sdo.c

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#include "canfestival.h"
#include "sysdep.h"
 
/* Uncomment if your compiler does not support inline functions */
#define NO_INLINE
 
#ifdef NO_INLINE
  #define INLINE
#else
  #define INLINE inline
#endif
 
/*Internals prototypes*/
 
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex,
    UNS8 dataType, SDOCallback_t Callback);
 
 
/***************************************************************************/
/* SDO (un)packing macros */
 
#define getSDOcs(byte) (byte >> 5)
 
#define getSDOn2(byte) ((byte >> 2) & 3)
 
#define getSDOn3(byte) ((byte >> 1) & 7)
 
#define getSDOe(byte) ((byte >> 1) & 1)
 
#define getSDOs(byte) (byte & 1)
 
#define getSDOc(byte) (byte & 1)
 
#define getSDOt(byte) ((byte >> 4) & 1)
 
#define getSDOindex(byte1, byte2) (((UNS16)byte2 << 8) | ((UNS16)byte1))
 
#define getSDOsubIndex(byte3) (byte3)
 
void SDOTimeoutAlarm(CO_Data* d, UNS32 id)
{
    MSG_ERR(0x1A01, "SDO timeout. SDO response not received.", 0);
    MSG_WAR(0x2A02, "server node : ", d->transfers[id].nodeId);
    MSG_WAR(0x2A02, "      index : ", d->transfers[id].index);
    MSG_WAR(0x2A02, "   subIndex : ", d->transfers[id].subIndex);
    /* Reset timer handler */
    d->transfers[id].timer = TIMER_NONE;
    /*Set aborted state*/
    d->transfers[id].state = SDO_ABORTED_INTERNAL;
    /* Sending a SDO abort */
    sendSDOabort(d, d->transfers[id].whoami, d->transfers[id].nodeId,
         d->transfers[id].index, d->transfers[id].subIndex, SDOABT_TIMED_OUT);
    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)  //JML NOTE: see latest CANFestival rev
    /*Else, if server, reset the line*/
 
        resetSDOline(d, (UNS8)id);
}
 
#define StopSDO_TIMER(id) \
MSG_WAR(0x3A05, "StopSDO_TIMER for line : ", line);\
d->transfers[id].timer = DelAlarm(d->transfers[id].timer);
 
#define StartSDO_TIMER(id) \
MSG_WAR(0x3A06, "StartSDO_TIMER for line : ", line);\
d->transfers[id].timer = SetAlarm(d,id,&SDOTimeoutAlarm,MS_TO_TIMEVAL(SDO_TIMEOUT_MS),0);
 
#define RestartSDO_TIMER(id) \
MSG_WAR(0x3A07, "restartSDO_TIMER for line : ", line);\
if(d->transfers[id].timer != TIMER_NONE) { StopSDO_TIMER(id) StartSDO_TIMER(id) }
 
void resetSDO (CO_Data* d)
{
  UNS8 j;
 
  /* transfer structure initialization */
    for (j = 0 ; j < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; j++)
      resetSDOline(d, j);
}
 
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line)
{
  UNS32 size;
  UNS32 errorCode;
  MSG_WAR(0x3A08, "Enter in SDOlineToObjdict ", line);
  /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
  if( d->transfers[line].count == 0)
    d->transfers[line].count = d->transfers[line].offset;
  size = 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)
    return errorCode;
  MSG_WAR(0x3A08, "exit of SDOlineToObjdict ", line);
  return 0;
 
}
 
UNS32 objdictToSDOline (CO_Data* d, UNS8 line)
{
  UNS32  size = 0;
  UNS8  dataType;
  UNS32 errorCode;
 
  MSG_WAR(0x3A05, "objdict->line index : ", d->transfers[line].index);
  MSG_WAR(0x3A06, "  subIndex : ", d->transfers[line].subIndex);
 
  errorCode = getODentry(d,     d->transfers[line].index,
                d->transfers[line].subIndex,
                (void *)d->transfers[line].data,
                &size, &dataType, 1);
 
  if (errorCode != OD_SUCCESSFUL)
    return errorCode;
 
  d->transfers[line].count = size;
  d->transfers[line].offset = 0;
 
  return 0;
}
 
UNS32 objdictToSDOBlockline(CO_Data* d, UNS8 line, UNS8 numberOfIndexes)
{
  UNS32  size = 0;
  UNS32  varSize = 0;
  UNS8  dataType;
  UNS32 errorCode;
  UNS8 tempData[4];
  UNS8 faultFlag = 0;
  UNS8 data[SDO_MAX_LENGTH_TRANSFERT];
 
 
  for (int i = 0; i < numberOfIndexes; i++)
  {
    // need to reinitialize
      dataType = 0;
      varSize = 0;
 
      errorCode = getODentry( d, d->transfers[line].index, d->transfers[line].subIndex + i, tempData, \
                         &varSize, &dataType, 1);
 
      if( errorCode != OD_SUCCESSFUL || faultFlag ) // check for overrun
        return errorCode;
 
      switch (dataType)
           {
            case 5:
              data[size] = tempData[0];
              break;
 
            case 6:
              data[size] = tempData[0];
              size++;
              data[size] = tempData[1];
              break;
 
            case 7:
              data[size] = tempData[0];
              size++;
              data[size] = tempData[1];
              size++;
              data[size] = tempData[2];
              size++;
              data[size] = tempData[3];
 
              break;
 
           default:
             {
               faultFlag = 1;
             }
 
           } // end of case
      size++;
 
 
  } // end of for loop
 
  d->transfers[line].count = size;
  d->transfers[line].offset = 0;
  d->transfers[line].dataType = 0x05; // change to bytes
 
  memcpy(d->transfers[line].data, data, size);
 
  return 0;
}
 
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data) {
  UNS8 i;
  UNS32 offset;
 
  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
    MSG_ERR(0x1A10,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
    return 0xFF;
  }
    if ((d->transfers[line].offset + nbBytes) > d->transfers[line].count) {
    MSG_ERR(0x1A11,"SDO Size of data too large. Exceed count", nbBytes);
    return 0xFF;
  }
  offset = 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;
}
 
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8* data)
{
  UNS8 i;
  UNS32 offset;
 
  if ((d->transfers[line].offset + nbBytes) > SDO_MAX_LENGTH_TRANSFERT) {
    MSG_ERR(0x1A15,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
    return 0xFF;
  }
  offset = 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;
}
 
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index,
        UNS8 subIndex, UNS32 abortCode)
{
  UNS8 err;
  UNS8 line;
  err = getSDOlineOnUse( d, nodeId, whoami, &line );
  if (!err) /* If a line on use have been found.*/
    MSG_WAR(0x3A20, "FailedSDO : line found : ", line);
  if ((! err) && (whoami == SDO_SERVER)) {
    resetSDOline( d, line );
    MSG_WAR(0x3A21, "FailedSDO : line released : ", line);
  }
  if ((! err) && (whoami == SDO_CLIENT)) {
    StopSDO_TIMER(line);
    d->transfers[line].state = SDO_ABORTED_INTERNAL;
  }
  MSG_WAR(0x3A22, "Sending SDO abort ", 0);
  err = sendSDOabort(d, whoami, nodeId, index, subIndex, abortCode);
  if (err) {
    MSG_WAR(0x3A23, "Unable to send the SDO abort", 0);
    return 0xFF;
  }
  return 0;
}
 
void resetSDOline ( CO_Data* d, UNS8 line )
{
  UNS32 i;
  MSG_WAR(0x3A25, "reset SDO line nb : ", line);
  initSDOline(d, line, 0, 0, 0, SDO_RESET);
  for (i = 0 ; i < SDO_MAX_LENGTH_TRANSFERT ; i++)
    d->transfers[line].data[i] = 0;
  d->transfers[line].whoami = 0;
  d->transfers[line].abortCode = 0;
}
 
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state)
{
  MSG_WAR(0x3A25, "init SDO line nb : ", line);
  if (state == SDO_DOWNLOAD_IN_PROGRESS || state == SDO_UPLOAD_IN_PROGRESS)
  {
    StartSDO_TIMER(line)
  }else
  {
    StopSDO_TIMER(line)
  }
  d->transfers[line].nodeId = nodeId;
  d->transfers[line].index = index;
  d->transfers[line].subIndex = subIndex;
  d->transfers[line].state = state;
  d->transfers[line].toggle = 0;
  d->transfers[line].count = 0;
  d->transfers[line].offset = 0;
  d->transfers[line].dataType = 0;
  d->transfers[line].Callback = NULL;
  return 0;
}
 
UNS8 getSDOfreeLine ( CO_Data* d, UNS8 whoami, UNS8 *line )
{
 
  UNS8 i;
 
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
    if ( d->transfers[i].state == SDO_RESET ) {
      *line = i;
      d->transfers[i].whoami = whoami;
      return 0;
    } /* end if */
  } /* end for */
  MSG_ERR(0x1A25, "Too many SDO in progress. Aborted.", i);
  return 0xFF;
}
 
 
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
{
 
  UNS8 i;
 
  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
    if ( (d->transfers[i].state != SDO_RESET) && //JML NOTE: see latest CANFestival rev
     (d->transfers[i].nodeId == nodeId) &&
     (d->transfers[i].whoami == whoami) ) {
      *line = i;
      return 0;
    }
  }
  return 0xFF;
}
 
 
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami)
{
  UNS8 err;
  UNS8 line;
  err = getSDOlineOnUse(d, nodeId, whoami, &line); //JML NOTE: see latest CANFESTIVAL rev
  if (err)
  {
    MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
    return 0xFF;
  }
  resetSDOline(d, line);
  return 0;
}
 
 
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes)
{
  /* SDO initiated with e=0 and s=0 have count set to null */
  if (d->transfers[line].count == 0)
    * nbBytes = 0;
  else
    * nbBytes = d->transfers[line].count - d->transfers[line].offset;
  return 0;
}
 
 
 
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes)
{
  if (nbBytes > SDO_MAX_LENGTH_TRANSFERT) {
    MSG_ERR(0x1A35,"SDO Size of data too large. Exceed SDO_MAX_LENGTH_TRANSFERT", nbBytes);
    return 0xFF;
  }
  d->transfers[line].count = nbBytes;
  return 0;
}
 
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo)
{
  UNS16 offset;
  UNS16 lastIndex;
  UNS8 found = 0;
  Message m;
  UNS8 i;
  UNS32 * pwCobId = NULL;
  UNS8 * pwNodeId = NULL;
 
  MSG_WAR(0x3A38, "sendSDO",0);
  if( (d->nodeState == Hibernate) ||  (d->nodeState == BootCheckReset ))
  {
    MSG_WAR(0x2A39, "unable to send the SDO (not in op or pre-op mode", d->nodeState);
    return 0xFF;
  }
 
  /*get the server->client cobid*/
  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 = (UNS32*) d->objdict[offset].pSubindex[2].pObject;
    MSG_WAR(0x3A41, "I am server. cobId : ", *pwCobId);
  }
  else
  {         /*case client*/
    /* Get the client->server cobid.*/
    UNS16 sdoNum = 0;
    offset = d->firstIndex->SDO_CLT;
    lastIndex = d->lastIndex->SDO_CLT;
    if (offset == 0)
    {
      MSG_ERR(0x1A42, "SendSDO : No SDO client index found", 0);
      return 0xFF;
    }
    /* 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 = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
      MSG_WAR(0x3A44, "Found nodeId server = ", *pwNodeId);
      if(*pwNodeId == sdo.nodeId)
      {
    found = 1;
    break;
      }
      offset ++;
      sdoNum ++;
    }
    if (! found)
    {
      MSG_WAR (0x2A45, "No SDO client corresponds to the mesage to send to node ", sdo.nodeId);
      return 0xFF;
    }
    /* read the client->server cobid */
    pwCobId = (UNS32*) d->objdict[offset].pSubindex[1].pObject;
  }
  /* message copy for sending */
  m.cob_id = (UNS16)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 canSend(d->canHandle, &m);
}
 
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeID, UNS16 index, UNS8 subIndex, UNS32 abortCode)
{
  s_SDO sdo;
  UNS8 ret;
 
  MSG_WAR(0x2A50,"Sending SDO abort ", abortCode);
  if(whoami == SDO_SERVER)
  {
    sdo.nodeId = *d->bDeviceNodeId;
  }
  else
  {
    sdo.nodeId = nodeID;
  }
  sdo.body.data[0] = 0x80;
  /* Index */
  sdo.body.data[1] = index & 0xFF; /* LSB */
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
  /* Subindex */
  sdo.body.data[3] = subIndex;
  /* Data */
  sdo.body.data[4] = (UNS8)(abortCode & 0xFF);
  sdo.body.data[5] = (UNS8)((abortCode >> 8) & 0xFF);
  sdo.body.data[6] = (UNS8)((abortCode >> 16) & 0xFF);
  sdo.body.data[7] = (UNS8)((abortCode >> 24) & 0xFF);
  ret = sendSDO(d, whoami, sdo);
 
  return ret;
}
 
UNS8 processSDO (CO_Data* d, Message *m)
{
  UNS8 err;
  UNS8 line = 0;
  UNS32 nbBytes; /* received or to be transmited. */
  UNS8 nodeId = 0;  /* The node from which the SDO is received */
  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 */
  UNS16 index;
  UNS8 subIndex;
  UNS8 numberOfIndexes;
  UNS32 abortCode;
  UNS32 i;
  UNS8  j;
  UNS32 *pCobId = NULL;
  UNS16 offset;
  UNS16 lastIndex;
 
 
  MSG_WAR(0x3A60, "processSDO ", 0);
  whoami = SDO_UNKNOWN;
  /* Looking for the cobId in the object dictionary. */
  /* is this SDO for me? check server at 1200 */
  offset = d->firstIndex->SDO_SVR;
  lastIndex = d->lastIndex->SDO_SVR;
  j = 0;
  if(offset) while (offset <= lastIndex) {
     if (d->objdict[offset].bSubCount <= 1) {
      MSG_ERR(0x1A61, "Subindex 1  not found at index ", 0x1200 + j);
      return 0xFF;
    }
      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 */
    /* 0x1200 where the cobid received is defined. */
    nodeId = j;
    break;
      }
      j++;
      offset++;
  } /* end while */
  if (whoami == SDO_UNKNOWN) {
    /* Am-I client ? */
    offset = d->firstIndex->SDO_CLT;
    lastIndex = d->lastIndex->SDO_CLT;
    j = 0;
    if(offset) while (offset <= lastIndex) {
       if (d->objdict[offset].bSubCount <= 3) {
     MSG_ERR(0x1A63, "Subindex 3  not found at index ", 0x1280 + j);
     return 0xFF;
       }
       /* a) Looking for the cobid received. */
       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 = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
     whoami = SDO_CLIENT;
     nodeId = *pNodeId;
     MSG_WAR(0x3A64, "proceedSDO. I am server. index : ", 0x1280 + j);
     MSG_WAR(0x3A65, "                 Server nodeId : ", nodeId);
     break;
    }
       j++;
       offset++;
    } /* end while */
  }
  if (whoami == SDO_UNKNOWN) {
    return 0xFF;/* This SDO was not for us ! */
  }
 
  /* Test if the size of the SDO is ok */
  if ( (*m).len != 8) {
    MSG_ERR(0x1A67, "Error size SDO. CobId  : ", UNS16_LE(m->cob_id));
    failedSDO(d, nodeId, whoami, 0, 0, SDOABT_GENERAL_ERROR);
    return 0xFF;
  }
 
  if (whoami == SDO_CLIENT) {
    MSG_WAR(0x3A68, "I am CLIENT. Received SDO from nodeId : ", nodeId);
  }
  else {
    MSG_WAR(0x3A69, "I am SERVER. Received SDO cobId : ", UNS16_LE(m->cob_id));
  }
 
  /* 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 */
    if (whoami == SDO_SERVER)
    {
      /* 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;
      if (err)
      {
        MSG_ERR(0x1A70, "SDO error : Received download segment for unstarted trans. index 0x1200 + ",
            nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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. */
      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 */
      nbBytes = 7 - getSDOn3(m->data[0]);
      /* 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). */
      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. */
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
      /* 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 */
        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 */
        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.*/
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
      if (!err)
          err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
      if (err) {
        MSG_ERR(0x1A75, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* Reset the wathdog */
      RestartSDO_TIMER(line)
      index = d->transfers[line].index;
      subIndex = d->transfers[line].subIndex;
      /* 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 */
      nbBytes = 7 - getSDOn3(m->data[0]);
      /* 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. */
      d->transfers[line].toggle = ! d->transfers[line].toggle & 1;
      /* 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. */
        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. */
        sdo.nodeId = nodeId;
        sdo.body.data[0] = (3 << 5) | (d->transfers[line].toggle << 4);
        for (i = 1 ; i < 8 ; i++)
          sdo.body.data[i] = 0;
        sendSDO(d, whoami, sdo);
        MSG_WAR(0x3A78, "SDO send upload segment request to nodeId", nodeId);
      }
    } /* End if CLIENT */
    break;
 
  case 1:
    /* 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(0x3A79, "Received SDO Initiate Download (to store data) defined at index 0x1200 + ",
          nodeId);
      MSG_WAR(0x3A80, "Writing at index : ", index);
      MSG_WAR(0x3A80, "Writing at subIndex : ", subIndex);
 
      /* 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. */
      err = getSDOfreeLine( d, whoami, &line );
      if (err) {
        MSG_ERR(0x1A82, "SDO error : No line free, too many SDO in progress. Aborted.", 0);
        failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
 
      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. */
        d->transfers[line].count = nbBytes;
        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 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. */
        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. */
        resetSDOline(d, line);
      }
      else
      {/* So, if it is not an expedited transfer */
        if (getSDOs(m->data[0])) {
          nbBytes = (m->data[4]) + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
          err = setSDOlineRestBytes(d, nodeId, nbBytes);
          if (err) {
            failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
            return 0xFF;
          }
        }
      }
      /*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 */
      sdo.body.data[3] = subIndex;
      for (i = 4 ; i < 8 ; i++)
        sdo.body.data[i] = 0;
      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. */
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
      if (!err)
          err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
      if (err) {
        MSG_ERR(0x1A85, "SDO error : Received segment response for unknown trans. from nodeId", nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* Reset the wathdog */
      RestartSDO_TIMER(line)
      index = d->transfers[line].index;
      subIndex = d->transfers[line].subIndex;
      /* 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. */
      getSDOlineRestBytes(d, line, &nbBytes);
      if (nbBytes == 0) {
        MSG_WAR(0x3A87, "SDO End download. segment response received. OK. from nodeId", nodeId);
        StopSDO_TIMER(line)
        d->transfers[line].state = SDO_FINISHED;
        if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
        return 0x00;
      }
      /* At least one transfer to send. */
      if (nbBytes > 7) {
        /* 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);
        err = lineToSDO(d, line, 7, sdo.body.data + 1);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
      }
      else
      {
        /* 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] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
        err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        for (i = nbBytes + 1 ; i < 8 ; i++)
          sdo.body.data[i] = 0;
      }
      MSG_WAR(0x3A88, "SDO sending download segment to nodeId", nodeId);
      sendSDO(d, whoami, sdo);
    } /* end if I am a CLIENT */
    break;
 
  case 2:
    /* 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]);
      MSG_WAR(0x3A89, "Received SDO Initiate upload (to send data) defined at index 0x1200 + ",
          nodeId);
      MSG_WAR(0x3A90, "Reading at index : ", index);
      MSG_WAR(0x3A91, "Reading at subIndex : ", subIndex);
      /* Search if a SDO transfer have been yet initiated*/
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
      if (! err)
      {
        MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
        MSG_WAR(0x3A93, "nodeId = ", nodeId);
        failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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);
        failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
      /* Transfer data from dictionary to the line structure. */
      errorCode = objdictToSDOline(d, line);
 
      if (errorCode) {
        MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
            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; */
      if (nbBytes > 4) {
        /* 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] = (UNS8)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. */
        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) */
        sdo.body.data[0] = (UNS8)((2 << 5) | ((4 - nbBytes) << 2) | 3);
        sdo.body.data[1] = index & 0xFF;        /* LSB */
        sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
        sdo.body.data[3] = subIndex;
        err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        for (i = 4 + nbBytes ; i < 8 ; i++)
          sdo.body.data[i] = 0;
        MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
            nodeId);
        sendSDO(d, whoami, sdo);
        /* Release the line.*/
        resetSDOline(d, line);
      }
    } /* 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. */
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
      if (!err)
          err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
      if (err) {
        MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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 */
          nbBytes = 4 - getSDOn2(m->data[0]);
        /* 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(). */
        MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
        StopSDO_TIMER(line)
        d->transfers[line].count = nbBytes;
        d->transfers[line].state = SDO_FINISHED;
        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. */
        if (getSDOs(m->data[0])) {
          nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
          err = setSDOlineRestBytes(d, line, nbBytes);
          if (err) {
            failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
            return 0xFF;
          }
        }
        /* Requesting next segment. (cs = 3) */
        sdo.nodeId = nodeId;
        sdo.body.data[0] = 3 << 5;
        for (i = 1 ; i < 8 ; i++)
          sdo.body.data[i] = 0;
        MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
        sendSDO(d, whoami, sdo);
          }
        } /* End if CLIENT */
    break;
 
  case 3:
    /* I am SERVER */
    if (whoami == SDO_SERVER) {
      /* 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;
      if (err) {
        MSG_ERR(0x1AA0, "SDO error : Received upload segment for unstarted trans. index 0x1200 + ",
            nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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.*/
      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. */
      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) */
        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) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        /* 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; 
        sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
        err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        for (i = nbBytes + 1 ; i < 8 ; i++)
          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 */
        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. */
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
      if (!err)
          err = d->transfers[line].state != SDO_DOWNLOAD_IN_PROGRESS;
      if (err) {
        MSG_ERR(0x1AA5, "SDO error : Received response for unknown download request from nodeId", nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* Reset the watchdog */
      RestartSDO_TIMER(line)
      index = d->transfers[line].index;
      subIndex = d->transfers[line].subIndex;
      /* End transmission or requesting  next segment. */
      getSDOlineRestBytes(d, line, &nbBytes);
      if (nbBytes == 0) {
        MSG_WAR(0x3AA6, "SDO End download expedited. Response received. from nodeId", nodeId);
        StopSDO_TIMER(line)
        d->transfers[line].state = SDO_FINISHED;
        if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
        return 0x00;
      }
      if (nbBytes > 7) {
        /* more than one request to send */
        /* code to send the next segment. (cs = 0; c = 0)   */
        sdo.nodeId = nodeId; 
        sdo.body.data[0] = (d->transfers[line].toggle << 4);
        err = lineToSDO(d, line, 7, sdo.body.data + 1);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
      }
      else
      {
        /* Last segment.*/
        /* code to send the last segment. (cs = 0; c = 1)   */
        sdo.nodeId = nodeId; /* The server node Id; */
        sdo.body.data[0] = (UNS8)((d->transfers[line].toggle << 4) | ((7 - nbBytes) << 1) | 1);
        err = lineToSDO(d, line, nbBytes, sdo.body.data + 1);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        for (i = nbBytes + 1 ; i < 8 ; i++)
          sdo.body.data[i] = 0;
      }
      MSG_WAR(0x3AA7, "SDO sending download segment to nodeId", nodeId);
      sendSDO(d, whoami, sdo);
 
    } /* end if I am a CLIENT       */
    break;
 
   case 4:
     abortCode =
      (UNS32)m->data[4] |
      ((UNS32)m->data[5] << 8) |
      ((UNS32)m->data[6] << 16) |
      ((UNS32)m->data[7] << 24);
    /* Received SDO abort. */
    /* Looking for the line concerned. */
    if (whoami == SDO_SERVER) {
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
          if (!err) {
            resetSDOline( d, line );
            MSG_WAR(0x3AA8, "SD0. Received SDO abort. Line released. Code : ", abortCode);
          }
          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.*/
    }
    else
    { /* If I am CLIENT */
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
      if (!err) {
        /* 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);
            resetSDOline( d, line );
      }
      else
    MSG_WAR(0x3AB1, "SD0. Received SDO abort. No line found. Code : ", abortCode);
    }
    break;
 
    case 5: // block 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]);
      numberOfIndexes = m->data[4];
 
      /* Search if a SDO transfer have been yet initiated*/
      err = getSDOlineOnUse( d, nodeId, whoami, &line );
      if (! err)
      {
        MSG_ERR(0x1A92, "SDO error : Transmission yet started at line : ", line);
        MSG_WAR(0x3A93, "nodeId = ", nodeId);
        failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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);
        failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      initSDOline(d, line, nodeId, index, subIndex, SDO_UPLOAD_IN_PROGRESS);
 
      /* Transfer data from dictionary to the line structure. */
      errorCode = objdictToSDOBlockline(d, line, numberOfIndexes);
 
      if (errorCode)
      {
        MSG_ERR(0x1A94, "SDO error : Unable to copy the data from object dictionary. Err code : ",
            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; */
      if (nbBytes > 4)
      {
        /* 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] = (UNS8)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. */
        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) */
        sdo.body.data[0] = (UNS8)((2 << 5) | ((4 - nbBytes) << 2) | 3);
        sdo.body.data[1] = index & 0xFF;        /* LSB */
        sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
        sdo.body.data[3] = subIndex;
        err = lineToSDO(d, line, nbBytes, sdo.body.data + 4);
        if (err) {
          failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
          return 0xFF;
        }
        for (i = 4 + nbBytes ; i < 8 ; i++)
          sdo.body.data[i] = 0;
        MSG_WAR(0x3A96, "SDO. Sending expedited upload initiate response defined at index 0x1200 + ",
            nodeId);
        sendSDO(d, whoami, sdo);
        /* Release the line.*/
        resetSDOline(d, line);
      }
    } /* 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. */
      err = getSDOlineOnUse( d, nodeId, whoami, &line);
      if (!err)
          err = d->transfers[line].state != SDO_UPLOAD_IN_PROGRESS;
      if (err) {
        MSG_ERR(0x1A97, "SDO error : Received response for unknown upload request from nodeId", nodeId);
        failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
        return 0xFF;
      }
      /* 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 */
          nbBytes = 4 - getSDOn2(m->data[0]);
        /* 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(). */
        MSG_WAR(0x3A98, "SDO expedited upload finished. Response received from node : ", nodeId);
        StopSDO_TIMER(line)
        d->transfers[line].count = nbBytes;
        d->transfers[line].state = SDO_FINISHED;
        if(d->transfers[line].Callback) (*d->transfers[line].Callback)(d,nodeId);
        return 0;
      }
      else
      { /* So, if it is not an expedited transfer */
        /* Storing the nb of data to receive. */
        if (getSDOs(m->data[0])) {
          nbBytes = m->data[4] + ((UNS32)(m->data[5])<<8) + ((UNS32)(m->data[6])<<16) + ((UNS32)(m->data[7])<<24);
          err = setSDOlineRestBytes(d, line, nbBytes);
          if (err) {
            failedSDO(d, nodeId, whoami, index, subIndex, SDOABT_GENERAL_ERROR);
            return 0xFF;
          }
        }
        /* Requesting next segment. (cs = 3) */
        sdo.nodeId = nodeId;
        sdo.body.data[0] = 3 << 5;
        for (i = 1 ; i < 8 ; i++)
          sdo.body.data[i] = 0;
        MSG_WAR(0x3A99, "SDO. Sending upload segment request to node : ", nodeId);
        sendSDO(d, whoami, sdo);
      }
    } /* End if CLIENT */
    break;
 
  default:
    /* Error : Unknown cs */
    MSG_ERR(0x1AB2, "SDO. Received unknown command specifier : ", getSDOcs(m->data[0]));
    resetSDOline( d, line );
    return 0xFF;
 
  } /* End switch */
  return 0;
}
 
 
INLINE UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
  UNS8 err;
  UNS8 SDOfound = 0;
  UNS8 line;
  s_SDO sdo;    /* SDO to transmit */
  UNS8 i;
  UNS32 j;
  UNS16     lastIndex;
  UNS16     offset;
  UNS8      *pNodeIdServer;
  UNS8      nodeIdServer;
 
  MSG_WAR(0x3AC0, "Send SDO to write in the dictionary of node : ", nodeId);
  MSG_WAR(0x3AC1, "                                   At index : ", index);
  MSG_WAR(0x3AC2, "                                   subIndex : ", subIndex);
  MSG_WAR(0x3AC3, "                                   nb bytes : ", count);
 
  /* check to make sure node is online */
  if ( d->NMTable[nodeId] == Unknown_state )
  {
    return 0xFF;
  }
  /* 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 ... */
  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 */
  offset = d->firstIndex->SDO_CLT;
  lastIndex = d->lastIndex->SDO_CLT;
  if (offset == 0) {
    MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
    return 0xFF;
  }
  i = 0;
   while (offset <= lastIndex) {
     if (d->objdict[offset].bSubCount <= 3) {
     MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
     return 0xFF;
     }
     /* looking for the nodeId server */
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
     nodeIdServer = *pNodeIdServer;
     MSG_WAR(0x1AD2, "index : ", 0x1280 + i);
     MSG_WAR(0x1AD3, "nodeIdServer : ", nodeIdServer);
 
    if(nodeIdServer == nodeId) {
      SDOfound = 1;
      break;
    }
    offset++;
    i++;
  } /* end while */
  if (!SDOfound) {
    MSG_ERR(0x1AC9, "SDO. Error. No client found to communicate with node : ", nodeId);
    return 0xFE;
  }
  MSG_WAR(0x3AD0,"        SDO client defined at index  : ", 0x1280 + i);
  initSDOline(d, line, nodeId, index, subIndex, SDO_DOWNLOAD_IN_PROGRESS);
  d->transfers[line].count = count;
  d->transfers[line].dataType = dataType;
 
  /* Copy data to transfers structure. */
  for (j = 0 ; j < count ; j++) {
# ifdef CANOPEN_BIG_ENDIAN
    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];
#  else
    d->transfers[line].data[j] = ((char *)data)[j];
#  endif
  }
  /* Send the SDO to the server. Initiate download, cs=1. */
  sdo.nodeId = nodeId;
  if (count <= 4) { /* Expedited transfert */
    sdo.body.data[0] = (UNS8)((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 { 
    sdo.body.data[0] = (1 << 5) | 1;
    for (i = 0 ; i < 4 ; i++)
      sdo.body.data[i+4] = (UNS8)((count << (i<<3))); /* i*8 */
  }
  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);
    /* release the line */
    resetSDOline(d, line);
    return 0xFF;
  }
 
 
  return 0;
}
 
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data)
{
    return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, NULL, 1);
}
 
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback)
{
    return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
}
 
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize)
{
    UNS8 ret;
    UNS16 lastIndex;
    UNS16 offset;
    UNS8 nodeIdServer;
 
 
    ret = _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, endianize);
    if(ret == 0xFE)
    {
        offset = d->firstIndex->SDO_CLT;
        lastIndex = d->lastIndex->SDO_CLT;
        if (offset == 0)
        {
            MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
            return 0xFF;
        }
 
        while (offset <= lastIndex)
        {
            if (d->objdict[offset].bSubCount <= 3)
            {
                MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
                return 0xFF;
            }
            nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
            if(nodeIdServer == 0)
            {
                *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
                *(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
                *(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
                return _writeNetworkDict (d, nodeId, index, subIndex, count, dataType, data, Callback, 1);
            }
            offset++;
        }
        return 0xFF;
    }
    else if(ret == 0)
    {
        return 0;
    }
    else
    {
        return 0xFF;
    }
}
 
 
INLINE UNS8 _readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
  UNS8 err;
  UNS8 SDOfound = 0;
  UNS8 i;
  UNS8 line;
  s_SDO sdo;    /* SDO to transmit */
  UNS8      *pNodeIdServer;
  UNS8      nodeIdServer;
  UNS16     offset;
  UNS16     lastIndex;
  MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
  MSG_WAR(0x3AD6, "                                  At index : ", index);
  MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
 
  /* check to make sure node is online */
  if ( d->NMTable[nodeId] == Unknown_state )
  {
    return 0xFF;
  }
 
  /* 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 ... */
  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);
    return (0xFF);
  }
  else
    MSG_WAR(0x3AE0, "Transmission on line : ", line);
 
  /* 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(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
    return 0xFF;
  }
  i = 0;
  while (offset <= lastIndex) {
     if (d->objdict[offset].bSubCount <= 3)
     {
     MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
     return 0xFF;
     }
     /* looking for the nodeId server */
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
     nodeIdServer = *pNodeIdServer;
 
    if(nodeIdServer == nodeId)
    {
      SDOfound = 1;
      break;
    }
    offset++;
    i++;
  } /* end while */
  if (!SDOfound)
  {
    MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
    return 0xFE;
  }
  MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
  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. */
  d->transfers[line].dataType = dataType;
  sdo.body.data[0] = (2 << 5);
  sdo.body.data[1] = index & 0xFF;        /* LSB */
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
  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);
    /* release the line */
    resetSDOline(d, line);
    return 0xFF;
  }
  return 0;
}
 
INLINE UNS8 _readBlockNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 numberOfIndexes, UNS8 dataType, SDOCallback_t Callback)
{
  UNS8 err;
  UNS8 SDOfound = 0;
  UNS8 i;
  UNS8 line;
  s_SDO sdo;    /* SDO to transmit */
  UNS8      *pNodeIdServer;
  UNS8      nodeIdServer;
  UNS16     offset;
  UNS16     lastIndex;
  MSG_WAR(0x3AD5, "Send SDO to read in the dictionary of node : ", nodeId);
  MSG_WAR(0x3AD6, "                                  At index : ", index);
  MSG_WAR(0x3AD7, "                                  subIndex : ", subIndex);
 
  /* check to make sure node is online */
  if ( d->NMTable[nodeId] == Unknown_state )
  {
    return 0xFF;
  }
 
  /* 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 ... */
  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);
    return (0xFF);
  }
  else
    MSG_WAR(0x3AE0, "Transmission on line : ", line);
 
  /* 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(0x1AE1, "writeNetworkDict : No SDO client index found", 0);
    return 0xFF;
  }
  i = 0;
  while (offset <= lastIndex) {
     if (d->objdict[offset].bSubCount <= 3)
     {
     MSG_ERR(0x1AE2, "Subindex 3  not found at index ", 0x1280 + i);
     return 0xFF;
     }
     /* looking for the nodeId server */
     pNodeIdServer = (UNS8*) d->objdict[offset].pSubindex[3].pObject;
     nodeIdServer = *pNodeIdServer;
 
    if(nodeIdServer == nodeId)
    {
      SDOfound = 1;
      break;
    }
    offset++;
    i++;
  } /* end while */
  if (!SDOfound)
  {
    MSG_ERR(0x1AE3, "SDO. Error. No client found to communicate with node : ", nodeId);
    return 0xFE;
  }
  MSG_WAR(0x3AE4,"        SDO client defined at index  : ", 0x1280 + i);
  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. */
  d->transfers[line].dataType = dataType;
  sdo.body.data[0] = (5 << 5);
  sdo.body.data[1] = index & 0xFF;        /* LSB */
  sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
  sdo.body.data[3] = subIndex;
  sdo.body.data[4] = numberOfIndexes;
  for (i = 5 ; 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);
    /* release the line */
    resetSDOline(d, line);
    return 0xFF;
  }
  return 0;
}
 
UNS8 readBlockNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 size, UNS8 dataType)
{
    return _readBlockNetworkDict (d, nodeId, index, subIndex, size, dataType, NULL);
}
 
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType)
{
    return _readNetworkDict (d, nodeId, index, subIndex, dataType, NULL);
}
 
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
    return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
}
 
UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback)
{
    UNS8 ret;
    UNS16 lastIndex;
    UNS16 offset;
    UNS8 nodeIdServer;
 
 
 
    ret = _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
    if(ret == 0xFE)
    {
        offset = d->firstIndex->SDO_CLT;
        lastIndex = d->lastIndex->SDO_CLT;
        if (offset == 0)
        {
            MSG_ERR(0x1AC6, "writeNetworkDict : No SDO client index found", 0);
            return 0xFF;
        }
 
        while (offset <= lastIndex)
        {
            if (d->objdict[offset].bSubCount <= 3)
            {
                MSG_ERR(0x1AC8, "Subindex 3  not found at index ", 0x1280 + i);
                return 0xFF;
            }
            nodeIdServer = *(UNS8*) d->objdict[offset].pSubindex[3].pObject;
            if(nodeIdServer == 0)
            {
                *(UNS32*)d->objdict[offset].pSubindex[1].pObject = (UNS32)(0x600 + nodeId);
                *(UNS32*)d->objdict[offset].pSubindex[2].pObject = (UNS32)(0x580 + nodeId);
                *(UNS8*) d->objdict[offset].pSubindex[3].pObject = nodeId;
                return _readNetworkDict (d, nodeId, index, subIndex, dataType, Callback);
            }
            offset++;
        }
        return 0xFF;
    }
    else if(ret == 0)
    {
        return 0;
    }
    else
    {
        return 0xFF;
    }
}
 
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size,
                   UNS32 * abortCode)
{
  UNS32 i;
  UNS8 err;
  UNS8 line;
  * abortCode = 0;
 
  /* Looking for the line tranfer. */
  err = getSDOlineOnUse(d, nodeId, SDO_CLIENT, &line);
  if (err)
  {
    MSG_ERR(0x1AF0, "SDO error : No line found for communication with node : ", nodeId);
    return SDO_ABORTED_INTERNAL;
  }
  * abortCode = d->transfers[line].abortCode;
  if (d->transfers[line].state != SDO_FINISHED)
    return d->transfers[line].state;
 
  /* if SDO initiated with e=0 and s=0 count is null, offset carry effective size*/
  if( d->transfers[line].count == 0)
    d->transfers[line].count = d->transfers[line].offset;
  /* use transfers[line].count as max size */
  if( d->transfers[line].count < *size )
    *size = d->transfers[line].count;
  /* Copy payload to data pointer */
  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. */
      ( (char *) data)[i] = d->transfers[line].data[i];
# else
    ( (char *) data)[i] = d->transfers[line].data[i];
# endif
  }
  return SDO_FINISHED;
}
 
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode)
{
  UNS8 line = 0;
  UNS8 err;
 
  * abortCode = 0;
  /* 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);
    return SDO_ABORTED_INTERNAL;
  }
  * abortCode = d->transfers[line].abortCode;
  return d->transfers[line].state;
}