Collaboration diagram for SDO:

Functions
void	SDOTimeoutAlarm (CO_Data *d, UNS32 id)
	Reset of a SDO exchange on timeout. Send a SDO abort.

void	resetSDO (CO_Data *d)
	Reset all SDO buffers.

UNS32	SDOlineToObjdict (CO_Data *d, UNS8 line)
	Copy the data received from the SDO line transfert to the object dictionary.

UNS32	objdictToSDOline (CO_Data *d, UNS8 line)
	Copy the data from the object dictionary to the SDO line for a network transfert.

UNS32	objdictToSDOBlockline (CO_Data *d, UNS8 line, UNS8 numberOfIndexes)
	Copy the data from the object dictionary to the SDO line for a network transfert.

UNS8	lineToSDO (CO_Data d, UNS8 line, UNS32 nbBytes, UNS8 data)
	Copy data from an existant line in the argument "* data".

UNS8	SDOtoLine (CO_Data d, UNS8 line, UNS32 nbBytes, UNS8 data)
	Add data to an existant line.

UNS8	failedSDO (CO_Data *d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode)
	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, because many informations are stored on it : index, subindex, data received or trasmited, ... In all cases, sends a SDO abort.

void	resetSDOline (CO_Data *d, UNS8 line)
	Reset an unused line.

UNS8	initSDOline (CO_Data *d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
	Initialize some fields of the structure.

UNS8	getSDOfreeLine (CO_Data d, UNS8 whoami, UNS8 line)
	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.

UNS8	getSDOlineOnUse (CO_Data d, UNS8 nodeId, UNS8 whoami, UNS8 line)
	Search for the line, in the transfers array, which contains the beginning of the reception of a fragmented SDO.

UNS8	getSDOlineRestBytes (CO_Data d, UNS8 line, UNS32 nbBytes)
	Bytes in the line structure which must be transmited (or received)

UNS8	setSDOlineRestBytes (CO_Data *d, UNS8 line, UNS32 nbBytes)
	Store in the line structure the nb of bytes which must be transmited (or received)

UNS8	sendSDO (CO_Data *d, UNS8 whoami, s_SDO sdo)
	Transmit a SDO frame on the bus bus_id.

UNS8	sendSDOabort (CO_Data *d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
	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.

UNS8	processSDO (CO_Data d, Message m)
	Treat a SDO frame reception call the function sendSDO.

INLINE UNS8	_writeNetworkDict (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void data, SDOCallback_t Callback, UNS8 endianize)
	Used to send a SDO request frame to write in a distant node dictionnary.

UNS8	writeNetworkDict (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void data)
	Used to send a SDO request frame to write the data at the index and subIndex indicated.

UNS8	writeNetworkDictCallBack (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void data, SDOCallback_t Callback)
	Used to send a SDO request frame to write in a distant node dictionnary.

UNS8	writeNetworkDictCallBackAI (CO_Data d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void data, SDOCallback_t Callback, UNS8 endianize)
	Used to send a SDO request frame to write in a distant node dictionnary.

INLINE UNS8	_readNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
	Used to send a SDO request frame to read.

INLINE UNS8	_readBlockNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 numberOfIndexes, UNS8 dataType, SDOCallback_t Callback)
	Used to send a SDO request frame to read in a distant node dictionnary.

UNS8	readBlockNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 size, UNS8 dataType)
	Used to send a SDO request frame to read in a distant node dictionnary.

UNS8	readNetworkDict (CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
	Used to send a SDO request frame to read.

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.

UNS8	readNetworkDictCallbackAI (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.

UNS8	getReadResultNetworkDict (CO_Data d, UNS8 nodeId, void data, UNS32 size, UNS32 abortCode)
	Use this function after calling readNetworkDict to get the result.

UNS8	getWriteResultNetworkDict (CO_Data d, UNS8 nodeId, UNS32 abortCode)
	Use this function after calling writeNetworkDict function to get the result of the write.

Detailed Description

Function Documentation

◆ _readBlockNetworkDict()

INLINE UNS8 _readBlockNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	numberOfIndexes,
		UNS8	dataType,
		SDOCallback_t	Callback )

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).

Parameters

*d	Pointer on a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
Callback	Callback function

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1808 of file sdo.c.

Referenced by readBlockNetworkDict().

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◆ _readNetworkDict()

INLINE UNS8 _readNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	dataType,
		SDOCallback_t	Callback )

Used to send a SDO request frame to read.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
Callback

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1699 of file sdo.c.

Referenced by readNetworkDict(), readNetworkDictCallback(), and readNetworkDictCallbackAI().

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◆ _writeNetworkDict()

INLINE UNS8 _writeNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS32	count,
		UNS8	dataType,
		void *	data,
		SDOCallback_t	Callback,
		UNS8	endianize )

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).

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
count	number 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.
*data	Pointer to data
Callback	Callback function
endiansize

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Normal transfert

Definition at line 1454 of file sdo.c.

Referenced by writeNetworkDict(), writeNetworkDictCallBack(), and writeNetworkDictCallBackAI().

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◆ failedSDO()

UNS8 failedSDO	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode )

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, because many informations are stored on it : index, subindex, data received or trasmited, ... In all cases, sends a SDO abort.

Parameters

*d	Pointer on a CAN object data structure
nodeId
whoami
index
subIndex
abortCode

Returns: 0

Definition at line 326 of file sdo.c.

Referenced by processSDO().

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◆ getReadResultNetworkDict()

UNS8 getReadResultNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		void *	data,
		UNS32 *	size,
		UNS32 *	abortCode )

Use this function after calling readNetworkDict to get the result.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
*data	Pointer to the datas
*size	Pointer to the size
*abortCode	Pointer to the abortcode. (0 = not available. Else : SDO abort code. (received if return SDO_ABORTED_RCV)

Returns

SDO_FINISHED // datas are available
SDO_ABORTED_RCV // Transfert failed (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed (internal abort)
SDO_UPLOAD_IN_PROGRESS // Datas are not yet available
SDO_DOWNLOAD_IN_PROGRESS // Download is in progress

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
#define UNS8
Unsigned int8 representation in CANFest.
Definition applicfg.h:25

UNS32
#define UNS32
Unsigned int32 representation in CANFest.
Definition applicfg.h:27

readNetworkDict
UNS8 readNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
Used to send a SDO request frame to read.
Definition sdo.c:1936

getReadResultNetworkDict
UNS8 getReadResultNetworkDict(CO_Data *d, UNS8 nodeId, void *data, UNS32 *size, UNS32 *abortCode)
Use this function after calling readNetworkDict to get the result.
Definition sdo.c:2054

Definition at line 2054 of file sdo.c.

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◆ getSDOfreeLine()

UNS8 getSDOfreeLine	(	CO_Data *	d,
		UNS8	whoami,
		UNS8 *	line )

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.

Parameters

*d	Pointer on a CAN object data structure
whoami	Create the line for a SDO_SERVER or SDO_CLIENT.
*line	Pointer on a SDO line

Returns: 0xFF if all the lines are on use. Else, return 0.

Definition at line 412 of file sdo.c.

Referenced by _readBlockNetworkDict(), _readNetworkDict(), _writeNetworkDict(), and processSDO().

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◆ getSDOlineOnUse()

UNS8 getSDOlineOnUse	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami,
		UNS8 *	line )

Search for the line, in the transfers array, which contains the beginning of the reception of a fragmented SDO.

Parameters

*d	Pointer on a CAN object data structure
nodeId	correspond to the message node-id
whoami	takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
*line	Pointer on a SDO line

Returns: 0xFF if error. Else, return 0

Definition at line 439 of file sdo.c.

Referenced by _readBlockNetworkDict(), _readNetworkDict(), _writeNetworkDict(), failedSDO(), getReadResultNetworkDict(), getWriteResultNetworkDict(), and processSDO().

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◆ getSDOlineRestBytes()

UNS8 getSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS32 *	nbBytes )

Bytes in the line structure which must be transmited (or received)

Parameters

*d	Pointer on a CAN object data structure
line	SDO line
*nbBytes	Pointer on nbBytes

Returns: 0.

Definition at line 479 of file sdo.c.

Referenced by processSDO().

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◆ getWriteResultNetworkDict()

UNS8 getWriteResultNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS32 *	abortCode )

Use this function after calling writeNetworkDict function to get the result of the write.

It is mandatory to call this function because it is releasing the line used for the transfer.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
*abortCode	Pointer to the abortcode 0 = not available. SDO abort code (received if return SDO_ABORTED_RCV)

Returns

:

SDO_FINISHED // datas are available
SDO_ABORTED_RCV // Transfert failed (abort SDO received)
SDO_ABORTED_INTERNAL // Transfert failed (Internal abort)
SDO_DOWNLOAD_IN_PROGRESS // Datas are not yet available
SDO_UPLOAD_IN_PROGRESS // Upload in progress

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);

writeNetworkDict
UNS8 writeNetworkDict(CO_Data *d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
Used to send a SDO request frame to write the data at the index and subIndex indicated.
Definition sdo.c:1583

getWriteResultNetworkDict
UNS8 getWriteResultNetworkDict(CO_Data *d, UNS8 nodeId, UNS32 *abortCode)
Use this function after calling writeNetworkDict function to get the result of the write.
Definition sdo.c:2120

Definition at line 2120 of file sdo.c.

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◆ initSDOline()

UNS8 initSDOline	(	CO_Data *	d,
		UNS8	line,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	state )

Initialize some fields of the structure.

Parameters

*d	Pointer on a CAN object data structure
line
nodeId
index
subIndex
state

Returns: 0

Definition at line 379 of file sdo.c.

Referenced by _readBlockNetworkDict(), _readNetworkDict(), _writeNetworkDict(), processSDO(), and resetSDOline().

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◆ lineToSDO()

UNS8 lineToSDO	(	CO_Data *	d,
		UNS8	line,
		UNS32	nbBytes,
		UNS8 *	data )

Copy data from an existant line in the argument "* data".

Parameters

d	Pointer on a CAN object data structure
line	SDO line
nbBytes
*data	Pointer on the data

Returns: 0xFF if error. Else, returns 0.

Definition at line 266 of file sdo.c.

Referenced by processSDO().

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◆ objdictToSDOBlockline()

UNS32 objdictToSDOBlockline	(	CO_Data *	d,
		UNS8	line,
		UNS8	numberOfIndexes )

Copy the data from the object dictionary to the SDO line for a network transfert.

Parameters

*d	Pointer on a CAN object data structure
line	SDO line

Returns: SDO error code if error. Else, returns 0.

Definition at line 191 of file sdo.c.

Referenced by processSDO().

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◆ objdictToSDOline()

UNS32 objdictToSDOline	(	CO_Data *	d,
		UNS8	line )

Copy the data from the object dictionary to the SDO line for a network transfert.

Parameters

*d	Pointer on a CAN object data structure
line	SDO line

Returns: SDO error code if error. Else, returns 0.

Definition at line 161 of file sdo.c.

Referenced by processSDO().

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◆ processSDO()

UNS8 processSDO	(	CO_Data *	d,
		Message *	m )

Treat a SDO frame reception call the function sendSDO.

Parameters

*d	Pointer on a CAN object data structure
*m	Pointer on a CAN message structure

Returns

code :

0xFF if error

0x80 if transfert aborted by the server
0x0 ok

The server node Id;

Definition at line 649 of file sdo.c.

Referenced by canDispatch().

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◆ readBlockNetworkDict()

UNS8 readBlockNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	size,
		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 end of the exchange. (on succes or abort). First free SDO client parameter is automatically initialized for specific node if not already defined.

Parameters

*d	Pointer on a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

Returns

0 is returned upon success.
0xFF is returned when error occurs.

Definition at line 1917 of file sdo.c.

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◆ readNetworkDict()

UNS8 readNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS8	dataType )

Used to send a SDO request frame to read.

calls _readNetworkDict with Callback = NULL

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1936 of file sdo.c.

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◆ readNetworkDictCallback()

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.

The function Callback which must be defined in the user code is called at the end of the exchange. (on succes or abort). calls _readNetworkDict with Callback = Callback

Parameters

*d	Pointer on a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
Callback	Callback function

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1958 of file sdo.c.

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◆ readNetworkDictCallbackAI()

UNS8 readNetworkDictCallbackAI	(	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.

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.

Parameters

*d	Pointer on a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
dataType	(defined in objdictdef.h) : put "visible_string" for strings, 0 for integers or reals or other value.
Callback	Callback function

Returns

0 is returned upon success.
0xFF is returned when error occurs.

Definition at line 1979 of file sdo.c.

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◆ resetSDO()

void resetSDO ( CO_Data * d )

Reset all SDO buffers.

Parameters

*d	Pointer on a CAN object data structure

Definition at line 120 of file sdo.c.

Referenced by switchCommunicationState().

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◆ resetSDOline()

void resetSDOline	(	CO_Data *	d,
		UNS8	line )

Reset an unused line.

Parameters

*d	Pointer on a CAN object data structure
line	SDO line

Definition at line 357 of file sdo.c.

Referenced by _readBlockNetworkDict(), _readNetworkDict(), _writeNetworkDict(), failedSDO(), processSDO(), resetSDO(), and SDOTimeoutAlarm().

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◆ SDOlineToObjdict()

UNS32 SDOlineToObjdict	(	CO_Data *	d,
		UNS8	line )

Copy the data received from the SDO line transfert to the object dictionary.

Parameters

*d	Pointer on a CAN object data structure
line	SDO line

Returns: SDO error code if error. Else, returns 0.

Definition at line 136 of file sdo.c.

Referenced by processSDO().

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◆ SDOTimeoutAlarm()

void SDOTimeoutAlarm	(	CO_Data *	d,
		UNS32	id )

Reset of a SDO exchange on timeout. Send a SDO abort.

Parameters

*d	Pointer on a CAN object data structure
id

Definition at line 79 of file sdo.c.

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◆ SDOtoLine()

UNS8 SDOtoLine	(	CO_Data *	d,
		UNS8	line,
		UNS32	nbBytes,
		UNS8 *	data )

Add data to an existant line.

Parameters

d	Pointer on a CAN object data structure
line	SDO line
nbBytes
*data	Pointer on the data

Returns: 0xFF if error. Else, returns 0.

Definition at line 294 of file sdo.c.

Referenced by processSDO().

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◆ sendSDO()

UNS8 sendSDO	(	CO_Data *	d,
		UNS8	whoami,
		s_SDO	sdo )

Transmit a SDO frame on the bus bus_id.

Parameters

*d	Pointer on a CAN object data structure
whoami	Takes 2 values : SDO_CLIENT or SDO_SERVER
sdo	SDO Structure which contains the sdo to transmit

Returns: canSend(bus_id,&m) or 0xFF if error.

Definition at line 517 of file sdo.c.

Referenced by _readBlockNetworkDict(), _readNetworkDict(), _writeNetworkDict(), processSDO(), and sendSDOabort().

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◆ sendSDOabort()

UNS8 sendSDOabort	(	CO_Data *	d,
		UNS8	whoami,
		UNS8	nodeID,
		UNS16	index,
		UNS8	subIndex,
		UNS32	abortCode )

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.

Parameters

*d	Pointer on a CAN object data structure
whoami	takes 2 values : SDO_CLIENT or SDO_SERVER
nodeId
index
subIndex
abortCode

Returns: 0

Definition at line 608 of file sdo.c.

Referenced by failedSDO(), and SDOTimeoutAlarm().

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◆ setSDOlineRestBytes()

UNS8 setSDOlineRestBytes	(	CO_Data *	d,
		UNS8	line,
		UNS32	nbBytes )

Store in the line structure the nb of bytes which must be transmited (or received)

Parameters

*d	Pointer on a CAN object data structure
line	SDO line
nbBytes

Returns: 0 if success, 0xFF if error.

Definition at line 499 of file sdo.c.

Referenced by processSDO().

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◆ writeNetworkDict()

UNS8 writeNetworkDict	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS32	count,
		UNS8	dataType,
		void *	data )

Used to send a SDO request frame to write the data at the index and subIndex indicated.

calls _writeNetworkDict with Callback = NULL and endiansize = 1.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
count	number 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.
*data	Pointer to data

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1583 of file sdo.c.

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◆ writeNetworkDictCallBack()

UNS8 writeNetworkDictCallBack	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS32	count,
		UNS8	dataType,
		void *	data,
		SDOCallback_t	Callback )

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). calls _writeNetworkDict with Callback = Callback and endiansize = 1.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
count	number 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.
*data	Pointer to data
Callback	Callback function

Returns

0 is returned upon success.
0xFE is returned when no sdo client to communicate with node.
0xFF is returned when error occurs.

Definition at line 1608 of file sdo.c.

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◆ writeNetworkDictCallBackAI()

UNS8 writeNetworkDictCallBackAI	(	CO_Data *	d,
		UNS8	nodeId,
		UNS16	index,
		UNS8	subIndex,
		UNS32	count,
		UNS8	dataType,
		void *	data,
		SDOCallback_t	Callback,
		UNS8	endianize )

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.

Parameters

*d	Pointer to a CAN object data structure
nodeId	Node Id of the slave
index	At index indicated
subIndex	At subIndex indicated
count	number 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.
*data	Pointer to data
Callback	Callback function
endianize	When not 0, data is endianized into network byte order when 0, data is not endianized and copied in machine native endianness

Returns

0 is returned upon success.
0xFF is returned when error occurs.

Definition at line 1635 of file sdo.c.

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Functions

Detailed Description

Function Documentation

◆ _readBlockNetworkDict()

◆ _readNetworkDict()

◆ _writeNetworkDict()

◆ failedSDO()

◆ getReadResultNetworkDict()

◆ getSDOfreeLine()

◆ getSDOlineOnUse()

◆ getSDOlineRestBytes()

◆ getWriteResultNetworkDict()

◆ initSDOline()

◆ lineToSDO()

◆ objdictToSDOBlockline()

◆ objdictToSDOline()

◆ processSDO()

◆ readBlockNetworkDict()

◆ readNetworkDict()

◆ readNetworkDictCallback()

◆ readNetworkDictCallbackAI()

◆ resetSDO()

◆ resetSDOline()

◆ SDOlineToObjdict()

◆ SDOTimeoutAlarm()

◆ SDOtoLine()

◆ sendSDO()

◆ sendSDOabort()

◆ setSDOlineRestBytes()

◆ writeNetworkDict()

◆ writeNetworkDictCallBack()

◆ writeNetworkDictCallBackAI()