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CANopenNode/301/CO_SDOserver.h

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/**
* 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 32U
#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) != 0) || 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) != 0) || 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 + 1U];
/** 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) != 0) || 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) != 0) || 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) != 0) || 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 */
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