f56c96db3c
- Minor changes in most files - add CANopenNode.png - update doxyfile - move doc/LSSusage.md and doc/gettingStarted.md into CANopenDemo repository - update README.md
609 lines
25 KiB
C
609 lines
25 KiB
C
/**
|
|
* CANopen Service Data Object - server protocol.
|
|
*
|
|
* @file CO_SDOserver.h
|
|
* @ingroup CO_SDOserver
|
|
* @author Janez Paternoster
|
|
* @copyright 2020 Janez Paternoster
|
|
*
|
|
* This file is part of CANopenNode, an opensource CANopen Stack.
|
|
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
|
|
* For more information on CANopen see <http://www.can-cia.org/>.
|
|
*
|
|
* 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.
|
|
*/
|
|
|
|
#ifndef CO_SDO_SERVER_H
|
|
#define CO_SDO_SERVER_H
|
|
|
|
#include "301/CO_driver.h"
|
|
#include "301/CO_ODinterface.h"
|
|
|
|
/* default configuration, see CO_config.h */
|
|
#ifndef CO_CONFIG_SDO_SRV
|
|
#define CO_CONFIG_SDO_SRV (CO_CONFIG_SDO_SRV_SEGMENTED | \
|
|
CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
|
|
CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
|
|
CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
|
|
#endif
|
|
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
|
|
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/**
|
|
* @defgroup CO_SDOserver SDO server
|
|
* CANopen Service Data Object - server protocol.
|
|
*
|
|
* @ingroup CO_CANopen_301
|
|
* @{
|
|
*
|
|
* Service data objects (SDOs) allow the access to any entry of the CANopen
|
|
* Object dictionary. By SDO a peer-to-peer communication channel between two
|
|
* CANopen devices is established. In addition, the SDO protocol enables to
|
|
* transfer any amount of data in a segmented way. Therefore the SDO protocol is
|
|
* mainly used in order to communicate configuration data.
|
|
*
|
|
* All CANopen devices must have implemented SDO server and first SDO server
|
|
* channel. Servers serves data from Object dictionary. Object dictionary
|
|
* is a collection of variables, arrays or records (structures), which can be
|
|
* used by the stack or by the application. This file (CO_SDOserver.h)
|
|
* implements SDO server.
|
|
*
|
|
* SDO client can be (optionally) implemented on one (or multiple, if multiple
|
|
* SDO channels are used) device in CANopen network. Usually this is master
|
|
* device and provides also some kind of user interface, so configuration of
|
|
* the network is possible. Code for the SDO client is in file CO_SDOclient.h.
|
|
*
|
|
* SDO communication cycle is initiated by the client. Client can upload (read)
|
|
* data from device or can download (write) data to device. If data size is less
|
|
* or equal to 4 bytes, communication is finished by one server response
|
|
* (expedited transfer). If data size is longer, data are split into multiple
|
|
* segments of request/response pairs (normal or segmented transfer). For longer
|
|
* data there is also a block transfer protocol, which transfers larger block of
|
|
* data in secure way with little protocol overhead. If error occurs during SDO
|
|
* transfer #CO_SDO_abortCode_t is send by client or server and transfer is
|
|
* terminated. For more details see #CO_SDO_state_t.
|
|
*
|
|
* Access to Object dictionary is specified in @ref CO_ODinterface.
|
|
*/
|
|
|
|
|
|
/**
|
|
* Internal state flags indicate type of transfer
|
|
*
|
|
* These flags correspond to the upper nibble of the SDO state machine states
|
|
* and can be used to determine the type of state an SDO object is in.
|
|
*/
|
|
#define CO_SDO_ST_FLAG_DOWNLOAD 0x10U
|
|
#define CO_SDO_ST_FLAG_UPLOAD 0x20U
|
|
#define CO_SDO_ST_FLAG_BLOCK 0x40U
|
|
|
|
/**
|
|
* Internal states of the SDO state machine.
|
|
*
|
|
* Upper nibble of byte indicates type of state:
|
|
* 0x10: Download
|
|
* 0x20: Upload
|
|
* 0x40: Block Mode
|
|
*
|
|
* Note: CANopen has little endian byte order.
|
|
*/
|
|
typedef enum {
|
|
/**
|
|
* - SDO client may start new download to or upload from specified node,
|
|
* specified index and specified subindex. It can start normal or block
|
|
* communication.
|
|
* - SDO server is waiting for client request. */
|
|
CO_SDO_ST_IDLE = 0x00U,
|
|
/**
|
|
* - SDO client or server may send SDO abort message in case of error:
|
|
* - byte 0: @b 10000000 binary.
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: #CO_SDO_abortCode_t. */
|
|
CO_SDO_ST_ABORT = 0x01U,
|
|
|
|
/**
|
|
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
|
|
* SDO client is the same device as SDO server. Transfer data directly without
|
|
* communication on CAN.
|
|
* - SDO server does not use this state. */
|
|
CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
|
|
/**
|
|
* - SDO client initiates SDO download:
|
|
* - byte 0: @b 0010nnes binary: (nn: if e=s=1, number of data bytes, that do
|
|
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
|
|
* indicated.)
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
|
|
* segmented transfer is indicated here.
|
|
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
|
|
CO_SDO_ST_DOWNLOAD_INITIATE_REQ = 0x11U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 01100000 binary.
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: Reserved.
|
|
* - In case of expedited transfer communication ends here. */
|
|
CO_SDO_ST_DOWNLOAD_INITIATE_RSP = 0x12U,
|
|
/**
|
|
* - SDO client sends SDO segment:
|
|
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
|
|
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
|
|
* last segment).
|
|
* - byte 1..7: Data segment.
|
|
* - SDO server waits for segment. */
|
|
CO_SDO_ST_DOWNLOAD_SEGMENT_REQ = 0x13U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 001t0000 binary: (t: toggle bit, set to 0 in first segment).
|
|
* - byte 1..7: Reserved.
|
|
* - If c was set to 1, then communication ends here. */
|
|
CO_SDO_ST_DOWNLOAD_SEGMENT_RSP = 0x14U,
|
|
|
|
/**
|
|
* - SDO client: Node-ID of the SDO server is the same as node-ID of this node,
|
|
* SDO client is the same device as SDO server. Transfer data directly without
|
|
* communication on CAN.
|
|
* - SDO server does not use this state. */
|
|
CO_SDO_ST_UPLOAD_LOCAL_TRANSFER = 0x20U,
|
|
/**
|
|
* - SDO client initiates SDO upload:
|
|
* - byte 0: @b 01000000 binary.
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: Reserved.
|
|
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
|
|
CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 0100nnes binary: (nn: if e=s=1, number of data bytes, that do
|
|
* @b not contain data; e=1 for expedited transfer; s=1 if data size is
|
|
* indicated).
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: If e=1, expedited data are here. If e=0 s=1, size of data for
|
|
* segmented transfer is indicated here.
|
|
* - In case of expedited transfer communication ends here. */
|
|
CO_SDO_ST_UPLOAD_INITIATE_RSP = 0x22U,
|
|
/**
|
|
* - SDO client requests SDO segment:
|
|
* - byte 0: @b 011t0000 binary: (t: toggle bit, set to 0 in first segment).
|
|
* - byte 1..7: Reserved.
|
|
* - SDO server waits for segment request. */
|
|
CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses with data:
|
|
* - byte 0: @b 000tnnnc binary: (t: toggle bit, set to 0 in first segment;
|
|
* nnn: number of data bytes, that do @b not contain data; c=1 if this is the
|
|
* last segment).
|
|
* - byte 1..7: Data segment.
|
|
* - If c is set to 1, then communication ends here. */
|
|
CO_SDO_ST_UPLOAD_SEGMENT_RSP = 0x24U,
|
|
|
|
/**
|
|
* - SDO client initiates SDO block download:
|
|
* - byte 0: @b 11000rs0 binary: (r=1 if client supports generating CRC on
|
|
* data; s=1 if data size is indicated.)
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: If s=1, then size of data for block download is indicated here.
|
|
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
|
|
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 10100r00 binary: (r=1 if server supports generating CRC on
|
|
* data.)
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4: blksize: Number of segments per block that shall be used by the
|
|
* client for the following block download with 0 < blksize < 128.
|
|
* - byte 5..7: Reserved. */
|
|
CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP = 0x52U,
|
|
/**
|
|
* - SDO client sends 'blksize' segments of data in sequence:
|
|
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be downloaded,
|
|
* enter SDO block download end phase; nnnnnnn is sequence number of segment,
|
|
* 1..127.
|
|
* - byte 1..7: At most 7 bytes of segment data to be downloaded.
|
|
* - SDO server reads sequence of 'blksize' blocks. */
|
|
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 10100010 binary.
|
|
* - byte 1: ackseq: sequence number of last segment that was received
|
|
* successfully during the last block download. If ackseq is set to 0 the
|
|
* server indicates the client that the segment with the sequence number 1
|
|
* was not received correctly and all segments shall be retransmitted by the
|
|
* client.
|
|
* - byte 2: Number of segments per block that shall be used by the client for
|
|
* the following block download with 0 < blksize < 128.
|
|
* - byte 3..7: Reserved.
|
|
* - If c was set to 1, then communication enters SDO block download end phase.
|
|
*/
|
|
CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP = 0x54U,
|
|
/**
|
|
* - SDO client sends SDO block download end:
|
|
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
|
|
* contain data)
|
|
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
|
|
* - byte 3..7: Reserved.
|
|
* - SDO server waits for client request. */
|
|
CO_SDO_ST_DOWNLOAD_BLK_END_REQ = 0x55U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 10100001 binary.
|
|
* - byte 1..7: Reserved.
|
|
* - Block download successfully ends here.
|
|
*/
|
|
CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
|
|
|
|
/**
|
|
* - SDO client initiates SDO block upload:
|
|
* - byte 0: @b 10100r00 binary: (r=1 if client supports generating CRC on
|
|
* data.)
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4: blksize: Number of segments per block with 0 < blksize < 128.
|
|
* - byte 5: pst - protocol switch threshold. If pst > 0 and size of the data
|
|
* in bytes is less or equal pst, then the server may switch to the SDO
|
|
* upload protocol #CO_SDO_ST_UPLOAD_INITIATE_RSP.
|
|
* - byte 6..7: Reserved.
|
|
* - SDO server is in #CO_SDO_ST_IDLE state and waits for client request. */
|
|
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
|
|
/**
|
|
* - SDO client waits for response.
|
|
* - SDO server responses:
|
|
* - byte 0: @b 11000rs0 binary: (r=1 if server supports generating CRC on
|
|
* data; s=1 if data size is indicated. )
|
|
* - byte 1..3: Object index and subIndex.
|
|
* - byte 4..7: If s=1, then size of data for block upload is indicated here.
|
|
* - If enabled by pst, then server may alternatively response with
|
|
* #CO_SDO_ST_UPLOAD_INITIATE_RSP */
|
|
CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP = 0x62U,
|
|
/**
|
|
* - SDO client sends second initiate for SDO block upload:
|
|
* - byte 0: @b 10100011 binary.
|
|
* - byte 1..7: Reserved.
|
|
* - SDO server waits for client request. */
|
|
CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2 = 0x63U,
|
|
/**
|
|
* - SDO client reads sequence of 'blksize' blocks.
|
|
* - SDO server sends 'blksize' segments of data in sequence:
|
|
* - byte 0: @b cnnnnnnn binary: (c=1 if no more segments to be uploaded,
|
|
* enter SDO block upload end phase; nnnnnnn is sequence number of segment,
|
|
* 1..127.
|
|
* - byte 1..7: At most 7 bytes of segment data to be uploaded. */
|
|
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
|
|
/**
|
|
* - SDO client responses:
|
|
* - byte 0: @b 10100010 binary.
|
|
* - byte 1: ackseq: sequence number of last segment that was received
|
|
* successfully during the last block upload. If ackseq is set to 0 the
|
|
* client indicates the server that the segment with the sequence number 1
|
|
* was not received correctly and all segments shall be retransmitted by the
|
|
* server.
|
|
* - byte 2: Number of segments per block that shall be used by the server for
|
|
* the following block upload with 0 < blksize < 128.
|
|
* - byte 3..7: Reserved.
|
|
* - SDO server waits for response.
|
|
* - If c was set to 1 and all segments were successfull received, then
|
|
* communication enters SDO block upload end phase. */
|
|
CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
|
|
/**
|
|
* - SDO client waits for server request.
|
|
* - SDO server sends SDO block upload end:
|
|
* - byte 0: @b 110nnn01 binary: (nnn: number of data bytes, that do @b not
|
|
* contain data)
|
|
* - byte 1..2: 16 bit CRC for the data set, if enabled by client and server.
|
|
* - byte 3..7: Reserved. */
|
|
CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
|
|
/**
|
|
* - SDO client responses:
|
|
* - byte 0: @b 10100001 binary.
|
|
* - byte 1..7: Reserved.
|
|
* - SDO server waits for response.
|
|
* - Block download successfully ends here. Note that this communication ends
|
|
* with client response. Client may then start next SDO communication
|
|
* immediately.
|
|
*/
|
|
CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
|
|
} CO_SDO_state_t;
|
|
|
|
|
|
/**
|
|
* SDO abort codes.
|
|
*
|
|
* Send with Abort SDO transfer message.
|
|
*
|
|
* The abort codes not listed here are reserved.
|
|
*/
|
|
typedef enum {
|
|
/** 0x00000000, No abort */
|
|
CO_SDO_AB_NONE = 0x00000000UL,
|
|
/** 0x05030000, Toggle bit not altered */
|
|
CO_SDO_AB_TOGGLE_BIT = 0x05030000UL,
|
|
/** 0x05040000, SDO protocol timed out */
|
|
CO_SDO_AB_TIMEOUT = 0x05040000UL,
|
|
/** 0x05040001, Command specifier not valid or unknown */
|
|
CO_SDO_AB_CMD = 0x05040001UL,
|
|
/** 0x05040002, Invalid block size in block mode */
|
|
CO_SDO_AB_BLOCK_SIZE = 0x05040002UL,
|
|
/** 0x05040003, Invalid sequence number in block mode */
|
|
CO_SDO_AB_SEQ_NUM = 0x05040003UL,
|
|
/** 0x05040004, CRC error (block mode only) */
|
|
CO_SDO_AB_CRC = 0x05040004UL,
|
|
/** 0x05040005, Out of memory */
|
|
CO_SDO_AB_OUT_OF_MEM = 0x05040005UL,
|
|
/** 0x06010000, Unsupported access to an object */
|
|
CO_SDO_AB_UNSUPPORTED_ACCESS = 0x06010000UL,
|
|
/** 0x06010001, Attempt to read a write only object */
|
|
CO_SDO_AB_WRITEONLY = 0x06010001UL,
|
|
/** 0x06010002, Attempt to write a read only object */
|
|
CO_SDO_AB_READONLY = 0x06010002UL,
|
|
/** 0x06020000, Object does not exist in the object dictionary */
|
|
CO_SDO_AB_NOT_EXIST = 0x06020000UL,
|
|
/** 0x06040041, Object cannot be mapped to the PDO */
|
|
CO_SDO_AB_NO_MAP = 0x06040041UL,
|
|
/** 0x06040042, Number and length of object to be mapped exceeds PDO
|
|
* length */
|
|
CO_SDO_AB_MAP_LEN = 0x06040042UL,
|
|
/** 0x06040043, General parameter incompatibility reasons */
|
|
CO_SDO_AB_PRAM_INCOMPAT = 0x06040043UL,
|
|
/** 0x06040047, General internal incompatibility in device */
|
|
CO_SDO_AB_DEVICE_INCOMPAT = 0x06040047UL,
|
|
/** 0x06060000, Access failed due to hardware error */
|
|
CO_SDO_AB_HW = 0x06060000UL,
|
|
/** 0x06070010, Data type does not match, length of service parameter does
|
|
* not match */
|
|
CO_SDO_AB_TYPE_MISMATCH = 0x06070010UL,
|
|
/** 0x06070012, Data type does not match, length of service parameter too
|
|
* high */
|
|
CO_SDO_AB_DATA_LONG = 0x06070012UL,
|
|
/** 0x06070013, Data type does not match, length of service parameter too
|
|
* short */
|
|
CO_SDO_AB_DATA_SHORT = 0x06070013UL,
|
|
/** 0x06090011, Sub index does not exist */
|
|
CO_SDO_AB_SUB_UNKNOWN = 0x06090011UL,
|
|
/** 0x06090030, Invalid value for parameter (download only). */
|
|
CO_SDO_AB_INVALID_VALUE = 0x06090030UL,
|
|
/** 0x06090031, Value range of parameter written too high */
|
|
CO_SDO_AB_VALUE_HIGH = 0x06090031UL,
|
|
/** 0x06090032, Value range of parameter written too low */
|
|
CO_SDO_AB_VALUE_LOW = 0x06090032UL,
|
|
/** 0x06090036, Maximum value is less than minimum value. */
|
|
CO_SDO_AB_MAX_LESS_MIN = 0x06090036UL,
|
|
/** 0x060A0023, Resource not available: SDO connection */
|
|
CO_SDO_AB_NO_RESOURCE = 0x060A0023UL,
|
|
/** 0x08000000, General error */
|
|
CO_SDO_AB_GENERAL = 0x08000000UL,
|
|
/** 0x08000020, Data cannot be transferred or stored to application */
|
|
CO_SDO_AB_DATA_TRANSF = 0x08000020UL,
|
|
/** 0x08000021, Data cannot be transferred or stored to application because
|
|
* of local control */
|
|
CO_SDO_AB_DATA_LOC_CTRL = 0x08000021UL,
|
|
/** 0x08000022, Data cannot be transferred or stored to application because
|
|
* of present device state */
|
|
CO_SDO_AB_DATA_DEV_STATE = 0x08000022UL,
|
|
/** 0x08000023, Object dictionary not present or dynamic generation fails */
|
|
CO_SDO_AB_DATA_OD = 0x08000023UL,
|
|
/** 0x08000024, No data available */
|
|
CO_SDO_AB_NO_DATA = 0x08000024UL
|
|
} CO_SDO_abortCode_t;
|
|
|
|
|
|
/**
|
|
* Return values from SDO server or client functions.
|
|
*/
|
|
typedef enum {
|
|
/** Waiting in client local transfer. */
|
|
CO_SDO_RT_waitingLocalTransfer = 6,
|
|
/** Data buffer is full.
|
|
* SDO client: data must be read before next upload cycle begins. */
|
|
CO_SDO_RT_uploadDataBufferFull = 5,
|
|
/** CAN transmit buffer is full. Waiting. */
|
|
CO_SDO_RT_transmittBufferFull = 4,
|
|
/** Block download is in progress. Sending train of messages. */
|
|
CO_SDO_RT_blockDownldInProgress = 3,
|
|
/** Block upload is in progress. Receiving train of messages.
|
|
* SDO client: Data must not be read in this state. */
|
|
CO_SDO_RT_blockUploadInProgress = 2,
|
|
/** Waiting server or client response. */
|
|
CO_SDO_RT_waitingResponse = 1,
|
|
/** Success, end of communication. SDO client: uploaded data must be read.*/
|
|
CO_SDO_RT_ok_communicationEnd = 0,
|
|
/** Error in arguments */
|
|
CO_SDO_RT_wrongArguments = -2,
|
|
/** Communication ended with client abort */
|
|
CO_SDO_RT_endedWithClientAbort = -9,
|
|
/** Communication ended with server abort */
|
|
CO_SDO_RT_endedWithServerAbort = -10,
|
|
} CO_SDO_return_t;
|
|
|
|
|
|
/**
|
|
* SDO server object.
|
|
*/
|
|
typedef struct {
|
|
/** From CO_SDOserver_init() */
|
|
CO_CANmodule_t *CANdevTx;
|
|
/** CAN transmit buffer inside CANdevTx for CAN tx message */
|
|
CO_CANtx_t *CANtxBuff;
|
|
/** From CO_SDOserver_init() */
|
|
OD_t *OD;
|
|
/** From CO_SDOserver_init() */
|
|
uint8_t nodeId;
|
|
/* If true, SDO channel is valid */
|
|
bool_t valid;
|
|
/** Internal state of the SDO server */
|
|
volatile CO_SDO_state_t state;
|
|
/** Object dictionary interface for current object. */
|
|
OD_IO_t OD_IO;
|
|
/** Index of the current object in Object Dictionary */
|
|
uint16_t index;
|
|
/** Subindex of the current object in Object Dictionary */
|
|
uint8_t subIndex;
|
|
/** Indicates, if new SDO message received from CAN bus. It is not cleared,
|
|
* until received message is completely processed. */
|
|
volatile void *CANrxNew;
|
|
/** 8 data bytes of the received message */
|
|
uint8_t CANrxData[8];
|
|
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
|
|
/** From CO_SDOserver_init() */
|
|
CO_CANmodule_t *CANdevRx;
|
|
/** From CO_SDOserver_init() */
|
|
uint16_t CANdevRxIdx;
|
|
/** From CO_SDOserver_init() */
|
|
uint16_t CANdevTxIdx;
|
|
/** Copy of CANopen COB_ID Client -> Server, meaning of the specific bits:
|
|
- Bit 0...10: 11-bit CAN identifier.
|
|
- Bit 11..30: reserved, must be 0.
|
|
- Bit 31: if 1, SDO client object is not used. */
|
|
uint32_t COB_IDClientToServer;
|
|
/** Copy of CANopen COB_ID Server -> Client, similar as above */
|
|
uint32_t COB_IDServerToClient;
|
|
/** Extension for OD object */
|
|
OD_extension_t OD_1200_extension;
|
|
#endif
|
|
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) || defined CO_DOXYGEN
|
|
/** Size of data, which will be transferred. It is optionally indicated by
|
|
* client in case of download or by server in case of upload. */
|
|
OD_size_t sizeInd;
|
|
/** Size of data which is actually transferred. */
|
|
OD_size_t sizeTran;
|
|
/** Toggle bit toggled in each segment in segmented transfer */
|
|
uint8_t toggle;
|
|
/** If true, then: data transfer is finished (by download) or read from OD
|
|
* variable is finished (by upload) */
|
|
bool_t finished;
|
|
/** Maximum timeout time between request and response in microseconds */
|
|
uint32_t SDOtimeoutTime_us;
|
|
/** Timeout timer for SDO communication */
|
|
uint32_t timeoutTimer;
|
|
/** Interim data buffer for segmented or block transfer + byte for '\0' */
|
|
uint8_t buf[CO_CONFIG_SDO_SRV_BUFFER_SIZE + 1];
|
|
/** Offset of next free data byte available for write in the buffer. */
|
|
OD_size_t bufOffsetWr;
|
|
/** Offset of first data available for read in the buffer */
|
|
OD_size_t bufOffsetRd;
|
|
#endif
|
|
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_BLOCK) || defined CO_DOXYGEN
|
|
/** Timeout time for SDO sub-block download, half of #SDOtimeoutTime_us */
|
|
uint32_t block_SDOtimeoutTime_us;
|
|
/** Timeout timer for SDO sub-block download */
|
|
uint32_t block_timeoutTimer;
|
|
/** Sequence number of segment in block, 1..127 */
|
|
uint8_t block_seqno;
|
|
/** Number of segments per block, 1..127 */
|
|
uint8_t block_blksize;
|
|
/** Number of bytes in last segment that do not contain data */
|
|
uint8_t block_noData;
|
|
/** Client CRC support in block transfer */
|
|
bool_t block_crcEnabled;
|
|
/** Calculated CRC checksum */
|
|
uint16_t block_crc;
|
|
#endif
|
|
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
|
|
/** From CO_SDOserver_initCallbackPre() or NULL */
|
|
void (*pFunctSignalPre)(void *object);
|
|
/** From CO_SDOserver_initCallbackPre() or NULL */
|
|
void *functSignalObjectPre;
|
|
#endif
|
|
} CO_SDOserver_t;
|
|
|
|
|
|
/**
|
|
* Initialize SDO object.
|
|
*
|
|
* Function must be called in the communication reset section.
|
|
*
|
|
* @param SDO This object will be initialized.
|
|
* @param OD Object Dictionary.
|
|
* @param OD_1200_SDOsrvPar OD entry for SDO server parameter (0x1200+), can be
|
|
* NULL for default single SDO server and must not be NULL for additional SDO
|
|
* servers. With additional SDO servers it may also have IO extension enabled,
|
|
* to allow dynamic configuration (see also @ref CO_CONFIG_FLAG_OD_DYNAMIC).
|
|
* @param nodeId If this is first SDO channel, then "nodeId" is CANopen Node ID
|
|
* of this device. In all additional channels "nodeId" is ignored.
|
|
* @param SDOtimeoutTime_ms Timeout time for SDO communication in milliseconds.
|
|
* @param CANdevRx CAN device for SDO server reception.
|
|
* @param CANdevRxIdx Index of receive buffer in the above CAN device.
|
|
* @param CANdevTx CAN device for SDO server transmission.
|
|
* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
|
|
* @param [out] errInfo Additional information in case of error, may be NULL.
|
|
*
|
|
* @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
|
|
*/
|
|
CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t *SDO,
|
|
OD_t *OD,
|
|
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,
|
|
uint32_t *errInfo);
|
|
|
|
|
|
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
|
|
/**
|
|
* Initialize SDOrx callback function.
|
|
*
|
|
* Function initializes optional callback function, which should immediately
|
|
* start processing of CO_SDOserver_process() function.
|
|
* Callback is called after SDOserver message is received from the CAN bus or
|
|
* when new call without delay is necessary (SDO block transfer is in progress).
|
|
*
|
|
* @param SDO This object.
|
|
* @param object Pointer to object, which will be passed to pFunctSignalPre().
|
|
* Can be NULL
|
|
* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
|
|
*/
|
|
void CO_SDOserver_initCallbackPre(CO_SDOserver_t *SDO,
|
|
void *object,
|
|
void (*pFunctSignalPre)(void *object));
|
|
#endif
|
|
|
|
|
|
/**
|
|
* Process SDO communication.
|
|
*
|
|
* Function must be called cyclically.
|
|
*
|
|
* @param SDO This object.
|
|
* @param NMTisPreOrOperational True if #CO_NMT_internalState_t is
|
|
* NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
|
|
* @param timeDifference_us Time difference from previous function call in
|
|
* [microseconds].
|
|
* @param [out] timerNext_us info to OS - see CO_process().
|
|
*
|
|
* @return #CO_SDO_return_t
|
|
*/
|
|
CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t *SDO,
|
|
bool_t NMTisPreOrOperational,
|
|
uint32_t timeDifference_us,
|
|
uint32_t *timerNext_us);
|
|
|
|
/** @} */ /* CO_SDOserver */
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /*__cplusplus*/
|
|
|
|
#endif /* CO_SDO_SERVER_H */
|