sdo.h

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#ifndef INC_SDO_H_
#define INC_SDO_H_
 
#include "timer.h"
 
struct struct_s_transfer;
 
typedef void (*SDOCallback_t)(CO_Data* d, UNS8 nodeId);
 
/* The Transfer structure
Used to store the different segments of
 - a SDO received before writing in the dictionary
 - the reading of the dictionary to put on a SDO to transmit
*/
 
struct struct_s_transfer
{
  UNS8           nodeId;     
  UNS8           whoami;     
  UNS8           state;      
  UNS8           toggle;
  UNS32          abortCode;  
  UNS16          index;
  UNS8           subIndex;
  UNS32          count;      
  UNS32          offset;     
  UNS8           data [SDO_MAX_LENGTH_TRANSFERT];
  UNS8           dataType;   
  TIMER_HANDLE   timer;      
  SDOCallback_t Callback;   
};
typedef struct struct_s_transfer s_transfer;
 
 
struct BODY{
    UNS8 data[8]; 
};
 
/* The SDO structure ...*/
struct struct_s_SDO {
  UNS8 nodeId;      
  struct BODY body;
};
 
 
typedef struct struct_s_SDO s_SDO;
 
 
void SDOTimeoutAlarm(CO_Data* d, UNS32 id);
void resetSDO (CO_Data* d);
UNS32 SDOlineToObjdict (CO_Data* d, UNS8 line);
UNS32 objdictToSDOline (CO_Data* d, UNS8 line);
UNS32 objdictToSDOBlockline (CO_Data* d, UNS8 line, UNS8 numberOfIndexes);
UNS8 lineToSDO (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
UNS8 SDOtoLine (CO_Data* d, UNS8 line, UNS32 nbBytes, UNS8 * data);
UNS8 failedSDO (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS16 index, UNS8 subIndex, UNS32 abortCode);
void resetSDOline (CO_Data* d, UNS8 line);
UNS8 initSDOline (CO_Data* d, UNS8 line, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 state);
UNS8 getSDOfreeLine (CO_Data* d, UNS8 whoami, UNS8 *line);
UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
UNS8 closeSDOtransfer (CO_Data* d, UNS8 nodeId, UNS8 whoami);
UNS8 getSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 * nbBytes);
UNS8 setSDOlineRestBytes (CO_Data* d, UNS8 line, UNS32 nbBytes);
UNS8 sendSDO (CO_Data* d, UNS8 whoami, s_SDO sdo);
UNS8 sendSDOabort (CO_Data* d, UNS8 whoami, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS32 abortCode);
UNS8 processSDO (CO_Data* d, Message *m);
UNS8 writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data);
UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback);
UNS8 writeNetworkDictCallBackAI (CO_Data* d, UNS8 nodeId, UNS16 index,
               UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
UNS8 readNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType);
UNS8 readBlockNetworkDict(CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 size, UNS8 dataType );
UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
UNS8 readNetworkDictCallbackAI (CO_Data* d, UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, SDOCallback_t Callback);
UNS8 getReadResultNetworkDict (CO_Data* d, UNS8 nodeId, void* data, UNS32 *size, UNS32 * abortCode);
UNS8 getWriteResultNetworkDict (CO_Data* d, UNS8 nodeId, UNS32 * abortCode);
 
 
#endif /* INC_SDO_H_ */