License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/*!
+** @file sdo.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date Tue Jun 5 09:32:32 2007
+**
+** @brief
+**
+**
+*/
/* #define DEBUG_WAR_CONSOLE_ON */
/* #define DEBUG_ERR_CONSOLE_ON */
/*Internals prototypes*/
-/** Called by writeNetworkDict */
+/*!
+** Called by writeNetworkDict
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param count
+** @param dataType
+** @param data
+** @param Callback
+** @param endianize
+**
+** @return
+**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
-/** Called by readNetworkDict */
+/*!
+** Called by readNetworkDict
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param dataType
+** @param Callback
+**
+** @return
+**/
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
UNS8 dataType, SDOCallback_t Callback);
/** Returns the subIndex from the byte 3 of the SDO
*/
-
#define getSDOsubIndex(byte3) (byte3)
-/***************************************************************************
-**
-*/
+/*!
+**
+**
+** @param d
+** @param id
+**/
void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
{
MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
-/***************************************************************************/
-/** Reset all sdo buffers
- */
+/*!
+** Reset all sdo buffers
+**
+** @param d
+**/
void resetSDO (CO_Data* d)
{
UNS8 j;
- /* transfer structure initialization */
+ /** transfer structure initialization */
for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
resetSDOline(d, j);
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+**
+** @return
+**/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
{
UNS8 size;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+**
+** @return
+**/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
UNS8 size = 0;
d->transfers[line].count = size;
d->transfers[line].offset = 0;
#if 0
- /*Me laisser รงa, please ! (FD)*/
+ /*Me laisser a, please ! (FD)*/
{
UNS8 i;
for (i = 0 ; i < 10 ; i++) {
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nbBytes
+** @param data
+**
+** @return
+**/
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data) {
UNS8 i;
UNS8 offset;
return 0;
}
-
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nbBytes
+** @param data
+**
+** @return
+**/
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
{
UNS8 i;
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param whoami
+** @param index
+** @param subIndex
+** @param abortCode
+**
+** @return
+**/
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
UNS8 subIndex, UNS32 abortCode)
{
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+**/
void resetSDOline ( CO_Data* d, UNS8 line )
{
UNS8 i;
d->transfers[line].data[i] = 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nodeId
+** @param index
+** @param subIndex
+** @param state
+**
+** @return
+**/
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
{
MSG_WAR(0x3A25, "init SDO line nb : ", line);
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param whoami
+** @param line
+**
+** @return
+**/
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
{
return 0xFF;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param whoami
+** @param line
+**
+** @return
+**/
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
{
return 0xFF;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param whoami
+**
+** @return
+**/
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
{
UNS8 err;
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nbBytes
+**
+** @return
+**/
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 * nbBytes)
{
if (d->transfers[line].count == 0) /* if received initiate SDO protocol with e=0 and s=0 */
return 0;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nbBytes
+**
+** @return
+**/
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS8 nbBytes)
{
if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
return 0;
}
-
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param whoami
+** @param sdo
+**
+** @return
+**/
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
{
UNS16 offset;
return 0xFF;
}
- /*get the server->client cobid*/
- if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
+ /**get the server->client cobid*/
+ if ( whoami == SDO_SERVER ) {/**case server. Easy because today only one server SDO is authorized in CanFestival*/
offset = d->firstIndex->SDO_SVR;
if (offset == 0) {
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
pwCobId = d->objdict[offset].pSubindex[2].pObject;
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
}
- else { /*case client*/
- /* Get the client->server cobid.*/
+ else { /**case client*/
+ /** Get the client->server cobid.*/
UNS16 sdoNum = 0;
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
return 0xFF;
}
- /* First, have to find at the index where is defined the communication with the server node */
+ /** First, have to find at the index where is defined the communication with the server node */
while (offset <= lastIndex){
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
if (d->objdict[offset].bSubCount <= 3) {
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
return 0xFF;
}
- /* Second, read the cobid client->server */
+ /** Second, read the cobid client->server */
pwCobId = d->objdict[offset].pSubindex[1].pObject;
}
- /* message copy for sending */
+ /** message copy for sending */
m.cob_id.w = *pwCobId;
m.rtr = NOT_A_REQUEST;
- /* the length of SDO must be 8 */
+ /** the length of SDO must be 8 */
m.len = 8;
for (i = 0 ; i < 8 ; i++) {
m.data[i] = sdo.body.data[i];
return canSend(d->canHandle,&m);
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param whoami
+** @param index
+** @param subIndex
+** @param abortCode
+**
+** @return
+**/
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
{
s_SDO sdo;
return ret;
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
UNS8 proceedSDO (CO_Data* d, Message *m)
{
UNS8 err;
UNS8 line;
- UNS8 nbBytes; /* received or to be transmited. */
- UNS8 nodeId = 0; /* The node from which the SDO is received */
- UNS32 nodeId_32; /* node id in 32 bits, for temporary use */
+ UNS8 nbBytes; /** received or to be transmited. */
+ UNS8 nodeId = 0; /** The node from which the SDO is received */
+ UNS32 nodeId_32; /** node id in 32 bits, for temporary use */
UNS32 *pNodeId = NULL;
- UNS8 whoami = SDO_UNKNOWN; /* SDO_SERVER or SDO_CLIENT.*/
- UNS32 errorCode; /* while reading or writing in the local object dictionary.*/
- s_SDO sdo; /* SDO to transmit */
+ UNS8 whoami = SDO_UNKNOWN; /** SDO_SERVER or SDO_CLIENT.*/
+ UNS32 errorCode; /** while reading or writing in the local object dictionary.*/
+ s_SDO sdo; /** SDO to transmit */
UNS16 index;
UNS8 subIndex;
UNS32 abortCode;
MSG_WAR(0x3A60, "proceedSDO ", 0);
whoami = SDO_UNKNOWN;
- /* Looking for the cobId in the object dictionary. */
- /* Am-I a server ? */
+ /** Looking for the cobId in the object dictionary. */
+ /** Am-I a server ? */
offset = d->firstIndex->SDO_SVR;
lastIndex = d->lastIndex->SDO_SVR;
j = 0;
if ( *pCobId == (*m).cob_id.w ) {
whoami = SDO_SERVER;
MSG_WAR(0x3A62, "proceedSDO. I am server. index : ", 0x1200 + j);
- /* In case of server, the node id of the client may be unknown. So we put the index minus offset */
- /* 0x1200 where the cobid received is defined. */
+ /** In case of server, the node id of the client may be unknown. So we put the index minus offset */
+ /** 0x1200 where the cobid received is defined. */
nodeId = j;
break;
}
j++;
offset++;
- } /* end while */
+ } /** end while */
if (whoami == SDO_UNKNOWN) {
- /* Am-I client ? */
+ /** Am-I client ? */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
j = 0;
MSG_ERR(0x1A63, "Subindex 3 not found at index ", 0x1280 + j);
return 0xFF;
}
- /* a) Looking for the cobid received. */
+ /** a) Looking for the cobid received. */
pCobId = d->objdict[offset].pSubindex[2].pObject;
if (*pCobId == (*m).cob_id.w ) {
- /* b) cobid found, so reading the node id of the server. */
+ /** b) cobid found, so reading the node id of the server. */
pNodeId = d->objdict[offset].pSubindex[3].pObject;
whoami = SDO_CLIENT;
nodeId_32 = *pNodeId;
} /* end while */
}
if (whoami == SDO_UNKNOWN) {
- return 0xFF;/* This SDO was not for us ! */
+ return 0xFF;/** This SDO was not for us ! */
}
- /* Test if the size of the SDO is ok */
+ /** Test if the size of the SDO is ok */
if ( (*m).len != 8) {
MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id.w);
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
}
- /* Testing the command specifier */
- /* Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
- /* cs = other : Not allowed -> abort. */
+ /** Testing the command specifier */
+ /** Allowed : cs = 0, 1, 2, 3, 4. (= all except those for block tranfert). */
+ /** cs = other : Not allowed -> abort. */
switch (getSDOcs(m->data[0])) {
case 0:
- /* I am SERVER */
+ /** I am SERVER */
if (whoami == SDO_SERVER) {
- /* Receiving a download segment data. */
- /* A SDO transfert should have been yet initiated. */
+ /** Receiving a download segment data. */
+ /** A SDO transfert should have been yet initiated. */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /** Reset the wathdog */
RestartSDO_TIMER(line)
MSG_WAR(0x3A71, "Received SDO download segment defined at index 0x1200 + ", nodeId);
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
- /* Toggle test. */
+ /** Toggle test. */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A72, "SDO error : Toggle error : ", getSDOt(m->data[0]));
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
- /* Nb of data to be downloaded */
+ /** Nb of data to be downloaded */
nbBytes = 7 - getSDOn3(m->data[0]);
- /* Store the data in the transfert structure. */
+ /** Store the data in the transfert structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
- /* Sending the SDO response, CS = 1 */
- sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender). */
+ /** Sending the SDO response, CS = 1 */
+ sdo.nodeId = *d->bDeviceNodeId; /** The node id of the server, (here it is the sender). */
sdo.body.data[0] = (1 << 5) | (d->transfers[line].toggle << 4);
for (i = 1 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A73, "SDO. Send response to download request defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
- /* Inverting the toggle for the next segment. */
+ /** Inverting the toggle for the next segment. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
- /* If it was the last segment, */
+ /** If it was the last segment, */
if (getSDOc(m->data[0])) {
- /* Transfering line data to object dictionary. */
- /* The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
+ /** Transfering line data to object dictionary. */
+ /** The code does not use the "d" of initiate frame. So it is safe if e=s=0 */
errorCode = SDOlineToObjdict(d, line);
if (errorCode) {
MSG_ERR(0x1A54, "SDO error : Unable to copy the data in the object dictionary", 0);
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
- /* Release of the line */
+ /** Release of the line */
resetSDOline(d, line);
MSG_WAR(0x3A74, "SDO. End of download defined at index 0x1200 + ", nodeId);
}
} /* end if SERVER */
else { /* if CLIENT */
- /* I am CLIENT */
- /* It is a request for a previous upload segment. We should find a line opened for this.*/
+ /** I am CLIENT */
+ /** It is a request for a previous upload segment. We should find a line opened for this.*/
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /** Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
- /* test of the toggle; */
+ /** test of the toggle; */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A76, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
- /* nb of data to be uploaded */
+ /** nb of data to be uploaded */
nbBytes = 7 - getSDOn3(m->data[0]);
- /* Storing the data in the line structure. */
+ /** Storing the data in the line structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 1);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
- /* Inverting the toggle for the next segment. */
+ /** Inverting the toggle for the next segment. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
- /* If it was the last segment,*/
+ /** If it was the last segment,*/
if ( getSDOc(m->data[0])) {
- /* Put in state finished */
- /* The code is safe for the case e=s=0 in initiate frame. */
+ /** Put in state finished */
+ /** The code is safe for the case e=s=0 in initiate frame. */
StopSDO_TIMER(line)
d->transfers[line].state = SDO_FINISHED;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
MSG_WAR(0x3A77, "SDO. End of upload from node : ", nodeId);
}
- else { /* more segments to receive */
- /* Sending the request for the next segment. */
+ else { /** more segments to receive */
+ /** Sending the request for the next segment. */
sdo.nodeId = nodeId;
sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
for (i = 1 ; i < 8 ; i++)
break;
case 1:
- /* I am SERVER */
- /* Receive of an initiate download */
+ /** I am SERVER */
+ /** Receive of an initiate download */
if (whoami == SDO_SERVER) {
index = getSDOindex(m->data[1],m->data[2]);
subIndex = getSDOsubIndex(m->data[3]);
MSG_WAR(0x3A80, "Writing at index : ", index);
MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
- /* Search if a SDO transfert have been yet initiated */
+ /** Search if a SDO transfert have been yet initiated */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (! err) {
MSG_ERR(0x1A81, "SDO error : Transmission yet started.", 0);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* No line on use. Great ! */
- /* Try to open a new line. */
+ /** No line on use. Great ! */
+ /** Try to open a new line. */
err = getSDOfreeLine( d, whoami, &line );
if (err) {
MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
}
initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
- if (getSDOe(m->data[0])) { /* If SDO expedited */
- /* nb of data to be downloaded */
+ if (getSDOe(m->data[0])) { /** If SDO expedited */
+ /** nb of data to be downloaded */
nbBytes = 4 - getSDOn2(m->data[0]);
- /* Storing the data in the line structure. */
+ /** Storing the data in the line structure. */
d->transfers[line].count = nbBytes;
err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
return 0xFF;
}
- /* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
- /* The line will be reseted when it is downloading in the dictionary. */
+ /** SDO expedited -> transfert finished. Data can be stored in the dictionary. */
+ /**The line will be reseted when it is downloading in the dictionary. */
MSG_WAR(0x3A83, "SDO Initiate Download is an expedited transfert. Finished.: ", nodeId);
- /* Transfering line data to object dictionary. */
+ /** Transfering line data to object dictionary. */
errorCode = SDOlineToObjdict(d, line);
if (errorCode) {
MSG_ERR(0x1A84, "SDO error : Unable to copy the data in the object dictionary", 0);
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
- /* Release of the line. */
+ /** Release of the line. */
resetSDOline(d, line);
}
- else {/* So, if it is not an expedited transfert */
+ else {/** So, if it is not an expedited transfert */
if (getSDOs(m->data[0])) {
- /* TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
- nbBytes = m->data[4]; /* Transfert limited to 255 bytes. */
+ /** TODO : if e and s = 0, not reading m->data[4] but put nbBytes = 0 */
+ nbBytes = m->data[4]; /** Transfert limited to 255 bytes. */
err = setSDOlineRestBytes(d, nodeId, nbBytes);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
}
}
}
- /*Sending a SDO, cs=3*/
- sdo.nodeId = *d->bDeviceNodeId; /* The node id of the server, (here it is the sender).*/
+ /**Sending a SDO, cs=3*/
+ sdo.nodeId = *d->bDeviceNodeId; /** The node id of the server, (here it is the sender).*/
sdo.body.data[0] = 3 << 5;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sendSDO(d, whoami, sdo);
} /* end if I am SERVER */
else {
- /* I am CLIENT */
- /* It is a response for a previous download segment. We should find a line opened for this. */
+ /** I am CLIENT */
+ /** It is a response for a previous download segment. We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /** Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
- /* test of the toggle; */
+ /** test of the toggle; */
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1A86, "SDO error : Received segment response Toggle error. from nodeId", nodeId);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
- /* End transmission or downloading next segment. We need to know if it will be the last one. */
+ /** End transmission or downloading next segment. We need to know if it will be the last one. */
getSDOlineRestBytes(d, line, &nbBytes);
if (nbBytes == 0) {
MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0x00;
}
- /* At least one transfer to send. */
+ /** At least one transfer to send. */
if (nbBytes > 7) {
- /* several segments to download.*/
- /* code to send the next segment. (cs = 0; c = 0) */
+ /** several segments to download.*/
+ /** code to send the next segment. (cs = 0; c = 0) */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
}
}
else {
- /* Last segment. */
- /* code to send the last segment. (cs = 0; c = 1)*/
+ /** Last segment. */
+ /** code to send the last segment. (cs = 0; c = 1)*/
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
}
MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
sendSDO(d, whoami, sdo);
- } /* end if I am a CLIENT */
+ } /** end if I am a CLIENT */
break;
case 2:
- /* I am SERVER */
- /* Receive of an initiate upload.*/
+ /** I am SERVER */
+ /** Receive of an initiate upload.*/
if (whoami == SDO_SERVER) {
index = getSDOindex(m->data[1],m->data[2]);
subIndex = getSDOsubIndex(m->data[3]);
nodeId);
MSG_WAR(0x3A90, "Reading at index : ", index);
MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
- /* Search if a SDO transfert have been yet initiated*/
+ /** Search if a SDO transfert have been yet initiated*/
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (! err) {
MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* No line on use. Great !*/
- /* Try to open a new line.*/
+ /** No line on use. Great !*/
+ /** Try to open a new line.*/
err = getSDOfreeLine( d, whoami, &line );
if (err) {
MSG_ERR(0x1A71, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
return 0xFF;
}
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
- /* Transfer data from dictionary to the line structure. */
+ /** Transfer data from dictionary to the line structure. */
errorCode = objdictToSDOline(d, line);
if (errorCode) {
failedSDO(d, nodeId, whoami, index, subIndex, errorCode);
return 0xFF;
}
- /* Preparing the response.*/
- getSDOlineRestBytes(d, line, &nbBytes); /* Nb bytes to transfer ? */
- sdo.nodeId = nodeId; /* The server node Id; */
+ /** Preparing the response.*/
+ getSDOlineRestBytes(d, line, &nbBytes); /** Nb bytes to transfer ? */
+ sdo.nodeId = nodeId; /** The server node Id; */
if (nbBytes > 4) {
- /* normal transfert. (segmented). */
- /* code to send the initiate upload response. (cs = 2) */
+ /** normal transfert. (segmented). */
+ /** code to send the initiate upload response. (cs = 2) */
sdo.body.data[0] = (2 << 5) | 1;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
sdo.body.data[4] = nbBytes; /* Limitation of canfestival2 : Max tranfert is 256 bytes.*/
- /* It takes too much memory to upgrate to 2^32 because the size of data is also coded */
- /* in the object dictionary, at every index and subindex. */
+ /** It takes too much memory to upgrate to 2^32 because the size of data is also coded */
+ /** in the object dictionary, at every index and subindex. */
for (i = 5 ; i < 8 ; i++)
sdo.body.data[i] = 0;
MSG_WAR(0x3A95, "SDO. Sending normal upload initiate response defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
}
else {
- /* Expedited upload. (cs = 2 ; e = 1) */
+ /** Expedited upload. (cs = 2 ; e = 1) */
sdo.body.data[0] = (2 << 5) | ((4 - nbBytes) << 2) | 3;
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
nodeId);
sendSDO(d, whoami, sdo);
- /* Release the line.*/
+ /** Release the line.*/
resetSDOline(d, line);
}
- } /* end if I am SERVER*/
+ } /** end if I am SERVER*/
else {
- /* I am CLIENT */
- /* It is the response for the previous initiate upload request.*/
- /* We should find a line opened for this. */
+ /** I am CLIENT */
+ /** It is the response for the previous initiate upload request.*/
+ /** We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /** Reset the wathdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
if (getSDOe(m->data[0])) { /* If SDO expedited */
- /* nb of data to be uploaded */
+ /** nb of data to be uploaded */
nbBytes = 4 - getSDOn2(m->data[0]);
- /* Storing the data in the line structure. */
+ /** Storing the data in the line structure. */
err = SDOtoLine(d, line, nbBytes, (*m).data + 4);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
- /* SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
+ /** SDO expedited -> transfert finished. data are available via getReadResultNetworkDict(). */
MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
StopSDO_TIMER(line)
d->transfers[line].count = nbBytes;
if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
return 0;
}
- else { /* So, if it is not an expedited transfert */
- /* Storing the nb of data to receive. */
+ else { /** So, if it is not an expedited transfert */
+ /** Storing the nb of data to receive. */
if (getSDOs(m->data[0])) {
- nbBytes = m->data[4]; /* Remember the limitation to 255 bytes to transfert */
+ nbBytes = m->data[4]; /** Remember the limitation to 255 bytes to transfert */
err = setSDOlineRestBytes(d, line, nbBytes);
if (err) {
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
}
- /* Requesting next segment. (cs = 3) */
+ /** Requesting next segment. (cs = 3) */
sdo.nodeId = nodeId;
sdo.body.data[0] = 3 << 5;
for (i = 1 ; i < 8 ; i++)
MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
sendSDO(d, whoami, sdo);
}
- } /* End if CLIENT */
+ } /** End if CLIENT */
break;
case 3:
- /* I am SERVER */
+ /** I am SERVER */
if (whoami == SDO_SERVER) {
- /* Receiving a upload segment. */
- /* A SDO transfert should have been yet initiated. */
+ /** Receiving a upload segment. */
+ /** A SDO transfert should have been yet initiated. */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err)
err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /** Reset the wathdog */
RestartSDO_TIMER(line)
MSG_WAR(0x3AA1, "Received SDO upload segment defined at index 0x1200 + ", nodeId);
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
- /* Toggle test.*/
+ /** Toggle test.*/
if (d->transfers[line].toggle != getSDOt(m->data[0])) {
MSG_ERR(0x1AA2, "SDO error : Toggle error : ", getSDOt(m->data[0]));
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_TOGGLE_NOT_ALTERNED);
return 0xFF;
}
- /* Uploading next segment. We need to know if it will be the last one. */
+ /** Uploading next segment. We need to know if it will be the last one. */
getSDOlineRestBytes(d, line, &nbBytes);
if (nbBytes > 7) {
- /* The segment to transfer is not the last one.*/
- /* code to send the next segment. (cs = 0; c = 0) */
+ /** The segment to transfer is not the last one.*/
+ /** code to send the next segment. (cs = 0; c = 0) */
sdo.nodeId = nodeId; /* The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
err = lineToSDO(d, line, 7, sdo.body.data + 1);
failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
return 0xFF;
}
- /* Inverting the toggle for the next tranfert. */
+ /** Inverting the toggle for the next tranfert. */
d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
MSG_WAR(0x3AA3, "SDO. Sending upload segment defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
}
else {
- /* Last segment. */
- /* code to send the last segment. (cs = 0; c = 1) */
- sdo.nodeId = nodeId; /* The server node Id; */
+ /** Last segment. */
+ /** code to send the last segment. (cs = 0; c = 1) */
+ sdo.nodeId = nodeId; /** The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
if (err) {
sdo.body.data[i] = 0;
MSG_WAR(0x3AA4, "SDO. Sending last upload segment defined at index 0x1200 + ", nodeId);
sendSDO(d, whoami, sdo);
- /* Release the line */
+ /** Release the line */
resetSDOline(d, line);
}
} /* end if SERVER*/
else {
- /* I am CLIENT */
- /* It is the response for the previous initiate download request. */
- /* We should find a line opened for this. */
+ /** I am CLIENT */
+ /** It is the response for the previous initiate download request. */
+ /** We should find a line opened for this. */
err = getSDOlineOnUse( d, nodeId, whoami, &line);
if (!err)
err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the watchdog */
+ /** Reset the watchdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
return 0x00;
}
if (nbBytes > 7) {
- /* more than one request to send */
- /* code to send the next segment. (cs = 0; c = 0) */
- sdo.nodeId = nodeId; /* The server node Id; */
+ /** more than one request to send */
+ /** code to send the next segment. (cs = 0; c = 0) */
+ sdo.nodeId = nodeId; /** The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4);
err = lineToSDO(d, line, 7, sdo.body.data + 1);
if (err) {
}
}
else {
- /* Last segment.*/
- /* code to send the last segment. (cs = 0; c = 1) */
- sdo.nodeId = nodeId; /* The server node Id; */
+ /** Last segment.*/
+ /** code to send the last segment. (cs = 0; c = 1) */
+ sdo.nodeId = nodeId; /** The server node Id; */
sdo.body.data[0] = (d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1;
err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
if (err) {
((UNS32)m->data[5] << 8) |
((UNS32)m->data[6] << 16) |
((UNS32)m->data[7] << 24);
- /* Received SDO abort. */
- /* Looking for the line concerned. */
+ /** Received SDO abort. */
+ /** Looking for the line concerned. */
if (whoami == SDO_SERVER) {
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err) {
}
else
MSG_WAR(0x3AA9, "SD0. Received SDO abort. No line found. Code : ", abortCode);
- /* Tips : The end user has no way to know that the server node has received an abort SDO. */
- /* Its is ok, I think.*/
+ /** Tips : The end user has no way to know that the server node has received an abort SDO. */
+ /** Its is ok, I think.*/
}
- else { /* If I am CLIENT */
+ else { /** If I am CLIENT */
err = getSDOlineOnUse( d, nodeId, whoami, &line );
if (!err) {
- /* The line *must* be released by the core program. */
+ /** The line *must* be released by the core program. */
StopSDO_TIMER(line)
d->transfers[line].state = SDO_ABORTED_RCV;
d->transfers[line].abortCode = abortCode;
}
break;
default:
- /* Error : Unknown cs */
+ /** Error : Unknown cs */
MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
return 0xFF;
return 0;
}
-/*******************************************************************)******/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param count
+** @param dataType
+** @param data
+** @param Callback
+** @param endianize
+**
+** @return
+**/
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
MSG_WAR(0x3AC2, " subIndex : ", subIndex);
MSG_WAR(0x3AC3, " nb bytes : ", count);
- /* Verify that there is no SDO communication yet. */
+ /** Verify that there is no SDO communication yet. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (!err) {
MSG_ERR(0x1AC4, "SDO error : Communication yet established. with node : ", nodeId);
return 0xFF;
}
- /* Taking the line ... */
+ /** Taking the line ... */
err = getSDOfreeLine( d, SDO_CLIENT, &line );
if (err) {
MSG_ERR(0x1AC5, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
return (0xFF);
}
- /* Check which SDO to use to communicate with the node */
+ /** Check which SDO to use to communicate with the node */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0) {
MSG_ERR(0x1AC8, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
- /* looking for the nodeId server */
+ /** looking for the nodeId server */
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
d->transfers[line].count = count;
d->transfers[line].dataType = dataType;
- /* Copy data to transfers structure. */
+ /** Copy data to transfers structure. */
for (j = 0 ; j < count ; j++) {
# ifdef CANOPEN_BIG_ENDIAN
if (dataType == 0 && endianize)
d->transfers[line].data[j] = ((char *)data)[j];
# endif
}
- /* Send the SDO to the server. Initiate download, cs=1. */
+ /** Send the SDO to the server. Initiate download, cs=1. */
sdo.nodeId = nodeId;
- if (count <= 4) { /* Expedited transfert */
+ if (count <= 4) { /** Expedited transfert */
sdo.body.data[0] = (1 << 5) | ((4 - count) << 2) | 3;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = d->transfers[line].data[i - 4];
d->transfers[line].offset = count;
}
- else { /* Normal transfert */
+ else { /** Normal transfert */
sdo.body.data[0] = (1 << 5) | 1;
- sdo.body.data[4] = count; /* nb of byte to transmit. Max = 255. (canfestival2 limitation). */
+ sdo.body.data[4] = count; /** nb of byte to transmit. Max = 255. (canfestival2 limitation). */
for (i = 5 ; i < 8 ; i++)
sdo.body.data[i] = 0;
}
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
- /* release the line */
+ /** release the line */
resetSDOline(d, line);
return 0xFF;
}
return 0;
}
-/*--------------------------------------------------------------------------*/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param count
+** @param dataType
+** @param data
+**
+** @return
+**/
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
}
-/*--------------------------------------------------------------------------*/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param count
+** @param dataType
+** @param data
+** @param Callback
+**
+** @return
+**/
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback)
{
return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
}
-
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param dataType
+** @param Callback
+**
+** @return
+**/
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
UNS8 err;
MSG_WAR(0x3AD7, " subIndex : ", subIndex);
- /* Verify that there is no SDO communication yet. */
+ /** Verify that there is no SDO communication yet. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (!err) {
MSG_ERR(0x1AD8, "SDO error : Communication yet established. with node : ", nodeId);
return 0xFF;
}
- /* Taking the line ... */
+ /** Taking the line ... */
err = getSDOfreeLine( d, SDO_CLIENT, &line );
if (err) {
MSG_ERR(0x1AD9, "SDO error : No line free, too many SDO in progress. Aborted for node : ", nodeId);
else
MSG_WAR(0x3AE0, "Transmission on line : ", line);
- /* Check which SDO to use to communicate with the node */
+ /** Check which SDO to use to communicate with the node */
offset = d->firstIndex->SDO_CLT;
lastIndex = d->lastIndex->SDO_CLT;
if (offset == 0) {
MSG_ERR(0x1AE2, "Subindex 3 not found at index ", 0x1280 + i);
return 0xFF;
}
- /* looking for the nodeId server */
+ /** looking for the nodeId server */
pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
sdo.nodeId = nodeId;
- /* Send the SDO to the server. Initiate upload, cs=2. */
+ /** Send the SDO to the server. Initiate upload, cs=2. */
d->transfers[line].dataType = dataType;
sdo.body.data[0] = (2 << 5);
sdo.body.data[1] = index & 0xFF; /* LSB */
return 0;
}
-/*--------------------------------------------------------------------------*/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param dataType
+**
+** @return
+**/
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
{
return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
}
-/*--------------------------------------------------------------------------*/
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param index
+** @param subIndex
+** @param dataType
+** @param Callback
+**
+** @return
+**/
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
}
-/***************************************************************************/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param data
+** @param size
+** @param abortCode
+**
+** @return
+**/
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size,
UNS32 * abortCode)
{
UNS8 line;
* size = 0;
- /* Looking for the line tranfert. */
+ /** Looking for the line tranfert. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (err) {
MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
if (d->transfers[line].state != SDO_FINISHED)
return d->transfers[line].state;
- /* Transfert is finished. Put the value in the data. */
+ /** Transfert is finished. Put the value in the data. */
* size = (UNS8)d->transfers[line].count;
for ( i = 0 ; i < *size ; i++) {
# ifdef CANOPEN_BIG_ENDIAN
if (d->transfers[line].dataType != visible_string)
( (char *) data)[*size - 1 - i] = d->transfers[line].data[i];
- else /* String of bytes. */
+ else /** String of bytes. */
( (char *) data)[i] = d->transfers[line].data[i];
# else
( (char *) data)[i] = d->transfers[line].data[i];
return SDO_FINISHED;
}
-/***************************************************************************/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param abortCode
+**
+** @return
+**/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
{
UNS8 line = 0;
UNS8 err;
* abortCode = 0;
- /* Looking for the line tranfert. */
+ /** Looking for the line tranfert. */
err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
if (err) {
MSG_ERR(0x1AF1, "SDO error : No line found for communication with node : ", nodeId);
projects / CanFestival-3.git / blobdiff