2008-12-19 19:41:57 +00:00
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/****************************************************************************
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(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
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www.systec-electronic.com
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Project: openPOWERLINK
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Description: source file for SDO Command Layer module
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License:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of SYSTEC electronic GmbH nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without prior written permission. For written
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permission, please contact info@systec-electronic.com.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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Severability Clause:
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If a provision of this License is or becomes illegal, invalid or
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unenforceable in any jurisdiction, that shall not affect:
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1. the validity or enforceability in that jurisdiction of any other
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provision of this License; or
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2. the validity or enforceability in other jurisdictions of that or
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any other provision of this License.
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-------------------------------------------------------------------------
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$RCSfile: EplSdoComu.c,v $
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$Author: D.Krueger $
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$Revision: 1.14 $ $Date: 2008/10/17 15:32:32 $
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$State: Exp $
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Build Environment:
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GCC V3.4
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-------------------------------------------------------------------------
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Revision History:
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2006/06/26 k.t.: start of the implementation
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****************************************************************************/
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#include "user/EplSdoComu.h"
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#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) == 0) &&\
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(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) == 0) )
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2008-12-20 01:11:52 +00:00
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#error 'ERROR: At least SDO Server or SDO Client should be activate!'
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2008-12-19 19:41:57 +00:00
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#endif
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
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2008-12-20 01:11:52 +00:00
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE)
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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#error 'ERROR: SDO Server needs OBDu module!'
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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#endif
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2008-12-19 19:41:57 +00:00
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#endif
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/***************************************************************************/
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/* */
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/* */
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/* G L O B A L D E F I N I T I O N S */
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/* */
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/* */
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/***************************************************************************/
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//---------------------------------------------------------------------------
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// const defines
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//---------------------------------------------------------------------------
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#ifndef EPL_MAX_SDO_COM_CON
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#define EPL_MAX_SDO_COM_CON 5
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#endif
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//---------------------------------------------------------------------------
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// local types
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//---------------------------------------------------------------------------
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// intern events
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2008-12-20 01:11:52 +00:00
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typedef enum {
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kEplSdoComConEventSendFirst = 0x00, // first frame to send
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kEplSdoComConEventRec = 0x01, // frame received
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kEplSdoComConEventConEstablished = 0x02, // connection established
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kEplSdoComConEventConClosed = 0x03, // connection closed
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kEplSdoComConEventAckReceived = 0x04, // acknowledge received by lower layer
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// -> continue sending
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kEplSdoComConEventFrameSended = 0x05, // lower has send a frame
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kEplSdoComConEventInitError = 0x06, // error duringinitialisiation
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// of the connection
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kEplSdoComConEventTimeout = 0x07 // timeout in lower layer
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2008-12-19 19:41:57 +00:00
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
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2008-12-20 01:11:52 +00:00
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,
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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kEplSdoComConEventInitCon = 0x08, // init connection (only client)
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kEplSdoComConEventAbort = 0x09 // abort sdo transfer (only client)
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2008-12-19 19:41:57 +00:00
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#endif
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2008-12-20 01:11:52 +00:00
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} tEplSdoComConEvent;
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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typedef enum {
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kEplSdoComSendTypeReq = 0x00, // send a request
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kEplSdoComSendTypeAckRes = 0x01, // send a resonse without data
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kEplSdoComSendTypeRes = 0x02, // send response with data
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kEplSdoComSendTypeAbort = 0x03 // send abort
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} tEplSdoComSendType;
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// state of the state maschine
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typedef enum {
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// General State
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kEplSdoComStateIdle = 0x00, // idle state
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2008-12-19 19:41:57 +00:00
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
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2008-12-20 01:11:52 +00:00
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// Server States
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kEplSdoComStateServerSegmTrans = 0x01, // send following frames
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2008-12-19 19:41:57 +00:00
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#endif
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
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2008-12-20 01:11:52 +00:00
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// Client States
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kEplSdoComStateClientWaitInit = 0x10, // wait for init connection
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// on lower layer
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kEplSdoComStateClientConnected = 0x11, // connection established
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kEplSdoComStateClientSegmTrans = 0x12 // send following frames
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2008-12-19 19:41:57 +00:00
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#endif
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} tEplSdoComState;
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// control structure for transaction
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2008-12-20 01:11:52 +00:00
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typedef struct {
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tEplSdoSeqConHdl m_SdoSeqConHdl; // if != 0 -> entry used
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tEplSdoComState m_SdoComState;
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2009-03-23 19:36:38 +00:00
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u8 m_bTransactionId;
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2008-12-20 01:11:52 +00:00
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unsigned int m_uiNodeId; // NodeId of the target
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// -> needed to reinit connection
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// after timeout
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tEplSdoTransType m_SdoTransType; // Auto, Expedited, Segmented
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tEplSdoServiceType m_SdoServiceType; // WriteByIndex, ReadByIndex
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tEplSdoType m_SdoProtType; // protocol layer: Auto, Udp, Asnd, Pdo
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u8 *m_pData; // pointer to data
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unsigned int m_uiTransSize; // number of bytes
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// to transfer
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unsigned int m_uiTransferredByte; // number of bytes
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// already transferred
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tEplSdoFinishedCb m_pfnTransferFinished; // callback function of the
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// application
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// -> called in the end of
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// the SDO transfer
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void *m_pUserArg; // user definable argument pointer
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2009-03-23 19:51:37 +00:00
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u32 m_dwLastAbortCode; // save the last abort code
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2008-12-19 19:41:57 +00:00
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
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2008-12-20 01:11:52 +00:00
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// only for client
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unsigned int m_uiTargetIndex; // index to access
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unsigned int m_uiTargetSubIndex; // subiondex to access
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2008-12-20 01:11:52 +00:00
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// for future use
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unsigned int m_uiTimeout; // timeout for this connection
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2008-12-19 19:41:57 +00:00
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#endif
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} tEplSdoComCon;
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// instance table
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2008-12-20 01:11:52 +00:00
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typedef struct {
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tEplSdoComCon m_SdoComCon[EPL_MAX_SDO_COM_CON];
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#if defined(WIN32) || defined(_WIN32)
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2008-12-20 01:11:52 +00:00
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LPCRITICAL_SECTION m_pCriticalSection;
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CRITICAL_SECTION m_CriticalSection;
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2008-12-19 19:41:57 +00:00
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#endif
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2008-12-20 01:11:52 +00:00
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} tEplSdoComInstance;
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2008-12-19 19:41:57 +00:00
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//---------------------------------------------------------------------------
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// modul globale vars
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//---------------------------------------------------------------------------
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static tEplSdoComInstance SdoComInstance_g;
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//---------------------------------------------------------------------------
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// local function prototypes
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//---------------------------------------------------------------------------
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2009-03-23 17:45:12 +00:00
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tEplKernel EplSdoComReceiveCb(tEplSdoSeqConHdl SdoSeqConHdl_p,
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tEplAsySdoCom *pAsySdoCom_p,
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unsigned int uiDataSize_p);
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2008-12-19 19:41:57 +00:00
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2009-03-23 17:45:12 +00:00
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tEplKernel EplSdoComConCb(tEplSdoSeqConHdl SdoSeqConHdl_p,
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tEplAsySdoConState AsySdoConState_p);
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p,
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tEplSdoComConEvent SdoComConEvent_p,
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tEplAsySdoCom * pAsySdoCom_p);
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static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p,
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tEplSdoComConEvent SdoComConEvent_p,
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tEplAsySdoCom * pAsySdoCom_p);
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p,
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tEplSdoComCon * pSdoComCon_p,
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tEplSdoComConState
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SdoComConState_p);
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon * pSdoComCon_p,
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tEplAsySdoCom * pAsySdoCom_p);
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon * pSdoComCon_p,
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unsigned int uiIndex_p,
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unsigned int uiSubIndex_p,
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tEplSdoComSendType SendType_p);
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon * pSdoComCon_p,
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tEplAsySdoCom * pAsySdoCom_p);
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2008-12-19 19:41:57 +00:00
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#endif
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComClientSend(tEplSdoComCon * pSdoComCon_p);
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p,
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tEplAsySdoCom * pAsySdoCom_p);
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon * pSdoComCon_p,
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2009-03-23 19:51:37 +00:00
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u32 dwAbortCode_p);
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2008-12-19 19:41:57 +00:00
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#endif
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/***************************************************************************/
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/* */
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/* */
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/* C L A S S <SDO Command Layer> */
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/* */
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/* */
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/***************************************************************************/
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//
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// Description: SDO Command layer Modul
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//
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//
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/***************************************************************************/
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//=========================================================================//
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// //
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// P U B L I C F U N C T I O N S //
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// //
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//=========================================================================//
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//---------------------------------------------------------------------------
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//
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// Function: EplSdoComInit
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//
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// Description: Init first instance of the module
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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2009-03-23 17:45:12 +00:00
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tEplKernel EplSdoComInit(void)
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{
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tEplKernel Ret;
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2008-12-19 19:41:57 +00:00
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2008-12-20 01:11:52 +00:00
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Ret = EplSdoComAddInstance();
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2008-12-20 01:11:52 +00:00
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplSdoComAddInstance
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//
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// Description: Init additional instance of the module
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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2009-03-23 17:45:12 +00:00
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tEplKernel EplSdoComAddInstance(void)
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2008-12-19 19:41:57 +00:00
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{
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tEplKernel Ret;
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2008-12-20 01:11:52 +00:00
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Ret = kEplSuccessful;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// init controll structure
|
|
|
|
EPL_MEMSET(&SdoComInstance_g, 0x00, sizeof(SdoComInstance_g));
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// init instance of lower layer
|
|
|
|
Ret = EplSdoAsySeqAddInstance(EplSdoComReceiveCb, EplSdoComConCb);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
#if defined(WIN32) || defined(_WIN32)
|
2008-12-20 01:11:52 +00:00
|
|
|
// create critical section for process function
|
|
|
|
SdoComInstance_g.m_pCriticalSection =
|
|
|
|
&SdoComInstance_g.m_CriticalSection;
|
|
|
|
InitializeCriticalSection(SdoComInstance_g.m_pCriticalSection);
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComDelInstance
|
|
|
|
//
|
|
|
|
// Description: delete instance of the module
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters:
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComDelInstance(void)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = kEplSuccessful;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
#if defined(WIN32) || defined(_WIN32)
|
2008-12-20 01:11:52 +00:00
|
|
|
// delete critical section for process function
|
|
|
|
DeleteCriticalSection(SdoComInstance_g.m_pCriticalSection);
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoAsySeqDelInstance();
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComDefineCon
|
|
|
|
//
|
|
|
|
// Description: function defines a SDO connection to another node
|
|
|
|
// -> init lower layer and returns a handle for the connection.
|
|
|
|
// Two client connections to the same node via the same protocol
|
|
|
|
// are not allowed. If this function detects such a situation
|
|
|
|
// it will return kEplSdoComHandleExists and the handle of
|
|
|
|
// the existing connection in pSdoComConHdl_p.
|
|
|
|
// Using of existing server connections is possible.
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComConHdl_p = pointer to the buffer of the handle
|
|
|
|
// uiTargetNodeId_p = NodeId of the targetnode
|
|
|
|
// ProtType_p = type of protocol to use for connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComDefineCon(tEplSdoComConHdl *pSdoComConHdl_p,
|
|
|
|
unsigned int uiTargetNodeId_p,
|
|
|
|
tEplSdoType ProtType_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
unsigned int uiCount;
|
|
|
|
unsigned int uiFreeHdl;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
// check Parameter
|
|
|
|
ASSERT(pSdoComConHdl_p != NULL);
|
|
|
|
|
|
|
|
// check NodeId
|
|
|
|
if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
|
|
|
|
|| (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
|
|
|
|
Ret = kEplInvalidNodeId;
|
|
|
|
|
|
|
|
}
|
|
|
|
// search free control structure
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[0];
|
|
|
|
uiCount = 0;
|
|
|
|
uiFreeHdl = EPL_MAX_SDO_COM_CON;
|
|
|
|
while (uiCount < EPL_MAX_SDO_COM_CON) {
|
|
|
|
if (pSdoComCon->m_SdoSeqConHdl == 0) { // free entry
|
|
|
|
uiFreeHdl = uiCount;
|
|
|
|
} else if ((pSdoComCon->m_uiNodeId == uiTargetNodeId_p)
|
|
|
|
&& (pSdoComCon->m_SdoProtType == ProtType_p)) { // existing client connection with same node ID and same protocol type
|
|
|
|
*pSdoComConHdl_p = uiCount;
|
|
|
|
Ret = kEplSdoComHandleExists;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
uiCount++;
|
|
|
|
pSdoComCon++;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (uiFreeHdl == EPL_MAX_SDO_COM_CON) {
|
|
|
|
Ret = kEplSdoComNoFreeHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[uiFreeHdl];
|
|
|
|
// save handle for application
|
|
|
|
*pSdoComConHdl_p = uiFreeHdl;
|
|
|
|
// save parameters
|
|
|
|
pSdoComCon->m_SdoProtType = ProtType_p;
|
|
|
|
pSdoComCon->m_uiNodeId = uiTargetNodeId_p;
|
|
|
|
|
|
|
|
// set Transaction Id
|
|
|
|
pSdoComCon->m_bTransactionId = 0;
|
|
|
|
|
|
|
|
// check protocol
|
|
|
|
switch (ProtType_p) {
|
|
|
|
// udp
|
|
|
|
case kEplSdoTypeUdp:
|
|
|
|
{
|
|
|
|
// call connection int function of lower layer
|
|
|
|
Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
|
|
|
|
pSdoComCon->m_uiNodeId,
|
|
|
|
kEplSdoTypeUdp);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Asend
|
|
|
|
case kEplSdoTypeAsnd:
|
|
|
|
{
|
|
|
|
// call connection int function of lower layer
|
|
|
|
Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
|
|
|
|
pSdoComCon->m_uiNodeId,
|
|
|
|
kEplSdoTypeAsnd);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Pdo -> not supported
|
|
|
|
case kEplSdoTypePdo:
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
Ret = kEplSdoComUnsupportedProt;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
} // end of switch(m_ProtType_p)
|
|
|
|
|
|
|
|
// call process function
|
|
|
|
Ret = EplSdoComProcessIntern(uiFreeHdl,
|
|
|
|
kEplSdoComConEventInitCon, NULL);
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComInitTransferByIndex
|
|
|
|
//
|
|
|
|
// Description: function init SDO Transfer for a defined connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComTransParam_p = Structure with parameters for connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComInitTransferByIndex(tEplSdoComTransParamByIndex *pSdoComTransParam_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
// check parameter
|
|
|
|
if ((pSdoComTransParam_p->m_uiSubindex >= 0xFF)
|
|
|
|
|| (pSdoComTransParam_p->m_uiIndex == 0)
|
|
|
|
|| (pSdoComTransParam_p->m_uiIndex > 0xFFFF)
|
|
|
|
|| (pSdoComTransParam_p->m_pData == NULL)
|
|
|
|
|| (pSdoComTransParam_p->m_uiDataSize == 0)) {
|
|
|
|
Ret = kEplSdoComInvalidParam;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pSdoComTransParam_p->m_SdoComConHdl >= EPL_MAX_SDO_COM_CON) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// get pointer to control structure of connection
|
|
|
|
pSdoComCon =
|
|
|
|
&SdoComInstance_g.m_SdoComCon[pSdoComTransParam_p->m_SdoComConHdl];
|
|
|
|
|
|
|
|
// check if handle ok
|
|
|
|
if (pSdoComCon->m_SdoSeqConHdl == 0) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// check if command layer is idle
|
|
|
|
if ((pSdoComCon->m_uiTransferredByte + pSdoComCon->m_uiTransSize) > 0) { // handle is not idle
|
|
|
|
Ret = kEplSdoComHandleBusy;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// save parameter
|
|
|
|
// callback function for end of transfer
|
|
|
|
pSdoComCon->m_pfnTransferFinished =
|
|
|
|
pSdoComTransParam_p->m_pfnSdoFinishedCb;
|
|
|
|
pSdoComCon->m_pUserArg = pSdoComTransParam_p->m_pUserArg;
|
|
|
|
|
|
|
|
// set type of SDO command
|
|
|
|
if (pSdoComTransParam_p->m_SdoAccessType == kEplSdoAccessTypeRead) {
|
|
|
|
pSdoComCon->m_SdoServiceType = kEplSdoServiceReadByIndex;
|
|
|
|
} else {
|
|
|
|
pSdoComCon->m_SdoServiceType = kEplSdoServiceWriteByIndex;
|
|
|
|
|
|
|
|
}
|
|
|
|
// save pointer to data
|
|
|
|
pSdoComCon->m_pData = pSdoComTransParam_p->m_pData;
|
|
|
|
// maximal bytes to transfer
|
|
|
|
pSdoComCon->m_uiTransSize = pSdoComTransParam_p->m_uiDataSize;
|
|
|
|
// bytes already transfered
|
|
|
|
pSdoComCon->m_uiTransferredByte = 0;
|
|
|
|
|
|
|
|
// reset parts of control structure
|
|
|
|
pSdoComCon->m_dwLastAbortCode = 0;
|
|
|
|
pSdoComCon->m_SdoTransType = kEplSdoTransAuto;
|
|
|
|
// save timeout
|
|
|
|
//pSdoComCon->m_uiTimeout = SdoComTransParam_p.m_uiTimeout;
|
|
|
|
|
|
|
|
// save index and subindex
|
|
|
|
pSdoComCon->m_uiTargetIndex = pSdoComTransParam_p->m_uiIndex;
|
|
|
|
pSdoComCon->m_uiTargetSubIndex = pSdoComTransParam_p->m_uiSubindex;
|
|
|
|
|
|
|
|
// call process function
|
|
|
|
Ret = EplSdoComProcessIntern(pSdoComTransParam_p->m_SdoComConHdl, kEplSdoComConEventSendFirst, // event to start transfer
|
|
|
|
NULL);
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComUndefineCon
|
|
|
|
//
|
|
|
|
// Description: function undefine a SDO connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComConHdl_p = handle for the connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComUndefineCon(tEplSdoComConHdl SdoComConHdl_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// get pointer to control structure
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
|
|
|
|
|
|
|
|
// $$$ d.k. abort a running transfer before closing the sequence layer
|
|
|
|
|
|
|
|
if (((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) !=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL)
|
|
|
|
&& (pSdoComCon->m_SdoSeqConHdl != 0)) {
|
|
|
|
// close connection in lower layer
|
|
|
|
switch (pSdoComCon->m_SdoProtType) {
|
|
|
|
case kEplSdoTypeAsnd:
|
|
|
|
case kEplSdoTypeUdp:
|
|
|
|
{
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoTypePdo:
|
|
|
|
case kEplSdoTypeAuto:
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
Ret = kEplSdoComUnsupportedProt;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
} // end of switch(pSdoComCon->m_SdoProtType)
|
|
|
|
}
|
|
|
|
|
|
|
|
// clean controll structure
|
|
|
|
EPL_MEMSET(pSdoComCon, 0x00, sizeof(tEplSdoComCon));
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComGetState
|
|
|
|
//
|
|
|
|
// Description: function returns the state fo the connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComConHdl_p = handle for the connection
|
|
|
|
// pSdoComFinished_p = pointer to structur for sdo state
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComGetState(tEplSdoComConHdl SdoComConHdl_p,
|
|
|
|
tEplSdoComFinished *pSdoComFinished_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// get pointer to control structure
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
|
|
|
|
|
|
|
|
// check if handle ok
|
|
|
|
if (pSdoComCon->m_SdoSeqConHdl == 0) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
pSdoComFinished_p->m_pUserArg = pSdoComCon->m_pUserArg;
|
|
|
|
pSdoComFinished_p->m_uiNodeId = pSdoComCon->m_uiNodeId;
|
|
|
|
pSdoComFinished_p->m_uiTargetIndex = pSdoComCon->m_uiTargetIndex;
|
|
|
|
pSdoComFinished_p->m_uiTargetSubIndex = pSdoComCon->m_uiTargetSubIndex;
|
|
|
|
pSdoComFinished_p->m_uiTransferredByte =
|
|
|
|
pSdoComCon->m_uiTransferredByte;
|
|
|
|
pSdoComFinished_p->m_dwAbortCode = pSdoComCon->m_dwLastAbortCode;
|
|
|
|
pSdoComFinished_p->m_SdoComConHdl = SdoComConHdl_p;
|
|
|
|
if (pSdoComCon->m_SdoServiceType == kEplSdoServiceWriteByIndex) {
|
|
|
|
pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeWrite;
|
|
|
|
} else {
|
|
|
|
pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeRead;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pSdoComCon->m_dwLastAbortCode != 0) { // sdo abort
|
|
|
|
pSdoComFinished_p->m_SdoComConState =
|
|
|
|
kEplSdoComTransferRxAborted;
|
|
|
|
|
|
|
|
// delete abort code
|
|
|
|
pSdoComCon->m_dwLastAbortCode = 0;
|
|
|
|
|
|
|
|
} else if ((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == EPL_SDO_SEQ_INVALID_HDL) { // check state
|
|
|
|
pSdoComFinished_p->m_SdoComConState =
|
|
|
|
kEplSdoComTransferLowerLayerAbort;
|
|
|
|
} else if (pSdoComCon->m_SdoComState == kEplSdoComStateClientWaitInit) {
|
|
|
|
// finished
|
|
|
|
pSdoComFinished_p->m_SdoComConState =
|
|
|
|
kEplSdoComTransferNotActive;
|
|
|
|
} else if (pSdoComCon->m_uiTransSize == 0) { // finished
|
|
|
|
pSdoComFinished_p->m_SdoComConState =
|
|
|
|
kEplSdoComTransferFinished;
|
|
|
|
}
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComSdoAbort
|
|
|
|
//
|
|
|
|
// Description: function abort a sdo transfer
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComConHdl_p = handle for the connection
|
|
|
|
// dwAbortCode_p = abort code
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComSdoAbort(tEplSdoComConHdl SdoComConHdl_p,
|
2009-03-23 19:51:37 +00:00
|
|
|
u32 dwAbortCode_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// get pointer to control structure of connection
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
|
|
|
|
|
|
|
|
// check if handle ok
|
|
|
|
if (pSdoComCon->m_SdoSeqConHdl == 0) {
|
|
|
|
Ret = kEplSdoComInvalidHandle;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// save pointer to abort code
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon->m_pData = (u8 *) & dwAbortCode_p;
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
Ret = EplSdoComProcessIntern(SdoComConHdl_p,
|
|
|
|
kEplSdoComConEventAbort,
|
|
|
|
(tEplAsySdoCom *) NULL);
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//=========================================================================//
|
|
|
|
// //
|
|
|
|
// P R I V A T E F U N C T I O N S //
|
|
|
|
// //
|
|
|
|
//=========================================================================//
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComReceiveCb
|
|
|
|
//
|
|
|
|
// Description: callback function for SDO Sequence Layer
|
|
|
|
// -> indicates new data
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoSeqConHdl_p = Handle for connection
|
|
|
|
// pAsySdoCom_p = pointer to data
|
|
|
|
// uiDataSize_p = size of data ($$$ not used yet, but it should)
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns:
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComReceiveCb(tEplSdoSeqConHdl SdoSeqConHdl_p,
|
|
|
|
tEplAsySdoCom *pAsySdoCom_p,
|
|
|
|
unsigned int uiDataSize_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// search connection internally
|
|
|
|
Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p,
|
|
|
|
kEplSdoComConEventRec, pAsySdoCom_p);
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
EPL_DBGLVL_SDO_TRACE3
|
|
|
|
("EplSdoComReceiveCb SdoSeqConHdl: 0x%X, First Byte of pAsySdoCom_p: 0x%02X, uiDataSize_p: 0x%04X\n",
|
2009-03-23 19:57:39 +00:00
|
|
|
SdoSeqConHdl_p, (u16) pAsySdoCom_p->m_le_abCommandData[0],
|
2008-12-20 01:11:52 +00:00
|
|
|
uiDataSize_p);
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComConCb
|
|
|
|
//
|
|
|
|
// Description: callback function called by SDO Sequence Layer to inform
|
|
|
|
// command layer about state change of connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoSeqConHdl_p = Handle of the connection
|
|
|
|
// AsySdoConState_p = Event of the connection
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = Errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2009-03-23 17:45:12 +00:00
|
|
|
tEplKernel EplSdoComConCb(tEplSdoSeqConHdl SdoSeqConHdl_p,
|
|
|
|
tEplAsySdoConState AsySdoConState_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComConEvent SdoComConEvent = kEplSdoComConEventSendFirst;
|
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
// check state
|
|
|
|
switch (AsySdoConState_p) {
|
|
|
|
case kAsySdoConStateConnected:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("Connection established\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventConEstablished;
|
|
|
|
// start transmission if needed
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kAsySdoConStateInitError:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("Error during initialisation\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventInitError;
|
|
|
|
// inform app about error and close sequence layer handle
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kAsySdoConStateConClosed:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("Connection closed\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventConClosed;
|
|
|
|
// close sequence layer handle
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kAsySdoConStateAckReceived:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("Acknowlage received\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventAckReceived;
|
|
|
|
// continue transmission
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kAsySdoConStateFrameSended:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("One Frame sent\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventFrameSended;
|
|
|
|
// to continue transmission
|
|
|
|
break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
case kAsySdoConStateTimeout:
|
|
|
|
{
|
|
|
|
EPL_DBGLVL_SDO_TRACE0("Timeout\n");
|
|
|
|
SdoComConEvent = kEplSdoComConEventTimeout;
|
|
|
|
// close sequence layer handle
|
|
|
|
break;
|
|
|
|
|
|
|
|
}
|
|
|
|
} // end of switch(AsySdoConState_p)
|
|
|
|
|
|
|
|
Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p,
|
|
|
|
SdoComConEvent, (tEplAsySdoCom *) NULL);
|
|
|
|
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComSearchConIntern
|
|
|
|
//
|
|
|
|
// Description: search a Sdo Sequence Layer connection handle in the
|
|
|
|
// control structure of the Command Layer
|
|
|
|
//
|
|
|
|
// Parameters: SdoSeqConHdl_p = Handle to search
|
|
|
|
// SdoComConEvent_p = event to process
|
|
|
|
// pAsySdoCom_p = pointer to received frame
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p,
|
|
|
|
tEplSdoComConEvent SdoComConEvent_p,
|
|
|
|
tEplAsySdoCom * pAsySdoCom_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
tEplSdoComConHdl HdlCount;
|
|
|
|
tEplSdoComConHdl HdlFree;
|
|
|
|
|
|
|
|
Ret = kEplSdoComNotResponsible;
|
|
|
|
|
|
|
|
// get pointer to first element of the array
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[0];
|
|
|
|
HdlCount = 0;
|
|
|
|
HdlFree = 0xFFFF;
|
|
|
|
while (HdlCount < EPL_MAX_SDO_COM_CON) {
|
|
|
|
if (pSdoComCon->m_SdoSeqConHdl == SdoSeqConHdl_p) { // matching command layer handle found
|
|
|
|
Ret = EplSdoComProcessIntern(HdlCount,
|
|
|
|
SdoComConEvent_p,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
} else if ((pSdoComCon->m_SdoSeqConHdl == 0)
|
|
|
|
&& (HdlFree == 0xFFFF)) {
|
|
|
|
HdlFree = HdlCount;
|
|
|
|
}
|
|
|
|
|
|
|
|
pSdoComCon++;
|
|
|
|
HdlCount++;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (Ret == kEplSdoComNotResponsible) { // no responsible command layer handle found
|
|
|
|
if (HdlFree == 0xFFFF) { // no free handle
|
|
|
|
// delete connection immediately
|
|
|
|
// 2008/04/14 m.u./d.k. This connection actually does not exist.
|
|
|
|
// pSdoComCon is invalid.
|
|
|
|
// Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
|
|
|
|
Ret = kEplSdoComNoFreeHandle;
|
|
|
|
} else { // create new handle
|
|
|
|
HdlCount = HdlFree;
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[HdlCount];
|
|
|
|
pSdoComCon->m_SdoSeqConHdl = SdoSeqConHdl_p;
|
|
|
|
Ret = EplSdoComProcessIntern(HdlCount,
|
|
|
|
SdoComConEvent_p,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComProcessIntern
|
|
|
|
//
|
|
|
|
// Description: search a Sdo Sequence Layer connection handle in the
|
|
|
|
// control structer of the Command Layer
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComCon_p = index of control structure of connection
|
|
|
|
// SdoComConEvent_p = event to process
|
|
|
|
// pAsySdoCom_p = pointer to received frame
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p,
|
|
|
|
tEplSdoComConEvent SdoComConEvent_p,
|
|
|
|
tEplAsySdoCom * pAsySdoCom_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 bFlag;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2009-03-23 19:51:37 +00:00
|
|
|
u32 dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
unsigned int uiSize;
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
|
|
|
#if defined(WIN32) || defined(_WIN32)
|
2008-12-20 01:11:52 +00:00
|
|
|
// enter critical section for process function
|
|
|
|
EnterCriticalSection(SdoComInstance_g.m_pCriticalSection);
|
|
|
|
EPL_DBGLVL_SDO_TRACE0
|
|
|
|
("\n\tEnterCiticalSection EplSdoComProcessIntern\n\n");
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = kEplSuccessful;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// get pointer to control structure
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p];
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// process state maschine
|
|
|
|
switch (pSdoComCon->m_SdoComState) {
|
|
|
|
// idle state
|
|
|
|
case kEplSdoComStateIdle:
|
|
|
|
{
|
|
|
|
// check events
|
|
|
|
switch (SdoComConEvent_p) {
|
2008-12-19 19:41:57 +00:00
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
// init con for client
|
|
|
|
case kEplSdoComConEventInitCon:
|
|
|
|
{
|
|
|
|
|
|
|
|
// call of the init function already
|
|
|
|
// processed in EplSdoComDefineCon()
|
|
|
|
// only change state to kEplSdoComStateClientWaitInit
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientWaitInit;
|
|
|
|
break;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// int con for server
|
|
|
|
case kEplSdoComConEventRec:
|
|
|
|
{
|
2008-12-19 19:41:57 +00:00
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
// check if init of an transfer and no SDO abort
|
|
|
|
if ((pAsySdoCom_p->m_le_bFlags & 0x80) == 0) { // SDO request
|
|
|
|
if ((pAsySdoCom_p->m_le_bFlags & 0x40) == 0) { // no SDO abort
|
|
|
|
// save tansaction id
|
|
|
|
pSdoComCon->
|
|
|
|
m_bTransactionId =
|
|
|
|
AmiGetByteFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_bTransactionId);
|
|
|
|
// check command
|
|
|
|
switch (pAsySdoCom_p->
|
|
|
|
m_le_bCommandId)
|
|
|
|
{
|
|
|
|
case kEplSdoServiceNIL:
|
|
|
|
{ // simply acknowlegde NIL command on sequence layer
|
|
|
|
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
0,
|
|
|
|
(tEplFrame
|
|
|
|
*)
|
|
|
|
NULL);
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceReadByIndex:
|
|
|
|
{ // read by index
|
|
|
|
|
|
|
|
// search entry an start transfer
|
|
|
|
EplSdoComServerInitReadByIndex
|
|
|
|
(pSdoComCon,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
// check next state
|
|
|
|
if (pSdoComCon->m_uiTransSize == 0) { // ready -> stay idle
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateIdle;
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
=
|
|
|
|
0;
|
|
|
|
} else { // segmented transfer
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateServerSegmTrans;
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceWriteByIndex:
|
|
|
|
{
|
|
|
|
|
|
|
|
// search entry an start write
|
|
|
|
EplSdoComServerInitWriteByIndex
|
|
|
|
(pSdoComCon,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
// check next state
|
|
|
|
if (pSdoComCon->m_uiTransSize == 0) { // already -> stay idle
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateIdle;
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
=
|
|
|
|
0;
|
|
|
|
} else { // segmented transfer
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateServerSegmTrans;
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
// unsupported command
|
|
|
|
// -> abort senden
|
|
|
|
dwAbortCode
|
|
|
|
=
|
|
|
|
EPL_SDOAC_UNKNOWN_COMMAND_SPECIFIER;
|
|
|
|
// send abort
|
|
|
|
pSdoComCon->
|
|
|
|
m_pData
|
|
|
|
=
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8
|
2008-12-20 01:11:52 +00:00
|
|
|
*)
|
|
|
|
&
|
|
|
|
dwAbortCode;
|
|
|
|
Ret =
|
|
|
|
EplSdoComServerSendFrameIntern
|
|
|
|
(pSdoComCon,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
} // end of switch(pAsySdoCom_p->m_le_bCommandId)
|
|
|
|
}
|
|
|
|
} else { // this command layer handle is not responsible
|
|
|
|
// (wrong direction or wrong transaction ID)
|
|
|
|
Ret = kEplSdoComNotResponsible;
|
|
|
|
goto Exit;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// connection closed
|
|
|
|
case kEplSdoComConEventInitError:
|
|
|
|
case kEplSdoComConEventTimeout:
|
|
|
|
case kEplSdoComConEventConClosed:
|
|
|
|
{
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
// clean control structure
|
|
|
|
EPL_MEMSET(pSdoComCon, 0x00,
|
|
|
|
sizeof(tEplSdoComCon));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
// d.k. do nothing
|
|
|
|
break;
|
|
|
|
} // end of switch(SdoComConEvent_p)
|
|
|
|
break;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
//-------------------------------------------------------------------------
|
|
|
|
// SDO Server part
|
|
|
|
// segmented transfer
|
|
|
|
case kEplSdoComStateServerSegmTrans:
|
|
|
|
{
|
|
|
|
// check events
|
|
|
|
switch (SdoComConEvent_p) {
|
|
|
|
// send next frame
|
|
|
|
case kEplSdoComConEventAckReceived:
|
|
|
|
case kEplSdoComConEventFrameSended:
|
|
|
|
{
|
|
|
|
// check if it is a read
|
|
|
|
if (pSdoComCon->m_SdoServiceType ==
|
|
|
|
kEplSdoServiceReadByIndex) {
|
|
|
|
// send next frame
|
|
|
|
EplSdoComServerSendFrameIntern
|
|
|
|
(pSdoComCon, 0, 0,
|
|
|
|
kEplSdoComSendTypeRes);
|
|
|
|
// if all send -> back to idle
|
|
|
|
if (pSdoComCon->m_uiTransSize == 0) { // back to idle
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState =
|
|
|
|
kEplSdoComStateIdle;
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode =
|
|
|
|
0;
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// process next frame
|
|
|
|
case kEplSdoComConEventRec:
|
|
|
|
{
|
|
|
|
// check if the frame is a SDO response and has the right transaction ID
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->
|
|
|
|
m_le_bFlags);
|
|
|
|
if (((bFlag & 0x80) != 0)
|
|
|
|
&&
|
|
|
|
(AmiGetByteFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_bTransactionId) ==
|
|
|
|
pSdoComCon->m_bTransactionId)) {
|
|
|
|
// check if it is a abort
|
|
|
|
if ((bFlag & 0x40) != 0) { // SDO abort
|
|
|
|
// clear control structure
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize = 0;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
= 0;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState =
|
|
|
|
kEplSdoComStateIdle;
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode =
|
|
|
|
0;
|
|
|
|
// d.k.: do not execute anything further on this command
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
// check if it is a write
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_SdoServiceType ==
|
|
|
|
kEplSdoServiceWriteByIndex)
|
|
|
|
{
|
|
|
|
// write data to OD
|
|
|
|
uiSize =
|
|
|
|
AmiGetWordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_wSegmentSize);
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_dwLastAbortCode ==
|
|
|
|
0) {
|
|
|
|
EPL_MEMCPY
|
|
|
|
(pSdoComCon->
|
|
|
|
m_pData,
|
|
|
|
&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
uiSize);
|
|
|
|
}
|
|
|
|
// update counter
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
+= uiSize;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize -=
|
|
|
|
uiSize;
|
|
|
|
|
|
|
|
// update pointer
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_dwLastAbortCode ==
|
|
|
|
0) {
|
2009-03-23 19:36:38 +00:00
|
|
|
( /*(u8*) */
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon->
|
|
|
|
m_pData) +=
|
|
|
|
uiSize;
|
|
|
|
}
|
|
|
|
// check end of transfer
|
|
|
|
if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x30) { // transfer ready
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize
|
|
|
|
= 0;
|
|
|
|
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
== 0) {
|
|
|
|
// send response
|
|
|
|
// send next frame
|
|
|
|
EplSdoComServerSendFrameIntern
|
|
|
|
(pSdoComCon,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
kEplSdoComSendTypeRes);
|
|
|
|
// if all send -> back to idle
|
|
|
|
if (pSdoComCon->m_uiTransSize == 0) { // back to idle
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateIdle;
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
=
|
|
|
|
0;
|
|
|
|
}
|
|
|
|
} else { // send dabort code
|
|
|
|
// send abort
|
|
|
|
pSdoComCon->
|
|
|
|
m_pData
|
|
|
|
=
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8
|
2008-12-20 01:11:52 +00:00
|
|
|
*)
|
|
|
|
&
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode;
|
|
|
|
Ret =
|
|
|
|
EplSdoComServerSendFrameIntern
|
|
|
|
(pSdoComCon,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
= 0;
|
|
|
|
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
0,
|
|
|
|
(tEplFrame
|
|
|
|
*) NULL);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
} else { // this command layer handle is not responsible
|
|
|
|
// (wrong direction or wrong transaction ID)
|
|
|
|
Ret = kEplSdoComNotResponsible;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// connection closed
|
|
|
|
case kEplSdoComConEventInitError:
|
|
|
|
case kEplSdoComConEventTimeout:
|
|
|
|
case kEplSdoComConEventConClosed:
|
|
|
|
{
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
// clean control structure
|
|
|
|
EPL_MEMSET(pSdoComCon, 0x00,
|
|
|
|
sizeof(tEplSdoComCon));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
// d.k. do nothing
|
|
|
|
break;
|
|
|
|
} // end of switch(SdoComConEvent_p)
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif // endif of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
|
|
|
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
//-------------------------------------------------------------------------
|
|
|
|
// SDO Client part
|
|
|
|
// wait for finish of establishing connection
|
|
|
|
case kEplSdoComStateClientWaitInit:
|
|
|
|
{
|
|
|
|
|
|
|
|
// if connection handle is invalid reinit connection
|
|
|
|
// d.k.: this will be done only on new events (i.e. InitTransfer)
|
|
|
|
if ((pSdoComCon->
|
|
|
|
m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) ==
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL) {
|
|
|
|
// check kind of connection to reinit
|
|
|
|
// check protocol
|
|
|
|
switch (pSdoComCon->m_SdoProtType) {
|
|
|
|
// udp
|
|
|
|
case kEplSdoTypeUdp:
|
|
|
|
{
|
|
|
|
// call connection int function of lower layer
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqInitCon
|
|
|
|
(&pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
pSdoComCon->m_uiNodeId,
|
|
|
|
kEplSdoTypeUdp);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Asend -> not supported
|
|
|
|
case kEplSdoTypeAsnd:
|
|
|
|
{
|
|
|
|
// call connection int function of lower layer
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqInitCon
|
|
|
|
(&pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
pSdoComCon->m_uiNodeId,
|
|
|
|
kEplSdoTypeAsnd);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Pdo -> not supported
|
|
|
|
case kEplSdoTypePdo:
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
Ret = kEplSdoComUnsupportedProt;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
} // end of switch(m_ProtType_p)
|
|
|
|
// d.k.: reset transaction ID, because new sequence layer connection was initialized
|
|
|
|
// $$$ d.k. is this really necessary?
|
|
|
|
//pSdoComCon->m_bTransactionId = 0;
|
|
|
|
}
|
|
|
|
// check events
|
|
|
|
switch (SdoComConEvent_p) {
|
|
|
|
// connection established
|
|
|
|
case kEplSdoComConEventConEstablished:
|
|
|
|
{
|
|
|
|
//send first frame if needed
|
|
|
|
if ((pSdoComCon->m_uiTransSize > 0)
|
|
|
|
&& (pSdoComCon->m_uiTargetIndex != 0)) { // start SDO transfer
|
|
|
|
Ret =
|
|
|
|
EplSdoComClientSend
|
|
|
|
(pSdoComCon);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// check if segemted transfer
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_SdoTransType ==
|
|
|
|
kEplSdoTransSegmented) {
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState =
|
|
|
|
kEplSdoComStateClientSegmTrans;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// goto state kEplSdoComStateClientConnected
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientConnected;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoComConEventSendFirst:
|
|
|
|
{
|
|
|
|
// infos for transfer already saved by function EplSdoComInitTransferByIndex
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoComConEventConClosed:
|
|
|
|
case kEplSdoComConEventInitError:
|
|
|
|
case kEplSdoComConEventTimeout:
|
|
|
|
{
|
|
|
|
// close sequence layer handle
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
pSdoComCon->m_SdoSeqConHdl |=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL;
|
|
|
|
// call callback function
|
|
|
|
if (SdoComConEvent_p ==
|
|
|
|
kEplSdoComConEventTimeout) {
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_TIME_OUT;
|
|
|
|
} else {
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
0;
|
|
|
|
}
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferLowerLayerAbort);
|
|
|
|
// d.k.: do not clean control structure
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
// d.k. do nothing
|
|
|
|
break;
|
|
|
|
|
|
|
|
} // end of switch(SdoComConEvent_p)
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// connected
|
|
|
|
case kEplSdoComStateClientConnected:
|
|
|
|
{
|
|
|
|
// check events
|
|
|
|
switch (SdoComConEvent_p) {
|
|
|
|
// send a frame
|
|
|
|
case kEplSdoComConEventSendFirst:
|
|
|
|
case kEplSdoComConEventAckReceived:
|
|
|
|
case kEplSdoComConEventFrameSended:
|
|
|
|
{
|
|
|
|
Ret = EplSdoComClientSend(pSdoComCon);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// check if read transfer finished
|
|
|
|
if ((pSdoComCon->m_uiTransSize == 0)
|
|
|
|
&& (pSdoComCon->
|
|
|
|
m_uiTransferredByte != 0)
|
|
|
|
&& (pSdoComCon->m_SdoServiceType ==
|
|
|
|
kEplSdoServiceReadByIndex)) {
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->m_bTransactionId++;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferFinished);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// check if segemted transfer
|
|
|
|
if (pSdoComCon->m_SdoTransType ==
|
|
|
|
kEplSdoTransSegmented) {
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientSegmTrans;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// frame received
|
|
|
|
case kEplSdoComConEventRec:
|
|
|
|
{
|
|
|
|
// check if the frame is a SDO response and has the right transaction ID
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->
|
|
|
|
m_le_bFlags);
|
|
|
|
if (((bFlag & 0x80) != 0)
|
|
|
|
&&
|
|
|
|
(AmiGetByteFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_bTransactionId) ==
|
|
|
|
pSdoComCon->m_bTransactionId)) {
|
|
|
|
// check if abort or not
|
|
|
|
if ((bFlag & 0x40) != 0) {
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl, 0,
|
|
|
|
(tEplFrame *)
|
|
|
|
NULL);
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->
|
|
|
|
m_bTransactionId++;
|
|
|
|
// save abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode =
|
|
|
|
AmiGetDwordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0]);
|
|
|
|
// call callback of application
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferRxAborted);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
} else { // normal frame received
|
|
|
|
// check frame
|
|
|
|
Ret =
|
|
|
|
EplSdoComClientProcessFrame
|
|
|
|
(SdoComCon_p,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
|
|
|
|
// check if transfer ready
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_uiTransSize ==
|
|
|
|
0) {
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
0,
|
|
|
|
(tEplFrame
|
|
|
|
*) NULL);
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->
|
|
|
|
m_bTransactionId++;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
= 0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferFinished);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
} else { // this command layer handle is not responsible
|
|
|
|
// (wrong direction or wrong transaction ID)
|
|
|
|
Ret = kEplSdoComNotResponsible;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// connection closed event go back to kEplSdoComStateClientWaitInit
|
|
|
|
case kEplSdoComConEventConClosed:
|
|
|
|
{ // connection closed by communication partner
|
|
|
|
// close sequence layer handle
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
// set handle to invalid and enter kEplSdoComStateClientWaitInit
|
|
|
|
pSdoComCon->m_SdoSeqConHdl |=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientWaitInit;
|
|
|
|
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode = 0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferLowerLayerAbort);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// abort to send from higher layer
|
|
|
|
case kEplSdoComConEventAbort:
|
|
|
|
{
|
|
|
|
EplSdoComClientSendAbort(pSdoComCon,
|
2009-03-23 19:51:37 +00:00
|
|
|
*((u32 *)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon->
|
|
|
|
m_pData));
|
|
|
|
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->m_bTransactionId++;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
2009-03-23 19:51:37 +00:00
|
|
|
*((u32 *) pSdoComCon->m_pData);
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferTxAborted);
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoComConEventInitError:
|
|
|
|
case kEplSdoComConEventTimeout:
|
|
|
|
{
|
|
|
|
// close sequence layer handle
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
pSdoComCon->m_SdoSeqConHdl |=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientWaitInit;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_TIME_OUT;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferLowerLayerAbort);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
// d.k. do nothing
|
|
|
|
break;
|
|
|
|
|
|
|
|
} // end of switch(SdoComConEvent_p)
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// process segmented transfer
|
|
|
|
case kEplSdoComStateClientSegmTrans:
|
|
|
|
{
|
|
|
|
// check events
|
|
|
|
switch (SdoComConEvent_p) {
|
|
|
|
// sned a frame
|
|
|
|
case kEplSdoComConEventSendFirst:
|
|
|
|
case kEplSdoComConEventAckReceived:
|
|
|
|
case kEplSdoComConEventFrameSended:
|
|
|
|
{
|
|
|
|
Ret = EplSdoComClientSend(pSdoComCon);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// check if read transfer finished
|
|
|
|
if ((pSdoComCon->m_uiTransSize == 0)
|
|
|
|
&& (pSdoComCon->m_SdoServiceType ==
|
|
|
|
kEplSdoServiceReadByIndex)) {
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->m_bTransactionId++;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientConnected;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferFinished);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// frame received
|
|
|
|
case kEplSdoComConEventRec:
|
|
|
|
{
|
|
|
|
// check if the frame is a response
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->
|
|
|
|
m_le_bFlags);
|
|
|
|
if (((bFlag & 0x80) != 0)
|
|
|
|
&&
|
|
|
|
(AmiGetByteFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_bTransactionId) ==
|
|
|
|
pSdoComCon->m_bTransactionId)) {
|
|
|
|
// check if abort or not
|
|
|
|
if ((bFlag & 0x40) != 0) {
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl, 0,
|
|
|
|
(tEplFrame *)
|
|
|
|
NULL);
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->
|
|
|
|
m_bTransactionId++;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState =
|
|
|
|
kEplSdoComStateClientConnected;
|
|
|
|
// save abort code
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode =
|
|
|
|
AmiGetDwordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0]);
|
|
|
|
// call callback of application
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferRxAborted);
|
|
|
|
|
|
|
|
goto Exit;
|
|
|
|
} else { // normal frame received
|
|
|
|
// check frame
|
|
|
|
Ret =
|
|
|
|
EplSdoComClientProcessFrame
|
|
|
|
(SdoComCon_p,
|
|
|
|
pAsySdoCom_p);
|
|
|
|
|
|
|
|
// check if transfer ready
|
|
|
|
if (pSdoComCon->
|
|
|
|
m_uiTransSize ==
|
|
|
|
0) {
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData
|
|
|
|
(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
0,
|
|
|
|
(tEplFrame
|
|
|
|
*) NULL);
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->
|
|
|
|
m_bTransactionId++;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->
|
|
|
|
m_SdoComState
|
|
|
|
=
|
|
|
|
kEplSdoComStateClientConnected;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
= 0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferFinished);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// connection closed event go back to kEplSdoComStateClientWaitInit
|
|
|
|
case kEplSdoComConEventConClosed:
|
|
|
|
{ // connection closed by communication partner
|
|
|
|
// close sequence layer handle
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
// set handle to invalid and enter kEplSdoComStateClientWaitInit
|
|
|
|
pSdoComCon->m_SdoSeqConHdl |=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientWaitInit;
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->m_bTransactionId++;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode = 0;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferFinished);
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// abort to send from higher layer
|
|
|
|
case kEplSdoComConEventAbort:
|
|
|
|
{
|
|
|
|
EplSdoComClientSendAbort(pSdoComCon,
|
2009-03-23 19:51:37 +00:00
|
|
|
*((u32 *)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon->
|
|
|
|
m_pData));
|
|
|
|
|
|
|
|
// inc transaction id
|
|
|
|
pSdoComCon->m_bTransactionId++;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientConnected;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
2009-03-23 19:51:37 +00:00
|
|
|
*((u32 *) pSdoComCon->m_pData);
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferTxAborted);
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoComConEventInitError:
|
|
|
|
case kEplSdoComConEventTimeout:
|
|
|
|
{
|
|
|
|
// close sequence layer handle
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqDelCon(pSdoComCon->
|
|
|
|
m_SdoSeqConHdl);
|
|
|
|
pSdoComCon->m_SdoSeqConHdl |=
|
|
|
|
EPL_SDO_SEQ_INVALID_HDL;
|
|
|
|
// change state
|
|
|
|
pSdoComCon->m_SdoComState =
|
|
|
|
kEplSdoComStateClientWaitInit;
|
|
|
|
// call callback of application
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_TIME_OUT;
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferLowerLayerAbort);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
// d.k. do nothing
|
|
|
|
break;
|
|
|
|
|
|
|
|
} // end of switch(SdoComConEvent_p)
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif // endo of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
} // end of switch(pSdoComCon->m_SdoComState)
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
Exit:
|
2008-12-19 19:41:57 +00:00
|
|
|
#endif
|
|
|
|
|
|
|
|
#if defined(WIN32) || defined(_WIN32)
|
2008-12-20 01:11:52 +00:00
|
|
|
// leave critical section for process function
|
|
|
|
EPL_DBGLVL_SDO_TRACE0
|
|
|
|
("\n\tLeaveCriticalSection EplSdoComProcessIntern\n\n");
|
|
|
|
LeaveCriticalSection(SdoComInstance_g.m_pCriticalSection);
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComServerInitReadByIndex
|
|
|
|
//
|
|
|
|
// Description: function start the processing of an read by index command
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
|
// pAsySdoCom_p = pointer to received frame
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon * pSdoComCon_p,
|
|
|
|
tEplAsySdoCom * pAsySdoCom_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
unsigned int uiIndex;
|
|
|
|
unsigned int uiSubindex;
|
|
|
|
tEplObdSize EntrySize;
|
|
|
|
tEplObdAccess AccessType;
|
2009-03-23 19:51:37 +00:00
|
|
|
u32 dwAbortCode;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
dwAbortCode = 0;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// a init of a read could not be a segmented transfer
|
|
|
|
// -> no variable part of header
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// get index and subindex
|
|
|
|
uiIndex = AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
|
|
|
|
uiSubindex = AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]);
|
2008-12-19 19:41:57 +00:00
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// check accesstype of entry
|
|
|
|
// existens of entry
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType);
|
2008-12-19 19:41:57 +00:00
|
|
|
/*#else
|
|
|
|
Ret = kEplObdSubindexNotExist;
|
|
|
|
AccessType = 0;
|
|
|
|
#endif*/
|
2008-12-20 01:11:52 +00:00
|
|
|
if (Ret == kEplObdSubindexNotExist) { // subentry doesn't exist
|
|
|
|
dwAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST;
|
|
|
|
// send abort
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon_p->m_pData = (u8 *) & dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
goto Exit;
|
|
|
|
} else if (Ret != kEplSuccessful) { // entry doesn't exist
|
|
|
|
dwAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST;
|
|
|
|
// send abort
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon_p->m_pData = (u8 *) & dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// compare accesstype must be read or const
|
|
|
|
if (((AccessType & kEplObdAccRead) == 0)
|
|
|
|
&& ((AccessType & kEplObdAccConst) == 0)) {
|
|
|
|
|
|
|
|
if ((AccessType & kEplObdAccWrite) != 0) {
|
|
|
|
// entry read a write only object
|
|
|
|
dwAbortCode = EPL_SDOAC_READ_TO_WRITE_ONLY_OBJ;
|
|
|
|
} else {
|
|
|
|
dwAbortCode = EPL_SDOAC_UNSUPPORTED_ACCESS;
|
|
|
|
}
|
|
|
|
// send abort
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon_p->m_pData = (u8 *) & dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// save service
|
|
|
|
pSdoComCon_p->m_SdoServiceType = kEplSdoServiceReadByIndex;
|
|
|
|
|
|
|
|
// get size of object to see iof segmented or expedited transfer
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
EntrySize = EplObduGetDataSize(uiIndex, uiSubindex);
|
2008-12-19 19:41:57 +00:00
|
|
|
/*#else
|
|
|
|
EntrySize = 0;
|
|
|
|
#endif*/
|
2008-12-20 01:11:52 +00:00
|
|
|
if (EntrySize > EPL_SDO_MAX_PAYLOAD) { // segmented transfer
|
|
|
|
pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented;
|
|
|
|
// get pointer to object-entry data
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->m_pData =
|
|
|
|
EplObduGetObjectDataPtr(uiIndex, uiSubindex);
|
2008-12-19 19:41:57 +00:00
|
|
|
//#endif
|
2008-12-20 01:11:52 +00:00
|
|
|
} else { // expedited transfer
|
|
|
|
pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
|
|
|
|
}
|
|
|
|
|
|
|
|
pSdoComCon_p->m_uiTransSize = EntrySize;
|
|
|
|
pSdoComCon_p->m_uiTransferredByte = 0;
|
|
|
|
|
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex, kEplSdoComSendTypeRes);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
// error -> abort
|
|
|
|
dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
|
|
|
|
// send abort
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon_p->m_pData = (u8 *) & dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComServerSendFrameIntern();
|
|
|
|
//
|
|
|
|
// Description: function creats and send a frame for server
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
|
// uiIndex_p = index to send if expedited transfer else 0
|
|
|
|
// uiSubIndex_p = subindex to send if expedited transfer else 0
|
|
|
|
// SendType_p = to of frame to send
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon * pSdoComCon_p,
|
|
|
|
unsigned int uiIndex_p,
|
|
|
|
unsigned int uiSubIndex_p,
|
|
|
|
tEplSdoComSendType SendType_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 abFrame[EPL_MAX_SDO_FRAME_SIZE];
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplFrame *pFrame;
|
|
|
|
tEplAsySdoCom *pCommandFrame;
|
|
|
|
unsigned int uiSizeOfFrame;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 bFlag;
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
pFrame = (tEplFrame *) & abFrame[0];
|
|
|
|
|
|
|
|
EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
|
|
|
|
|
|
|
|
// build generic part of frame
|
|
|
|
// get pointer to command layerpart of frame
|
|
|
|
pCommandFrame =
|
|
|
|
&pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.
|
|
|
|
m_le_abSdoSeqPayload;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bCommandId,
|
|
|
|
pSdoComCon_p->m_SdoServiceType);
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId,
|
|
|
|
pSdoComCon_p->m_bTransactionId);
|
|
|
|
|
|
|
|
// set size to header size
|
|
|
|
uiSizeOfFrame = 8;
|
|
|
|
|
|
|
|
// check SendType
|
|
|
|
switch (SendType_p) {
|
|
|
|
// requestframe to send
|
|
|
|
case kEplSdoComSendTypeReq:
|
|
|
|
{
|
|
|
|
// nothing to do for server
|
|
|
|
//-> error
|
|
|
|
Ret = kEplSdoComInvalidSendType;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// response without data to send
|
|
|
|
case kEplSdoComSendTypeAckRes:
|
|
|
|
{
|
|
|
|
// set response flag
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bFlags, 0x80);
|
|
|
|
|
|
|
|
// send frame
|
|
|
|
Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame, pFrame);
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// responsframe to send
|
|
|
|
case kEplSdoComSendTypeRes:
|
|
|
|
{
|
|
|
|
// set response flag
|
|
|
|
bFlag = AmiGetByteFromLe(&pCommandFrame->m_le_bFlags);
|
|
|
|
bFlag |= 0x80;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
|
|
|
|
|
|
|
|
// check type of resonse
|
|
|
|
if (pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited) { // Expedited transfer
|
|
|
|
// copy data in frame
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplObduReadEntryToLe(uiIndex_p,
|
|
|
|
uiSubIndex_p,
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
(tEplObdSize *) &
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
if (Ret != kEplSuccessful) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
//#endif
|
|
|
|
|
2008-12-20 01:11:52 +00:00
|
|
|
// set size of frame
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16) pSdoComCon_p->
|
2008-12-20 01:11:52 +00:00
|
|
|
m_uiTransSize);
|
|
|
|
|
|
|
|
// correct byte-counter
|
|
|
|
uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
|
|
|
|
pSdoComCon_p->m_uiTransferredByte +=
|
|
|
|
pSdoComCon_p->m_uiTransSize;
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
|
|
|
|
// send frame
|
|
|
|
uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData(pSdoComCon_p->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame, pFrame);
|
|
|
|
} else if (pSdoComCon_p->m_SdoTransType == kEplSdoTransSegmented) { // segmented transfer
|
|
|
|
// distinguish between init, segment and complete
|
|
|
|
if (pSdoComCon_p->m_uiTransferredByte == 0) { // init
|
|
|
|
// set init flag
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pCommandFrame->
|
|
|
|
m_le_bFlags);
|
|
|
|
bFlag |= 0x10;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->
|
|
|
|
m_le_bFlags, bFlag);
|
|
|
|
// init variable header
|
|
|
|
AmiSetDwordToLe(&pCommandFrame->
|
|
|
|
m_le_abCommandData[0],
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
// copy data in frame
|
|
|
|
EPL_MEMCPY(&pCommandFrame->
|
|
|
|
m_le_abCommandData[4],
|
|
|
|
pSdoComCon_p->m_pData,
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 4));
|
|
|
|
|
|
|
|
// correct byte-counter
|
|
|
|
pSdoComCon_p->m_uiTransSize -=
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 4);
|
|
|
|
pSdoComCon_p->m_uiTransferredByte +=
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 4);
|
|
|
|
// move data pointer
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 4);
|
|
|
|
|
|
|
|
// set segment size
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
|
|
|
(EPL_SDO_MAX_PAYLOAD -
|
|
|
|
4));
|
|
|
|
|
|
|
|
// send frame
|
|
|
|
uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData(pSdoComCon_p->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame,
|
|
|
|
pFrame);
|
|
|
|
|
|
|
|
} else
|
|
|
|
if ((pSdoComCon_p->m_uiTransferredByte > 0)
|
|
|
|
&& (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD)) { // segment
|
|
|
|
// set segment flag
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pCommandFrame->
|
|
|
|
m_le_bFlags);
|
|
|
|
bFlag |= 0x20;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->
|
|
|
|
m_le_bFlags, bFlag);
|
|
|
|
|
|
|
|
// copy data in frame
|
|
|
|
EPL_MEMCPY(&pCommandFrame->
|
|
|
|
m_le_abCommandData[0],
|
|
|
|
pSdoComCon_p->m_pData,
|
|
|
|
EPL_SDO_MAX_PAYLOAD);
|
|
|
|
|
|
|
|
// correct byte-counter
|
|
|
|
pSdoComCon_p->m_uiTransSize -=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
pSdoComCon_p->m_uiTransferredByte +=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
// move data pointer
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
|
|
|
|
// set segment size
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
|
|
|
EPL_SDO_MAX_PAYLOAD);
|
|
|
|
|
|
|
|
// send frame
|
|
|
|
uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData(pSdoComCon_p->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame,
|
|
|
|
pFrame);
|
|
|
|
} else {
|
|
|
|
if ((pSdoComCon_p->m_uiTransSize == 0)
|
|
|
|
&& (pSdoComCon_p->
|
|
|
|
m_SdoServiceType !=
|
|
|
|
kEplSdoServiceWriteByIndex)) {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
// complete
|
|
|
|
// set segment complete flag
|
|
|
|
bFlag =
|
|
|
|
AmiGetByteFromLe(&pCommandFrame->
|
|
|
|
m_le_bFlags);
|
|
|
|
bFlag |= 0x30;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->
|
|
|
|
m_le_bFlags, bFlag);
|
|
|
|
|
|
|
|
// copy data in frame
|
|
|
|
EPL_MEMCPY(&pCommandFrame->
|
|
|
|
m_le_abCommandData[0],
|
|
|
|
pSdoComCon_p->m_pData,
|
|
|
|
pSdoComCon_p->m_uiTransSize);
|
|
|
|
|
|
|
|
// correct byte-counter
|
|
|
|
pSdoComCon_p->m_uiTransferredByte +=
|
|
|
|
pSdoComCon_p->m_uiTransSize;
|
|
|
|
|
|
|
|
// move data pointer
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
pSdoComCon_p->m_uiTransSize;
|
|
|
|
|
|
|
|
// set segment size
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16) pSdoComCon_p->
|
2008-12-20 01:11:52 +00:00
|
|
|
m_uiTransSize);
|
|
|
|
|
|
|
|
// send frame
|
|
|
|
uiSizeOfFrame +=
|
|
|
|
pSdoComCon_p->m_uiTransSize;
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
Ret =
|
|
|
|
EplSdoAsySeqSendData(pSdoComCon_p->
|
|
|
|
m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame,
|
|
|
|
pFrame);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
// abort to send
|
|
|
|
case kEplSdoComSendTypeAbort:
|
|
|
|
{
|
|
|
|
// set response and abort flag
|
|
|
|
bFlag = AmiGetByteFromLe(&pCommandFrame->m_le_bFlags);
|
|
|
|
bFlag |= 0xC0;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
|
|
|
|
|
|
|
|
// copy abortcode to frame
|
|
|
|
AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0],
|
2009-03-23 19:51:37 +00:00
|
|
|
*((u32 *) pSdoComCon_p->m_pData));
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
// set size of segment
|
|
|
|
AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize,
|
2009-03-23 19:51:37 +00:00
|
|
|
sizeof(u32));
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
// update counter
|
2009-03-23 19:51:37 +00:00
|
|
|
pSdoComCon_p->m_uiTransferredByte = sizeof(u32);
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
|
|
|
|
// calc framesize
|
2009-03-23 19:51:37 +00:00
|
|
|
uiSizeOfFrame += sizeof(u32);
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame, pFrame);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
} // end of switch(SendType_p)
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComServerInitWriteByIndex
|
|
|
|
//
|
|
|
|
// Description: function start the processing of an write by index command
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
|
// pAsySdoCom_p = pointer to received frame
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon * pSdoComCon_p,
|
|
|
|
tEplAsySdoCom * pAsySdoCom_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret = kEplSuccessful;
|
|
|
|
unsigned int uiIndex;
|
|
|
|
unsigned int uiSubindex;
|
|
|
|
unsigned int uiBytesToTransfer;
|
|
|
|
tEplObdSize EntrySize;
|
|
|
|
tEplObdAccess AccessType;
|
2009-03-23 19:51:37 +00:00
|
|
|
u32 dwAbortCode;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 *pbSrcData;
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
dwAbortCode = 0;
|
|
|
|
|
|
|
|
// a init of a write
|
|
|
|
// -> variable part of header possible
|
|
|
|
|
|
|
|
// check if expedited or segmented transfer
|
|
|
|
if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x10) { // initiate segmented transfer
|
|
|
|
pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented;
|
|
|
|
// get index and subindex
|
|
|
|
uiIndex =
|
|
|
|
AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[4]);
|
|
|
|
uiSubindex =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[6]);
|
|
|
|
// get source-pointer for copy
|
|
|
|
pbSrcData = &pAsySdoCom_p->m_le_abCommandData[8];
|
|
|
|
// save size
|
|
|
|
pSdoComCon_p->m_uiTransSize =
|
|
|
|
AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
|
|
|
|
|
|
|
|
} else if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x00) { // expedited transfer
|
|
|
|
pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
|
|
|
|
// get index and subindex
|
|
|
|
uiIndex =
|
|
|
|
AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
|
|
|
|
uiSubindex =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]);
|
|
|
|
// get source-pointer for copy
|
|
|
|
pbSrcData = &pAsySdoCom_p->m_le_abCommandData[4];
|
|
|
|
// save size
|
|
|
|
pSdoComCon_p->m_uiTransSize =
|
|
|
|
AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
|
|
|
|
// subtract header
|
|
|
|
pSdoComCon_p->m_uiTransSize -= 4;
|
|
|
|
|
|
|
|
} else {
|
|
|
|
// just ignore any other transfer type
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check accesstype of entry
|
|
|
|
// existens of entry
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType);
|
2008-12-19 19:41:57 +00:00
|
|
|
/*#else
|
|
|
|
Ret = kEplObdSubindexNotExist;
|
|
|
|
AccessType = 0;
|
|
|
|
#endif*/
|
2008-12-20 01:11:52 +00:00
|
|
|
if (Ret == kEplObdSubindexNotExist) { // subentry doesn't exist
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST;
|
|
|
|
// send abort
|
|
|
|
// d.k. This is wrong: k.t. not needed send abort on end of write
|
2009-03-23 19:36:38 +00:00
|
|
|
/*pSdoComCon_p->m_pData = (u8*)pSdoComCon_p->m_dwLastAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort); */
|
|
|
|
goto Abort;
|
|
|
|
} else if (Ret != kEplSuccessful) { // entry doesn't exist
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST;
|
|
|
|
// send abort
|
|
|
|
// d.k. This is wrong: k.t. not needed send abort on end of write
|
|
|
|
/*
|
2009-03-23 19:36:38 +00:00
|
|
|
pSdoComCon_p->m_pData = (u8*)&dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort); */
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
// compare accesstype must be read
|
|
|
|
if ((AccessType & kEplObdAccWrite) == 0) {
|
|
|
|
|
|
|
|
if ((AccessType & kEplObdAccRead) != 0) {
|
|
|
|
// entry write a read only object
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_WRITE_TO_READ_ONLY_OBJ;
|
|
|
|
} else {
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_UNSUPPORTED_ACCESS;
|
|
|
|
}
|
|
|
|
// send abort
|
|
|
|
// d.k. This is wrong: k.t. not needed send abort on end of write
|
2009-03-23 19:36:38 +00:00
|
|
|
/*pSdoComCon_p->m_pData = (u8*)&dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort); */
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
// save service
|
|
|
|
pSdoComCon_p->m_SdoServiceType = kEplSdoServiceWriteByIndex;
|
|
|
|
|
|
|
|
pSdoComCon_p->m_uiTransferredByte = 0;
|
|
|
|
|
|
|
|
// write data to OD
|
|
|
|
if (pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited) { // expedited transfer
|
|
|
|
// size checking is done by EplObduWriteEntryFromLe()
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplObduWriteEntryFromLe(uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
pbSrcData,
|
|
|
|
pSdoComCon_p->m_uiTransSize);
|
|
|
|
switch (Ret) {
|
|
|
|
case kEplSuccessful:
|
|
|
|
{
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplObdAccessViolation:
|
|
|
|
{
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_UNSUPPORTED_ACCESS;
|
|
|
|
// send abort
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplObdValueLengthError:
|
|
|
|
{
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_DATA_TYPE_LENGTH_NOT_MATCH;
|
|
|
|
// send abort
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplObdValueTooHigh:
|
|
|
|
{
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_VALUE_RANGE_TOO_HIGH;
|
|
|
|
// send abort
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplObdValueTooLow:
|
|
|
|
{
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_VALUE_RANGE_TOO_LOW;
|
|
|
|
// send abort
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_GENERAL_ERROR;
|
|
|
|
// send abort
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
}
|
2008-12-19 19:41:57 +00:00
|
|
|
//#endif
|
2008-12-20 01:11:52 +00:00
|
|
|
// send command acknowledge
|
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
kEplSdoComSendTypeAckRes);
|
|
|
|
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
goto Exit;
|
|
|
|
} else {
|
|
|
|
// get size of the object to check if it fits
|
|
|
|
// because we directly write to the destination memory
|
|
|
|
// d.k. no one calls the user OD callback function
|
|
|
|
|
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
|
|
|
EntrySize = EplObduGetDataSize(uiIndex, uiSubindex);
|
|
|
|
/*#else
|
|
|
|
EntrySize = 0;
|
|
|
|
#endif */
|
|
|
|
if (EntrySize < pSdoComCon_p->m_uiTransSize) { // parameter too big
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH;
|
|
|
|
// send abort
|
|
|
|
// d.k. This is wrong: k.t. not needed send abort on end of write
|
2009-03-23 19:36:38 +00:00
|
|
|
/*pSdoComCon_p->m_pData = (u8*)&dwAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort); */
|
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
|
|
|
|
uiBytesToTransfer =
|
|
|
|
AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
|
|
|
|
// eleminate header (Command header (8) + variable part (4) + Command header (4))
|
|
|
|
uiBytesToTransfer -= 16;
|
|
|
|
// get pointer to object entry
|
2008-12-19 19:41:57 +00:00
|
|
|
//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->m_pData = EplObduGetObjectDataPtr(uiIndex,
|
|
|
|
uiSubindex);
|
2008-12-19 19:41:57 +00:00
|
|
|
//#endif
|
2008-12-20 01:11:52 +00:00
|
|
|
if (pSdoComCon_p->m_pData == NULL) {
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_GENERAL_ERROR;
|
|
|
|
// send abort
|
|
|
|
// d.k. This is wrong: k.t. not needed send abort on end of write
|
2009-03-23 19:36:38 +00:00
|
|
|
/* pSdoComCon_p->m_pData = (u8*)&pSdoComCon_p->m_dwLastAbortCode;
|
2008-12-19 19:41:57 +00:00
|
|
|
Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
|
|
|
|
uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);*/
|
2008-12-20 01:11:52 +00:00
|
|
|
goto Abort;
|
|
|
|
}
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pSdoComCon_p->m_pData, pbSrcData, uiBytesToTransfer);
|
|
|
|
|
|
|
|
// update internal counter
|
|
|
|
pSdoComCon_p->m_uiTransferredByte = uiBytesToTransfer;
|
|
|
|
pSdoComCon_p->m_uiTransSize -= uiBytesToTransfer;
|
|
|
|
|
|
|
|
// update target pointer
|
2009-03-23 19:36:38 +00:00
|
|
|
( /*(u8*) */ pSdoComCon_p->m_pData) += uiBytesToTransfer;
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
// send acknowledge without any Command layer data
|
|
|
|
Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
|
|
|
|
0, (tEplFrame *) NULL);
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
Abort:
|
|
|
|
if (pSdoComCon_p->m_dwLastAbortCode != 0) {
|
|
|
|
// send abort
|
|
|
|
pSdoComCon_p->m_pData =
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8 *) & pSdoComCon_p->m_dwLastAbortCode;
|
2008-12-20 01:11:52 +00:00
|
|
|
Ret =
|
|
|
|
EplSdoComServerSendFrameIntern(pSdoComCon_p, uiIndex,
|
|
|
|
uiSubindex,
|
|
|
|
kEplSdoComSendTypeAbort);
|
|
|
|
|
|
|
|
// reset abort code
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode = 0;
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComClientSend
|
|
|
|
//
|
|
|
|
// Description: function starts an sdo transfer an send all further frames
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComClientSend(tEplSdoComCon * pSdoComCon_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 abFrame[EPL_MAX_SDO_FRAME_SIZE];
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplFrame *pFrame;
|
|
|
|
tEplAsySdoCom *pCommandFrame;
|
|
|
|
unsigned int uiSizeOfFrame;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 bFlags;
|
|
|
|
u8 *pbPayload;
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
pFrame = (tEplFrame *) & abFrame[0];
|
|
|
|
|
|
|
|
EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
|
|
|
|
|
|
|
|
// build generic part of frame
|
|
|
|
// get pointer to command layerpart of frame
|
|
|
|
pCommandFrame =
|
|
|
|
&pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.
|
|
|
|
m_le_abSdoSeqPayload;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bCommandId,
|
|
|
|
pSdoComCon_p->m_SdoServiceType);
|
|
|
|
AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId,
|
|
|
|
pSdoComCon_p->m_bTransactionId);
|
|
|
|
|
|
|
|
// set size constant part of header
|
|
|
|
uiSizeOfFrame = 8;
|
|
|
|
|
|
|
|
// check if first frame to send -> command header needed
|
|
|
|
if (pSdoComCon_p->m_uiTransSize > 0) {
|
|
|
|
if (pSdoComCon_p->m_uiTransferredByte == 0) { // start SDO transfer
|
|
|
|
// check if segmented or expedited transfer
|
|
|
|
// only for write commands
|
|
|
|
switch (pSdoComCon_p->m_SdoServiceType) {
|
|
|
|
case kEplSdoServiceReadByIndex:
|
|
|
|
{ // first frame of read access always expedited
|
|
|
|
pSdoComCon_p->m_SdoTransType =
|
|
|
|
kEplSdoTransExpedited;
|
|
|
|
pbPayload =
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData[0];
|
|
|
|
// fill rest of header
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize, 4);
|
|
|
|
|
|
|
|
// create command header
|
|
|
|
AmiSetWordToLe(pbPayload,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16) pSdoComCon_p->
|
2008-12-20 01:11:52 +00:00
|
|
|
m_uiTargetIndex);
|
|
|
|
pbPayload += 2;
|
|
|
|
AmiSetByteToLe(pbPayload,
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8) pSdoComCon_p->
|
2008-12-20 01:11:52 +00:00
|
|
|
m_uiTargetSubIndex);
|
|
|
|
// calc size
|
|
|
|
uiSizeOfFrame += 4;
|
|
|
|
|
|
|
|
// set pSdoComCon_p->m_uiTransferredByte to one
|
|
|
|
pSdoComCon_p->m_uiTransferredByte = 1;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceWriteByIndex:
|
|
|
|
{
|
|
|
|
if (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD) { // segmented transfer
|
|
|
|
// -> variable part of header needed
|
|
|
|
// save that transfer is segmented
|
|
|
|
pSdoComCon_p->m_SdoTransType =
|
|
|
|
kEplSdoTransSegmented;
|
|
|
|
// fill variable part of header
|
|
|
|
AmiSetDwordToLe(&pCommandFrame->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
// set pointer to real payload
|
|
|
|
pbPayload =
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData[4];
|
|
|
|
// fill rest of header
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
|
|
|
EPL_SDO_MAX_PAYLOAD);
|
|
|
|
bFlags = 0x10;
|
|
|
|
AmiSetByteToLe(&pCommandFrame->
|
|
|
|
m_le_bFlags,
|
|
|
|
bFlags);
|
|
|
|
// create command header
|
|
|
|
AmiSetWordToLe(pbPayload,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTargetIndex);
|
|
|
|
pbPayload += 2;
|
|
|
|
AmiSetByteToLe(pbPayload,
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTargetSubIndex);
|
|
|
|
// on byte for reserved
|
|
|
|
pbPayload += 2;
|
|
|
|
// calc size
|
|
|
|
uiSizeOfFrame +=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
|
|
|
|
// copy payload
|
|
|
|
EPL_MEMCPY(pbPayload,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_pData,
|
|
|
|
(EPL_SDO_MAX_PAYLOAD
|
|
|
|
- 8));
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 8);
|
|
|
|
// correct intern counter
|
|
|
|
pSdoComCon_p->m_uiTransSize -=
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 8);
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransferredByte =
|
|
|
|
(EPL_SDO_MAX_PAYLOAD - 8);
|
|
|
|
|
|
|
|
} else { // expedited trandsfer
|
|
|
|
// save that transfer is expedited
|
|
|
|
pSdoComCon_p->m_SdoTransType =
|
|
|
|
kEplSdoTransExpedited;
|
|
|
|
pbPayload =
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData[0];
|
|
|
|
|
|
|
|
// create command header
|
|
|
|
AmiSetWordToLe(pbPayload,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTargetIndex);
|
|
|
|
pbPayload += 2;
|
|
|
|
AmiSetByteToLe(pbPayload,
|
2009-03-23 19:36:38 +00:00
|
|
|
(u8)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTargetSubIndex);
|
|
|
|
// + 2 -> one byte for subindex and one byte reserved
|
|
|
|
pbPayload += 2;
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pbPayload,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_pData,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
// calc size
|
|
|
|
uiSizeOfFrame +=
|
|
|
|
(4 +
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
// fill rest of header
|
|
|
|
AmiSetWordToLe(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16) (4 +
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize));
|
|
|
|
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransferredByte =
|
|
|
|
pSdoComCon_p->m_uiTransSize;
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceNIL:
|
|
|
|
default:
|
|
|
|
// invalid service requested
|
|
|
|
Ret = kEplSdoComInvalidServiceType;
|
|
|
|
goto Exit;
|
|
|
|
} // end of switch(pSdoComCon_p->m_SdoServiceType)
|
|
|
|
} else // (pSdoComCon_p->m_uiTransferredByte > 0)
|
|
|
|
{ // continue SDO transfer
|
|
|
|
switch (pSdoComCon_p->m_SdoServiceType) {
|
|
|
|
// for expedited read is nothing to do
|
|
|
|
// -> server sends data
|
|
|
|
|
|
|
|
case kEplSdoServiceWriteByIndex:
|
|
|
|
{ // send next frame
|
|
|
|
if (pSdoComCon_p->m_SdoTransType ==
|
|
|
|
kEplSdoTransSegmented) {
|
|
|
|
if (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD) { // next segment
|
|
|
|
pbPayload =
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0];
|
|
|
|
// fill rest of header
|
|
|
|
AmiSetWordToLe
|
|
|
|
(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
|
|
|
EPL_SDO_MAX_PAYLOAD);
|
|
|
|
bFlags = 0x20;
|
|
|
|
AmiSetByteToLe
|
|
|
|
(&pCommandFrame->
|
|
|
|
m_le_bFlags,
|
|
|
|
bFlags);
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pbPayload,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_pData,
|
|
|
|
EPL_SDO_MAX_PAYLOAD);
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
// correct intern counter
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize -=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransferredByte
|
|
|
|
=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
// calc size
|
|
|
|
uiSizeOfFrame +=
|
|
|
|
EPL_SDO_MAX_PAYLOAD;
|
|
|
|
|
|
|
|
} else { // end of transfer
|
|
|
|
pbPayload =
|
|
|
|
&pCommandFrame->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0];
|
|
|
|
// fill rest of header
|
|
|
|
AmiSetWordToLe
|
|
|
|
(&pCommandFrame->
|
|
|
|
m_le_wSegmentSize,
|
2009-03-23 19:57:39 +00:00
|
|
|
(u16)
|
2008-12-20 01:11:52 +00:00
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
bFlags = 0x30;
|
|
|
|
AmiSetByteToLe
|
|
|
|
(&pCommandFrame->
|
|
|
|
m_le_bFlags,
|
|
|
|
bFlags);
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pbPayload,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_pData,
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize);
|
|
|
|
pSdoComCon_p->m_pData +=
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize;
|
|
|
|
// calc size
|
|
|
|
uiSizeOfFrame +=
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize;
|
|
|
|
// correct intern counter
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize = 0;
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransferredByte
|
|
|
|
=
|
|
|
|
pSdoComCon_p->
|
|
|
|
m_uiTransSize;
|
|
|
|
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
} // end of switch(pSdoComCon_p->m_SdoServiceType)
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
// call send function of lower layer
|
|
|
|
switch (pSdoComCon_p->m_SdoProtType) {
|
|
|
|
case kEplSdoTypeAsnd:
|
|
|
|
case kEplSdoTypeUdp:
|
|
|
|
{
|
|
|
|
Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame, pFrame);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
Ret = kEplSdoComUnsupportedProt;
|
|
|
|
}
|
|
|
|
} // end of switch(pSdoComCon_p->m_SdoProtType)
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComClientProcessFrame
|
|
|
|
//
|
|
|
|
// Description: function process a received frame
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: SdoComCon_p = connection handle
|
|
|
|
// pAsySdoCom_p = pointer to frame to process
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p,
|
|
|
|
tEplAsySdoCom * pAsySdoCom_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
2009-03-23 19:36:38 +00:00
|
|
|
u8 bBuffer;
|
2008-12-20 01:11:52 +00:00
|
|
|
unsigned int uiBuffer;
|
|
|
|
unsigned int uiDataSize;
|
|
|
|
unsigned long ulBuffer;
|
|
|
|
tEplSdoComCon *pSdoComCon;
|
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
// get pointer to control structure
|
|
|
|
pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p];
|
|
|
|
|
|
|
|
// check if transaction Id fit
|
|
|
|
bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId);
|
|
|
|
if (pSdoComCon->m_bTransactionId != bBuffer) {
|
|
|
|
// incorrect transaction id
|
|
|
|
|
|
|
|
// if running transfer
|
|
|
|
if ((pSdoComCon->m_uiTransferredByte != 0)
|
|
|
|
&& (pSdoComCon->m_uiTransSize != 0)) {
|
|
|
|
pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR;
|
|
|
|
// -> send abort
|
|
|
|
EplSdoComClientSendAbort(pSdoComCon,
|
|
|
|
pSdoComCon->m_dwLastAbortCode);
|
|
|
|
// call callback of application
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished(SdoComCon_p, pSdoComCon,
|
|
|
|
kEplSdoComTransferTxAborted);
|
|
|
|
}
|
|
|
|
|
|
|
|
} else { // check if correct command
|
|
|
|
bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bCommandId);
|
|
|
|
if (pSdoComCon->m_SdoServiceType != bBuffer) {
|
|
|
|
// incorrect command
|
|
|
|
// if running transfer
|
|
|
|
if ((pSdoComCon->m_uiTransferredByte != 0)
|
|
|
|
&& (pSdoComCon->m_uiTransSize != 0)) {
|
|
|
|
pSdoComCon->m_dwLastAbortCode =
|
|
|
|
EPL_SDOAC_GENERAL_ERROR;
|
|
|
|
// -> send abort
|
|
|
|
EplSdoComClientSendAbort(pSdoComCon,
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode);
|
|
|
|
// call callback of application
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferTxAborted);
|
|
|
|
}
|
|
|
|
|
|
|
|
} else { // switch on command
|
|
|
|
switch (pSdoComCon->m_SdoServiceType) {
|
|
|
|
case kEplSdoServiceWriteByIndex:
|
|
|
|
{ // check if confirmation from server
|
|
|
|
// nothing more to do
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceReadByIndex:
|
|
|
|
{ // check if it is an segmented or an expedited transfer
|
|
|
|
bBuffer =
|
|
|
|
AmiGetByteFromLe(&pAsySdoCom_p->
|
|
|
|
m_le_bFlags);
|
|
|
|
// mask uninteressting bits
|
|
|
|
bBuffer &= 0x30;
|
|
|
|
switch (bBuffer) {
|
|
|
|
// expedited transfer
|
|
|
|
case 0x00:
|
|
|
|
{
|
|
|
|
// check size of buffer
|
|
|
|
uiBuffer =
|
|
|
|
AmiGetWordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_wSegmentSize);
|
|
|
|
if (uiBuffer > pSdoComCon->m_uiTransSize) { // buffer provided by the application is to small
|
|
|
|
// copy only a part
|
|
|
|
uiDataSize =
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize;
|
|
|
|
} else { // buffer fits
|
|
|
|
uiDataSize =
|
|
|
|
uiBuffer;
|
|
|
|
}
|
|
|
|
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pSdoComCon->
|
|
|
|
m_pData,
|
|
|
|
&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
uiDataSize);
|
|
|
|
|
|
|
|
// correct counter
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize = 0;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
= uiDataSize;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// start of a segmented transfer
|
|
|
|
case 0x10:
|
|
|
|
{ // get total size of transfer
|
|
|
|
ulBuffer =
|
|
|
|
AmiGetDwordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0]);
|
|
|
|
if (ulBuffer <= pSdoComCon->m_uiTransSize) { // buffer fit
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize
|
|
|
|
=
|
|
|
|
(unsigned
|
|
|
|
int)
|
|
|
|
ulBuffer;
|
|
|
|
} else { // buffer to small
|
|
|
|
// send abort
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode
|
|
|
|
=
|
|
|
|
EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH;
|
|
|
|
// -> send abort
|
|
|
|
EplSdoComClientSendAbort
|
|
|
|
(pSdoComCon,
|
|
|
|
pSdoComCon->
|
|
|
|
m_dwLastAbortCode);
|
|
|
|
// call callback of application
|
|
|
|
Ret =
|
|
|
|
EplSdoComTransferFinished
|
|
|
|
(SdoComCon_p,
|
|
|
|
pSdoComCon,
|
|
|
|
kEplSdoComTransferRxAborted);
|
|
|
|
goto Exit;
|
|
|
|
}
|
|
|
|
|
|
|
|
// get segment size
|
|
|
|
// check size of buffer
|
|
|
|
uiBuffer =
|
|
|
|
AmiGetWordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_wSegmentSize);
|
|
|
|
// subtract size of vaiable header from datasize
|
|
|
|
uiBuffer -= 4;
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pSdoComCon->
|
|
|
|
m_pData,
|
|
|
|
&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[4],
|
|
|
|
uiBuffer);
|
|
|
|
|
|
|
|
// correct counter an pointer
|
|
|
|
pSdoComCon->m_pData +=
|
|
|
|
uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
+= uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize -=
|
|
|
|
uiBuffer;
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// segment
|
|
|
|
case 0x20:
|
|
|
|
{
|
|
|
|
// get segment size
|
|
|
|
// check size of buffer
|
|
|
|
uiBuffer =
|
|
|
|
AmiGetWordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_wSegmentSize);
|
|
|
|
// check if data to copy fit to buffer
|
|
|
|
if (uiBuffer >= pSdoComCon->m_uiTransSize) { // to much data
|
|
|
|
uiBuffer =
|
|
|
|
(pSdoComCon->
|
|
|
|
m_uiTransSize
|
|
|
|
- 1);
|
|
|
|
}
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pSdoComCon->
|
|
|
|
m_pData,
|
|
|
|
&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
uiBuffer);
|
|
|
|
|
|
|
|
// correct counter an pointer
|
|
|
|
pSdoComCon->m_pData +=
|
|
|
|
uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
+= uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize -=
|
|
|
|
uiBuffer;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// last segment
|
|
|
|
case 0x30:
|
|
|
|
{
|
|
|
|
// get segment size
|
|
|
|
// check size of buffer
|
|
|
|
uiBuffer =
|
|
|
|
AmiGetWordFromLe
|
|
|
|
(&pAsySdoCom_p->
|
|
|
|
m_le_wSegmentSize);
|
|
|
|
// check if data to copy fit to buffer
|
|
|
|
if (uiBuffer > pSdoComCon->m_uiTransSize) { // to much data
|
|
|
|
uiBuffer =
|
|
|
|
(pSdoComCon->
|
|
|
|
m_uiTransSize
|
|
|
|
- 1);
|
|
|
|
}
|
|
|
|
// copy data
|
|
|
|
EPL_MEMCPY(pSdoComCon->
|
|
|
|
m_pData,
|
|
|
|
&pAsySdoCom_p->
|
|
|
|
m_le_abCommandData
|
|
|
|
[0],
|
|
|
|
uiBuffer);
|
|
|
|
|
|
|
|
// correct counter an pointer
|
|
|
|
pSdoComCon->m_pData +=
|
|
|
|
uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransferredByte
|
|
|
|
+= uiBuffer;
|
|
|
|
pSdoComCon->
|
|
|
|
m_uiTransSize = 0;
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
} // end of switch(bBuffer & 0x30)
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case kEplSdoServiceNIL:
|
|
|
|
default:
|
|
|
|
// invalid service requested
|
|
|
|
// $$$ d.k. What should we do?
|
|
|
|
break;
|
|
|
|
} // end of switch(pSdoComCon->m_SdoServiceType)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComClientSendAbort
|
|
|
|
//
|
|
|
|
// Description: function send a abort message
|
|
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
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// dwAbortCode_p = Sdo abort code
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
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2008-12-20 01:11:52 +00:00
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static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon * pSdoComCon_p,
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2009-03-23 19:51:37 +00:00
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u32 dwAbortCode_p)
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2008-12-19 19:41:57 +00:00
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{
|
2008-12-20 01:11:52 +00:00
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tEplKernel Ret;
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2009-03-23 19:36:38 +00:00
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u8 abFrame[EPL_MAX_SDO_FRAME_SIZE];
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2008-12-20 01:11:52 +00:00
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tEplFrame *pFrame;
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tEplAsySdoCom *pCommandFrame;
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unsigned int uiSizeOfFrame;
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Ret = kEplSuccessful;
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pFrame = (tEplFrame *) & abFrame[0];
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EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
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// build generic part of frame
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// get pointer to command layerpart of frame
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pCommandFrame =
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&pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.
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m_le_abSdoSeqPayload;
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AmiSetByteToLe(&pCommandFrame->m_le_bCommandId,
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pSdoComCon_p->m_SdoServiceType);
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AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId,
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pSdoComCon_p->m_bTransactionId);
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uiSizeOfFrame = 8;
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// set response and abort flag
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pCommandFrame->m_le_bFlags |= 0x40;
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// copy abortcode to frame
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AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0], dwAbortCode_p);
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// set size of segment
|
2009-03-23 19:51:37 +00:00
|
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|
AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, sizeof(u32));
|
2008-12-20 01:11:52 +00:00
|
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|
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// update counter
|
2009-03-23 19:51:37 +00:00
|
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|
pSdoComCon_p->m_uiTransferredByte = sizeof(u32);
|
2008-12-20 01:11:52 +00:00
|
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|
pSdoComCon_p->m_uiTransSize = 0;
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|
|
|
|
|
|
|
// calc framesize
|
2009-03-23 19:51:37 +00:00
|
|
|
uiSizeOfFrame += sizeof(u32);
|
2008-12-20 01:11:52 +00:00
|
|
|
|
|
|
|
// save abort code
|
|
|
|
pSdoComCon_p->m_dwLastAbortCode = dwAbortCode_p;
|
|
|
|
|
|
|
|
// call send function of lower layer
|
|
|
|
switch (pSdoComCon_p->m_SdoProtType) {
|
|
|
|
case kEplSdoTypeAsnd:
|
|
|
|
case kEplSdoTypeUdp:
|
|
|
|
{
|
|
|
|
Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
|
|
|
|
uiSizeOfFrame, pFrame);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
Ret = kEplSdoComUnsupportedProt;
|
|
|
|
}
|
|
|
|
} // end of switch(pSdoComCon_p->m_SdoProtType)
|
|
|
|
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
//---------------------------------------------------------------------------
|
|
|
|
//
|
|
|
|
// Function: EplSdoComTransferFinished
|
|
|
|
//
|
|
|
|
// Description: calls callback function of application if available
|
|
|
|
// and clears entry in control structure
|
|
|
|
//
|
|
|
|
// Parameters: pSdoComCon_p = pointer to control structure of connection
|
|
|
|
// SdoComConState_p = state of SDO transfer
|
|
|
|
//
|
|
|
|
// Returns: tEplKernel = errorcode
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// State:
|
|
|
|
//
|
|
|
|
//---------------------------------------------------------------------------
|
2008-12-20 01:11:52 +00:00
|
|
|
static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p,
|
|
|
|
tEplSdoComCon * pSdoComCon_p,
|
|
|
|
tEplSdoComConState SdoComConState_p)
|
2008-12-19 19:41:57 +00:00
|
|
|
{
|
2008-12-20 01:11:52 +00:00
|
|
|
tEplKernel Ret;
|
|
|
|
|
|
|
|
Ret = kEplSuccessful;
|
|
|
|
|
|
|
|
if (pSdoComCon_p->m_pfnTransferFinished != NULL) {
|
|
|
|
tEplSdoFinishedCb pfnTransferFinished;
|
|
|
|
tEplSdoComFinished SdoComFinished;
|
|
|
|
|
|
|
|
SdoComFinished.m_pUserArg = pSdoComCon_p->m_pUserArg;
|
|
|
|
SdoComFinished.m_uiNodeId = pSdoComCon_p->m_uiNodeId;
|
|
|
|
SdoComFinished.m_uiTargetIndex = pSdoComCon_p->m_uiTargetIndex;
|
|
|
|
SdoComFinished.m_uiTargetSubIndex =
|
|
|
|
pSdoComCon_p->m_uiTargetSubIndex;
|
|
|
|
SdoComFinished.m_uiTransferredByte =
|
|
|
|
pSdoComCon_p->m_uiTransferredByte;
|
|
|
|
SdoComFinished.m_dwAbortCode = pSdoComCon_p->m_dwLastAbortCode;
|
|
|
|
SdoComFinished.m_SdoComConHdl = SdoComCon_p;
|
|
|
|
SdoComFinished.m_SdoComConState = SdoComConState_p;
|
|
|
|
if (pSdoComCon_p->m_SdoServiceType ==
|
|
|
|
kEplSdoServiceWriteByIndex) {
|
|
|
|
SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeWrite;
|
|
|
|
} else {
|
|
|
|
SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeRead;
|
|
|
|
}
|
|
|
|
|
|
|
|
// reset transfer state so this handle is not busy anymore
|
|
|
|
pSdoComCon_p->m_uiTransferredByte = 0;
|
|
|
|
pSdoComCon_p->m_uiTransSize = 0;
|
|
|
|
|
|
|
|
pfnTransferFinished = pSdoComCon_p->m_pfnTransferFinished;
|
|
|
|
// delete function pointer to inform application only once for each transfer
|
|
|
|
pSdoComCon_p->m_pfnTransferFinished = NULL;
|
|
|
|
|
|
|
|
// call application's callback function
|
|
|
|
pfnTransferFinished(&SdoComFinished);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
return Ret;
|
2008-12-19 19:41:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// EOF
|