#include "canfestival.h"
#include "sysdep.h"

Macros
#define	NO_INLINE

#define	INLINE

#define	getSDOcs(byte)

#define	getSDOn2(byte)

#define	getSDOn3(byte)

#define	getSDOe(byte)

#define	getSDOs(byte)

#define	getSDOc(byte)

#define	getSDOt(byte)

#define	getSDOindex(byte1, byte2)

#define	getSDOsubIndex(byte3)

#define	StopSDO_TIMER(id)

#define	StartSDO_TIMER(id)

#define	RestartSDO_TIMER(id)

Functions
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.

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.

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	closeSDOtransfer (CO_Data *d, UNS8 nodeId, UNS8 whoami)

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.

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	_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

Date: Created on: Oct 10, 2024

Author: Jerry Ukwela (jeu6@.nosp@m.case.nosp@m..edu)

Definition in file sdo.c.

Macro Definition Documentation

◆ getSDOc

#define getSDOc ( byte )

Value:

(byte & 1)

Returns the indicator of end transmission from the first byte of the SDO

Definition at line 58 of file sdo.c.

Referenced by processSDO().

◆ getSDOcs

#define getSDOcs ( byte )

Value:

(byte >> 5)

Returns the command specifier (cs, ccs, scs) from the first byte of the SDO

Definition at line 38 of file sdo.c.

Referenced by processSDO().

◆ getSDOe

#define getSDOe ( byte )

Value:

((byte >> 1) & 1)

Returns the transfer type from the first byte of the SDO

Definition at line 50 of file sdo.c.

Referenced by processSDO().

◆ getSDOindex

#define getSDOindex	(		byte1,
			byte2 )

Value:

(((UNS16)byte2 << 8) | ((UNS16)byte1))

UNS16

#define UNS16

Unsigned int16 representation in CANFest.

Definition applicfg.h:26

Returns the index from the bytes 1 and 2 of the SDO

Definition at line 66 of file sdo.c.

Referenced by processSDO().

◆ getSDOn2

#define getSDOn2 ( byte )

Value:

((byte >> 2) & 3)

Returns the number of bytes without data from the first byte of the SDO. Coded in 2 bits

Definition at line 42 of file sdo.c.

Referenced by processSDO().

◆ getSDOn3

#define getSDOn3 ( byte )

Value:

((byte >> 1) & 7)

Returns the number of bytes without data from the first byte of the SDO. Coded in 3 bits

Definition at line 46 of file sdo.c.

Referenced by processSDO().

◆ getSDOs

#define getSDOs ( byte )

Value:

(byte & 1)

Returns the size indicator from the first byte of the SDO

Definition at line 54 of file sdo.c.

Referenced by processSDO().

◆ getSDOsubIndex

#define getSDOsubIndex ( byte3 )

Value:

(byte3)

Returns the subIndex from the byte 3 of the SDO

Definition at line 70 of file sdo.c.

Referenced by processSDO().

◆ getSDOt

#define getSDOt ( byte )

Value:

((byte >> 4) & 1)

Returns the toggle from the first byte of the SDO

Definition at line 62 of file sdo.c.

Referenced by processSDO().

◆ INLINE

#define INLINE

Definition at line 20 of file sdo.c.

◆ NO_INLINE

#define NO_INLINE

Definition at line 17 of file sdo.c.

◆ RestartSDO_TIMER

#define RestartSDO_TIMER ( id )

Value:

MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\

if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }

MSG_WAR

#define MSG_WAR(num, str, val)

Definition of MSG_WAR.

Definition applicfg.h:64

Definition at line 111 of file sdo.c.

◆ StartSDO_TIMER

#define StartSDO_TIMER ( id )

Value:

MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\

d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);

SDOTimeoutAlarm

void SDOTimeoutAlarm(CO_Data *d, UNS32 id)

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

Definition sdo.c:79

SetAlarm

TIMER_HANDLE SetAlarm(CO_Data *d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)

Set an alarm to execute a callback function when expired.

Definition timer.c:37

Definition at line 107 of file sdo.c.

◆ StopSDO_TIMER

#define StopSDO_TIMER ( id )

Value:

MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\

d->transfers[id].timer = DelAlarm(d->transfers[id].timer);

DelAlarm

TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)

Delete an alarm before expiring.

Definition timer.c:83

Definition at line 103 of file sdo.c.

Function Documentation

◆ closeSDOtransfer()

UNS8 closeSDOtransfer	(	CO_Data *	d,
		UNS8	nodeId,
		UNS8	whoami )

Definition at line 456 of file sdo.c.

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ getSDOc

◆ getSDOcs

◆ getSDOe

◆ getSDOindex

◆ getSDOn2

◆ getSDOn3

◆ getSDOs

◆ getSDOsubIndex

◆ getSDOt

◆ INLINE

◆ NO_INLINE

◆ RestartSDO_TIMER

◆ StartSDO_TIMER

◆ StopSDO_TIMER

Function Documentation

◆ closeSDOtransfer()