/* * CANopen Service Data Object - server. * * @file CO_SDOserver.c * @ingroup CO_SDOserver * @author Janez Paternoster * @copyright 2020 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include #include "301/CO_SDOserver.h" #include "301/crc16-ccitt.h" /* verify configuration */ #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED #if CO_CONFIG_SDO_SRV_BUFFER_SIZE < 8 #error CO_CONFIG_SDO_SRV_BUFFER_SIZE must be greater or equal than 8. #endif #endif #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK #if !((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) #error CO_CONFIG_SDO_SRV_SEGMENTED must be enabled. #endif #if !((CO_CONFIG_CRC16) & CO_CONFIG_CRC16_ENABLE) #error CO_CONFIG_CRC16_ENABLE must be enabled. #endif #if CO_CONFIG_SDO_SRV_BUFFER_SIZE < (127*7) #error CO_CONFIG_SDO_SRV_BUFFER_SIZE must be greater or equal than (127*7). #endif #endif /* * Read received message from CAN module. * * Function will be called (by CAN receive interrupt) every time, when CAN * message with correct identifier will be received. For more information and * description of parameters see file CO_driver.h. */ static void CO_SDO_receive(void *object, void *msg) { CO_SDOserver_t *SDO = (CO_SDOserver_t *)object; uint8_t DLC = CO_CANrxMsg_readDLC(msg); uint8_t *data = CO_CANrxMsg_readData(msg); /* verify message length and message queue overflow (if previous message * was not processed yet) */ if (DLC == 8 && !CO_FLAG_READ(SDO->CANrxNew)) { if (data[0] == 0x80) { /* abort from client, just make idle */ SDO->state = CO_SDO_ST_IDLE; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK else if (SDO->state == CO_SDO_ST_UPLOAD_BLK_END_CRSP && data[0]==0xA1) { /* SDO block download successfully transferred, just make idle */ SDO->state = CO_SDO_ST_IDLE; } else if (SDO->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) { /* just in case, condition should always pass */ if (SDO->bufOffsetWr <= (CO_CONFIG_SDO_SRV_BUFFER_SIZE - 7)) { /* block download, copy data directly */ uint8_t seqno; CO_SDO_state_t state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ; seqno = data[0] & 0x7F; SDO->timeoutTimer = 0; SDO->block_timeoutTimer = 0; /* break sub-block if sequence number is too large */ if (seqno > SDO->block_blksize) { state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; } /* verify if sequence number is correct */ else if (seqno == (SDO->block_seqno + 1)) { SDO->block_seqno = seqno; /* Copy data. There is always enough space in buffer, * because block_blksize was calculated before */ memcpy(SDO->buf + SDO->bufOffsetWr, &data[1], 7); SDO->bufOffsetWr += 7; SDO->sizeTran += 7; /* is this the last segment? */ if ((data[0] & 0x80) != 0) { SDO->finished = true; state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; } else if (seqno == SDO->block_blksize) { /* all segments in sub-block has been transferred */ state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; } } else if (seqno == SDO->block_seqno || SDO->block_seqno == 0U) { /* Ignore message, if it is duplicate or if sequence didn't * start yet. */ } else { /* seqno is totally wrong, break sub-block. Data after last * good seqno will be re-transmitted. */ state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; } if (state != CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) { /* SDO->state has changed, processing will continue in * another thread. Make memory barrier here with * CO_FLAG_CLEAR() call. */ CO_FLAG_CLEAR(SDO->CANrxNew); SDO->state = state; #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE /* Optional signal to RTOS, which can resume task, which * handles SDO server processing. */ if (SDO->pFunctSignalPre != NULL) { SDO->pFunctSignalPre(SDO->functSignalObjectPre); } #endif } } } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK */ else { /* copy data and set 'new message' flag, data will be processed in * CO_SDOserver_process() */ memcpy(SDO->CANrxData, data, DLC); CO_FLAG_SET(SDO->CANrxNew); #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE /* Optional signal to RTOS, which can resume task, which handles * SDO server processing. */ if (SDO->pFunctSignalPre != NULL) { SDO->pFunctSignalPre(SDO->functSignalObjectPre); } #endif } } } /* * Custom function for reading OD variable _SDO server parameter_, default * channel * * For more information see file CO_ODinterface.h, OD_subEntry_t. */ static OD_size_t OD_read_1200_default(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode) { if (stream == NULL || buf == NULL || returnCode == NULL || count < 1 || (count < 4 && subIndex > 0) ) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_SDOserver_t *SDO = (CO_SDOserver_t *)stream->object; *returnCode = ODR_OK; switch (subIndex) { case 0: /* Highest sub-index supported */ CO_setUint8(buf, 2); return stream->dataLength = sizeof(uint8_t); case 1: /* COB-ID client -> server */ CO_setUint32(buf, CO_CAN_ID_SDO_CLI + SDO->nodeId); return stream->dataLength = sizeof(uint32_t); case 2: /* COB-ID server -> client */ CO_setUint32(buf, CO_CAN_ID_SDO_SRV + SDO->nodeId); return stream->dataLength = sizeof(uint32_t); default: *returnCode = ODR_SUB_NOT_EXIST; return 0; } } /* helper for configuring CANrx and CANtx *************************************/ static CO_ReturnError_t CO_SDOserver_init_canRxTx(CO_SDOserver_t *SDO, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, uint16_t CANdevTxIdx, uint32_t COB_IDClientToServer, uint32_t COB_IDServerToClient) { #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC /* proceed only, if parameters change */ if (COB_IDClientToServer == SDO->COB_IDClientToServer && COB_IDServerToClient == SDO->COB_IDServerToClient ) { return CO_ERROR_NO; } /* store variables */ SDO->COB_IDClientToServer = COB_IDClientToServer; SDO->COB_IDServerToClient = COB_IDServerToClient; #endif /* verify valid bit */ uint16_t idC2S = ((COB_IDClientToServer & 0x80000000L) == 0) ? (uint16_t)COB_IDClientToServer : 0; uint16_t idS2C = ((COB_IDServerToClient & 0x80000000L) == 0) ? (uint16_t)COB_IDServerToClient : 0; if (idC2S != 0 && idS2C != 0) { SDO->valid = true; } else { idC2S = 0; idS2C = 0; SDO->valid = false; } /* configure SDO server CAN reception */ CO_ReturnError_t ret = CO_CANrxBufferInit( CANdevRx, /* CAN device */ CANdevRxIdx, /* rx buffer index */ idC2S, /* CAN identifier */ 0x7FF, /* mask */ 0, /* rtr */ (void*)SDO, /* object passed to receive function */ CO_SDO_receive); /* this function will process rx msg */ /* configure SDO server CAN transmission */ SDO->CANtxBuff = CO_CANtxBufferInit( SDO->CANdevTx, /* CAN device */ CANdevTxIdx, /* index of buffer inside CAN module */ idS2C, /* CAN identifier */ 0, /* rtr */ 8, /* number of data bytes */ 0); /* synchronous message flag bit */ if (SDO->CANtxBuff == NULL) { ret = CO_ERROR_ILLEGAL_ARGUMENT; SDO->valid = false; } return ret; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC /* * Custom function for writing OD variable _SDO server parameter_, additional * channels * * For more information see file CO_ODinterface.h, OD_subEntry_t. */ static OD_size_t OD_write_1201_additional(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode) { /* "count" is already verified in *_init() function */ if (stream == NULL || buf == NULL || returnCode == NULL) { if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT; return 0; } CO_SDOserver_t *SDO = (CO_SDOserver_t *)stream->object; *returnCode = ODR_OK; uint32_t COB_ID; uint8_t nodeId; switch (subIndex) { case 0: /* Highest sub-index supported */ *returnCode = ODR_READONLY; return 0; case 1: /* COB-ID client -> server */ COB_ID = CO_getUint32(buf); /* SDO client must not be valid when changing COB_ID */ if ((COB_ID & 0x3FFFF800) != 0 || ((uint16_t)COB_ID != (uint16_t)SDO->COB_IDClientToServer && SDO->valid && (COB_ID & 0x80000000)) ) { *returnCode = ODR_INVALID_VALUE; return 0; } CO_SDOserver_init_canRxTx(SDO, SDO->CANdevRx, SDO->CANdevRxIdx, SDO->CANdevTxIdx, COB_ID, SDO->COB_IDServerToClient); break; case 2: /* COB-ID server -> client */ COB_ID = CO_getUint32(buf); /* SDO client must not be valid when changing COB_ID */ if ((COB_ID & 0x3FFFF800) != 0 || ((uint16_t)COB_ID != (uint16_t)SDO->COB_IDServerToClient && SDO->valid && (COB_ID & 0x80000000)) ) { *returnCode = ODR_INVALID_VALUE; return 0; } CO_SDOserver_init_canRxTx(SDO, SDO->CANdevRx, SDO->CANdevRxIdx, SDO->CANdevTxIdx, SDO->COB_IDClientToServer, COB_ID); break; case 3: /* Node-ID of the SDO server */ if (count != 1) { *returnCode = ODR_TYPE_MISMATCH; return 0; } nodeId = CO_getUint8(buf); if (nodeId < 1 || nodeId > 127) { *returnCode = ODR_INVALID_VALUE; return 0; } break; default: *returnCode = ODR_SUB_NOT_EXIST; return 0; } /* write value to the original location in the Object Dictionary */ return OD_writeOriginal(stream, subIndex, buf, count, returnCode); } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC */ /******************************************************************************/ CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO, const OD_t *OD, const OD_entry_t *OD_1200_SDOsrvPar, uint8_t nodeId, uint16_t SDOtimeoutTime_ms, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t *CANdevTx, uint16_t CANdevTxIdx) { /* verify arguments */ if (SDO == NULL || OD == NULL || CANdevRx == NULL || CANdevTx == NULL) { return CO_ERROR_ILLEGAL_ARGUMENT; } /* Configure object variables */ SDO->OD = OD; SDO->nodeId = nodeId; SDO->SDOtimeoutTime_us = (uint32_t)SDOtimeoutTime_ms * 1000; SDO->state = CO_SDO_ST_IDLE; #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE SDO->pFunctSignalPre = NULL; SDO->functSignalObjectPre = NULL; #endif /* configure CAN identifiers and SDO server parameters if available */ uint16_t CanId_ClientToServer, CanId_ServerToClient; if (OD_1200_SDOsrvPar == NULL) { /* configure default SDO channel */ if (nodeId < 1 || nodeId > 127) return CO_ERROR_ILLEGAL_ARGUMENT; CanId_ClientToServer = CO_CAN_ID_SDO_CLI + nodeId; CanId_ServerToClient = CO_CAN_ID_SDO_SRV + nodeId; SDO->valid = true; } else if (OD_getIndex(OD_1200_SDOsrvPar) == OD_H1200_SDO_SERVER_1_PARAM) { /* configure default SDO channel and SDO server parameters for it */ if (nodeId < 1 || nodeId > 127) return CO_ERROR_ILLEGAL_ARGUMENT; CanId_ClientToServer = CO_CAN_ID_SDO_CLI + nodeId; CanId_ServerToClient = CO_CAN_ID_SDO_SRV + nodeId; SDO->valid = true; if (!OD_extensionIO_init(OD_1200_SDOsrvPar, (void *) SDO, OD_read_1200_default, NULL) ) { CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar)); return CO_ERROR_OD_PARAMETERS; } } else if (OD_getIndex(OD_1200_SDOsrvPar) > OD_H1200_SDO_SERVER_1_PARAM && OD_getIndex(OD_1200_SDOsrvPar) <= (OD_H1200_SDO_SERVER_1_PARAM+0x7F) ) { /* configure additional SDO channel and SDO server parameters for it */ uint8_t maxSubIndex; uint32_t COB_IDClientToServer32, COB_IDServerToClient32; /* get and verify parameters from Object Dictionary (initial values) */ ODR_t odRet0 = OD_get_u8(OD_1200_SDOsrvPar, 0, &maxSubIndex, true); ODR_t odRet1 = OD_get_u32(OD_1200_SDOsrvPar, 1, &COB_IDClientToServer32, true); ODR_t odRet2 = OD_get_u32(OD_1200_SDOsrvPar, 2, &COB_IDServerToClient32, true); if (odRet0 != ODR_OK || (maxSubIndex != 2 && maxSubIndex != 3) || odRet1 != ODR_OK || odRet2 != ODR_OK ) { CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar)); return CO_ERROR_OD_PARAMETERS; } CanId_ClientToServer = ((COB_IDClientToServer32 & 0x80000000) == 0) ? (uint16_t)(COB_IDClientToServer32 & 0x7FF) : 0; CanId_ServerToClient = ((COB_IDServerToClient32 & 0x80000000) == 0) ? (uint16_t)(COB_IDServerToClient32 & 0x7FF) : 0; #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC if (!OD_extensionIO_init(OD_1200_SDOsrvPar, (void *) SDO, OD_readOriginal, OD_write_1201_additional) ) { CO_errinfo(CANdevTx, OD_getIndex(OD_1200_SDOsrvPar)); return CO_ERROR_OD_PARAMETERS; } #endif } else { return CO_ERROR_ILLEGAL_ARGUMENT; } CO_FLAG_CLEAR(SDO->CANrxNew); /* store the parameters and configure CANrx and CANtx */ #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC SDO->CANdevRx = CANdevRx; SDO->CANdevRxIdx = CANdevRxIdx; SDO->CANdevTxIdx = CANdevTxIdx; /* set to zero to make sure CO_SDOserver_init_canRxTx() will reconfig CAN */ SDO->COB_IDClientToServer = 0; SDO->COB_IDServerToClient = 0; #endif SDO->CANdevTx = CANdevTx; return CO_SDOserver_init_canRxTx(SDO, CANdevRx, CANdevRxIdx, CANdevTxIdx, CanId_ClientToServer, CanId_ServerToClient); } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE /******************************************************************************/ void CO_SDOserver_initCallbackPre(CO_SDOserver_t *SDO, void *object, void (*pFunctSignalPre)(void *object)) { if (SDO != NULL) { SDO->functSignalObjectPre = object; SDO->pFunctSignalPre = pFunctSignalPre; } } #endif #ifdef CO_BIG_ENDIAN static inline void reverseBytes(void *start, int size) { unsigned char *lo = start; unsigned char *hi = start + size - 1; unsigned char swap; while (lo < hi) { swap = *lo; *lo++ = *hi; *hi-- = swap; } } #endif /******************************************************************************/ CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t *timerNext_us) { (void)timerNext_us; /* may be unused */ CO_SDO_return_t ret = CO_SDO_RT_waitingResponse; CO_SDO_abortCode_t abortCode = CO_SDO_AB_NONE; bool_t isNew = CO_FLAG_READ(SDO->CANrxNew); if (SDO == NULL) { ret = CO_SDO_RT_wrongArguments; } else if (SDO->valid && SDO->state == CO_SDO_ST_IDLE && !isNew) { /* Idle and nothing new */ ret = CO_SDO_RT_ok_communicationEnd; } else if (!NMTisPreOrOperational || !SDO->valid) { /* SDO is allowed only in operational or pre-operational NMT state * and must be valid */ SDO->state = CO_SDO_ST_IDLE; CO_FLAG_CLEAR(SDO->CANrxNew); ret = CO_SDO_RT_ok_communicationEnd; } /* CAN data received ******************************************************/ else if (isNew) { if (SDO->state == CO_SDO_ST_IDLE) { /* new SDO communication? */ bool_t upload = false; if ((SDO->CANrxData[0] & 0xF0) == 0x20) { SDO->state = CO_SDO_ST_DOWNLOAD_INITIATE_REQ; } else if (SDO->CANrxData[0] == 0x40) { upload = true; SDO->state = CO_SDO_ST_UPLOAD_INITIATE_REQ; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK else if ((SDO->CANrxData[0] & 0xF9) == 0xC0) { SDO->state = CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ; } else if ((SDO->CANrxData[0] & 0xFB) == 0xA0) { upload = true; SDO->state = CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ; } #endif else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } /* if no error search object dictionary for new SDO request */ if (abortCode == CO_SDO_AB_NONE) { ODR_t odRet; OD_subEntry_t subEntry; SDO->index = ((uint16_t)SDO->CANrxData[2]) << 8 | SDO->CANrxData[1]; SDO->subIndex = SDO->CANrxData[3]; odRet = OD_getSub(OD_find(SDO->OD, SDO->index), SDO->subIndex, &subEntry, &SDO->OD_IO.stream, false); if (odRet != ODR_OK) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; } else { SDO->attribute = subEntry.attribute; SDO->OD_IO.read = subEntry.read; SDO->OD_IO.write = subEntry.write; /* verify read/write attributes */ if (upload && (SDO->attribute & ODA_SDO_R) == 0) { abortCode = CO_SDO_AB_WRITEONLY; SDO->state = CO_SDO_ST_ABORT; } else if (!upload && (SDO->attribute & ODA_SDO_W) == 0) { abortCode = CO_SDO_AB_READONLY; SDO->state = CO_SDO_ST_ABORT; } } } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED /* load data from object dictionary, if upload and no error */ if (upload && abortCode == CO_SDO_AB_NONE) { ODR_t odRet; /* load data from OD variable into the buffer */ SDO->bufOffsetWr = SDO->OD_IO.read(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf, CO_CONFIG_SDO_SRV_BUFFER_SIZE, &odRet); SDO->bufOffsetRd = 0; if (odRet != ODR_OK && odRet != ODR_PARTIAL) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; } else if (odRet == ODR_PARTIAL && SDO->bufOffsetWr < 7) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; } else { SDO->finished = (odRet != ODR_PARTIAL); #ifdef CO_BIG_ENDIAN /* swap data if necessary */ if ((SDO->attribute & ODA_MB) != 0) { if (!SDO->finished) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; } else { reverseBytes(SDO->buf, SDO->bufOffsetWr); } } #endif } } /* get and verify OD data size, if upload and still no error */ if (upload && abortCode == CO_SDO_AB_NONE) { /* Size of variable in OD (may not be known yet) */ SDO->sizeInd = SDO->OD_IO.stream.dataLength; SDO->sizeTran = 0; if (SDO->finished) { /* OD variable was completely read, so its size is known */ if (SDO->sizeInd == 0) { SDO->sizeInd = SDO->bufOffsetWr; } else if (SDO->sizeInd != SDO->bufOffsetWr) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; } } } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ } /* (SDO->state == CO_SDO_ST_IDLE) */ if (SDO->state != CO_SDO_ST_IDLE && SDO->state != CO_SDO_ST_ABORT) switch (SDO->state) { case CO_SDO_ST_DOWNLOAD_INITIATE_REQ: { if (SDO->CANrxData[0] & 0x02) { /* Expedited transfer, max 4 bytes of data */ OD_size_t sizeIndicated = 4; OD_size_t sizeInOd = SDO->OD_IO.stream.dataLength; ODR_t odRet; /* is size indicated? */ if (SDO->CANrxData[0] & 0x01) { sizeIndicated -= (SDO->CANrxData[0] >> 2) & 0x03; if (sizeInOd > 0 && sizeIndicated != sizeInOd) { abortCode = (sizeIndicated < sizeInOd) ? CO_SDO_AB_DATA_SHORT : CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } } else { if (sizeInOd > 4) { abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } else { sizeIndicated = sizeInOd; } } /* swap data if necessary, then copy data */ #ifdef CO_BIG_ENDIAN if ((SDO->attribute & ODA_MB) != 0) { reverseBytes(&SDO->CANrxData[4], sizeIndicated); } #endif SDO->OD_IO.write(&SDO->OD_IO.stream, SDO->subIndex, &SDO->CANrxData[4], sizeIndicated, &odRet); if (odRet != ODR_OK) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } else { SDO->state = CO_SDO_ST_DOWNLOAD_INITIATE_RSP; #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED SDO->finished = true; #endif } } else { #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED /* segmented transfer, is size indicated? */ if (SDO->CANrxData[0] & 0x01) { uint32_t size; OD_size_t sizeInOd = SDO->OD_IO.stream.dataLength; memcpy(&size, &SDO->CANrxData[4], sizeof(size)); SDO->sizeInd = CO_SWAP_32(size); /* Indicated size of SDO matches sizeof OD variable? */ if (sizeInOd > 0 && SDO->sizeInd != sizeInOd) { abortCode = (SDO->sizeInd < sizeInOd) ? CO_SDO_AB_DATA_SHORT : CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } } else { SDO->sizeInd = 0; } SDO->state = CO_SDO_ST_DOWNLOAD_INITIATE_RSP; SDO->finished = false; #else abortCode = CO_SDO_AB_UNSUPPORTED_ACCESS; SDO->state = CO_SDO_ST_ABORT; #endif } break; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED case CO_SDO_ST_DOWNLOAD_SEGMENT_REQ: { if ((SDO->CANrxData[0] & 0xE0) == 0x00) { OD_size_t count; OD_size_t sizeInOd = SDO->OD_IO.stream.dataLength; bool_t lastSegment = (SDO->CANrxData[0] & 0x01) != 0; /* verify and alternate toggle bit */ uint8_t toggle = SDO->CANrxData[0] & 0x10; if (toggle != SDO->toggle) { abortCode = CO_SDO_AB_TOGGLE_BIT; SDO->state = CO_SDO_ST_ABORT; break; } SDO->toggle = (toggle == 0x00) ? 0x10 : 0x00; /* get data size and write data to the buffer */ count = 7 - ((SDO->CANrxData[0] >> 1) & 0x07); memcpy(SDO->buf + SDO->bufOffsetWr, &SDO->CANrxData[1], count); SDO->bufOffsetWr += count; SDO->sizeTran += count; /* verify if size of data downloaded is too large */ if ((SDO->sizeInd > 0 && SDO->sizeTran > SDO->sizeInd) || (sizeInOd > 0 && SDO->sizeTran > sizeInOd) ) { abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } /* if necessary, empty the buffer */ if (lastSegment || (CO_CONFIG_SDO_SRV_BUFFER_SIZE - SDO->bufOffsetWr) < 7 ) { ODR_t odRet; #ifdef CO_BIG_ENDIAN /* swap data if necessary */ if ((SDO->attribute & ODA_MB) != 0) { reverseBytes(SDO->buf, SDO->bufOffsetWr); } #endif /* write data */ SDO->OD_IO.write(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf, SDO->bufOffsetWr, &odRet); SDO->bufOffsetWr = 0; if (odRet != ODR_OK && odRet != ODR_PARTIAL) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } else if (lastSegment && odRet == ODR_PARTIAL) { /* OD variable was not written completelly, but SDO * download finished */ abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } else if (!lastSegment && odRet == ODR_OK) { /* OD variable was written completelly, but SDO download * still has data */ abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } } /* If no more segments to be downloaded, finish */ if (lastSegment) { /* verify size of data */ if (SDO->sizeInd > 0 && SDO->sizeTran < SDO->sizeInd) { abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } else { SDO->finished = true; } } SDO->state = CO_SDO_ST_DOWNLOAD_SEGMENT_RSP; } else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } break; } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ case CO_SDO_ST_UPLOAD_INITIATE_REQ: { SDO->state = CO_SDO_ST_UPLOAD_INITIATE_RSP; break; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED case CO_SDO_ST_UPLOAD_SEGMENT_REQ: { if ((SDO->CANrxData[0] & 0xEF) == 0x60) { /* verify and alternate toggle bit */ uint8_t toggle = SDO->CANrxData[0] & 0x10; if (toggle != SDO->toggle) { abortCode = CO_SDO_AB_TOGGLE_BIT; SDO->state = CO_SDO_ST_ABORT; break; } SDO->state = CO_SDO_ST_UPLOAD_SEGMENT_RSP; } else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } break; } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ: { SDO->block_crcEnabled = (SDO->CANrxData[0] & 0x04) != 0; /* is size indicated? */ if ((SDO->CANrxData[0] & 0x02) != 0) { uint32_t size; OD_size_t sizeInOd = SDO->OD_IO.stream.dataLength; memcpy(&size, &SDO->CANrxData[4], sizeof(size)); SDO->sizeInd = CO_SWAP_32(size); /* Indicated size of SDO matches sizeof OD variable? */ if (sizeInOd > 0 && SDO->sizeInd != sizeInOd) { abortCode = (SDO->sizeInd < sizeInOd) ? CO_SDO_AB_DATA_SHORT : CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } } else { SDO->sizeInd = 0; } SDO->state = CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP; SDO->finished = false; break; } case CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ: { /* data are copied directly in the receive function */ break; } case CO_SDO_ST_DOWNLOAD_BLK_END_REQ: { if ((SDO->CANrxData[0] & 0xE3) == 0xC1) { ODR_t odRet; /* Get number of data bytes in last segment, that do not * contain data. Then reduce buffer. */ uint8_t noData = ((SDO->CANrxData[0] >> 2) & 0x07); if (SDO->bufOffsetWr <= noData) { /* just in case, should never happen */ abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; break; } SDO->sizeTran -= noData; SDO->bufOffsetWr -= noData; /* verify length */ if (SDO->sizeInd > 0 && SDO->sizeTran != SDO->sizeInd) { abortCode = (SDO->sizeTran > SDO->sizeInd) ? CO_SDO_AB_DATA_LONG : CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } #ifdef CO_BIG_ENDIAN /* swap data if necessary */ if ((SDO->attribute & ODA_MB) != 0) { reverseBytes(SDO->buf, SDO->bufOffsetWr); } #endif /* calculeate and verify CRC */ if (SDO->block_crcEnabled) { uint16_t crcClient; SDO->block_crc = crc16_ccitt((unsigned char *)SDO->buf, SDO->bufOffsetWr, SDO->block_crc); crcClient = ((uint16_t) SDO->CANrxData[2]) << 8; crcClient |= SDO->CANrxData[1]; if (crcClient != SDO->block_crc) { abortCode = CO_SDO_AB_CRC; SDO->state = CO_SDO_ST_ABORT; break; } } /* write the data */ SDO->OD_IO.write(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf, SDO->bufOffsetWr, &odRet); SDO->bufOffsetWr = 0; if (odRet == ODR_PARTIAL) { /* OD variable was not written completelly, but SDO * download finished */ abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } else if (odRet != ODR_OK) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } SDO->state = CO_SDO_ST_DOWNLOAD_BLK_END_RSP; } else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } break; } case CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ: { /* if pst (protocol switch threshold, byte5) is larger than data * size of OD variable, then switch to segmented transfer */ if (SDO->sizeInd > 0 && SDO->CANrxData[5] > 0 && SDO->CANrxData[5] >= SDO->sizeInd) { SDO->state = CO_SDO_ST_UPLOAD_INITIATE_RSP; } else { /* data were already loaded from OD variable, verify crc */ if ((SDO->CANrxData[0] & 0x04) != 0) { SDO->block_crcEnabled = true; SDO->block_crc = crc16_ccitt((unsigned char *)SDO->buf, SDO->bufOffsetWr, 0); } else { SDO->block_crcEnabled = false; } /* get blksize and verify it */ SDO->block_blksize = SDO->CANrxData[4]; if (SDO->block_blksize < 1 || SDO->block_blksize > 127) { SDO->block_blksize = 127; } /* verify, if there is enough data */ if (!SDO->finished && SDO->bufOffsetWr < SDO->block_blksize*7) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; } SDO->state = CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP; } break; } case CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2: { if (SDO->CANrxData[0] == 0xA3) { SDO->block_seqno = 0; SDO->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ; } else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } break; } case CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ: case CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP: { if (SDO->CANrxData[0] == 0xA2) { OD_size_t countRemain, countMinimum; SDO->block_blksize = SDO->CANrxData[2]; if (SDO->block_blksize < 1 || SDO->block_blksize > 127) { SDO->block_blksize = 127; } /* check number of segments */ if (SDO->CANrxData[1] < SDO->block_seqno) { /* NOT all segments transferred successfully. * Re-transmit data after erroneous segment. */ OD_size_t cntFailed = SDO->block_seqno - SDO->CANrxData[1]; cntFailed = cntFailed * 7 - SDO->block_noData; SDO->bufOffsetRd -= cntFailed; SDO->sizeTran -= cntFailed; } else if (SDO->CANrxData[1] > SDO->block_seqno) { /* something strange from server, break transmission */ abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; break; } /* refill data buffer if necessary */ countRemain = SDO->bufOffsetWr - SDO->bufOffsetRd; countMinimum = SDO->block_blksize * 7; if (!SDO->finished && countRemain < countMinimum) { ODR_t odRet; OD_size_t countRd; /* first move remaining data to the start of the buffer */ memmove(SDO->buf, SDO->buf + SDO->bufOffsetRd, countRemain); SDO->bufOffsetRd = 0; SDO->bufOffsetWr = countRemain; /* load data from OD variable into the buffer */ countRd = SDO->OD_IO.read(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf + SDO->bufOffsetWr, CO_CONFIG_SDO_SRV_BUFFER_SIZE - SDO->bufOffsetWr, &odRet); countRemain += countRd; if (odRet != ODR_OK && odRet != ODR_PARTIAL) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } else if (odRet == ODR_PARTIAL) { SDO->finished = false; if (countRemain < countMinimum) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; break; } } else { SDO->finished = true; } /* update the crc */ if (SDO->block_crcEnabled) { SDO->block_crc = crc16_ccitt( (unsigned char *)SDO->buf + SDO->bufOffsetWr, countRd, SDO->block_crc); } SDO->bufOffsetWr = countRemain; } if (countRemain == 0) { SDO->state = CO_SDO_ST_UPLOAD_BLK_END_SREQ; } else { SDO->block_seqno = 0; SDO->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ; } } else { abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } break; } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK */ default: { /* unknown message received */ abortCode = CO_SDO_AB_CMD; SDO->state = CO_SDO_ST_ABORT; } } /* switch (SDO->state) */ SDO->timeoutTimer = 0; timeDifference_us = 0; CO_FLAG_CLEAR(SDO->CANrxNew); } /* if (isNew) */ /* Timeout timers *********************************************************/ #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED if (ret == CO_SDO_RT_waitingResponse) { if (SDO->timeoutTimer < SDO->SDOtimeoutTime_us) { SDO->timeoutTimer += timeDifference_us; } if (SDO->timeoutTimer >= SDO->SDOtimeoutTime_us) { abortCode = CO_SDO_AB_TIMEOUT; SDO->state = CO_SDO_ST_ABORT; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT else if (timerNext_us != NULL) { /* check again after timeout time elapsed */ uint32_t diff = SDO->SDOtimeoutTime_us - SDO->timeoutTimer; if (*timerNext_us > diff) { *timerNext_us = diff; } } #endif #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK /* Timeout for sub-block transmission */ if (SDO->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) { if (SDO->block_timeoutTimer < SDO->block_SDOtimeoutTime_us) { SDO->block_timeoutTimer += timeDifference_us; } if (SDO->block_timeoutTimer >= SDO->block_SDOtimeoutTime_us) { /* SDO->state will change, processing will continue in this * thread. Make memory barrier here with CO_FLAG_CLEAR() call.*/ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP; CO_FLAG_CLEAR(SDO->CANrxNew); } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT else if (timerNext_us != NULL) { /* check again after timeout time elapsed */ uint32_t diff = SDO->block_SDOtimeoutTime_us - SDO->block_timeoutTimer; if (*timerNext_us > diff) { *timerNext_us = diff; } } #endif } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK */ if (SDO->CANtxBuff->bufferFull) { ret = CO_SDO_RT_transmittBufferFull; } } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ /* Transmit CAN data ******************************************************/ if (ret == CO_SDO_RT_waitingResponse) { /* clear response buffer */ memset(SDO->CANtxBuff->data, 0, sizeof(SDO->CANtxBuff->data)); switch (SDO->state) { case CO_SDO_ST_DOWNLOAD_INITIATE_RSP: { SDO->CANtxBuff->data[0] = 0x60; SDO->CANtxBuff->data[1] = (uint8_t)SDO->index; SDO->CANtxBuff->data[2] = (uint8_t)(SDO->index >> 8); SDO->CANtxBuff->data[3] = SDO->subIndex; /* reset timeout timer and send message */ SDO->timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED if (SDO->finished) { SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; } else { SDO->toggle = 0x00; SDO->sizeTran = 0; SDO->bufOffsetWr = 0; SDO->bufOffsetRd = 0; SDO->state = CO_SDO_ST_DOWNLOAD_SEGMENT_REQ; } #else SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; #endif break; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED case CO_SDO_ST_DOWNLOAD_SEGMENT_RSP: { SDO->CANtxBuff->data[0] = 0x20 | SDO->toggle; /* reset timeout timer and send message */ SDO->timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); if (SDO->finished) { SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; } else { SDO->state = CO_SDO_ST_DOWNLOAD_SEGMENT_REQ; } break; } #endif case CO_SDO_ST_UPLOAD_INITIATE_RSP: { #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED /* data were already loaded from OD variable */ if (SDO->sizeInd > 0 && SDO->sizeInd <= 4) { /* expedited transfer */ SDO->CANtxBuff->data[0] = 0x43 | ((4 - SDO->sizeInd) << 2); memcpy(&SDO->CANtxBuff->data[4], &SDO->buf, sizeof(SDO->sizeInd)); SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; } else { /* data will be transfered with segmented transfer */ if (SDO->sizeInd > 0) { /* indicate data size, if known */ uint32_t sizeInd = SDO->sizeInd; uint32_t sizeIndSw = CO_SWAP_32(sizeInd); SDO->CANtxBuff->data[0] = 0x41; memcpy(&SDO->CANtxBuff->data[4], &sizeIndSw, sizeof(sizeIndSw)); } SDO->toggle = 0x00; SDO->timeoutTimer = 0; SDO->state = CO_SDO_ST_UPLOAD_SEGMENT_REQ; } #else /* Expedited transfer only */ /* load data from OD variable */ ODR_t odRet; OD_size_t count = SDO->OD_IO.read(&SDO->OD_IO.stream, SDO->subIndex, &SDO->CANtxBuff->data[4], 4, &odRet); if (odRet != ODR_OK || count == 0) { abortCode = (odRet == ODR_OK) ? CO_SDO_AB_DEVICE_INCOMPAT : (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } #ifdef CO_BIG_ENDIAN /* swap data if necessary */ if ((SDO->attribute & ODA_MB) != 0) { reverseBytes(&SDO->CANtxBuff->data[4], count); } #endif SDO->CANtxBuff->data[0] = 0x43 | ((4 - count) << 2); SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ /* send message */ SDO->CANtxBuff->data[1] = (uint8_t)SDO->index; SDO->CANtxBuff->data[2] = (uint8_t)(SDO->index >> 8); SDO->CANtxBuff->data[3] = SDO->subIndex; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); break; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED case CO_SDO_ST_UPLOAD_SEGMENT_RSP: { /* refill the data buffer if necessary */ if (!SDO->finished && (SDO->bufOffsetWr - SDO->bufOffsetRd) < 7) { /* first move remaining data to the start of the buffer */ SDO->bufOffsetWr -= SDO->bufOffsetRd; memmove(SDO->buf, SDO->buf + SDO->bufOffsetRd, SDO->bufOffsetWr); SDO->bufOffsetRd = 0; /* load data from OD variable into the buffer */ ODR_t odRet; OD_size_t countRd = SDO->OD_IO.read(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf + SDO->bufOffsetWr, CO_CONFIG_SDO_SRV_BUFFER_SIZE - SDO->bufOffsetWr, &odRet); SDO->bufOffsetWr += countRd; if (odRet != ODR_OK && odRet != ODR_PARTIAL) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } else if (odRet == ODR_PARTIAL) { SDO->finished = false; if (SDO->bufOffsetWr < 7) { abortCode = CO_SDO_AB_DEVICE_INCOMPAT; SDO->state = CO_SDO_ST_ABORT; break; } } else { SDO->finished = true; } } /* SDO command specifier with toggle bit */ SDO->CANtxBuff->data[0] = SDO->toggle; SDO->toggle = (SDO->toggle == 0x00) ? 0x10 : 0x00; OD_size_t count = SDO->bufOffsetWr - SDO->bufOffsetRd; /* verify, if this is the last segment */ if (count <= 7) { /* indicate last segment and nnn */ SDO->CANtxBuff->data[0] |= ((7 - count) << 1) | 0x01; SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; } else { SDO->timeoutTimer = 0; SDO->state = CO_SDO_ST_UPLOAD_SEGMENT_REQ; count = 7; } /* copy data segment to CAN message */ memcpy(&SDO->CANtxBuff->data[1], SDO->buf + SDO->bufOffsetRd, count); SDO->bufOffsetRd += count; SDO->sizeTran += count; /* verify if sizeTran is too large or too short if last segment */ if (SDO->sizeInd > 0) { if (SDO->sizeTran > SDO->sizeInd) { abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } else if (ret == CO_SDO_RT_ok_communicationEnd && SDO->sizeTran < SDO->sizeInd ) { abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } } /* send message */ CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); break; } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED */ #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK case CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP: { SDO->CANtxBuff->data[0] = 0xA4; SDO->CANtxBuff->data[1] = (uint8_t)SDO->index; SDO->CANtxBuff->data[2] = (uint8_t)(SDO->index >> 8); SDO->CANtxBuff->data[3] = SDO->subIndex; /* calculate number of block segments from free buffer space */ OD_size_t count = CO_CONFIG_SDO_SRV_BUFFER_SIZE / 7; if (count > 127) { count = 127; } SDO->block_blksize = (uint8_t)count; SDO->CANtxBuff->data[4] = SDO->block_blksize; /* reset variables */ SDO->sizeTran = 0; SDO->finished = false; SDO->bufOffsetWr = 0; SDO->bufOffsetRd = 0; SDO->block_seqno = 0; SDO->block_crc = 0; SDO->timeoutTimer = 0; SDO->block_timeoutTimer = 0; /* Block segments will be received in different thread. Make memory * barrier here with CO_FLAG_CLEAR() call. */ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ; CO_FLAG_CLEAR(SDO->CANrxNew); CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); break; } case CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP: { SDO->CANtxBuff->data[0] = 0xA2; SDO->CANtxBuff->data[1] = SDO->block_seqno; /* Is last segment? */ if (SDO->finished) { SDO->state = CO_SDO_ST_DOWNLOAD_BLK_END_REQ; } else { /* verify if size of data downloaded is too large */ if (SDO->sizeInd > 0 && SDO->sizeTran > SDO->sizeInd) { abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } /* calculate number of block segments from free buffer space */ OD_size_t count; count = (CO_CONFIG_SDO_SRV_BUFFER_SIZE - SDO->bufOffsetWr) / 7; if (count >= 127) { count = 127; } else if (SDO->bufOffsetWr > 0) { /* it is necessary to empty the buffer */ #ifdef CO_BIG_ENDIAN /* swap data if necessary */ if ((SDO->attribute & ODA_MB) != 0) { reverseBytes(SDO->buf, SDO->bufOffsetWr); } #endif /* calculate crc on current data */ SDO->block_crc = crc16_ccitt((unsigned char *)SDO->buf, SDO->bufOffsetWr, SDO->block_crc); /* write data */ ODR_t odRet; SDO->OD_IO.write(&SDO->OD_IO.stream, SDO->subIndex, SDO->buf, SDO->bufOffsetWr, &odRet); SDO->bufOffsetWr = 0; if (odRet == ODR_OK) { /* OD variable was written completelly, but SDO download * still has data */ abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } else if (odRet != ODR_PARTIAL) { abortCode = (CO_SDO_abortCode_t)OD_getSDOabCode(odRet); SDO->state = CO_SDO_ST_ABORT; break; } count = CO_CONFIG_SDO_SRV_BUFFER_SIZE / 7; if (count >= 127) count = 127; } SDO->block_blksize = (uint8_t)count; SDO->block_seqno = 0; /* Block segments will be received in different thread. Make * memory barrier here with CO_FLAG_CLEAR() call. */ SDO->state = CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ; CO_FLAG_CLEAR(SDO->CANrxNew); } SDO->CANtxBuff->data[2] = SDO->block_blksize; /* reset timeout timer and send message */ SDO->timeoutTimer = 0; SDO->block_timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); break; } case CO_SDO_ST_DOWNLOAD_BLK_END_RSP: { SDO->CANtxBuff->data[0] = 0xA1; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_ok_communicationEnd; break; } case CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP: { SDO->CANtxBuff->data[0] = 0xC4; SDO->CANtxBuff->data[1] = (uint8_t)SDO->index; SDO->CANtxBuff->data[2] = (uint8_t)(SDO->index >> 8); SDO->CANtxBuff->data[3] = SDO->subIndex; /* indicate data size */ if (SDO->sizeInd > 0) { uint32_t size = CO_SWAP_32(SDO->sizeInd); SDO->CANtxBuff->data[0] |= 0x02; memcpy(&SDO->CANtxBuff->data[4], &size, sizeof(size)); } /* reset timeout timer and send message */ SDO->timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); SDO->state = CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2; break; } case CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ: { /* write header and get current count */ SDO->CANtxBuff->data[0] = ++SDO->block_seqno; OD_size_t count = SDO->bufOffsetWr - SDO->bufOffsetRd; /* verify, if this is the last segment */ if (count <= 7) { SDO->CANtxBuff->data[0] |= 0x80; } else { count = 7; } /* copy data segment to CAN message */ memcpy(&SDO->CANtxBuff->data[1], SDO->buf + SDO->bufOffsetRd, count); SDO->bufOffsetRd += count; SDO->block_noData = 7 - count; SDO->sizeTran += count; /* verify if sizeTran is too large or too short if last segment */ if (SDO->sizeInd > 0) { if (SDO->sizeTran > SDO->sizeInd) { abortCode = CO_SDO_AB_DATA_LONG; SDO->state = CO_SDO_ST_ABORT; break; } else if (SDO->bufOffsetWr == SDO->bufOffsetRd && SDO->sizeTran < SDO->sizeInd ) { abortCode = CO_SDO_AB_DATA_SHORT; SDO->state = CO_SDO_ST_ABORT; break; } } /* is last segment or all segments in current block transferred? */ if (SDO->bufOffsetWr == SDO->bufOffsetRd || SDO->block_seqno >= SDO->block_blksize ) { SDO->state = CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_TIMERNEXT else { /* Inform OS to call this function again without delay. */ if (timerNext_us != NULL) { *timerNext_us = 0; } } #endif /* reset timeout timer and send message */ SDO->timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); break; } case CO_SDO_ST_UPLOAD_BLK_END_SREQ: { SDO->CANtxBuff->data[0] = 0xC1 | (SDO->block_noData << 2); SDO->CANtxBuff->data[1] = (uint8_t) SDO->block_crc; SDO->CANtxBuff->data[2] = (uint8_t) (SDO->block_crc >> 8); /* reset timeout timer and send message */ SDO->timeoutTimer = 0; CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); SDO->state = CO_SDO_ST_UPLOAD_BLK_END_CRSP; break; } #endif /* (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK */ default: { break; } } /* switch (SDO->state) */ } if (ret == CO_SDO_RT_waitingResponse) { if (SDO->state == CO_SDO_ST_ABORT) { uint32_t code = CO_SWAP_32((uint32_t)abortCode); /* Send SDO abort message */ SDO->CANtxBuff->data[0] = 0x80; SDO->CANtxBuff->data[1] = (uint8_t)SDO->index; SDO->CANtxBuff->data[2] = (uint8_t)(SDO->index >> 8); SDO->CANtxBuff->data[3] = SDO->subIndex; memcpy(&SDO->CANtxBuff->data[4], &code, sizeof(code)); CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff); SDO->state = CO_SDO_ST_IDLE; ret = CO_SDO_RT_endedWithServerAbort; } #if (CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK else if (SDO->state == CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ) { ret = CO_SDO_RT_blockDownldInProgress; } else if (SDO->state == CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ) { ret = CO_SDO_RT_blockUploadInProgress; } #endif } return ret; }