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 */
-#include "objacces.h"
-#include "sdo.h"
+#include "canfestival.h"
+#include "sysdep.h"
/* Uncomment if your compiler does not support inline functions */
#define NO_INLINE
/*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 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(0x2A02, " subIndex : ", d->transfers[id].subIndex);
/* Reset timer handler */
d->transfers[id].timer = TIMER_NONE;
- /* Call the user function to inform of the problem.*/
- (*d->SDOtimeoutError)(id);
+ /*Set aborted state*/
+ d->transfers[id].state = SDO_ABORTED_INTERNAL;
/* Sending a SDO abort */
sendSDOabort(d, d->transfers[id].whoami,
d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
- /* Reset the line*/
- resetSDOline(d, id);
+ d->transfers[id].abortCode = SDOABT_TIMED_OUT;
+ /* Call the user function to inform of the problem.*/
+ if(d->transfers[id].Callback)
+ /*If ther is a callback, it is responsible to close SDO transfer (client)*/
+ (*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
+ else if(d->transfers[id].whoami == SDO_SERVER)
+ /*Else, if server, reset the line*/
+ resetSDOline(d, (UNS8)id);
}
#define StopSDO_TIMER(id) \
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;
resetSDOline(d, j);
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+**
+** @return
+**/
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
{
UNS8 size;
UNS32 errorCode;
MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
- size = d->transfers[line].count;
+ size = (UNS8)d->transfers[line].count;
errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
(void *) d->transfers[line].data, &size, 1);
if (errorCode != OD_SUCCESSFUL)
}
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+**
+** @return
+**/
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
UNS8 size = 0;
errorCode = getODentry(d, d->transfers[line].index,
d->transfers[line].subIndex,
(void *)d->transfers[line].data,
- &size, &dataType, 0);
+ &size, &dataType, 1);
if (errorCode != OD_SUCCESSFUL)
return errorCode;
d->transfers[line].count = size;
d->transfers[line].offset = 0;
-#if 0
- /*Me laisser ça, please ! (FD)*/
- {
- UNS8 i;
- for (i = 0 ; i < 10 ; i++) {
- MSG_WAR(i, "data= ", d->transfers[line].data[i]);
- }
- }
-#endif
+
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;
MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
return 0xFF;
}
- offset = d->transfers[line].offset;
+ offset = (UNS8)d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
* (data + i) = d->transfers[line].data[offset + i];
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
return 0;
}
-
-/***************************************************************************/
+/*!
+**
+**
+** @param d
+** @param line
+** @param nbBytes
+** @param data
+**
+** @return
+**/
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS8 nbBytes, UNS8* data)
{
UNS8 i;
MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
return 0xFF;
}
- offset = d->transfers[line].offset;
+ offset = (UNS8)d->transfers[line].offset;
for (i = 0 ; i < nbBytes ; i++)
d->transfers[line].data[offset + i] = * (data + i);
d->transfers[line].offset = d->transfers[line].offset + nbBytes;
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 */
* nbBytes = 0;
else
- * nbBytes = d->transfers[line].count - d->transfers[line].offset;
+ * nbBytes = (UNS8)d->transfers[line].count - (UNS8)d->transfers[line].offset;
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;
Message m;
UNS8 i;
UNS32 * pwCobId = NULL;
- UNS32 * pwNodeId = NULL;
+ UNS8 * pwNodeId = NULL;
MSG_WAR(0x3A38, "sendSDO",0);
if( !((d->nodeState == Operational) || (d->nodeState == Pre_operational ))) {
}
/*get the server->client cobid*/
- if ( whoami == SDO_SERVER ) {/*case server. Easy because today only one server SDO is authorized in CanFestival*/
+ if ( whoami == SDO_SERVER ) {/*case server. only one SDO server*/
offset = d->firstIndex->SDO_SVR;
if (offset == 0) {
MSG_ERR(0x1A42, "SendSDO : No SDO server found", 0);
return 0xFF;
}
- pwCobId = d->objdict[offset].pSubindex[2].pObject;
+ pwCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
}
else { /*case client*/
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 */
+ /* find index for communication server node */
while (offset <= lastIndex){
MSG_WAR(0x3A43,"Reading index : ", 0x1280 + sdoNum);
if (d->objdict[offset].bSubCount <= 3) {
MSG_ERR(0x1A28, "Subindex 3 not found at index ", 0x1280 + sdoNum);
return 0xFF;
}
- pwNodeId = d->objdict[offset].pSubindex[3].pObject;
+ pwNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
if(*pwNodeId == sdo.nodeId) {
found = 1;
MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
return 0xFF;
}
- /* Second, read the cobid client->server */
- pwCobId = d->objdict[offset].pSubindex[1].pObject;
+ /* read the client->server cobid */
+ pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
}
/* message copy for sending */
- m.cob_id.w = *pwCobId;
+ m.cob_id = UNS16_LE(*pwCobId);
m.rtr = NOT_A_REQUEST;
/* the length of SDO must be 8 */
m.len = 8;
for (i = 0 ; i < 8 ; i++) {
m.data[i] = sdo.body.data[i];
}
- return (*d->canSend)(&m);
+ 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 */
- UNS32 *pNodeId = NULL;
+ UNS8 *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 subIndex;
UNS32 abortCode;
UNS8 i,j;
- UNS32 * pCobId = NULL;
+ UNS32 *pCobId = NULL;
UNS16 offset;
UNS16 lastIndex;
MSG_ERR(0x1A61, "Subindex 1 not found at index ", 0x1200 + j);
return 0xFF;
}
- pCobId = d->objdict[offset].pSubindex[1].pObject;
- if ( *pCobId == (*m).cob_id.w ) {
+ pCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
+ if ( *pCobId == UNS16_LE(m->cob_id) ) {
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 */
return 0xFF;
}
/* a) Looking for the cobid received. */
- pCobId = d->objdict[offset].pSubindex[2].pObject;
- if (*pCobId == (*m).cob_id.w ) {
+ pCobId = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
+ if (*pCobId == UNS16_LE(m->cob_id) ) {
/* b) cobid found, so reading the node id of the server. */
- pNodeId = d->objdict[offset].pSubindex[3].pObject;
+ pNodeId = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
whoami = SDO_CLIENT;
- nodeId_32 = *pNodeId;
- nodeId = (UNS8)nodeId_32;
+ nodeId = *pNodeId;
MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
MSG_WAR(0x3A65, " Server nodeId : ", nodeId);
break;
/* Test if the size of the SDO is ok */
if ( (*m).len != 8) {
- MSG_ERR(0x1A67, "Error size SDO. CobId : ", (*m).cob_id.w);
+ MSG_ERR(0x1A67, "Error size SDO. CobId : ", UNS16_LE(m->cob_id));
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
return 0xFF;
}
MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
}
else {
- MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", (*m).cob_id.w);
+ MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
}
/* Testing the command specifier */
}
/* SDO expedited -> transfert finished. Data can be stored in the dictionary. */
- /* The line will be reseted when it is downloading 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. */
errorCode = SDOlineToObjdict(d, line);
else {
/* Last segment. */
/* code to send the last segment. (cs = 0; c = 1) */
- sdo.nodeId = nodeId; /* The server node Id; */
+ 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) {
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /* Reset the watchdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
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; */
+ 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) {
break;
case 4:
- abortCode = (*m).data[3] |
+ abortCode =
+ (UNS32)m->data[4] |
((UNS32)m->data[5] << 8) |
((UNS32)m->data[6] << 16) |
((UNS32)m->data[7] << 24);
/* The line *must* be released by the core program. */
StopSDO_TIMER(line)
d->transfers[line].state = SDO_ABORTED_RCV;
+ d->transfers[line].abortCode = abortCode;
MSG_WAR(0x3AB0, "SD0. Received SDO abort. Line state ABORTED. Code : ", abortCode);
+ if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
}
else
MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
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 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
UNS8 err;
UNS8 SDOfound = 0;
UNS8 i, j;
UNS16 lastIndex;
UNS16 offset;
- UNS32 *pNodeIdServer;
- UNS32 nodeIdServer;
+ UNS8 *pNodeIdServer;
+ UNS8 nodeIdServer;
MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
MSG_WAR(0x3AC1, " At index : ", index);
return 0xFF;
}
/* looking for the nodeId server */
- pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
+ pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
- if(nodeIdServer == (UNS32)nodeId) {
+ if(nodeIdServer == nodeId) {
SDOfound = 1;
break;
}
/* Copy data to transfers structure. */
for (j = 0 ; j < count ; j++) {
# ifdef CANOPEN_BIG_ENDIAN
- if (dataType == 0)
+ if (dataType == 0 && endianize)
d->transfers[line].data[count - 1 - j] = ((char *)data)[j];
else /* String of bytes. */
d->transfers[line].data[j] = ((char *)data)[j];
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). */
for (i = 5 ; i < 8 ; i++)
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
-
+
+ d->transfers[line].Callback = Callback;
+
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
resetSDOline(d, line);
return 0xFF;
}
- d->transfers[line].Callback = Callback;
+
+
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);
+ 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);
+ 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;
UNS8 i;
UNS8 line;
s_SDO sdo; /* SDO to transmit */
- UNS32 *pNodeIdServer;
- UNS32 nodeIdServer;
+ UNS8 *pNodeIdServer;
+ UNS8 nodeIdServer;
UNS16 offset;
UNS16 lastIndex;
MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
return 0xFF;
}
/* looking for the nodeId server */
- pNodeIdServer = d->objdict[offset].pSubindex[3].pObject;
+ pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
nodeIdServer = *pNodeIdServer;
- if(nodeIdServer == (UNS32)nodeId) {
+ if(nodeIdServer == nodeId) {
SDOfound = 1;
break;
}
sdo.body.data[3] = subIndex;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = 0;
+ d->transfers[line].Callback = Callback;
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
resetSDOline(d, line);
return 0xFF;
}
- d->transfers[line].Callback = Callback;
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 pointer to expected size, changed into returned size. Expected size will be truncated to transfered data size
+** @param abortCode
+**
+** @return
+**/
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS8 *size,
UNS32 * abortCode)
{
return d->transfers[line].state;
/* Transfert is finished. Put the value in the data. */
- * size = d->transfers[line].count;
+ /* use transfers[line].count as max size */
+ if( (UNS8)d->transfers[line].count < *size )
+ *size = (UNS8)d->transfers[line].count;
for ( i = 0 ; i < *size ; i++) {
# ifdef CANOPEN_BIG_ENDIAN
if (d->transfers[line].dataType != visible_string)
return SDO_FINISHED;
}
-/***************************************************************************/
-
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param abortCode
+**
+** @return
+**/
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
{
UNS8 line = 0;
* abortCode = d->transfers[line].abortCode;
return d->transfers[line].state;
}
-
projects / CanFestival-3.git / blobdiff