
+ * @return 0xFF if error, else return 0
*/
-UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
- UNS8 subIndex, UNS8 dataType);
+UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType);
-/** 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
+/**
+ * @ingroup sdo
+ * @brief 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).
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
+ * @param Callback Callback function
+ * @return 0xFF if error, else return 0
*/
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.
+/**
+ * @ingroup sdo
+ * @brief 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.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param index At index indicated
+ * @param subIndex At subIndex indicated
+ * @param dataType (defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
+ * @param Callback Callback function
+ * @return 0xFF if error, else return 0
*/
UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
-/** Use this function after a readNetworkDict to get the result.
- Returns : SDO_FINISHED // data is available
- SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
- SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
- SDO_UPLOAD_IN_PROGRESS // Data not yet available
- SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
-
- dataType (defined in objdictdef.h) : type expected. put "visible_string" for strings, 0 for integers or reals.
- abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
- 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);
+/**
+ * @ingroup sdo
+ * @brief Use this function after a readNetworkDict to get the result.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param *data Pointer on data
+ * @param *size Pointer on size
+ * @param *abortCode Pointer on the abortcode. 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
+ *
+ *
+ * @return
+ * - SDO_FINISHED // data is available
+ * - SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
+ * - SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
+ * - SDO_UPLOAD_IN_PROGRESS // Data not yet available
+ * - SDO_DOWNLOAD_IN_PROGRESS // Should not arrive !
+ *
+ * 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);
*/
-UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data,
- UNS8 *size, UNS32 * abortCode);
+UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size, UNS32 * abortCode);
/**
- Use this function after a writeNetworkDict to get the result of the write
- It is mandatory to call this function because it is releasing the line used for the transfer.
- Returns : SDO_FINISHED // data is available
- SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
- SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
- SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
- SDO_UPLOAD_IN_PROGRESS // Should not arrive !
- abortCode : 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
- 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);
+ * @brief Use this function after a writeNetworkDict to get the result of the write
+ * It is mandatory to call this function because it is releasing the line used for the transfer.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId In the dictionary of the slave whose node_id is nodeId
+ * @param *abortCode Pointer on the abortcode. 0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)
+ *
+ * @return :
+ * - SDO_FINISHED // data is available
+ * - SDO_ABORTED_RCV // Transfert failed. (abort SDO received)
+ * - SDO_ABORTED_INTERNAL // Transfert failed. Internal abort.
+ * - SDO_DOWNLOAD_IN_PROGRESS // Data not yet available
+ * - SDO_UPLOAD_IN_PROGRESS // Should not arrive !
+ *
+ * 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);
*/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
-
-
-
#endif
projects / CanFestival-3.git / blobdiff