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9d7164cf DK |
1 | /**************************************************************************** |
2 | ||
3 | (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 | |
4 | www.systec-electronic.com | |
5 | ||
6 | Project: openPOWERLINK | |
7 | ||
8 | Description: source file for SDO Command Layer module | |
9 | ||
10 | License: | |
11 | ||
12 | Redistribution and use in source and binary forms, with or without | |
13 | modification, are permitted provided that the following conditions | |
14 | are met: | |
15 | ||
16 | 1. Redistributions of source code must retain the above copyright | |
17 | notice, this list of conditions and the following disclaimer. | |
18 | ||
19 | 2. Redistributions in binary form must reproduce the above copyright | |
20 | notice, this list of conditions and the following disclaimer in the | |
21 | documentation and/or other materials provided with the distribution. | |
22 | ||
23 | 3. Neither the name of SYSTEC electronic GmbH nor the names of its | |
24 | contributors may be used to endorse or promote products derived | |
25 | from this software without prior written permission. For written | |
26 | permission, please contact info@systec-electronic.com. | |
27 | ||
28 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
29 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
30 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
31 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
32 | COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
33 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
34 | BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
35 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
36 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
37 | LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
38 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
39 | POSSIBILITY OF SUCH DAMAGE. | |
40 | ||
41 | Severability Clause: | |
42 | ||
43 | If a provision of this License is or becomes illegal, invalid or | |
44 | unenforceable in any jurisdiction, that shall not affect: | |
45 | 1. the validity or enforceability in that jurisdiction of any other | |
46 | provision of this License; or | |
47 | 2. the validity or enforceability in other jurisdictions of that or | |
48 | any other provision of this License. | |
49 | ||
50 | ------------------------------------------------------------------------- | |
51 | ||
52 | $RCSfile: EplSdoComu.c,v $ | |
53 | ||
54 | $Author: D.Krueger $ | |
55 | ||
56 | $Revision: 1.14 $ $Date: 2008/10/17 15:32:32 $ | |
57 | ||
58 | $State: Exp $ | |
59 | ||
60 | Build Environment: | |
61 | GCC V3.4 | |
62 | ||
63 | ------------------------------------------------------------------------- | |
64 | ||
65 | Revision History: | |
66 | ||
67 | 2006/06/26 k.t.: start of the implementation | |
68 | ||
69 | ****************************************************************************/ | |
70 | ||
71 | #include "user/EplSdoComu.h" | |
72 | ||
73 | #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) == 0) &&\ | |
74 | (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) == 0) ) | |
75 | ||
833dfbe7 | 76 | #error 'ERROR: At least SDO Server or SDO Client should be activate!' |
9d7164cf DK |
77 | |
78 | #endif | |
79 | ||
80 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 | 81 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE) |
9d7164cf | 82 | |
833dfbe7 | 83 | #error 'ERROR: SDO Server needs OBDu module!' |
9d7164cf | 84 | |
833dfbe7 | 85 | #endif |
9d7164cf DK |
86 | |
87 | #endif | |
88 | ||
89 | /***************************************************************************/ | |
90 | /* */ | |
91 | /* */ | |
92 | /* G L O B A L D E F I N I T I O N S */ | |
93 | /* */ | |
94 | /* */ | |
95 | /***************************************************************************/ | |
96 | ||
97 | //--------------------------------------------------------------------------- | |
98 | // const defines | |
99 | //--------------------------------------------------------------------------- | |
100 | ||
101 | #ifndef EPL_MAX_SDO_COM_CON | |
102 | #define EPL_MAX_SDO_COM_CON 5 | |
103 | #endif | |
104 | ||
9d7164cf DK |
105 | //--------------------------------------------------------------------------- |
106 | // local types | |
107 | //--------------------------------------------------------------------------- | |
108 | ||
109 | // intern events | |
833dfbe7 GKH |
110 | typedef enum { |
111 | kEplSdoComConEventSendFirst = 0x00, // first frame to send | |
112 | kEplSdoComConEventRec = 0x01, // frame received | |
113 | kEplSdoComConEventConEstablished = 0x02, // connection established | |
114 | kEplSdoComConEventConClosed = 0x03, // connection closed | |
115 | kEplSdoComConEventAckReceived = 0x04, // acknowledge received by lower layer | |
116 | // -> continue sending | |
117 | kEplSdoComConEventFrameSended = 0x05, // lower has send a frame | |
118 | kEplSdoComConEventInitError = 0x06, // error duringinitialisiation | |
119 | // of the connection | |
120 | kEplSdoComConEventTimeout = 0x07 // timeout in lower layer | |
9d7164cf | 121 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
833dfbe7 | 122 | , |
9d7164cf | 123 | |
833dfbe7 GKH |
124 | kEplSdoComConEventInitCon = 0x08, // init connection (only client) |
125 | kEplSdoComConEventAbort = 0x09 // abort sdo transfer (only client) | |
9d7164cf | 126 | #endif |
833dfbe7 | 127 | } tEplSdoComConEvent; |
9d7164cf | 128 | |
833dfbe7 GKH |
129 | typedef enum { |
130 | kEplSdoComSendTypeReq = 0x00, // send a request | |
131 | kEplSdoComSendTypeAckRes = 0x01, // send a resonse without data | |
132 | kEplSdoComSendTypeRes = 0x02, // send response with data | |
133 | kEplSdoComSendTypeAbort = 0x03 // send abort | |
134 | } tEplSdoComSendType; | |
9d7164cf DK |
135 | |
136 | // state of the state maschine | |
833dfbe7 GKH |
137 | typedef enum { |
138 | // General State | |
139 | kEplSdoComStateIdle = 0x00, // idle state | |
9d7164cf DK |
140 | |
141 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
142 | // Server States |
143 | kEplSdoComStateServerSegmTrans = 0x01, // send following frames | |
9d7164cf DK |
144 | #endif |
145 | ||
9d7164cf | 146 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
833dfbe7 GKH |
147 | // Client States |
148 | kEplSdoComStateClientWaitInit = 0x10, // wait for init connection | |
149 | // on lower layer | |
150 | kEplSdoComStateClientConnected = 0x11, // connection established | |
151 | kEplSdoComStateClientSegmTrans = 0x12 // send following frames | |
9d7164cf | 152 | #endif |
9d7164cf DK |
153 | } tEplSdoComState; |
154 | ||
9d7164cf | 155 | // control structure for transaction |
833dfbe7 GKH |
156 | typedef struct { |
157 | tEplSdoSeqConHdl m_SdoSeqConHdl; // if != 0 -> entry used | |
158 | tEplSdoComState m_SdoComState; | |
159 | BYTE m_bTransactionId; | |
160 | unsigned int m_uiNodeId; // NodeId of the target | |
161 | // -> needed to reinit connection | |
162 | // after timeout | |
163 | tEplSdoTransType m_SdoTransType; // Auto, Expedited, Segmented | |
164 | tEplSdoServiceType m_SdoServiceType; // WriteByIndex, ReadByIndex | |
165 | tEplSdoType m_SdoProtType; // protocol layer: Auto, Udp, Asnd, Pdo | |
166 | BYTE *m_pData; // pointer to data | |
167 | unsigned int m_uiTransSize; // number of bytes | |
168 | // to transfer | |
169 | unsigned int m_uiTransferredByte; // number of bytes | |
170 | // already transferred | |
171 | tEplSdoFinishedCb m_pfnTransferFinished; // callback function of the | |
172 | // application | |
173 | // -> called in the end of | |
174 | // the SDO transfer | |
175 | void *m_pUserArg; // user definable argument pointer | |
176 | ||
177 | DWORD m_dwLastAbortCode; // save the last abort code | |
9d7164cf | 178 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
833dfbe7 GKH |
179 | // only for client |
180 | unsigned int m_uiTargetIndex; // index to access | |
181 | unsigned int m_uiTargetSubIndex; // subiondex to access | |
9d7164cf | 182 | |
833dfbe7 GKH |
183 | // for future use |
184 | unsigned int m_uiTimeout; // timeout for this connection | |
9d7164cf DK |
185 | |
186 | #endif | |
187 | ||
188 | } tEplSdoComCon; | |
189 | ||
190 | // instance table | |
833dfbe7 GKH |
191 | typedef struct { |
192 | tEplSdoComCon m_SdoComCon[EPL_MAX_SDO_COM_CON]; | |
9d7164cf DK |
193 | |
194 | #if defined(WIN32) || defined(_WIN32) | |
833dfbe7 GKH |
195 | LPCRITICAL_SECTION m_pCriticalSection; |
196 | CRITICAL_SECTION m_CriticalSection; | |
9d7164cf DK |
197 | #endif |
198 | ||
833dfbe7 | 199 | } tEplSdoComInstance; |
9d7164cf DK |
200 | |
201 | //--------------------------------------------------------------------------- | |
202 | // modul globale vars | |
203 | //--------------------------------------------------------------------------- | |
204 | static tEplSdoComInstance SdoComInstance_g; | |
205 | //--------------------------------------------------------------------------- | |
206 | // local function prototypes | |
207 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
208 | tEplKernel PUBLIC EplSdoComReceiveCb(tEplSdoSeqConHdl SdoSeqConHdl_p, |
209 | tEplAsySdoCom * pAsySdoCom_p, | |
210 | unsigned int uiDataSize_p); | |
9d7164cf | 211 | |
833dfbe7 GKH |
212 | tEplKernel PUBLIC EplSdoComConCb(tEplSdoSeqConHdl SdoSeqConHdl_p, |
213 | tEplAsySdoConState AsySdoConState_p); | |
9d7164cf | 214 | |
833dfbe7 GKH |
215 | static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p, |
216 | tEplSdoComConEvent SdoComConEvent_p, | |
217 | tEplAsySdoCom * pAsySdoCom_p); | |
9d7164cf | 218 | |
833dfbe7 GKH |
219 | static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p, |
220 | tEplSdoComConEvent SdoComConEvent_p, | |
221 | tEplAsySdoCom * pAsySdoCom_p); | |
9d7164cf | 222 | |
833dfbe7 GKH |
223 | static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p, |
224 | tEplSdoComCon * pSdoComCon_p, | |
225 | tEplSdoComConState | |
226 | SdoComConState_p); | |
9d7164cf DK |
227 | |
228 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
229 | static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon * pSdoComCon_p, |
230 | tEplAsySdoCom * pAsySdoCom_p); | |
9d7164cf | 231 | |
833dfbe7 GKH |
232 | static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon * pSdoComCon_p, |
233 | unsigned int uiIndex_p, | |
234 | unsigned int uiSubIndex_p, | |
235 | tEplSdoComSendType SendType_p); | |
9d7164cf | 236 | |
833dfbe7 GKH |
237 | static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon * pSdoComCon_p, |
238 | tEplAsySdoCom * pAsySdoCom_p); | |
9d7164cf DK |
239 | #endif |
240 | ||
9d7164cf DK |
241 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
242 | ||
833dfbe7 | 243 | static tEplKernel EplSdoComClientSend(tEplSdoComCon * pSdoComCon_p); |
9d7164cf | 244 | |
833dfbe7 GKH |
245 | static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p, |
246 | tEplAsySdoCom * pAsySdoCom_p); | |
9d7164cf | 247 | |
833dfbe7 GKH |
248 | static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon * pSdoComCon_p, |
249 | DWORD dwAbortCode_p); | |
9d7164cf DK |
250 | #endif |
251 | ||
9d7164cf DK |
252 | /***************************************************************************/ |
253 | /* */ | |
254 | /* */ | |
255 | /* C L A S S <SDO Command Layer> */ | |
256 | /* */ | |
257 | /* */ | |
258 | /***************************************************************************/ | |
259 | // | |
260 | // Description: SDO Command layer Modul | |
261 | // | |
262 | // | |
263 | /***************************************************************************/ | |
264 | ||
265 | //=========================================================================// | |
266 | // // | |
267 | // P U B L I C F U N C T I O N S // | |
268 | // // | |
269 | //=========================================================================// | |
270 | ||
271 | //--------------------------------------------------------------------------- | |
272 | // | |
273 | // Function: EplSdoComInit | |
274 | // | |
275 | // Description: Init first instance of the module | |
276 | // | |
277 | // | |
278 | // | |
279 | // Parameters: | |
280 | // | |
281 | // | |
282 | // Returns: tEplKernel = errorcode | |
283 | // | |
284 | // | |
285 | // State: | |
286 | // | |
287 | //--------------------------------------------------------------------------- | |
288 | tEplKernel PUBLIC EplSdoComInit(void) | |
289 | { | |
833dfbe7 | 290 | tEplKernel Ret; |
9d7164cf | 291 | |
833dfbe7 | 292 | Ret = EplSdoComAddInstance(); |
9d7164cf | 293 | |
833dfbe7 | 294 | return Ret; |
9d7164cf DK |
295 | |
296 | } | |
297 | ||
298 | //--------------------------------------------------------------------------- | |
299 | // | |
300 | // Function: EplSdoComAddInstance | |
301 | // | |
302 | // Description: Init additional instance of the module | |
303 | // | |
304 | // | |
305 | // | |
306 | // Parameters: | |
307 | // | |
308 | // | |
309 | // Returns: tEplKernel = errorcode | |
310 | // | |
311 | // | |
312 | // State: | |
313 | // | |
314 | //--------------------------------------------------------------------------- | |
315 | tEplKernel PUBLIC EplSdoComAddInstance(void) | |
316 | { | |
833dfbe7 | 317 | tEplKernel Ret; |
9d7164cf | 318 | |
833dfbe7 | 319 | Ret = kEplSuccessful; |
9d7164cf | 320 | |
833dfbe7 GKH |
321 | // init controll structure |
322 | EPL_MEMSET(&SdoComInstance_g, 0x00, sizeof(SdoComInstance_g)); | |
9d7164cf | 323 | |
833dfbe7 GKH |
324 | // init instance of lower layer |
325 | Ret = EplSdoAsySeqAddInstance(EplSdoComReceiveCb, EplSdoComConCb); | |
326 | if (Ret != kEplSuccessful) { | |
327 | goto Exit; | |
328 | } | |
9d7164cf | 329 | #if defined(WIN32) || defined(_WIN32) |
833dfbe7 GKH |
330 | // create critical section for process function |
331 | SdoComInstance_g.m_pCriticalSection = | |
332 | &SdoComInstance_g.m_CriticalSection; | |
333 | InitializeCriticalSection(SdoComInstance_g.m_pCriticalSection); | |
9d7164cf DK |
334 | #endif |
335 | ||
833dfbe7 GKH |
336 | Exit: |
337 | return Ret; | |
9d7164cf DK |
338 | } |
339 | ||
340 | //--------------------------------------------------------------------------- | |
341 | // | |
342 | // Function: EplSdoComDelInstance | |
343 | // | |
344 | // Description: delete instance of the module | |
345 | // | |
346 | // | |
347 | // | |
348 | // Parameters: | |
349 | // | |
350 | // | |
351 | // Returns: tEplKernel = errorcode | |
352 | // | |
353 | // | |
354 | // State: | |
355 | // | |
356 | //--------------------------------------------------------------------------- | |
357 | tEplKernel PUBLIC EplSdoComDelInstance(void) | |
358 | { | |
833dfbe7 | 359 | tEplKernel Ret; |
9d7164cf | 360 | |
833dfbe7 | 361 | Ret = kEplSuccessful; |
9d7164cf DK |
362 | |
363 | #if defined(WIN32) || defined(_WIN32) | |
833dfbe7 GKH |
364 | // delete critical section for process function |
365 | DeleteCriticalSection(SdoComInstance_g.m_pCriticalSection); | |
9d7164cf DK |
366 | #endif |
367 | ||
833dfbe7 GKH |
368 | Ret = EplSdoAsySeqDelInstance(); |
369 | if (Ret != kEplSuccessful) { | |
370 | goto Exit; | |
371 | } | |
9d7164cf | 372 | |
833dfbe7 GKH |
373 | Exit: |
374 | return Ret; | |
9d7164cf DK |
375 | } |
376 | ||
377 | //--------------------------------------------------------------------------- | |
378 | // | |
379 | // Function: EplSdoComDefineCon | |
380 | // | |
381 | // Description: function defines a SDO connection to another node | |
382 | // -> init lower layer and returns a handle for the connection. | |
383 | // Two client connections to the same node via the same protocol | |
384 | // are not allowed. If this function detects such a situation | |
385 | // it will return kEplSdoComHandleExists and the handle of | |
386 | // the existing connection in pSdoComConHdl_p. | |
387 | // Using of existing server connections is possible. | |
388 | // | |
389 | // Parameters: pSdoComConHdl_p = pointer to the buffer of the handle | |
390 | // uiTargetNodeId_p = NodeId of the targetnode | |
391 | // ProtType_p = type of protocol to use for connection | |
392 | // | |
393 | // | |
394 | // Returns: tEplKernel = errorcode | |
395 | // | |
396 | // | |
397 | // State: | |
398 | // | |
399 | //--------------------------------------------------------------------------- | |
400 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 GKH |
401 | tEplKernel PUBLIC EplSdoComDefineCon(tEplSdoComConHdl * pSdoComConHdl_p, |
402 | unsigned int uiTargetNodeId_p, | |
403 | tEplSdoType ProtType_p) | |
9d7164cf | 404 | { |
833dfbe7 GKH |
405 | tEplKernel Ret; |
406 | unsigned int uiCount; | |
407 | unsigned int uiFreeHdl; | |
408 | tEplSdoComCon *pSdoComCon; | |
409 | ||
410 | // check Parameter | |
411 | ASSERT(pSdoComConHdl_p != NULL); | |
412 | ||
413 | // check NodeId | |
414 | if ((uiTargetNodeId_p == EPL_C_ADR_INVALID) | |
415 | || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) { | |
416 | Ret = kEplInvalidNodeId; | |
417 | ||
418 | } | |
419 | // search free control structure | |
420 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[0]; | |
421 | uiCount = 0; | |
422 | uiFreeHdl = EPL_MAX_SDO_COM_CON; | |
423 | while (uiCount < EPL_MAX_SDO_COM_CON) { | |
424 | if (pSdoComCon->m_SdoSeqConHdl == 0) { // free entry | |
425 | uiFreeHdl = uiCount; | |
426 | } else if ((pSdoComCon->m_uiNodeId == uiTargetNodeId_p) | |
427 | && (pSdoComCon->m_SdoProtType == ProtType_p)) { // existing client connection with same node ID and same protocol type | |
428 | *pSdoComConHdl_p = uiCount; | |
429 | Ret = kEplSdoComHandleExists; | |
430 | goto Exit; | |
431 | } | |
432 | uiCount++; | |
433 | pSdoComCon++; | |
434 | } | |
435 | ||
436 | if (uiFreeHdl == EPL_MAX_SDO_COM_CON) { | |
437 | Ret = kEplSdoComNoFreeHandle; | |
438 | goto Exit; | |
439 | } | |
440 | ||
441 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[uiFreeHdl]; | |
442 | // save handle for application | |
443 | *pSdoComConHdl_p = uiFreeHdl; | |
444 | // save parameters | |
445 | pSdoComCon->m_SdoProtType = ProtType_p; | |
446 | pSdoComCon->m_uiNodeId = uiTargetNodeId_p; | |
447 | ||
448 | // set Transaction Id | |
449 | pSdoComCon->m_bTransactionId = 0; | |
450 | ||
451 | // check protocol | |
452 | switch (ProtType_p) { | |
453 | // udp | |
454 | case kEplSdoTypeUdp: | |
455 | { | |
456 | // call connection int function of lower layer | |
457 | Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl, | |
458 | pSdoComCon->m_uiNodeId, | |
459 | kEplSdoTypeUdp); | |
460 | if (Ret != kEplSuccessful) { | |
461 | goto Exit; | |
462 | } | |
463 | break; | |
464 | } | |
465 | ||
466 | // Asend | |
467 | case kEplSdoTypeAsnd: | |
468 | { | |
469 | // call connection int function of lower layer | |
470 | Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl, | |
471 | pSdoComCon->m_uiNodeId, | |
472 | kEplSdoTypeAsnd); | |
473 | if (Ret != kEplSuccessful) { | |
474 | goto Exit; | |
475 | } | |
476 | break; | |
477 | } | |
478 | ||
479 | // Pdo -> not supported | |
480 | case kEplSdoTypePdo: | |
481 | default: | |
482 | { | |
483 | Ret = kEplSdoComUnsupportedProt; | |
484 | goto Exit; | |
485 | } | |
486 | } // end of switch(m_ProtType_p) | |
487 | ||
488 | // call process function | |
489 | Ret = EplSdoComProcessIntern(uiFreeHdl, | |
490 | kEplSdoComConEventInitCon, NULL); | |
491 | ||
492 | Exit: | |
493 | return Ret; | |
9d7164cf DK |
494 | } |
495 | #endif | |
496 | //--------------------------------------------------------------------------- | |
497 | // | |
498 | // Function: EplSdoComInitTransferByIndex | |
499 | // | |
500 | // Description: function init SDO Transfer for a defined connection | |
501 | // | |
502 | // | |
503 | // | |
504 | // Parameters: SdoComTransParam_p = Structure with parameters for connection | |
505 | // | |
506 | // | |
507 | // Returns: tEplKernel = errorcode | |
508 | // | |
509 | // | |
510 | // State: | |
511 | // | |
512 | //--------------------------------------------------------------------------- | |
513 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 GKH |
514 | tEplKernel PUBLIC EplSdoComInitTransferByIndex(tEplSdoComTransParamByIndex * |
515 | pSdoComTransParam_p) | |
9d7164cf | 516 | { |
833dfbe7 GKH |
517 | tEplKernel Ret; |
518 | tEplSdoComCon *pSdoComCon; | |
519 | ||
520 | // check parameter | |
521 | if ((pSdoComTransParam_p->m_uiSubindex >= 0xFF) | |
522 | || (pSdoComTransParam_p->m_uiIndex == 0) | |
523 | || (pSdoComTransParam_p->m_uiIndex > 0xFFFF) | |
524 | || (pSdoComTransParam_p->m_pData == NULL) | |
525 | || (pSdoComTransParam_p->m_uiDataSize == 0)) { | |
526 | Ret = kEplSdoComInvalidParam; | |
527 | goto Exit; | |
528 | } | |
529 | ||
530 | if (pSdoComTransParam_p->m_SdoComConHdl >= EPL_MAX_SDO_COM_CON) { | |
531 | Ret = kEplSdoComInvalidHandle; | |
532 | goto Exit; | |
533 | } | |
534 | // get pointer to control structure of connection | |
535 | pSdoComCon = | |
536 | &SdoComInstance_g.m_SdoComCon[pSdoComTransParam_p->m_SdoComConHdl]; | |
537 | ||
538 | // check if handle ok | |
539 | if (pSdoComCon->m_SdoSeqConHdl == 0) { | |
540 | Ret = kEplSdoComInvalidHandle; | |
541 | goto Exit; | |
542 | } | |
543 | // check if command layer is idle | |
544 | if ((pSdoComCon->m_uiTransferredByte + pSdoComCon->m_uiTransSize) > 0) { // handle is not idle | |
545 | Ret = kEplSdoComHandleBusy; | |
546 | goto Exit; | |
547 | } | |
548 | // save parameter | |
549 | // callback function for end of transfer | |
550 | pSdoComCon->m_pfnTransferFinished = | |
551 | pSdoComTransParam_p->m_pfnSdoFinishedCb; | |
552 | pSdoComCon->m_pUserArg = pSdoComTransParam_p->m_pUserArg; | |
553 | ||
554 | // set type of SDO command | |
555 | if (pSdoComTransParam_p->m_SdoAccessType == kEplSdoAccessTypeRead) { | |
556 | pSdoComCon->m_SdoServiceType = kEplSdoServiceReadByIndex; | |
557 | } else { | |
558 | pSdoComCon->m_SdoServiceType = kEplSdoServiceWriteByIndex; | |
559 | ||
560 | } | |
561 | // save pointer to data | |
562 | pSdoComCon->m_pData = pSdoComTransParam_p->m_pData; | |
563 | // maximal bytes to transfer | |
564 | pSdoComCon->m_uiTransSize = pSdoComTransParam_p->m_uiDataSize; | |
565 | // bytes already transfered | |
566 | pSdoComCon->m_uiTransferredByte = 0; | |
567 | ||
568 | // reset parts of control structure | |
569 | pSdoComCon->m_dwLastAbortCode = 0; | |
570 | pSdoComCon->m_SdoTransType = kEplSdoTransAuto; | |
571 | // save timeout | |
572 | //pSdoComCon->m_uiTimeout = SdoComTransParam_p.m_uiTimeout; | |
573 | ||
574 | // save index and subindex | |
575 | pSdoComCon->m_uiTargetIndex = pSdoComTransParam_p->m_uiIndex; | |
576 | pSdoComCon->m_uiTargetSubIndex = pSdoComTransParam_p->m_uiSubindex; | |
577 | ||
578 | // call process function | |
579 | Ret = EplSdoComProcessIntern(pSdoComTransParam_p->m_SdoComConHdl, kEplSdoComConEventSendFirst, // event to start transfer | |
580 | NULL); | |
581 | ||
582 | Exit: | |
583 | return Ret; | |
9d7164cf DK |
584 | |
585 | } | |
586 | #endif | |
587 | ||
588 | //--------------------------------------------------------------------------- | |
589 | // | |
590 | // Function: EplSdoComUndefineCon | |
591 | // | |
592 | // Description: function undefine a SDO connection | |
593 | // | |
594 | // | |
595 | // | |
596 | // Parameters: SdoComConHdl_p = handle for the connection | |
597 | // | |
598 | // | |
599 | // Returns: tEplKernel = errorcode | |
600 | // | |
601 | // | |
602 | // State: | |
603 | // | |
604 | //--------------------------------------------------------------------------- | |
605 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 | 606 | tEplKernel PUBLIC EplSdoComUndefineCon(tEplSdoComConHdl SdoComConHdl_p) |
9d7164cf | 607 | { |
833dfbe7 GKH |
608 | tEplKernel Ret; |
609 | tEplSdoComCon *pSdoComCon; | |
610 | ||
611 | Ret = kEplSuccessful; | |
612 | ||
613 | if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) { | |
614 | Ret = kEplSdoComInvalidHandle; | |
615 | goto Exit; | |
616 | } | |
617 | // get pointer to control structure | |
618 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p]; | |
619 | ||
620 | // $$$ d.k. abort a running transfer before closing the sequence layer | |
621 | ||
622 | if (((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) != | |
623 | EPL_SDO_SEQ_INVALID_HDL) | |
624 | && (pSdoComCon->m_SdoSeqConHdl != 0)) { | |
625 | // close connection in lower layer | |
626 | switch (pSdoComCon->m_SdoProtType) { | |
627 | case kEplSdoTypeAsnd: | |
628 | case kEplSdoTypeUdp: | |
629 | { | |
630 | Ret = | |
631 | EplSdoAsySeqDelCon(pSdoComCon-> | |
632 | m_SdoSeqConHdl); | |
633 | break; | |
634 | } | |
635 | ||
636 | case kEplSdoTypePdo: | |
637 | case kEplSdoTypeAuto: | |
638 | default: | |
639 | { | |
640 | Ret = kEplSdoComUnsupportedProt; | |
641 | goto Exit; | |
642 | } | |
643 | ||
644 | } // end of switch(pSdoComCon->m_SdoProtType) | |
645 | } | |
646 | ||
647 | // clean controll structure | |
648 | EPL_MEMSET(pSdoComCon, 0x00, sizeof(tEplSdoComCon)); | |
649 | Exit: | |
650 | return Ret; | |
9d7164cf DK |
651 | } |
652 | #endif | |
653 | //--------------------------------------------------------------------------- | |
654 | // | |
655 | // Function: EplSdoComGetState | |
656 | // | |
657 | // Description: function returns the state fo the connection | |
658 | // | |
659 | // | |
660 | // | |
661 | // Parameters: SdoComConHdl_p = handle for the connection | |
662 | // pSdoComFinished_p = pointer to structur for sdo state | |
663 | // | |
664 | // | |
665 | // Returns: tEplKernel = errorcode | |
666 | // | |
667 | // | |
668 | // State: | |
669 | // | |
670 | //--------------------------------------------------------------------------- | |
671 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 GKH |
672 | tEplKernel PUBLIC EplSdoComGetState(tEplSdoComConHdl SdoComConHdl_p, |
673 | tEplSdoComFinished * pSdoComFinished_p) | |
9d7164cf | 674 | { |
833dfbe7 GKH |
675 | tEplKernel Ret; |
676 | tEplSdoComCon *pSdoComCon; | |
677 | ||
678 | Ret = kEplSuccessful; | |
679 | ||
680 | if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) { | |
681 | Ret = kEplSdoComInvalidHandle; | |
682 | goto Exit; | |
683 | } | |
684 | // get pointer to control structure | |
685 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p]; | |
686 | ||
687 | // check if handle ok | |
688 | if (pSdoComCon->m_SdoSeqConHdl == 0) { | |
689 | Ret = kEplSdoComInvalidHandle; | |
690 | goto Exit; | |
691 | } | |
692 | ||
693 | pSdoComFinished_p->m_pUserArg = pSdoComCon->m_pUserArg; | |
694 | pSdoComFinished_p->m_uiNodeId = pSdoComCon->m_uiNodeId; | |
695 | pSdoComFinished_p->m_uiTargetIndex = pSdoComCon->m_uiTargetIndex; | |
696 | pSdoComFinished_p->m_uiTargetSubIndex = pSdoComCon->m_uiTargetSubIndex; | |
697 | pSdoComFinished_p->m_uiTransferredByte = | |
698 | pSdoComCon->m_uiTransferredByte; | |
699 | pSdoComFinished_p->m_dwAbortCode = pSdoComCon->m_dwLastAbortCode; | |
700 | pSdoComFinished_p->m_SdoComConHdl = SdoComConHdl_p; | |
701 | if (pSdoComCon->m_SdoServiceType == kEplSdoServiceWriteByIndex) { | |
702 | pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeWrite; | |
703 | } else { | |
704 | pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeRead; | |
705 | } | |
706 | ||
707 | if (pSdoComCon->m_dwLastAbortCode != 0) { // sdo abort | |
708 | pSdoComFinished_p->m_SdoComConState = | |
709 | kEplSdoComTransferRxAborted; | |
710 | ||
711 | // delete abort code | |
712 | pSdoComCon->m_dwLastAbortCode = 0; | |
713 | ||
714 | } else if ((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == EPL_SDO_SEQ_INVALID_HDL) { // check state | |
715 | pSdoComFinished_p->m_SdoComConState = | |
716 | kEplSdoComTransferLowerLayerAbort; | |
717 | } else if (pSdoComCon->m_SdoComState == kEplSdoComStateClientWaitInit) { | |
718 | // finished | |
719 | pSdoComFinished_p->m_SdoComConState = | |
720 | kEplSdoComTransferNotActive; | |
721 | } else if (pSdoComCon->m_uiTransSize == 0) { // finished | |
722 | pSdoComFinished_p->m_SdoComConState = | |
723 | kEplSdoComTransferFinished; | |
724 | } | |
725 | ||
726 | Exit: | |
727 | return Ret; | |
9d7164cf DK |
728 | |
729 | } | |
730 | #endif | |
731 | //--------------------------------------------------------------------------- | |
732 | // | |
733 | // Function: EplSdoComSdoAbort | |
734 | // | |
735 | // Description: function abort a sdo transfer | |
736 | // | |
737 | // | |
738 | // | |
739 | // Parameters: SdoComConHdl_p = handle for the connection | |
740 | // dwAbortCode_p = abort code | |
741 | // | |
742 | // | |
743 | // Returns: tEplKernel = errorcode | |
744 | // | |
745 | // | |
746 | // State: | |
747 | // | |
748 | //--------------------------------------------------------------------------- | |
749 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
750 | tEplKernel PUBLIC EplSdoComSdoAbort(tEplSdoComConHdl SdoComConHdl_p, | |
833dfbe7 | 751 | DWORD dwAbortCode_p) |
9d7164cf | 752 | { |
833dfbe7 GKH |
753 | tEplKernel Ret; |
754 | tEplSdoComCon *pSdoComCon; | |
755 | ||
756 | if (SdoComConHdl_p >= EPL_MAX_SDO_COM_CON) { | |
757 | Ret = kEplSdoComInvalidHandle; | |
758 | goto Exit; | |
759 | } | |
760 | // get pointer to control structure of connection | |
761 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p]; | |
762 | ||
763 | // check if handle ok | |
764 | if (pSdoComCon->m_SdoSeqConHdl == 0) { | |
765 | Ret = kEplSdoComInvalidHandle; | |
766 | goto Exit; | |
767 | } | |
768 | // save pointer to abort code | |
769 | pSdoComCon->m_pData = (BYTE *) & dwAbortCode_p; | |
770 | ||
771 | Ret = EplSdoComProcessIntern(SdoComConHdl_p, | |
772 | kEplSdoComConEventAbort, | |
773 | (tEplAsySdoCom *) NULL); | |
774 | ||
775 | Exit: | |
776 | return Ret; | |
9d7164cf DK |
777 | } |
778 | #endif | |
779 | ||
780 | //=========================================================================// | |
781 | // // | |
782 | // P R I V A T E F U N C T I O N S // | |
783 | // // | |
784 | //=========================================================================// | |
785 | ||
786 | //--------------------------------------------------------------------------- | |
787 | // | |
788 | // Function: EplSdoComReceiveCb | |
789 | // | |
790 | // Description: callback function for SDO Sequence Layer | |
791 | // -> indicates new data | |
792 | // | |
793 | // | |
794 | // | |
795 | // Parameters: SdoSeqConHdl_p = Handle for connection | |
796 | // pAsySdoCom_p = pointer to data | |
797 | // uiDataSize_p = size of data ($$$ not used yet, but it should) | |
798 | // | |
799 | // | |
800 | // Returns: | |
801 | // | |
802 | // | |
803 | // State: | |
804 | // | |
805 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
806 | tEplKernel PUBLIC EplSdoComReceiveCb(tEplSdoSeqConHdl SdoSeqConHdl_p, |
807 | tEplAsySdoCom * pAsySdoCom_p, | |
808 | unsigned int uiDataSize_p) | |
9d7164cf | 809 | { |
833dfbe7 | 810 | tEplKernel Ret; |
9d7164cf | 811 | |
833dfbe7 GKH |
812 | // search connection internally |
813 | Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p, | |
814 | kEplSdoComConEventRec, pAsySdoCom_p); | |
9d7164cf | 815 | |
833dfbe7 GKH |
816 | EPL_DBGLVL_SDO_TRACE3 |
817 | ("EplSdoComReceiveCb SdoSeqConHdl: 0x%X, First Byte of pAsySdoCom_p: 0x%02X, uiDataSize_p: 0x%04X\n", | |
818 | SdoSeqConHdl_p, (WORD) pAsySdoCom_p->m_le_abCommandData[0], | |
819 | uiDataSize_p); | |
9d7164cf | 820 | |
833dfbe7 | 821 | return Ret; |
9d7164cf DK |
822 | } |
823 | ||
824 | //--------------------------------------------------------------------------- | |
825 | // | |
826 | // Function: EplSdoComConCb | |
827 | // | |
828 | // Description: callback function called by SDO Sequence Layer to inform | |
829 | // command layer about state change of connection | |
830 | // | |
831 | // | |
832 | // | |
833 | // Parameters: SdoSeqConHdl_p = Handle of the connection | |
834 | // AsySdoConState_p = Event of the connection | |
835 | // | |
836 | // | |
837 | // Returns: tEplKernel = Errorcode | |
838 | // | |
839 | // | |
840 | // State: | |
841 | // | |
842 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
843 | tEplKernel PUBLIC EplSdoComConCb(tEplSdoSeqConHdl SdoSeqConHdl_p, |
844 | tEplAsySdoConState AsySdoConState_p) | |
9d7164cf | 845 | { |
833dfbe7 GKH |
846 | tEplKernel Ret; |
847 | tEplSdoComConEvent SdoComConEvent = kEplSdoComConEventSendFirst; | |
848 | ||
849 | Ret = kEplSuccessful; | |
850 | ||
851 | // check state | |
852 | switch (AsySdoConState_p) { | |
853 | case kAsySdoConStateConnected: | |
854 | { | |
855 | EPL_DBGLVL_SDO_TRACE0("Connection established\n"); | |
856 | SdoComConEvent = kEplSdoComConEventConEstablished; | |
857 | // start transmission if needed | |
858 | break; | |
859 | } | |
860 | ||
861 | case kAsySdoConStateInitError: | |
862 | { | |
863 | EPL_DBGLVL_SDO_TRACE0("Error during initialisation\n"); | |
864 | SdoComConEvent = kEplSdoComConEventInitError; | |
865 | // inform app about error and close sequence layer handle | |
866 | break; | |
867 | } | |
868 | ||
869 | case kAsySdoConStateConClosed: | |
870 | { | |
871 | EPL_DBGLVL_SDO_TRACE0("Connection closed\n"); | |
872 | SdoComConEvent = kEplSdoComConEventConClosed; | |
873 | // close sequence layer handle | |
874 | break; | |
875 | } | |
876 | ||
877 | case kAsySdoConStateAckReceived: | |
878 | { | |
879 | EPL_DBGLVL_SDO_TRACE0("Acknowlage received\n"); | |
880 | SdoComConEvent = kEplSdoComConEventAckReceived; | |
881 | // continue transmission | |
882 | break; | |
883 | } | |
884 | ||
885 | case kAsySdoConStateFrameSended: | |
886 | { | |
887 | EPL_DBGLVL_SDO_TRACE0("One Frame sent\n"); | |
888 | SdoComConEvent = kEplSdoComConEventFrameSended; | |
889 | // to continue transmission | |
890 | break; | |
891 | ||
892 | } | |
893 | ||
894 | case kAsySdoConStateTimeout: | |
895 | { | |
896 | EPL_DBGLVL_SDO_TRACE0("Timeout\n"); | |
897 | SdoComConEvent = kEplSdoComConEventTimeout; | |
898 | // close sequence layer handle | |
899 | break; | |
900 | ||
901 | } | |
902 | } // end of switch(AsySdoConState_p) | |
903 | ||
904 | Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p, | |
905 | SdoComConEvent, (tEplAsySdoCom *) NULL); | |
906 | ||
907 | return Ret; | |
9d7164cf DK |
908 | } |
909 | ||
910 | //--------------------------------------------------------------------------- | |
911 | // | |
912 | // Function: EplSdoComSearchConIntern | |
913 | // | |
914 | // Description: search a Sdo Sequence Layer connection handle in the | |
915 | // control structure of the Command Layer | |
916 | // | |
917 | // Parameters: SdoSeqConHdl_p = Handle to search | |
918 | // SdoComConEvent_p = event to process | |
919 | // pAsySdoCom_p = pointer to received frame | |
920 | // | |
921 | // Returns: tEplKernel | |
922 | // | |
923 | // | |
924 | // State: | |
925 | // | |
926 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
927 | static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p, |
928 | tEplSdoComConEvent SdoComConEvent_p, | |
929 | tEplAsySdoCom * pAsySdoCom_p) | |
9d7164cf | 930 | { |
833dfbe7 GKH |
931 | tEplKernel Ret; |
932 | tEplSdoComCon *pSdoComCon; | |
933 | tEplSdoComConHdl HdlCount; | |
934 | tEplSdoComConHdl HdlFree; | |
935 | ||
936 | Ret = kEplSdoComNotResponsible; | |
937 | ||
938 | // get pointer to first element of the array | |
939 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[0]; | |
940 | HdlCount = 0; | |
941 | HdlFree = 0xFFFF; | |
942 | while (HdlCount < EPL_MAX_SDO_COM_CON) { | |
943 | if (pSdoComCon->m_SdoSeqConHdl == SdoSeqConHdl_p) { // matching command layer handle found | |
944 | Ret = EplSdoComProcessIntern(HdlCount, | |
945 | SdoComConEvent_p, | |
946 | pAsySdoCom_p); | |
947 | } else if ((pSdoComCon->m_SdoSeqConHdl == 0) | |
948 | && (HdlFree == 0xFFFF)) { | |
949 | HdlFree = HdlCount; | |
950 | } | |
951 | ||
952 | pSdoComCon++; | |
953 | HdlCount++; | |
954 | } | |
955 | ||
956 | if (Ret == kEplSdoComNotResponsible) { // no responsible command layer handle found | |
957 | if (HdlFree == 0xFFFF) { // no free handle | |
958 | // delete connection immediately | |
959 | // 2008/04/14 m.u./d.k. This connection actually does not exist. | |
960 | // pSdoComCon is invalid. | |
961 | // Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl); | |
962 | Ret = kEplSdoComNoFreeHandle; | |
963 | } else { // create new handle | |
964 | HdlCount = HdlFree; | |
965 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[HdlCount]; | |
966 | pSdoComCon->m_SdoSeqConHdl = SdoSeqConHdl_p; | |
967 | Ret = EplSdoComProcessIntern(HdlCount, | |
968 | SdoComConEvent_p, | |
969 | pAsySdoCom_p); | |
970 | } | |
971 | } | |
972 | ||
973 | return Ret; | |
9d7164cf DK |
974 | |
975 | } | |
976 | ||
977 | //--------------------------------------------------------------------------- | |
978 | // | |
979 | // Function: EplSdoComProcessIntern | |
980 | // | |
981 | // Description: search a Sdo Sequence Layer connection handle in the | |
982 | // control structer of the Command Layer | |
983 | // | |
984 | // | |
985 | // | |
986 | // Parameters: SdoComCon_p = index of control structure of connection | |
987 | // SdoComConEvent_p = event to process | |
988 | // pAsySdoCom_p = pointer to received frame | |
989 | // | |
990 | // Returns: tEplKernel = errorcode | |
991 | // | |
992 | // | |
993 | // State: | |
994 | // | |
995 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
996 | static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p, |
997 | tEplSdoComConEvent SdoComConEvent_p, | |
998 | tEplAsySdoCom * pAsySdoCom_p) | |
9d7164cf | 999 | { |
833dfbe7 GKH |
1000 | tEplKernel Ret; |
1001 | tEplSdoComCon *pSdoComCon; | |
1002 | BYTE bFlag; | |
9d7164cf DK |
1003 | |
1004 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
1005 | DWORD dwAbortCode; |
1006 | unsigned int uiSize; | |
9d7164cf DK |
1007 | #endif |
1008 | ||
1009 | #if defined(WIN32) || defined(_WIN32) | |
833dfbe7 GKH |
1010 | // enter critical section for process function |
1011 | EnterCriticalSection(SdoComInstance_g.m_pCriticalSection); | |
1012 | EPL_DBGLVL_SDO_TRACE0 | |
1013 | ("\n\tEnterCiticalSection EplSdoComProcessIntern\n\n"); | |
9d7164cf DK |
1014 | #endif |
1015 | ||
833dfbe7 | 1016 | Ret = kEplSuccessful; |
9d7164cf | 1017 | |
833dfbe7 GKH |
1018 | // get pointer to control structure |
1019 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p]; | |
9d7164cf | 1020 | |
833dfbe7 GKH |
1021 | // process state maschine |
1022 | switch (pSdoComCon->m_SdoComState) { | |
1023 | // idle state | |
1024 | case kEplSdoComStateIdle: | |
1025 | { | |
1026 | // check events | |
1027 | switch (SdoComConEvent_p) { | |
9d7164cf | 1028 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
833dfbe7 GKH |
1029 | // init con for client |
1030 | case kEplSdoComConEventInitCon: | |
1031 | { | |
1032 | ||
1033 | // call of the init function already | |
1034 | // processed in EplSdoComDefineCon() | |
1035 | // only change state to kEplSdoComStateClientWaitInit | |
1036 | pSdoComCon->m_SdoComState = | |
1037 | kEplSdoComStateClientWaitInit; | |
1038 | break; | |
1039 | } | |
9d7164cf DK |
1040 | #endif |
1041 | ||
833dfbe7 GKH |
1042 | // int con for server |
1043 | case kEplSdoComConEventRec: | |
1044 | { | |
9d7164cf | 1045 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) |
833dfbe7 GKH |
1046 | // check if init of an transfer and no SDO abort |
1047 | if ((pAsySdoCom_p->m_le_bFlags & 0x80) == 0) { // SDO request | |
1048 | if ((pAsySdoCom_p->m_le_bFlags & 0x40) == 0) { // no SDO abort | |
1049 | // save tansaction id | |
1050 | pSdoComCon-> | |
1051 | m_bTransactionId = | |
1052 | AmiGetByteFromLe | |
1053 | (&pAsySdoCom_p-> | |
1054 | m_le_bTransactionId); | |
1055 | // check command | |
1056 | switch (pAsySdoCom_p-> | |
1057 | m_le_bCommandId) | |
1058 | { | |
1059 | case kEplSdoServiceNIL: | |
1060 | { // simply acknowlegde NIL command on sequence layer | |
1061 | ||
1062 | Ret = | |
1063 | EplSdoAsySeqSendData | |
1064 | (pSdoComCon-> | |
1065 | m_SdoSeqConHdl, | |
1066 | 0, | |
1067 | (tEplFrame | |
1068 | *) | |
1069 | NULL); | |
1070 | ||
1071 | break; | |
1072 | } | |
1073 | ||
1074 | case kEplSdoServiceReadByIndex: | |
1075 | { // read by index | |
1076 | ||
1077 | // search entry an start transfer | |
1078 | EplSdoComServerInitReadByIndex | |
1079 | (pSdoComCon, | |
1080 | pAsySdoCom_p); | |
1081 | // check next state | |
1082 | if (pSdoComCon->m_uiTransSize == 0) { // ready -> stay idle | |
1083 | pSdoComCon-> | |
1084 | m_SdoComState | |
1085 | = | |
1086 | kEplSdoComStateIdle; | |
1087 | // reset abort code | |
1088 | pSdoComCon-> | |
1089 | m_dwLastAbortCode | |
1090 | = | |
1091 | 0; | |
1092 | } else { // segmented transfer | |
1093 | pSdoComCon-> | |
1094 | m_SdoComState | |
1095 | = | |
1096 | kEplSdoComStateServerSegmTrans; | |
1097 | } | |
1098 | ||
1099 | break; | |
1100 | } | |
1101 | ||
1102 | case kEplSdoServiceWriteByIndex: | |
1103 | { | |
1104 | ||
1105 | // search entry an start write | |
1106 | EplSdoComServerInitWriteByIndex | |
1107 | (pSdoComCon, | |
1108 | pAsySdoCom_p); | |
1109 | // check next state | |
1110 | if (pSdoComCon->m_uiTransSize == 0) { // already -> stay idle | |
1111 | pSdoComCon-> | |
1112 | m_SdoComState | |
1113 | = | |
1114 | kEplSdoComStateIdle; | |
1115 | // reset abort code | |
1116 | pSdoComCon-> | |
1117 | m_dwLastAbortCode | |
1118 | = | |
1119 | 0; | |
1120 | } else { // segmented transfer | |
1121 | pSdoComCon-> | |
1122 | m_SdoComState | |
1123 | = | |
1124 | kEplSdoComStateServerSegmTrans; | |
1125 | } | |
1126 | ||
1127 | break; | |
1128 | } | |
1129 | ||
1130 | default: | |
1131 | { | |
1132 | // unsupported command | |
1133 | // -> abort senden | |
1134 | dwAbortCode | |
1135 | = | |
1136 | EPL_SDOAC_UNKNOWN_COMMAND_SPECIFIER; | |
1137 | // send abort | |
1138 | pSdoComCon-> | |
1139 | m_pData | |
1140 | = | |
1141 | (BYTE | |
1142 | *) | |
1143 | & | |
1144 | dwAbortCode; | |
1145 | Ret = | |
1146 | EplSdoComServerSendFrameIntern | |
1147 | (pSdoComCon, | |
1148 | 0, | |
1149 | 0, | |
1150 | kEplSdoComSendTypeAbort); | |
1151 | ||
1152 | } | |
1153 | ||
1154 | } // end of switch(pAsySdoCom_p->m_le_bCommandId) | |
1155 | } | |
1156 | } else { // this command layer handle is not responsible | |
1157 | // (wrong direction or wrong transaction ID) | |
1158 | Ret = kEplSdoComNotResponsible; | |
1159 | goto Exit; | |
1160 | } | |
9d7164cf DK |
1161 | #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) |
1162 | ||
833dfbe7 GKH |
1163 | break; |
1164 | } | |
1165 | ||
1166 | // connection closed | |
1167 | case kEplSdoComConEventInitError: | |
1168 | case kEplSdoComConEventTimeout: | |
1169 | case kEplSdoComConEventConClosed: | |
1170 | { | |
1171 | Ret = | |
1172 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1173 | m_SdoSeqConHdl); | |
1174 | // clean control structure | |
1175 | EPL_MEMSET(pSdoComCon, 0x00, | |
1176 | sizeof(tEplSdoComCon)); | |
1177 | break; | |
1178 | } | |
1179 | ||
1180 | default: | |
1181 | // d.k. do nothing | |
1182 | break; | |
1183 | } // end of switch(SdoComConEvent_p) | |
1184 | break; | |
1185 | } | |
9d7164cf DK |
1186 | |
1187 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
1188 | //------------------------------------------------------------------------- |
1189 | // SDO Server part | |
1190 | // segmented transfer | |
1191 | case kEplSdoComStateServerSegmTrans: | |
1192 | { | |
1193 | // check events | |
1194 | switch (SdoComConEvent_p) { | |
1195 | // send next frame | |
1196 | case kEplSdoComConEventAckReceived: | |
1197 | case kEplSdoComConEventFrameSended: | |
1198 | { | |
1199 | // check if it is a read | |
1200 | if (pSdoComCon->m_SdoServiceType == | |
1201 | kEplSdoServiceReadByIndex) { | |
1202 | // send next frame | |
1203 | EplSdoComServerSendFrameIntern | |
1204 | (pSdoComCon, 0, 0, | |
1205 | kEplSdoComSendTypeRes); | |
1206 | // if all send -> back to idle | |
1207 | if (pSdoComCon->m_uiTransSize == 0) { // back to idle | |
1208 | pSdoComCon-> | |
1209 | m_SdoComState = | |
1210 | kEplSdoComStateIdle; | |
1211 | // reset abort code | |
1212 | pSdoComCon-> | |
1213 | m_dwLastAbortCode = | |
1214 | 0; | |
1215 | } | |
1216 | ||
1217 | } | |
1218 | break; | |
1219 | } | |
1220 | ||
1221 | // process next frame | |
1222 | case kEplSdoComConEventRec: | |
1223 | { | |
1224 | // check if the frame is a SDO response and has the right transaction ID | |
1225 | bFlag = | |
1226 | AmiGetByteFromLe(&pAsySdoCom_p-> | |
1227 | m_le_bFlags); | |
1228 | if (((bFlag & 0x80) != 0) | |
1229 | && | |
1230 | (AmiGetByteFromLe | |
1231 | (&pAsySdoCom_p-> | |
1232 | m_le_bTransactionId) == | |
1233 | pSdoComCon->m_bTransactionId)) { | |
1234 | // check if it is a abort | |
1235 | if ((bFlag & 0x40) != 0) { // SDO abort | |
1236 | // clear control structure | |
1237 | pSdoComCon-> | |
1238 | m_uiTransSize = 0; | |
1239 | pSdoComCon-> | |
1240 | m_uiTransferredByte | |
1241 | = 0; | |
1242 | // change state | |
1243 | pSdoComCon-> | |
1244 | m_SdoComState = | |
1245 | kEplSdoComStateIdle; | |
1246 | // reset abort code | |
1247 | pSdoComCon-> | |
1248 | m_dwLastAbortCode = | |
1249 | 0; | |
1250 | // d.k.: do not execute anything further on this command | |
1251 | break; | |
1252 | } | |
1253 | // check if it is a write | |
1254 | if (pSdoComCon-> | |
1255 | m_SdoServiceType == | |
1256 | kEplSdoServiceWriteByIndex) | |
1257 | { | |
1258 | // write data to OD | |
1259 | uiSize = | |
1260 | AmiGetWordFromLe | |
1261 | (&pAsySdoCom_p-> | |
1262 | m_le_wSegmentSize); | |
1263 | if (pSdoComCon-> | |
1264 | m_dwLastAbortCode == | |
1265 | 0) { | |
1266 | EPL_MEMCPY | |
1267 | (pSdoComCon-> | |
1268 | m_pData, | |
1269 | &pAsySdoCom_p-> | |
1270 | m_le_abCommandData | |
1271 | [0], | |
1272 | uiSize); | |
1273 | } | |
1274 | // update counter | |
1275 | pSdoComCon-> | |
1276 | m_uiTransferredByte | |
1277 | += uiSize; | |
1278 | pSdoComCon-> | |
1279 | m_uiTransSize -= | |
1280 | uiSize; | |
1281 | ||
1282 | // update pointer | |
1283 | if (pSdoComCon-> | |
1284 | m_dwLastAbortCode == | |
1285 | 0) { | |
1286 | ( /*(BYTE*) */ | |
1287 | pSdoComCon-> | |
1288 | m_pData) += | |
1289 | uiSize; | |
1290 | } | |
1291 | // check end of transfer | |
1292 | if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x30) { // transfer ready | |
1293 | pSdoComCon-> | |
1294 | m_uiTransSize | |
1295 | = 0; | |
1296 | ||
1297 | if (pSdoComCon-> | |
1298 | m_dwLastAbortCode | |
1299 | == 0) { | |
1300 | // send response | |
1301 | // send next frame | |
1302 | EplSdoComServerSendFrameIntern | |
1303 | (pSdoComCon, | |
1304 | 0, | |
1305 | 0, | |
1306 | kEplSdoComSendTypeRes); | |
1307 | // if all send -> back to idle | |
1308 | if (pSdoComCon->m_uiTransSize == 0) { // back to idle | |
1309 | pSdoComCon-> | |
1310 | m_SdoComState | |
1311 | = | |
1312 | kEplSdoComStateIdle; | |
1313 | // reset abort code | |
1314 | pSdoComCon-> | |
1315 | m_dwLastAbortCode | |
1316 | = | |
1317 | 0; | |
1318 | } | |
1319 | } else { // send dabort code | |
1320 | // send abort | |
1321 | pSdoComCon-> | |
1322 | m_pData | |
1323 | = | |
1324 | (BYTE | |
1325 | *) | |
1326 | & | |
1327 | pSdoComCon-> | |
1328 | m_dwLastAbortCode; | |
1329 | Ret = | |
1330 | EplSdoComServerSendFrameIntern | |
1331 | (pSdoComCon, | |
1332 | 0, | |
1333 | 0, | |
1334 | kEplSdoComSendTypeAbort); | |
1335 | ||
1336 | // reset abort code | |
1337 | pSdoComCon-> | |
1338 | m_dwLastAbortCode | |
1339 | = 0; | |
1340 | ||
1341 | } | |
1342 | } else { | |
1343 | // send acknowledge without any Command layer data | |
1344 | Ret = | |
1345 | EplSdoAsySeqSendData | |
1346 | (pSdoComCon-> | |
1347 | m_SdoSeqConHdl, | |
1348 | 0, | |
1349 | (tEplFrame | |
1350 | *) NULL); | |
1351 | } | |
1352 | } | |
1353 | } else { // this command layer handle is not responsible | |
1354 | // (wrong direction or wrong transaction ID) | |
1355 | Ret = kEplSdoComNotResponsible; | |
1356 | goto Exit; | |
1357 | } | |
1358 | break; | |
1359 | } | |
1360 | ||
1361 | // connection closed | |
1362 | case kEplSdoComConEventInitError: | |
1363 | case kEplSdoComConEventTimeout: | |
1364 | case kEplSdoComConEventConClosed: | |
1365 | { | |
1366 | Ret = | |
1367 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1368 | m_SdoSeqConHdl); | |
1369 | // clean control structure | |
1370 | EPL_MEMSET(pSdoComCon, 0x00, | |
1371 | sizeof(tEplSdoComCon)); | |
1372 | break; | |
1373 | } | |
1374 | ||
1375 | default: | |
1376 | // d.k. do nothing | |
1377 | break; | |
1378 | } // end of switch(SdoComConEvent_p) | |
1379 | ||
1380 | break; | |
1381 | } | |
9d7164cf DK |
1382 | #endif // endif of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) |
1383 | ||
9d7164cf | 1384 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
833dfbe7 GKH |
1385 | //------------------------------------------------------------------------- |
1386 | // SDO Client part | |
1387 | // wait for finish of establishing connection | |
1388 | case kEplSdoComStateClientWaitInit: | |
1389 | { | |
1390 | ||
1391 | // if connection handle is invalid reinit connection | |
1392 | // d.k.: this will be done only on new events (i.e. InitTransfer) | |
1393 | if ((pSdoComCon-> | |
1394 | m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == | |
1395 | EPL_SDO_SEQ_INVALID_HDL) { | |
1396 | // check kind of connection to reinit | |
1397 | // check protocol | |
1398 | switch (pSdoComCon->m_SdoProtType) { | |
1399 | // udp | |
1400 | case kEplSdoTypeUdp: | |
1401 | { | |
1402 | // call connection int function of lower layer | |
1403 | Ret = | |
1404 | EplSdoAsySeqInitCon | |
1405 | (&pSdoComCon-> | |
1406 | m_SdoSeqConHdl, | |
1407 | pSdoComCon->m_uiNodeId, | |
1408 | kEplSdoTypeUdp); | |
1409 | if (Ret != kEplSuccessful) { | |
1410 | goto Exit; | |
1411 | } | |
1412 | break; | |
1413 | } | |
1414 | ||
1415 | // Asend -> not supported | |
1416 | case kEplSdoTypeAsnd: | |
1417 | { | |
1418 | // call connection int function of lower layer | |
1419 | Ret = | |
1420 | EplSdoAsySeqInitCon | |
1421 | (&pSdoComCon-> | |
1422 | m_SdoSeqConHdl, | |
1423 | pSdoComCon->m_uiNodeId, | |
1424 | kEplSdoTypeAsnd); | |
1425 | if (Ret != kEplSuccessful) { | |
1426 | goto Exit; | |
1427 | } | |
1428 | break; | |
1429 | } | |
1430 | ||
1431 | // Pdo -> not supported | |
1432 | case kEplSdoTypePdo: | |
1433 | default: | |
1434 | { | |
1435 | Ret = kEplSdoComUnsupportedProt; | |
1436 | goto Exit; | |
1437 | } | |
1438 | } // end of switch(m_ProtType_p) | |
1439 | // d.k.: reset transaction ID, because new sequence layer connection was initialized | |
1440 | // $$$ d.k. is this really necessary? | |
1441 | //pSdoComCon->m_bTransactionId = 0; | |
1442 | } | |
1443 | // check events | |
1444 | switch (SdoComConEvent_p) { | |
1445 | // connection established | |
1446 | case kEplSdoComConEventConEstablished: | |
1447 | { | |
1448 | //send first frame if needed | |
1449 | if ((pSdoComCon->m_uiTransSize > 0) | |
1450 | && (pSdoComCon->m_uiTargetIndex != 0)) { // start SDO transfer | |
1451 | Ret = | |
1452 | EplSdoComClientSend | |
1453 | (pSdoComCon); | |
1454 | if (Ret != kEplSuccessful) { | |
1455 | goto Exit; | |
1456 | } | |
1457 | // check if segemted transfer | |
1458 | if (pSdoComCon-> | |
1459 | m_SdoTransType == | |
1460 | kEplSdoTransSegmented) { | |
1461 | pSdoComCon-> | |
1462 | m_SdoComState = | |
1463 | kEplSdoComStateClientSegmTrans; | |
1464 | goto Exit; | |
1465 | } | |
1466 | } | |
1467 | // goto state kEplSdoComStateClientConnected | |
1468 | pSdoComCon->m_SdoComState = | |
1469 | kEplSdoComStateClientConnected; | |
1470 | goto Exit; | |
1471 | } | |
1472 | ||
1473 | case kEplSdoComConEventSendFirst: | |
1474 | { | |
1475 | // infos for transfer already saved by function EplSdoComInitTransferByIndex | |
1476 | break; | |
1477 | } | |
1478 | ||
1479 | case kEplSdoComConEventConClosed: | |
1480 | case kEplSdoComConEventInitError: | |
1481 | case kEplSdoComConEventTimeout: | |
1482 | { | |
1483 | // close sequence layer handle | |
1484 | Ret = | |
1485 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1486 | m_SdoSeqConHdl); | |
1487 | pSdoComCon->m_SdoSeqConHdl |= | |
1488 | EPL_SDO_SEQ_INVALID_HDL; | |
1489 | // call callback function | |
1490 | if (SdoComConEvent_p == | |
1491 | kEplSdoComConEventTimeout) { | |
1492 | pSdoComCon->m_dwLastAbortCode = | |
1493 | EPL_SDOAC_TIME_OUT; | |
1494 | } else { | |
1495 | pSdoComCon->m_dwLastAbortCode = | |
1496 | 0; | |
1497 | } | |
1498 | Ret = | |
1499 | EplSdoComTransferFinished | |
1500 | (SdoComCon_p, pSdoComCon, | |
1501 | kEplSdoComTransferLowerLayerAbort); | |
1502 | // d.k.: do not clean control structure | |
1503 | break; | |
1504 | } | |
1505 | ||
1506 | default: | |
1507 | // d.k. do nothing | |
1508 | break; | |
1509 | ||
1510 | } // end of switch(SdoComConEvent_p) | |
1511 | break; | |
1512 | } | |
1513 | ||
1514 | // connected | |
1515 | case kEplSdoComStateClientConnected: | |
1516 | { | |
1517 | // check events | |
1518 | switch (SdoComConEvent_p) { | |
1519 | // send a frame | |
1520 | case kEplSdoComConEventSendFirst: | |
1521 | case kEplSdoComConEventAckReceived: | |
1522 | case kEplSdoComConEventFrameSended: | |
1523 | { | |
1524 | Ret = EplSdoComClientSend(pSdoComCon); | |
1525 | if (Ret != kEplSuccessful) { | |
1526 | goto Exit; | |
1527 | } | |
1528 | // check if read transfer finished | |
1529 | if ((pSdoComCon->m_uiTransSize == 0) | |
1530 | && (pSdoComCon-> | |
1531 | m_uiTransferredByte != 0) | |
1532 | && (pSdoComCon->m_SdoServiceType == | |
1533 | kEplSdoServiceReadByIndex)) { | |
1534 | // inc transaction id | |
1535 | pSdoComCon->m_bTransactionId++; | |
1536 | // call callback of application | |
1537 | pSdoComCon->m_dwLastAbortCode = | |
1538 | 0; | |
1539 | Ret = | |
1540 | EplSdoComTransferFinished | |
1541 | (SdoComCon_p, pSdoComCon, | |
1542 | kEplSdoComTransferFinished); | |
1543 | ||
1544 | goto Exit; | |
1545 | } | |
1546 | // check if segemted transfer | |
1547 | if (pSdoComCon->m_SdoTransType == | |
1548 | kEplSdoTransSegmented) { | |
1549 | pSdoComCon->m_SdoComState = | |
1550 | kEplSdoComStateClientSegmTrans; | |
1551 | goto Exit; | |
1552 | } | |
1553 | break; | |
1554 | } | |
1555 | ||
1556 | // frame received | |
1557 | case kEplSdoComConEventRec: | |
1558 | { | |
1559 | // check if the frame is a SDO response and has the right transaction ID | |
1560 | bFlag = | |
1561 | AmiGetByteFromLe(&pAsySdoCom_p-> | |
1562 | m_le_bFlags); | |
1563 | if (((bFlag & 0x80) != 0) | |
1564 | && | |
1565 | (AmiGetByteFromLe | |
1566 | (&pAsySdoCom_p-> | |
1567 | m_le_bTransactionId) == | |
1568 | pSdoComCon->m_bTransactionId)) { | |
1569 | // check if abort or not | |
1570 | if ((bFlag & 0x40) != 0) { | |
1571 | // send acknowledge without any Command layer data | |
1572 | Ret = | |
1573 | EplSdoAsySeqSendData | |
1574 | (pSdoComCon-> | |
1575 | m_SdoSeqConHdl, 0, | |
1576 | (tEplFrame *) | |
1577 | NULL); | |
1578 | // inc transaction id | |
1579 | pSdoComCon-> | |
1580 | m_bTransactionId++; | |
1581 | // save abort code | |
1582 | pSdoComCon-> | |
1583 | m_dwLastAbortCode = | |
1584 | AmiGetDwordFromLe | |
1585 | (&pAsySdoCom_p-> | |
1586 | m_le_abCommandData | |
1587 | [0]); | |
1588 | // call callback of application | |
1589 | Ret = | |
1590 | EplSdoComTransferFinished | |
1591 | (SdoComCon_p, | |
1592 | pSdoComCon, | |
1593 | kEplSdoComTransferRxAborted); | |
1594 | ||
1595 | goto Exit; | |
1596 | } else { // normal frame received | |
1597 | // check frame | |
1598 | Ret = | |
1599 | EplSdoComClientProcessFrame | |
1600 | (SdoComCon_p, | |
1601 | pAsySdoCom_p); | |
1602 | ||
1603 | // check if transfer ready | |
1604 | if (pSdoComCon-> | |
1605 | m_uiTransSize == | |
1606 | 0) { | |
1607 | // send acknowledge without any Command layer data | |
1608 | Ret = | |
1609 | EplSdoAsySeqSendData | |
1610 | (pSdoComCon-> | |
1611 | m_SdoSeqConHdl, | |
1612 | 0, | |
1613 | (tEplFrame | |
1614 | *) NULL); | |
1615 | // inc transaction id | |
1616 | pSdoComCon-> | |
1617 | m_bTransactionId++; | |
1618 | // call callback of application | |
1619 | pSdoComCon-> | |
1620 | m_dwLastAbortCode | |
1621 | = 0; | |
1622 | Ret = | |
1623 | EplSdoComTransferFinished | |
1624 | (SdoComCon_p, | |
1625 | pSdoComCon, | |
1626 | kEplSdoComTransferFinished); | |
1627 | ||
1628 | goto Exit; | |
1629 | } | |
1630 | ||
1631 | } | |
1632 | } else { // this command layer handle is not responsible | |
1633 | // (wrong direction or wrong transaction ID) | |
1634 | Ret = kEplSdoComNotResponsible; | |
1635 | goto Exit; | |
1636 | } | |
1637 | break; | |
1638 | } | |
1639 | ||
1640 | // connection closed event go back to kEplSdoComStateClientWaitInit | |
1641 | case kEplSdoComConEventConClosed: | |
1642 | { // connection closed by communication partner | |
1643 | // close sequence layer handle | |
1644 | Ret = | |
1645 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1646 | m_SdoSeqConHdl); | |
1647 | // set handle to invalid and enter kEplSdoComStateClientWaitInit | |
1648 | pSdoComCon->m_SdoSeqConHdl |= | |
1649 | EPL_SDO_SEQ_INVALID_HDL; | |
1650 | // change state | |
1651 | pSdoComCon->m_SdoComState = | |
1652 | kEplSdoComStateClientWaitInit; | |
1653 | ||
1654 | // call callback of application | |
1655 | pSdoComCon->m_dwLastAbortCode = 0; | |
1656 | Ret = | |
1657 | EplSdoComTransferFinished | |
1658 | (SdoComCon_p, pSdoComCon, | |
1659 | kEplSdoComTransferLowerLayerAbort); | |
1660 | ||
1661 | goto Exit; | |
1662 | ||
1663 | break; | |
1664 | } | |
1665 | ||
1666 | // abort to send from higher layer | |
1667 | case kEplSdoComConEventAbort: | |
1668 | { | |
1669 | EplSdoComClientSendAbort(pSdoComCon, | |
1670 | *((DWORD *) | |
1671 | pSdoComCon-> | |
1672 | m_pData)); | |
1673 | ||
1674 | // inc transaction id | |
1675 | pSdoComCon->m_bTransactionId++; | |
1676 | // call callback of application | |
1677 | pSdoComCon->m_dwLastAbortCode = | |
1678 | *((DWORD *) pSdoComCon->m_pData); | |
1679 | Ret = | |
1680 | EplSdoComTransferFinished | |
1681 | (SdoComCon_p, pSdoComCon, | |
1682 | kEplSdoComTransferTxAborted); | |
1683 | ||
1684 | break; | |
1685 | } | |
1686 | ||
1687 | case kEplSdoComConEventInitError: | |
1688 | case kEplSdoComConEventTimeout: | |
1689 | { | |
1690 | // close sequence layer handle | |
1691 | Ret = | |
1692 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1693 | m_SdoSeqConHdl); | |
1694 | pSdoComCon->m_SdoSeqConHdl |= | |
1695 | EPL_SDO_SEQ_INVALID_HDL; | |
1696 | // change state | |
1697 | pSdoComCon->m_SdoComState = | |
1698 | kEplSdoComStateClientWaitInit; | |
1699 | // call callback of application | |
1700 | pSdoComCon->m_dwLastAbortCode = | |
1701 | EPL_SDOAC_TIME_OUT; | |
1702 | Ret = | |
1703 | EplSdoComTransferFinished | |
1704 | (SdoComCon_p, pSdoComCon, | |
1705 | kEplSdoComTransferLowerLayerAbort); | |
1706 | ||
1707 | } | |
1708 | ||
1709 | default: | |
1710 | // d.k. do nothing | |
1711 | break; | |
1712 | ||
1713 | } // end of switch(SdoComConEvent_p) | |
1714 | ||
1715 | break; | |
1716 | } | |
1717 | ||
1718 | // process segmented transfer | |
1719 | case kEplSdoComStateClientSegmTrans: | |
1720 | { | |
1721 | // check events | |
1722 | switch (SdoComConEvent_p) { | |
1723 | // sned a frame | |
1724 | case kEplSdoComConEventSendFirst: | |
1725 | case kEplSdoComConEventAckReceived: | |
1726 | case kEplSdoComConEventFrameSended: | |
1727 | { | |
1728 | Ret = EplSdoComClientSend(pSdoComCon); | |
1729 | if (Ret != kEplSuccessful) { | |
1730 | goto Exit; | |
1731 | } | |
1732 | // check if read transfer finished | |
1733 | if ((pSdoComCon->m_uiTransSize == 0) | |
1734 | && (pSdoComCon->m_SdoServiceType == | |
1735 | kEplSdoServiceReadByIndex)) { | |
1736 | // inc transaction id | |
1737 | pSdoComCon->m_bTransactionId++; | |
1738 | // change state | |
1739 | pSdoComCon->m_SdoComState = | |
1740 | kEplSdoComStateClientConnected; | |
1741 | // call callback of application | |
1742 | pSdoComCon->m_dwLastAbortCode = | |
1743 | 0; | |
1744 | Ret = | |
1745 | EplSdoComTransferFinished | |
1746 | (SdoComCon_p, pSdoComCon, | |
1747 | kEplSdoComTransferFinished); | |
1748 | ||
1749 | goto Exit; | |
1750 | } | |
1751 | ||
1752 | break; | |
1753 | } | |
1754 | ||
1755 | // frame received | |
1756 | case kEplSdoComConEventRec: | |
1757 | { | |
1758 | // check if the frame is a response | |
1759 | bFlag = | |
1760 | AmiGetByteFromLe(&pAsySdoCom_p-> | |
1761 | m_le_bFlags); | |
1762 | if (((bFlag & 0x80) != 0) | |
1763 | && | |
1764 | (AmiGetByteFromLe | |
1765 | (&pAsySdoCom_p-> | |
1766 | m_le_bTransactionId) == | |
1767 | pSdoComCon->m_bTransactionId)) { | |
1768 | // check if abort or not | |
1769 | if ((bFlag & 0x40) != 0) { | |
1770 | // send acknowledge without any Command layer data | |
1771 | Ret = | |
1772 | EplSdoAsySeqSendData | |
1773 | (pSdoComCon-> | |
1774 | m_SdoSeqConHdl, 0, | |
1775 | (tEplFrame *) | |
1776 | NULL); | |
1777 | // inc transaction id | |
1778 | pSdoComCon-> | |
1779 | m_bTransactionId++; | |
1780 | // change state | |
1781 | pSdoComCon-> | |
1782 | m_SdoComState = | |
1783 | kEplSdoComStateClientConnected; | |
1784 | // save abort code | |
1785 | pSdoComCon-> | |
1786 | m_dwLastAbortCode = | |
1787 | AmiGetDwordFromLe | |
1788 | (&pAsySdoCom_p-> | |
1789 | m_le_abCommandData | |
1790 | [0]); | |
1791 | // call callback of application | |
1792 | Ret = | |
1793 | EplSdoComTransferFinished | |
1794 | (SdoComCon_p, | |
1795 | pSdoComCon, | |
1796 | kEplSdoComTransferRxAborted); | |
1797 | ||
1798 | goto Exit; | |
1799 | } else { // normal frame received | |
1800 | // check frame | |
1801 | Ret = | |
1802 | EplSdoComClientProcessFrame | |
1803 | (SdoComCon_p, | |
1804 | pAsySdoCom_p); | |
1805 | ||
1806 | // check if transfer ready | |
1807 | if (pSdoComCon-> | |
1808 | m_uiTransSize == | |
1809 | 0) { | |
1810 | // send acknowledge without any Command layer data | |
1811 | Ret = | |
1812 | EplSdoAsySeqSendData | |
1813 | (pSdoComCon-> | |
1814 | m_SdoSeqConHdl, | |
1815 | 0, | |
1816 | (tEplFrame | |
1817 | *) NULL); | |
1818 | // inc transaction id | |
1819 | pSdoComCon-> | |
1820 | m_bTransactionId++; | |
1821 | // change state | |
1822 | pSdoComCon-> | |
1823 | m_SdoComState | |
1824 | = | |
1825 | kEplSdoComStateClientConnected; | |
1826 | // call callback of application | |
1827 | pSdoComCon-> | |
1828 | m_dwLastAbortCode | |
1829 | = 0; | |
1830 | Ret = | |
1831 | EplSdoComTransferFinished | |
1832 | (SdoComCon_p, | |
1833 | pSdoComCon, | |
1834 | kEplSdoComTransferFinished); | |
1835 | ||
1836 | } | |
1837 | ||
1838 | } | |
1839 | } | |
1840 | break; | |
1841 | } | |
1842 | ||
1843 | // connection closed event go back to kEplSdoComStateClientWaitInit | |
1844 | case kEplSdoComConEventConClosed: | |
1845 | { // connection closed by communication partner | |
1846 | // close sequence layer handle | |
1847 | Ret = | |
1848 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1849 | m_SdoSeqConHdl); | |
1850 | // set handle to invalid and enter kEplSdoComStateClientWaitInit | |
1851 | pSdoComCon->m_SdoSeqConHdl |= | |
1852 | EPL_SDO_SEQ_INVALID_HDL; | |
1853 | // change state | |
1854 | pSdoComCon->m_SdoComState = | |
1855 | kEplSdoComStateClientWaitInit; | |
1856 | // inc transaction id | |
1857 | pSdoComCon->m_bTransactionId++; | |
1858 | // call callback of application | |
1859 | pSdoComCon->m_dwLastAbortCode = 0; | |
1860 | Ret = | |
1861 | EplSdoComTransferFinished | |
1862 | (SdoComCon_p, pSdoComCon, | |
1863 | kEplSdoComTransferFinished); | |
1864 | ||
1865 | break; | |
1866 | } | |
1867 | ||
1868 | // abort to send from higher layer | |
1869 | case kEplSdoComConEventAbort: | |
1870 | { | |
1871 | EplSdoComClientSendAbort(pSdoComCon, | |
1872 | *((DWORD *) | |
1873 | pSdoComCon-> | |
1874 | m_pData)); | |
1875 | ||
1876 | // inc transaction id | |
1877 | pSdoComCon->m_bTransactionId++; | |
1878 | // change state | |
1879 | pSdoComCon->m_SdoComState = | |
1880 | kEplSdoComStateClientConnected; | |
1881 | // call callback of application | |
1882 | pSdoComCon->m_dwLastAbortCode = | |
1883 | *((DWORD *) pSdoComCon->m_pData); | |
1884 | Ret = | |
1885 | EplSdoComTransferFinished | |
1886 | (SdoComCon_p, pSdoComCon, | |
1887 | kEplSdoComTransferTxAborted); | |
1888 | ||
1889 | break; | |
1890 | } | |
1891 | ||
1892 | case kEplSdoComConEventInitError: | |
1893 | case kEplSdoComConEventTimeout: | |
1894 | { | |
1895 | // close sequence layer handle | |
1896 | Ret = | |
1897 | EplSdoAsySeqDelCon(pSdoComCon-> | |
1898 | m_SdoSeqConHdl); | |
1899 | pSdoComCon->m_SdoSeqConHdl |= | |
1900 | EPL_SDO_SEQ_INVALID_HDL; | |
1901 | // change state | |
1902 | pSdoComCon->m_SdoComState = | |
1903 | kEplSdoComStateClientWaitInit; | |
1904 | // call callback of application | |
1905 | pSdoComCon->m_dwLastAbortCode = | |
1906 | EPL_SDOAC_TIME_OUT; | |
1907 | Ret = | |
1908 | EplSdoComTransferFinished | |
1909 | (SdoComCon_p, pSdoComCon, | |
1910 | kEplSdoComTransferLowerLayerAbort); | |
1911 | ||
1912 | } | |
1913 | ||
1914 | default: | |
1915 | // d.k. do nothing | |
1916 | break; | |
1917 | ||
1918 | } // end of switch(SdoComConEvent_p) | |
1919 | ||
1920 | break; | |
1921 | } | |
9d7164cf DK |
1922 | #endif // endo of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) |
1923 | ||
833dfbe7 | 1924 | } // end of switch(pSdoComCon->m_SdoComState) |
9d7164cf DK |
1925 | |
1926 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 | 1927 | Exit: |
9d7164cf DK |
1928 | #endif |
1929 | ||
1930 | #if defined(WIN32) || defined(_WIN32) | |
833dfbe7 GKH |
1931 | // leave critical section for process function |
1932 | EPL_DBGLVL_SDO_TRACE0 | |
1933 | ("\n\tLeaveCriticalSection EplSdoComProcessIntern\n\n"); | |
1934 | LeaveCriticalSection(SdoComInstance_g.m_pCriticalSection); | |
9d7164cf DK |
1935 | |
1936 | #endif | |
1937 | ||
833dfbe7 | 1938 | return Ret; |
9d7164cf DK |
1939 | |
1940 | } | |
1941 | ||
9d7164cf DK |
1942 | //--------------------------------------------------------------------------- |
1943 | // | |
1944 | // Function: EplSdoComServerInitReadByIndex | |
1945 | // | |
1946 | // Description: function start the processing of an read by index command | |
1947 | // | |
1948 | // | |
1949 | // | |
1950 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
1951 | // pAsySdoCom_p = pointer to received frame | |
1952 | // | |
1953 | // Returns: tEplKernel = errorcode | |
1954 | // | |
1955 | // | |
1956 | // State: | |
1957 | // | |
1958 | //--------------------------------------------------------------------------- | |
1959 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
1960 | static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon * pSdoComCon_p, |
1961 | tEplAsySdoCom * pAsySdoCom_p) | |
9d7164cf | 1962 | { |
833dfbe7 GKH |
1963 | tEplKernel Ret; |
1964 | unsigned int uiIndex; | |
1965 | unsigned int uiSubindex; | |
1966 | tEplObdSize EntrySize; | |
1967 | tEplObdAccess AccessType; | |
1968 | DWORD dwAbortCode; | |
9d7164cf | 1969 | |
833dfbe7 | 1970 | dwAbortCode = 0; |
9d7164cf | 1971 | |
833dfbe7 GKH |
1972 | // a init of a read could not be a segmented transfer |
1973 | // -> no variable part of header | |
9d7164cf | 1974 | |
833dfbe7 GKH |
1975 | // get index and subindex |
1976 | uiIndex = AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]); | |
1977 | uiSubindex = AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]); | |
9d7164cf | 1978 | |
833dfbe7 GKH |
1979 | // check accesstype of entry |
1980 | // existens of entry | |
9d7164cf | 1981 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 | 1982 | Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType); |
9d7164cf DK |
1983 | /*#else |
1984 | Ret = kEplObdSubindexNotExist; | |
1985 | AccessType = 0; | |
1986 | #endif*/ | |
833dfbe7 GKH |
1987 | if (Ret == kEplObdSubindexNotExist) { // subentry doesn't exist |
1988 | dwAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST; | |
1989 | // send abort | |
1990 | pSdoComCon_p->m_pData = (BYTE *) & dwAbortCode; | |
1991 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
1992 | uiIndex, | |
1993 | uiSubindex, | |
1994 | kEplSdoComSendTypeAbort); | |
1995 | goto Exit; | |
1996 | } else if (Ret != kEplSuccessful) { // entry doesn't exist | |
1997 | dwAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST; | |
1998 | // send abort | |
1999 | pSdoComCon_p->m_pData = (BYTE *) & dwAbortCode; | |
2000 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2001 | uiIndex, | |
2002 | uiSubindex, | |
2003 | kEplSdoComSendTypeAbort); | |
2004 | goto Exit; | |
2005 | } | |
2006 | // compare accesstype must be read or const | |
2007 | if (((AccessType & kEplObdAccRead) == 0) | |
2008 | && ((AccessType & kEplObdAccConst) == 0)) { | |
2009 | ||
2010 | if ((AccessType & kEplObdAccWrite) != 0) { | |
2011 | // entry read a write only object | |
2012 | dwAbortCode = EPL_SDOAC_READ_TO_WRITE_ONLY_OBJ; | |
2013 | } else { | |
2014 | dwAbortCode = EPL_SDOAC_UNSUPPORTED_ACCESS; | |
2015 | } | |
2016 | // send abort | |
2017 | pSdoComCon_p->m_pData = (BYTE *) & dwAbortCode; | |
2018 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2019 | uiIndex, | |
2020 | uiSubindex, | |
2021 | kEplSdoComSendTypeAbort); | |
2022 | goto Exit; | |
2023 | } | |
2024 | // save service | |
2025 | pSdoComCon_p->m_SdoServiceType = kEplSdoServiceReadByIndex; | |
2026 | ||
2027 | // get size of object to see iof segmented or expedited transfer | |
9d7164cf | 2028 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 | 2029 | EntrySize = EplObduGetDataSize(uiIndex, uiSubindex); |
9d7164cf DK |
2030 | /*#else |
2031 | EntrySize = 0; | |
2032 | #endif*/ | |
833dfbe7 GKH |
2033 | if (EntrySize > EPL_SDO_MAX_PAYLOAD) { // segmented transfer |
2034 | pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented; | |
2035 | // get pointer to object-entry data | |
9d7164cf | 2036 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 GKH |
2037 | pSdoComCon_p->m_pData = |
2038 | EplObduGetObjectDataPtr(uiIndex, uiSubindex); | |
9d7164cf | 2039 | //#endif |
833dfbe7 GKH |
2040 | } else { // expedited transfer |
2041 | pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited; | |
2042 | } | |
2043 | ||
2044 | pSdoComCon_p->m_uiTransSize = EntrySize; | |
2045 | pSdoComCon_p->m_uiTransferredByte = 0; | |
2046 | ||
2047 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2048 | uiIndex, | |
2049 | uiSubindex, kEplSdoComSendTypeRes); | |
2050 | if (Ret != kEplSuccessful) { | |
2051 | // error -> abort | |
2052 | dwAbortCode = EPL_SDOAC_GENERAL_ERROR; | |
2053 | // send abort | |
2054 | pSdoComCon_p->m_pData = (BYTE *) & dwAbortCode; | |
2055 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2056 | uiIndex, | |
2057 | uiSubindex, | |
2058 | kEplSdoComSendTypeAbort); | |
2059 | goto Exit; | |
2060 | } | |
2061 | ||
2062 | Exit: | |
2063 | return Ret; | |
9d7164cf DK |
2064 | } |
2065 | #endif | |
2066 | ||
2067 | //--------------------------------------------------------------------------- | |
2068 | // | |
2069 | // Function: EplSdoComServerSendFrameIntern(); | |
2070 | // | |
2071 | // Description: function creats and send a frame for server | |
2072 | // | |
2073 | // | |
2074 | // | |
2075 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
2076 | // uiIndex_p = index to send if expedited transfer else 0 | |
2077 | // uiSubIndex_p = subindex to send if expedited transfer else 0 | |
2078 | // SendType_p = to of frame to send | |
2079 | // | |
2080 | // Returns: tEplKernel = errorcode | |
2081 | // | |
2082 | // | |
2083 | // State: | |
2084 | // | |
2085 | //--------------------------------------------------------------------------- | |
2086 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
2087 | static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon * pSdoComCon_p, |
2088 | unsigned int uiIndex_p, | |
2089 | unsigned int uiSubIndex_p, | |
2090 | tEplSdoComSendType SendType_p) | |
9d7164cf | 2091 | { |
833dfbe7 GKH |
2092 | tEplKernel Ret; |
2093 | BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE]; | |
2094 | tEplFrame *pFrame; | |
2095 | tEplAsySdoCom *pCommandFrame; | |
2096 | unsigned int uiSizeOfFrame; | |
2097 | BYTE bFlag; | |
2098 | ||
2099 | Ret = kEplSuccessful; | |
2100 | ||
2101 | pFrame = (tEplFrame *) & abFrame[0]; | |
2102 | ||
2103 | EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame)); | |
2104 | ||
2105 | // build generic part of frame | |
2106 | // get pointer to command layerpart of frame | |
2107 | pCommandFrame = | |
2108 | &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. | |
2109 | m_le_abSdoSeqPayload; | |
2110 | AmiSetByteToLe(&pCommandFrame->m_le_bCommandId, | |
2111 | pSdoComCon_p->m_SdoServiceType); | |
2112 | AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId, | |
2113 | pSdoComCon_p->m_bTransactionId); | |
2114 | ||
2115 | // set size to header size | |
2116 | uiSizeOfFrame = 8; | |
2117 | ||
2118 | // check SendType | |
2119 | switch (SendType_p) { | |
2120 | // requestframe to send | |
2121 | case kEplSdoComSendTypeReq: | |
2122 | { | |
2123 | // nothing to do for server | |
2124 | //-> error | |
2125 | Ret = kEplSdoComInvalidSendType; | |
2126 | break; | |
2127 | } | |
2128 | ||
2129 | // response without data to send | |
2130 | case kEplSdoComSendTypeAckRes: | |
2131 | { | |
2132 | // set response flag | |
2133 | AmiSetByteToLe(&pCommandFrame->m_le_bFlags, 0x80); | |
2134 | ||
2135 | // send frame | |
2136 | Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl, | |
2137 | uiSizeOfFrame, pFrame); | |
2138 | ||
2139 | break; | |
2140 | } | |
2141 | ||
2142 | // responsframe to send | |
2143 | case kEplSdoComSendTypeRes: | |
2144 | { | |
2145 | // set response flag | |
2146 | bFlag = AmiGetByteFromLe(&pCommandFrame->m_le_bFlags); | |
2147 | bFlag |= 0x80; | |
2148 | AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag); | |
2149 | ||
2150 | // check type of resonse | |
2151 | if (pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited) { // Expedited transfer | |
2152 | // copy data in frame | |
9d7164cf | 2153 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 GKH |
2154 | Ret = EplObduReadEntryToLe(uiIndex_p, |
2155 | uiSubIndex_p, | |
2156 | &pCommandFrame-> | |
2157 | m_le_abCommandData | |
2158 | [0], | |
2159 | (tEplObdSize *) & | |
2160 | pSdoComCon_p-> | |
2161 | m_uiTransSize); | |
2162 | if (Ret != kEplSuccessful) { | |
2163 | goto Exit; | |
2164 | } | |
9d7164cf DK |
2165 | //#endif |
2166 | ||
833dfbe7 GKH |
2167 | // set size of frame |
2168 | AmiSetWordToLe(&pCommandFrame-> | |
2169 | m_le_wSegmentSize, | |
2170 | (WORD) pSdoComCon_p-> | |
2171 | m_uiTransSize); | |
2172 | ||
2173 | // correct byte-counter | |
2174 | uiSizeOfFrame += pSdoComCon_p->m_uiTransSize; | |
2175 | pSdoComCon_p->m_uiTransferredByte += | |
2176 | pSdoComCon_p->m_uiTransSize; | |
2177 | pSdoComCon_p->m_uiTransSize = 0; | |
2178 | ||
2179 | // send frame | |
2180 | uiSizeOfFrame += pSdoComCon_p->m_uiTransSize; | |
2181 | Ret = | |
2182 | EplSdoAsySeqSendData(pSdoComCon_p-> | |
2183 | m_SdoSeqConHdl, | |
2184 | uiSizeOfFrame, pFrame); | |
2185 | } else if (pSdoComCon_p->m_SdoTransType == kEplSdoTransSegmented) { // segmented transfer | |
2186 | // distinguish between init, segment and complete | |
2187 | if (pSdoComCon_p->m_uiTransferredByte == 0) { // init | |
2188 | // set init flag | |
2189 | bFlag = | |
2190 | AmiGetByteFromLe(&pCommandFrame-> | |
2191 | m_le_bFlags); | |
2192 | bFlag |= 0x10; | |
2193 | AmiSetByteToLe(&pCommandFrame-> | |
2194 | m_le_bFlags, bFlag); | |
2195 | // init variable header | |
2196 | AmiSetDwordToLe(&pCommandFrame-> | |
2197 | m_le_abCommandData[0], | |
2198 | pSdoComCon_p-> | |
2199 | m_uiTransSize); | |
2200 | // copy data in frame | |
2201 | EPL_MEMCPY(&pCommandFrame-> | |
2202 | m_le_abCommandData[4], | |
2203 | pSdoComCon_p->m_pData, | |
2204 | (EPL_SDO_MAX_PAYLOAD - 4)); | |
2205 | ||
2206 | // correct byte-counter | |
2207 | pSdoComCon_p->m_uiTransSize -= | |
2208 | (EPL_SDO_MAX_PAYLOAD - 4); | |
2209 | pSdoComCon_p->m_uiTransferredByte += | |
2210 | (EPL_SDO_MAX_PAYLOAD - 4); | |
2211 | // move data pointer | |
2212 | pSdoComCon_p->m_pData += | |
2213 | (EPL_SDO_MAX_PAYLOAD - 4); | |
2214 | ||
2215 | // set segment size | |
2216 | AmiSetWordToLe(&pCommandFrame-> | |
2217 | m_le_wSegmentSize, | |
2218 | (EPL_SDO_MAX_PAYLOAD - | |
2219 | 4)); | |
2220 | ||
2221 | // send frame | |
2222 | uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD; | |
2223 | Ret = | |
2224 | EplSdoAsySeqSendData(pSdoComCon_p-> | |
2225 | m_SdoSeqConHdl, | |
2226 | uiSizeOfFrame, | |
2227 | pFrame); | |
2228 | ||
2229 | } else | |
2230 | if ((pSdoComCon_p->m_uiTransferredByte > 0) | |
2231 | && (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD)) { // segment | |
2232 | // set segment flag | |
2233 | bFlag = | |
2234 | AmiGetByteFromLe(&pCommandFrame-> | |
2235 | m_le_bFlags); | |
2236 | bFlag |= 0x20; | |
2237 | AmiSetByteToLe(&pCommandFrame-> | |
2238 | m_le_bFlags, bFlag); | |
2239 | ||
2240 | // copy data in frame | |
2241 | EPL_MEMCPY(&pCommandFrame-> | |
2242 | m_le_abCommandData[0], | |
2243 | pSdoComCon_p->m_pData, | |
2244 | EPL_SDO_MAX_PAYLOAD); | |
2245 | ||
2246 | // correct byte-counter | |
2247 | pSdoComCon_p->m_uiTransSize -= | |
2248 | EPL_SDO_MAX_PAYLOAD; | |
2249 | pSdoComCon_p->m_uiTransferredByte += | |
2250 | EPL_SDO_MAX_PAYLOAD; | |
2251 | // move data pointer | |
2252 | pSdoComCon_p->m_pData += | |
2253 | EPL_SDO_MAX_PAYLOAD; | |
2254 | ||
2255 | // set segment size | |
2256 | AmiSetWordToLe(&pCommandFrame-> | |
2257 | m_le_wSegmentSize, | |
2258 | EPL_SDO_MAX_PAYLOAD); | |
2259 | ||
2260 | // send frame | |
2261 | uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD; | |
2262 | Ret = | |
2263 | EplSdoAsySeqSendData(pSdoComCon_p-> | |
2264 | m_SdoSeqConHdl, | |
2265 | uiSizeOfFrame, | |
2266 | pFrame); | |
2267 | } else { | |
2268 | if ((pSdoComCon_p->m_uiTransSize == 0) | |
2269 | && (pSdoComCon_p-> | |
2270 | m_SdoServiceType != | |
2271 | kEplSdoServiceWriteByIndex)) { | |
2272 | goto Exit; | |
2273 | } | |
2274 | // complete | |
2275 | // set segment complete flag | |
2276 | bFlag = | |
2277 | AmiGetByteFromLe(&pCommandFrame-> | |
2278 | m_le_bFlags); | |
2279 | bFlag |= 0x30; | |
2280 | AmiSetByteToLe(&pCommandFrame-> | |
2281 | m_le_bFlags, bFlag); | |
2282 | ||
2283 | // copy data in frame | |
2284 | EPL_MEMCPY(&pCommandFrame-> | |
2285 | m_le_abCommandData[0], | |
2286 | pSdoComCon_p->m_pData, | |
2287 | pSdoComCon_p->m_uiTransSize); | |
2288 | ||
2289 | // correct byte-counter | |
2290 | pSdoComCon_p->m_uiTransferredByte += | |
2291 | pSdoComCon_p->m_uiTransSize; | |
2292 | ||
2293 | // move data pointer | |
2294 | pSdoComCon_p->m_pData += | |
2295 | pSdoComCon_p->m_uiTransSize; | |
2296 | ||
2297 | // set segment size | |
2298 | AmiSetWordToLe(&pCommandFrame-> | |
2299 | m_le_wSegmentSize, | |
2300 | (WORD) pSdoComCon_p-> | |
2301 | m_uiTransSize); | |
2302 | ||
2303 | // send frame | |
2304 | uiSizeOfFrame += | |
2305 | pSdoComCon_p->m_uiTransSize; | |
2306 | pSdoComCon_p->m_uiTransSize = 0; | |
2307 | Ret = | |
2308 | EplSdoAsySeqSendData(pSdoComCon_p-> | |
2309 | m_SdoSeqConHdl, | |
2310 | uiSizeOfFrame, | |
2311 | pFrame); | |
2312 | } | |
2313 | ||
2314 | } | |
2315 | break; | |
2316 | } | |
2317 | // abort to send | |
2318 | case kEplSdoComSendTypeAbort: | |
2319 | { | |
2320 | // set response and abort flag | |
2321 | bFlag = AmiGetByteFromLe(&pCommandFrame->m_le_bFlags); | |
2322 | bFlag |= 0xC0; | |
2323 | AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag); | |
2324 | ||
2325 | // copy abortcode to frame | |
2326 | AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0], | |
2327 | *((DWORD *) pSdoComCon_p->m_pData)); | |
2328 | ||
2329 | // set size of segment | |
2330 | AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, | |
2331 | sizeof(DWORD)); | |
2332 | ||
2333 | // update counter | |
2334 | pSdoComCon_p->m_uiTransferredByte = sizeof(DWORD); | |
2335 | pSdoComCon_p->m_uiTransSize = 0; | |
2336 | ||
2337 | // calc framesize | |
2338 | uiSizeOfFrame += sizeof(DWORD); | |
2339 | Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl, | |
2340 | uiSizeOfFrame, pFrame); | |
2341 | break; | |
2342 | } | |
2343 | } // end of switch(SendType_p) | |
2344 | ||
2345 | Exit: | |
2346 | return Ret; | |
9d7164cf DK |
2347 | } |
2348 | #endif | |
2349 | //--------------------------------------------------------------------------- | |
2350 | // | |
2351 | // Function: EplSdoComServerInitWriteByIndex | |
2352 | // | |
2353 | // Description: function start the processing of an write by index command | |
2354 | // | |
2355 | // | |
2356 | // | |
2357 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
2358 | // pAsySdoCom_p = pointer to received frame | |
2359 | // | |
2360 | // Returns: tEplKernel = errorcode | |
2361 | // | |
2362 | // | |
2363 | // State: | |
2364 | // | |
2365 | //--------------------------------------------------------------------------- | |
2366 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) | |
833dfbe7 GKH |
2367 | static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon * pSdoComCon_p, |
2368 | tEplAsySdoCom * pAsySdoCom_p) | |
9d7164cf | 2369 | { |
833dfbe7 GKH |
2370 | tEplKernel Ret = kEplSuccessful; |
2371 | unsigned int uiIndex; | |
2372 | unsigned int uiSubindex; | |
2373 | unsigned int uiBytesToTransfer; | |
2374 | tEplObdSize EntrySize; | |
2375 | tEplObdAccess AccessType; | |
2376 | DWORD dwAbortCode; | |
2377 | BYTE *pbSrcData; | |
2378 | ||
2379 | dwAbortCode = 0; | |
2380 | ||
2381 | // a init of a write | |
2382 | // -> variable part of header possible | |
2383 | ||
2384 | // check if expedited or segmented transfer | |
2385 | if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x10) { // initiate segmented transfer | |
2386 | pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented; | |
2387 | // get index and subindex | |
2388 | uiIndex = | |
2389 | AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[4]); | |
2390 | uiSubindex = | |
2391 | AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[6]); | |
2392 | // get source-pointer for copy | |
2393 | pbSrcData = &pAsySdoCom_p->m_le_abCommandData[8]; | |
2394 | // save size | |
2395 | pSdoComCon_p->m_uiTransSize = | |
2396 | AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]); | |
2397 | ||
2398 | } else if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x00) { // expedited transfer | |
2399 | pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited; | |
2400 | // get index and subindex | |
2401 | uiIndex = | |
2402 | AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]); | |
2403 | uiSubindex = | |
2404 | AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]); | |
2405 | // get source-pointer for copy | |
2406 | pbSrcData = &pAsySdoCom_p->m_le_abCommandData[4]; | |
2407 | // save size | |
2408 | pSdoComCon_p->m_uiTransSize = | |
2409 | AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize); | |
2410 | // subtract header | |
2411 | pSdoComCon_p->m_uiTransSize -= 4; | |
2412 | ||
2413 | } else { | |
2414 | // just ignore any other transfer type | |
2415 | goto Exit; | |
2416 | } | |
2417 | ||
2418 | // check accesstype of entry | |
2419 | // existens of entry | |
9d7164cf | 2420 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 | 2421 | Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType); |
9d7164cf DK |
2422 | /*#else |
2423 | Ret = kEplObdSubindexNotExist; | |
2424 | AccessType = 0; | |
2425 | #endif*/ | |
833dfbe7 GKH |
2426 | if (Ret == kEplObdSubindexNotExist) { // subentry doesn't exist |
2427 | pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST; | |
2428 | // send abort | |
2429 | // d.k. This is wrong: k.t. not needed send abort on end of write | |
2430 | /*pSdoComCon_p->m_pData = (BYTE*)pSdoComCon_p->m_dwLastAbortCode; | |
2431 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2432 | uiIndex, | |
2433 | uiSubindex, | |
2434 | kEplSdoComSendTypeAbort); */ | |
2435 | goto Abort; | |
2436 | } else if (Ret != kEplSuccessful) { // entry doesn't exist | |
2437 | pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST; | |
2438 | // send abort | |
2439 | // d.k. This is wrong: k.t. not needed send abort on end of write | |
2440 | /* | |
2441 | pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode; | |
2442 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2443 | uiIndex, | |
2444 | uiSubindex, | |
2445 | kEplSdoComSendTypeAbort); */ | |
2446 | goto Abort; | |
2447 | } | |
2448 | // compare accesstype must be read | |
2449 | if ((AccessType & kEplObdAccWrite) == 0) { | |
2450 | ||
2451 | if ((AccessType & kEplObdAccRead) != 0) { | |
2452 | // entry write a read only object | |
2453 | pSdoComCon_p->m_dwLastAbortCode = | |
2454 | EPL_SDOAC_WRITE_TO_READ_ONLY_OBJ; | |
2455 | } else { | |
2456 | pSdoComCon_p->m_dwLastAbortCode = | |
2457 | EPL_SDOAC_UNSUPPORTED_ACCESS; | |
2458 | } | |
2459 | // send abort | |
2460 | // d.k. This is wrong: k.t. not needed send abort on end of write | |
2461 | /*pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode; | |
2462 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2463 | uiIndex, | |
2464 | uiSubindex, | |
2465 | kEplSdoComSendTypeAbort); */ | |
2466 | goto Abort; | |
2467 | } | |
2468 | // save service | |
2469 | pSdoComCon_p->m_SdoServiceType = kEplSdoServiceWriteByIndex; | |
2470 | ||
2471 | pSdoComCon_p->m_uiTransferredByte = 0; | |
2472 | ||
2473 | // write data to OD | |
2474 | if (pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited) { // expedited transfer | |
2475 | // size checking is done by EplObduWriteEntryFromLe() | |
9d7164cf DK |
2476 | |
2477 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) | |
833dfbe7 GKH |
2478 | Ret = EplObduWriteEntryFromLe(uiIndex, |
2479 | uiSubindex, | |
2480 | pbSrcData, | |
2481 | pSdoComCon_p->m_uiTransSize); | |
2482 | switch (Ret) { | |
2483 | case kEplSuccessful: | |
2484 | { | |
2485 | break; | |
2486 | } | |
2487 | ||
2488 | case kEplObdAccessViolation: | |
2489 | { | |
2490 | pSdoComCon_p->m_dwLastAbortCode = | |
2491 | EPL_SDOAC_UNSUPPORTED_ACCESS; | |
2492 | // send abort | |
2493 | goto Abort; | |
2494 | } | |
2495 | ||
2496 | case kEplObdValueLengthError: | |
2497 | { | |
2498 | pSdoComCon_p->m_dwLastAbortCode = | |
2499 | EPL_SDOAC_DATA_TYPE_LENGTH_NOT_MATCH; | |
2500 | // send abort | |
2501 | goto Abort; | |
2502 | } | |
2503 | ||
2504 | case kEplObdValueTooHigh: | |
2505 | { | |
2506 | pSdoComCon_p->m_dwLastAbortCode = | |
2507 | EPL_SDOAC_VALUE_RANGE_TOO_HIGH; | |
2508 | // send abort | |
2509 | goto Abort; | |
2510 | } | |
2511 | ||
2512 | case kEplObdValueTooLow: | |
2513 | { | |
2514 | pSdoComCon_p->m_dwLastAbortCode = | |
2515 | EPL_SDOAC_VALUE_RANGE_TOO_LOW; | |
2516 | // send abort | |
2517 | goto Abort; | |
2518 | } | |
2519 | ||
2520 | default: | |
2521 | { | |
2522 | pSdoComCon_p->m_dwLastAbortCode = | |
2523 | EPL_SDOAC_GENERAL_ERROR; | |
2524 | // send abort | |
2525 | goto Abort; | |
2526 | } | |
2527 | } | |
9d7164cf | 2528 | //#endif |
833dfbe7 GKH |
2529 | // send command acknowledge |
2530 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2531 | 0, | |
2532 | 0, | |
2533 | kEplSdoComSendTypeAckRes); | |
2534 | ||
2535 | pSdoComCon_p->m_uiTransSize = 0; | |
2536 | goto Exit; | |
2537 | } else { | |
2538 | // get size of the object to check if it fits | |
2539 | // because we directly write to the destination memory | |
2540 | // d.k. no one calls the user OD callback function | |
2541 | ||
2542 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) | |
2543 | EntrySize = EplObduGetDataSize(uiIndex, uiSubindex); | |
2544 | /*#else | |
2545 | EntrySize = 0; | |
2546 | #endif */ | |
2547 | if (EntrySize < pSdoComCon_p->m_uiTransSize) { // parameter too big | |
2548 | pSdoComCon_p->m_dwLastAbortCode = | |
2549 | EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH; | |
2550 | // send abort | |
2551 | // d.k. This is wrong: k.t. not needed send abort on end of write | |
2552 | /*pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode; | |
2553 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2554 | uiIndex, | |
2555 | uiSubindex, | |
2556 | kEplSdoComSendTypeAbort); */ | |
2557 | goto Abort; | |
2558 | } | |
2559 | ||
2560 | uiBytesToTransfer = | |
2561 | AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize); | |
2562 | // eleminate header (Command header (8) + variable part (4) + Command header (4)) | |
2563 | uiBytesToTransfer -= 16; | |
2564 | // get pointer to object entry | |
9d7164cf | 2565 | //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) |
833dfbe7 GKH |
2566 | pSdoComCon_p->m_pData = EplObduGetObjectDataPtr(uiIndex, |
2567 | uiSubindex); | |
9d7164cf | 2568 | //#endif |
833dfbe7 GKH |
2569 | if (pSdoComCon_p->m_pData == NULL) { |
2570 | pSdoComCon_p->m_dwLastAbortCode = | |
2571 | EPL_SDOAC_GENERAL_ERROR; | |
2572 | // send abort | |
2573 | // d.k. This is wrong: k.t. not needed send abort on end of write | |
9d7164cf DK |
2574 | /* pSdoComCon_p->m_pData = (BYTE*)&pSdoComCon_p->m_dwLastAbortCode; |
2575 | Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p, | |
2576 | uiIndex, | |
2577 | uiSubindex, | |
2578 | kEplSdoComSendTypeAbort);*/ | |
833dfbe7 GKH |
2579 | goto Abort; |
2580 | } | |
2581 | // copy data | |
2582 | EPL_MEMCPY(pSdoComCon_p->m_pData, pbSrcData, uiBytesToTransfer); | |
2583 | ||
2584 | // update internal counter | |
2585 | pSdoComCon_p->m_uiTransferredByte = uiBytesToTransfer; | |
2586 | pSdoComCon_p->m_uiTransSize -= uiBytesToTransfer; | |
2587 | ||
2588 | // update target pointer | |
2589 | ( /*(BYTE*) */ pSdoComCon_p->m_pData) += uiBytesToTransfer; | |
2590 | ||
2591 | // send acknowledge without any Command layer data | |
2592 | Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl, | |
2593 | 0, (tEplFrame *) NULL); | |
2594 | goto Exit; | |
2595 | } | |
2596 | ||
2597 | Abort: | |
2598 | if (pSdoComCon_p->m_dwLastAbortCode != 0) { | |
2599 | // send abort | |
2600 | pSdoComCon_p->m_pData = | |
2601 | (BYTE *) & pSdoComCon_p->m_dwLastAbortCode; | |
2602 | Ret = | |
2603 | EplSdoComServerSendFrameIntern(pSdoComCon_p, uiIndex, | |
2604 | uiSubindex, | |
2605 | kEplSdoComSendTypeAbort); | |
2606 | ||
2607 | // reset abort code | |
2608 | pSdoComCon_p->m_dwLastAbortCode = 0; | |
2609 | pSdoComCon_p->m_uiTransSize = 0; | |
2610 | goto Exit; | |
2611 | } | |
2612 | ||
2613 | Exit: | |
2614 | return Ret; | |
9d7164cf DK |
2615 | } |
2616 | #endif | |
2617 | ||
2618 | //--------------------------------------------------------------------------- | |
2619 | // | |
2620 | // Function: EplSdoComClientSend | |
2621 | // | |
2622 | // Description: function starts an sdo transfer an send all further frames | |
2623 | // | |
2624 | // | |
2625 | // | |
2626 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
2627 | // | |
2628 | // Returns: tEplKernel = errorcode | |
2629 | // | |
2630 | // | |
2631 | // State: | |
2632 | // | |
2633 | //--------------------------------------------------------------------------- | |
2634 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 | 2635 | static tEplKernel EplSdoComClientSend(tEplSdoComCon * pSdoComCon_p) |
9d7164cf | 2636 | { |
833dfbe7 GKH |
2637 | tEplKernel Ret; |
2638 | BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE]; | |
2639 | tEplFrame *pFrame; | |
2640 | tEplAsySdoCom *pCommandFrame; | |
2641 | unsigned int uiSizeOfFrame; | |
2642 | BYTE bFlags; | |
2643 | BYTE *pbPayload; | |
2644 | ||
2645 | Ret = kEplSuccessful; | |
2646 | ||
2647 | pFrame = (tEplFrame *) & abFrame[0]; | |
2648 | ||
2649 | EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame)); | |
2650 | ||
2651 | // build generic part of frame | |
2652 | // get pointer to command layerpart of frame | |
2653 | pCommandFrame = | |
2654 | &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. | |
2655 | m_le_abSdoSeqPayload; | |
2656 | AmiSetByteToLe(&pCommandFrame->m_le_bCommandId, | |
2657 | pSdoComCon_p->m_SdoServiceType); | |
2658 | AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId, | |
2659 | pSdoComCon_p->m_bTransactionId); | |
2660 | ||
2661 | // set size constant part of header | |
2662 | uiSizeOfFrame = 8; | |
2663 | ||
2664 | // check if first frame to send -> command header needed | |
2665 | if (pSdoComCon_p->m_uiTransSize > 0) { | |
2666 | if (pSdoComCon_p->m_uiTransferredByte == 0) { // start SDO transfer | |
2667 | // check if segmented or expedited transfer | |
2668 | // only for write commands | |
2669 | switch (pSdoComCon_p->m_SdoServiceType) { | |
2670 | case kEplSdoServiceReadByIndex: | |
2671 | { // first frame of read access always expedited | |
2672 | pSdoComCon_p->m_SdoTransType = | |
2673 | kEplSdoTransExpedited; | |
2674 | pbPayload = | |
2675 | &pCommandFrame-> | |
2676 | m_le_abCommandData[0]; | |
2677 | // fill rest of header | |
2678 | AmiSetWordToLe(&pCommandFrame-> | |
2679 | m_le_wSegmentSize, 4); | |
2680 | ||
2681 | // create command header | |
2682 | AmiSetWordToLe(pbPayload, | |
2683 | (WORD) pSdoComCon_p-> | |
2684 | m_uiTargetIndex); | |
2685 | pbPayload += 2; | |
2686 | AmiSetByteToLe(pbPayload, | |
2687 | (BYTE) pSdoComCon_p-> | |
2688 | m_uiTargetSubIndex); | |
2689 | // calc size | |
2690 | uiSizeOfFrame += 4; | |
2691 | ||
2692 | // set pSdoComCon_p->m_uiTransferredByte to one | |
2693 | pSdoComCon_p->m_uiTransferredByte = 1; | |
2694 | break; | |
2695 | } | |
2696 | ||
2697 | case kEplSdoServiceWriteByIndex: | |
2698 | { | |
2699 | if (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD) { // segmented transfer | |
2700 | // -> variable part of header needed | |
2701 | // save that transfer is segmented | |
2702 | pSdoComCon_p->m_SdoTransType = | |
2703 | kEplSdoTransSegmented; | |
2704 | // fill variable part of header | |
2705 | AmiSetDwordToLe(&pCommandFrame-> | |
2706 | m_le_abCommandData | |
2707 | [0], | |
2708 | pSdoComCon_p-> | |
2709 | m_uiTransSize); | |
2710 | // set pointer to real payload | |
2711 | pbPayload = | |
2712 | &pCommandFrame-> | |
2713 | m_le_abCommandData[4]; | |
2714 | // fill rest of header | |
2715 | AmiSetWordToLe(&pCommandFrame-> | |
2716 | m_le_wSegmentSize, | |
2717 | EPL_SDO_MAX_PAYLOAD); | |
2718 | bFlags = 0x10; | |
2719 | AmiSetByteToLe(&pCommandFrame-> | |
2720 | m_le_bFlags, | |
2721 | bFlags); | |
2722 | // create command header | |
2723 | AmiSetWordToLe(pbPayload, | |
2724 | (WORD) | |
2725 | pSdoComCon_p-> | |
2726 | m_uiTargetIndex); | |
2727 | pbPayload += 2; | |
2728 | AmiSetByteToLe(pbPayload, | |
2729 | (BYTE) | |
2730 | pSdoComCon_p-> | |
2731 | m_uiTargetSubIndex); | |
2732 | // on byte for reserved | |
2733 | pbPayload += 2; | |
2734 | // calc size | |
2735 | uiSizeOfFrame += | |
2736 | EPL_SDO_MAX_PAYLOAD; | |
2737 | ||
2738 | // copy payload | |
2739 | EPL_MEMCPY(pbPayload, | |
2740 | pSdoComCon_p-> | |
2741 | m_pData, | |
2742 | (EPL_SDO_MAX_PAYLOAD | |
2743 | - 8)); | |
2744 | pSdoComCon_p->m_pData += | |
2745 | (EPL_SDO_MAX_PAYLOAD - 8); | |
2746 | // correct intern counter | |
2747 | pSdoComCon_p->m_uiTransSize -= | |
2748 | (EPL_SDO_MAX_PAYLOAD - 8); | |
2749 | pSdoComCon_p-> | |
2750 | m_uiTransferredByte = | |
2751 | (EPL_SDO_MAX_PAYLOAD - 8); | |
2752 | ||
2753 | } else { // expedited trandsfer | |
2754 | // save that transfer is expedited | |
2755 | pSdoComCon_p->m_SdoTransType = | |
2756 | kEplSdoTransExpedited; | |
2757 | pbPayload = | |
2758 | &pCommandFrame-> | |
2759 | m_le_abCommandData[0]; | |
2760 | ||
2761 | // create command header | |
2762 | AmiSetWordToLe(pbPayload, | |
2763 | (WORD) | |
2764 | pSdoComCon_p-> | |
2765 | m_uiTargetIndex); | |
2766 | pbPayload += 2; | |
2767 | AmiSetByteToLe(pbPayload, | |
2768 | (BYTE) | |
2769 | pSdoComCon_p-> | |
2770 | m_uiTargetSubIndex); | |
2771 | // + 2 -> one byte for subindex and one byte reserved | |
2772 | pbPayload += 2; | |
2773 | // copy data | |
2774 | EPL_MEMCPY(pbPayload, | |
2775 | pSdoComCon_p-> | |
2776 | m_pData, | |
2777 | pSdoComCon_p-> | |
2778 | m_uiTransSize); | |
2779 | // calc size | |
2780 | uiSizeOfFrame += | |
2781 | (4 + | |
2782 | pSdoComCon_p-> | |
2783 | m_uiTransSize); | |
2784 | // fill rest of header | |
2785 | AmiSetWordToLe(&pCommandFrame-> | |
2786 | m_le_wSegmentSize, | |
2787 | (WORD) (4 + | |
2788 | pSdoComCon_p-> | |
2789 | m_uiTransSize)); | |
2790 | ||
2791 | pSdoComCon_p-> | |
2792 | m_uiTransferredByte = | |
2793 | pSdoComCon_p->m_uiTransSize; | |
2794 | pSdoComCon_p->m_uiTransSize = 0; | |
2795 | } | |
2796 | break; | |
2797 | } | |
2798 | ||
2799 | case kEplSdoServiceNIL: | |
2800 | default: | |
2801 | // invalid service requested | |
2802 | Ret = kEplSdoComInvalidServiceType; | |
2803 | goto Exit; | |
2804 | } // end of switch(pSdoComCon_p->m_SdoServiceType) | |
2805 | } else // (pSdoComCon_p->m_uiTransferredByte > 0) | |
2806 | { // continue SDO transfer | |
2807 | switch (pSdoComCon_p->m_SdoServiceType) { | |
2808 | // for expedited read is nothing to do | |
2809 | // -> server sends data | |
2810 | ||
2811 | case kEplSdoServiceWriteByIndex: | |
2812 | { // send next frame | |
2813 | if (pSdoComCon_p->m_SdoTransType == | |
2814 | kEplSdoTransSegmented) { | |
2815 | if (pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD) { // next segment | |
2816 | pbPayload = | |
2817 | &pCommandFrame-> | |
2818 | m_le_abCommandData | |
2819 | [0]; | |
2820 | // fill rest of header | |
2821 | AmiSetWordToLe | |
2822 | (&pCommandFrame-> | |
2823 | m_le_wSegmentSize, | |
2824 | EPL_SDO_MAX_PAYLOAD); | |
2825 | bFlags = 0x20; | |
2826 | AmiSetByteToLe | |
2827 | (&pCommandFrame-> | |
2828 | m_le_bFlags, | |
2829 | bFlags); | |
2830 | // copy data | |
2831 | EPL_MEMCPY(pbPayload, | |
2832 | pSdoComCon_p-> | |
2833 | m_pData, | |
2834 | EPL_SDO_MAX_PAYLOAD); | |
2835 | pSdoComCon_p->m_pData += | |
2836 | EPL_SDO_MAX_PAYLOAD; | |
2837 | // correct intern counter | |
2838 | pSdoComCon_p-> | |
2839 | m_uiTransSize -= | |
2840 | EPL_SDO_MAX_PAYLOAD; | |
2841 | pSdoComCon_p-> | |
2842 | m_uiTransferredByte | |
2843 | = | |
2844 | EPL_SDO_MAX_PAYLOAD; | |
2845 | // calc size | |
2846 | uiSizeOfFrame += | |
2847 | EPL_SDO_MAX_PAYLOAD; | |
2848 | ||
2849 | } else { // end of transfer | |
2850 | pbPayload = | |
2851 | &pCommandFrame-> | |
2852 | m_le_abCommandData | |
2853 | [0]; | |
2854 | // fill rest of header | |
2855 | AmiSetWordToLe | |
2856 | (&pCommandFrame-> | |
2857 | m_le_wSegmentSize, | |
2858 | (WORD) | |
2859 | pSdoComCon_p-> | |
2860 | m_uiTransSize); | |
2861 | bFlags = 0x30; | |
2862 | AmiSetByteToLe | |
2863 | (&pCommandFrame-> | |
2864 | m_le_bFlags, | |
2865 | bFlags); | |
2866 | // copy data | |
2867 | EPL_MEMCPY(pbPayload, | |
2868 | pSdoComCon_p-> | |
2869 | m_pData, | |
2870 | pSdoComCon_p-> | |
2871 | m_uiTransSize); | |
2872 | pSdoComCon_p->m_pData += | |
2873 | pSdoComCon_p-> | |
2874 | m_uiTransSize; | |
2875 | // calc size | |
2876 | uiSizeOfFrame += | |
2877 | pSdoComCon_p-> | |
2878 | m_uiTransSize; | |
2879 | // correct intern counter | |
2880 | pSdoComCon_p-> | |
2881 | m_uiTransSize = 0; | |
2882 | pSdoComCon_p-> | |
2883 | m_uiTransferredByte | |
2884 | = | |
2885 | pSdoComCon_p-> | |
2886 | m_uiTransSize; | |
2887 | ||
2888 | } | |
2889 | } else { | |
2890 | goto Exit; | |
2891 | } | |
2892 | break; | |
2893 | } | |
2894 | default: | |
2895 | { | |
2896 | goto Exit; | |
2897 | } | |
2898 | } // end of switch(pSdoComCon_p->m_SdoServiceType) | |
2899 | } | |
2900 | } else { | |
2901 | goto Exit; | |
2902 | } | |
2903 | ||
2904 | // call send function of lower layer | |
2905 | switch (pSdoComCon_p->m_SdoProtType) { | |
2906 | case kEplSdoTypeAsnd: | |
2907 | case kEplSdoTypeUdp: | |
2908 | { | |
2909 | Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl, | |
2910 | uiSizeOfFrame, pFrame); | |
2911 | break; | |
2912 | } | |
2913 | ||
2914 | default: | |
2915 | { | |
2916 | Ret = kEplSdoComUnsupportedProt; | |
2917 | } | |
2918 | } // end of switch(pSdoComCon_p->m_SdoProtType) | |
2919 | ||
2920 | Exit: | |
2921 | return Ret; | |
9d7164cf DK |
2922 | |
2923 | } | |
2924 | #endif | |
2925 | //--------------------------------------------------------------------------- | |
2926 | // | |
2927 | // Function: EplSdoComClientProcessFrame | |
2928 | // | |
2929 | // Description: function process a received frame | |
2930 | // | |
2931 | // | |
2932 | // | |
2933 | // Parameters: SdoComCon_p = connection handle | |
2934 | // pAsySdoCom_p = pointer to frame to process | |
2935 | // | |
2936 | // Returns: tEplKernel = errorcode | |
2937 | // | |
2938 | // | |
2939 | // State: | |
2940 | // | |
2941 | //--------------------------------------------------------------------------- | |
2942 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 GKH |
2943 | static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p, |
2944 | tEplAsySdoCom * pAsySdoCom_p) | |
9d7164cf | 2945 | { |
833dfbe7 GKH |
2946 | tEplKernel Ret; |
2947 | BYTE bBuffer; | |
2948 | unsigned int uiBuffer; | |
2949 | unsigned int uiDataSize; | |
2950 | unsigned long ulBuffer; | |
2951 | tEplSdoComCon *pSdoComCon; | |
2952 | ||
2953 | Ret = kEplSuccessful; | |
2954 | ||
2955 | // get pointer to control structure | |
2956 | pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p]; | |
2957 | ||
2958 | // check if transaction Id fit | |
2959 | bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId); | |
2960 | if (pSdoComCon->m_bTransactionId != bBuffer) { | |
2961 | // incorrect transaction id | |
2962 | ||
2963 | // if running transfer | |
2964 | if ((pSdoComCon->m_uiTransferredByte != 0) | |
2965 | && (pSdoComCon->m_uiTransSize != 0)) { | |
2966 | pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR; | |
2967 | // -> send abort | |
2968 | EplSdoComClientSendAbort(pSdoComCon, | |
2969 | pSdoComCon->m_dwLastAbortCode); | |
2970 | // call callback of application | |
2971 | Ret = | |
2972 | EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, | |
2973 | kEplSdoComTransferTxAborted); | |
2974 | } | |
2975 | ||
2976 | } else { // check if correct command | |
2977 | bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bCommandId); | |
2978 | if (pSdoComCon->m_SdoServiceType != bBuffer) { | |
2979 | // incorrect command | |
2980 | // if running transfer | |
2981 | if ((pSdoComCon->m_uiTransferredByte != 0) | |
2982 | && (pSdoComCon->m_uiTransSize != 0)) { | |
2983 | pSdoComCon->m_dwLastAbortCode = | |
2984 | EPL_SDOAC_GENERAL_ERROR; | |
2985 | // -> send abort | |
2986 | EplSdoComClientSendAbort(pSdoComCon, | |
2987 | pSdoComCon-> | |
2988 | m_dwLastAbortCode); | |
2989 | // call callback of application | |
2990 | Ret = | |
2991 | EplSdoComTransferFinished(SdoComCon_p, | |
2992 | pSdoComCon, | |
2993 | kEplSdoComTransferTxAborted); | |
2994 | } | |
2995 | ||
2996 | } else { // switch on command | |
2997 | switch (pSdoComCon->m_SdoServiceType) { | |
2998 | case kEplSdoServiceWriteByIndex: | |
2999 | { // check if confirmation from server | |
3000 | // nothing more to do | |
3001 | break; | |
3002 | } | |
3003 | ||
3004 | case kEplSdoServiceReadByIndex: | |
3005 | { // check if it is an segmented or an expedited transfer | |
3006 | bBuffer = | |
3007 | AmiGetByteFromLe(&pAsySdoCom_p-> | |
3008 | m_le_bFlags); | |
3009 | // mask uninteressting bits | |
3010 | bBuffer &= 0x30; | |
3011 | switch (bBuffer) { | |
3012 | // expedited transfer | |
3013 | case 0x00: | |
3014 | { | |
3015 | // check size of buffer | |
3016 | uiBuffer = | |
3017 | AmiGetWordFromLe | |
3018 | (&pAsySdoCom_p-> | |
3019 | m_le_wSegmentSize); | |
3020 | if (uiBuffer > pSdoComCon->m_uiTransSize) { // buffer provided by the application is to small | |
3021 | // copy only a part | |
3022 | uiDataSize = | |
3023 | pSdoComCon-> | |
3024 | m_uiTransSize; | |
3025 | } else { // buffer fits | |
3026 | uiDataSize = | |
3027 | uiBuffer; | |
3028 | } | |
3029 | ||
3030 | // copy data | |
3031 | EPL_MEMCPY(pSdoComCon-> | |
3032 | m_pData, | |
3033 | &pAsySdoCom_p-> | |
3034 | m_le_abCommandData | |
3035 | [0], | |
3036 | uiDataSize); | |
3037 | ||
3038 | // correct counter | |
3039 | pSdoComCon-> | |
3040 | m_uiTransSize = 0; | |
3041 | pSdoComCon-> | |
3042 | m_uiTransferredByte | |
3043 | = uiDataSize; | |
3044 | break; | |
3045 | } | |
3046 | ||
3047 | // start of a segmented transfer | |
3048 | case 0x10: | |
3049 | { // get total size of transfer | |
3050 | ulBuffer = | |
3051 | AmiGetDwordFromLe | |
3052 | (&pAsySdoCom_p-> | |
3053 | m_le_abCommandData | |
3054 | [0]); | |
3055 | if (ulBuffer <= pSdoComCon->m_uiTransSize) { // buffer fit | |
3056 | pSdoComCon-> | |
3057 | m_uiTransSize | |
3058 | = | |
3059 | (unsigned | |
3060 | int) | |
3061 | ulBuffer; | |
3062 | } else { // buffer to small | |
3063 | // send abort | |
3064 | pSdoComCon-> | |
3065 | m_dwLastAbortCode | |
3066 | = | |
3067 | EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH; | |
3068 | // -> send abort | |
3069 | EplSdoComClientSendAbort | |
3070 | (pSdoComCon, | |
3071 | pSdoComCon-> | |
3072 | m_dwLastAbortCode); | |
3073 | // call callback of application | |
3074 | Ret = | |
3075 | EplSdoComTransferFinished | |
3076 | (SdoComCon_p, | |
3077 | pSdoComCon, | |
3078 | kEplSdoComTransferRxAborted); | |
3079 | goto Exit; | |
3080 | } | |
3081 | ||
3082 | // get segment size | |
3083 | // check size of buffer | |
3084 | uiBuffer = | |
3085 | AmiGetWordFromLe | |
3086 | (&pAsySdoCom_p-> | |
3087 | m_le_wSegmentSize); | |
3088 | // subtract size of vaiable header from datasize | |
3089 | uiBuffer -= 4; | |
3090 | // copy data | |
3091 | EPL_MEMCPY(pSdoComCon-> | |
3092 | m_pData, | |
3093 | &pAsySdoCom_p-> | |
3094 | m_le_abCommandData | |
3095 | [4], | |
3096 | uiBuffer); | |
3097 | ||
3098 | // correct counter an pointer | |
3099 | pSdoComCon->m_pData += | |
3100 | uiBuffer; | |
3101 | pSdoComCon-> | |
3102 | m_uiTransferredByte | |
3103 | += uiBuffer; | |
3104 | pSdoComCon-> | |
3105 | m_uiTransSize -= | |
3106 | uiBuffer; | |
3107 | ||
3108 | break; | |
3109 | } | |
3110 | ||
3111 | // segment | |
3112 | case 0x20: | |
3113 | { | |
3114 | // get segment size | |
3115 | // check size of buffer | |
3116 | uiBuffer = | |
3117 | AmiGetWordFromLe | |
3118 | (&pAsySdoCom_p-> | |
3119 | m_le_wSegmentSize); | |
3120 | // check if data to copy fit to buffer | |
3121 | if (uiBuffer >= pSdoComCon->m_uiTransSize) { // to much data | |
3122 | uiBuffer = | |
3123 | (pSdoComCon-> | |
3124 | m_uiTransSize | |
3125 | - 1); | |
3126 | } | |
3127 | // copy data | |
3128 | EPL_MEMCPY(pSdoComCon-> | |
3129 | m_pData, | |
3130 | &pAsySdoCom_p-> | |
3131 | m_le_abCommandData | |
3132 | [0], | |
3133 | uiBuffer); | |
3134 | ||
3135 | // correct counter an pointer | |
3136 | pSdoComCon->m_pData += | |
3137 | uiBuffer; | |
3138 | pSdoComCon-> | |
3139 | m_uiTransferredByte | |
3140 | += uiBuffer; | |
3141 | pSdoComCon-> | |
3142 | m_uiTransSize -= | |
3143 | uiBuffer; | |
3144 | break; | |
3145 | } | |
3146 | ||
3147 | // last segment | |
3148 | case 0x30: | |
3149 | { | |
3150 | // get segment size | |
3151 | // check size of buffer | |
3152 | uiBuffer = | |
3153 | AmiGetWordFromLe | |
3154 | (&pAsySdoCom_p-> | |
3155 | m_le_wSegmentSize); | |
3156 | // check if data to copy fit to buffer | |
3157 | if (uiBuffer > pSdoComCon->m_uiTransSize) { // to much data | |
3158 | uiBuffer = | |
3159 | (pSdoComCon-> | |
3160 | m_uiTransSize | |
3161 | - 1); | |
3162 | } | |
3163 | // copy data | |
3164 | EPL_MEMCPY(pSdoComCon-> | |
3165 | m_pData, | |
3166 | &pAsySdoCom_p-> | |
3167 | m_le_abCommandData | |
3168 | [0], | |
3169 | uiBuffer); | |
3170 | ||
3171 | // correct counter an pointer | |
3172 | pSdoComCon->m_pData += | |
3173 | uiBuffer; | |
3174 | pSdoComCon-> | |
3175 | m_uiTransferredByte | |
3176 | += uiBuffer; | |
3177 | pSdoComCon-> | |
3178 | m_uiTransSize = 0; | |
3179 | ||
3180 | break; | |
3181 | } | |
3182 | } // end of switch(bBuffer & 0x30) | |
3183 | ||
3184 | break; | |
3185 | } | |
3186 | ||
3187 | case kEplSdoServiceNIL: | |
3188 | default: | |
3189 | // invalid service requested | |
3190 | // $$$ d.k. What should we do? | |
3191 | break; | |
3192 | } // end of switch(pSdoComCon->m_SdoServiceType) | |
3193 | } | |
3194 | } | |
3195 | ||
3196 | Exit: | |
3197 | return Ret; | |
9d7164cf DK |
3198 | } |
3199 | #endif | |
3200 | ||
3201 | //--------------------------------------------------------------------------- | |
3202 | // | |
3203 | // Function: EplSdoComClientSendAbort | |
3204 | // | |
3205 | // Description: function send a abort message | |
3206 | // | |
3207 | // | |
3208 | // | |
3209 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
3210 | // dwAbortCode_p = Sdo abort code | |
3211 | // | |
3212 | // Returns: tEplKernel = errorcode | |
3213 | // | |
3214 | // | |
3215 | // State: | |
3216 | // | |
3217 | //--------------------------------------------------------------------------- | |
3218 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) | |
833dfbe7 GKH |
3219 | static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon * pSdoComCon_p, |
3220 | DWORD dwAbortCode_p) | |
9d7164cf | 3221 | { |
833dfbe7 GKH |
3222 | tEplKernel Ret; |
3223 | BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE]; | |
3224 | tEplFrame *pFrame; | |
3225 | tEplAsySdoCom *pCommandFrame; | |
3226 | unsigned int uiSizeOfFrame; | |
3227 | ||
3228 | Ret = kEplSuccessful; | |
3229 | ||
3230 | pFrame = (tEplFrame *) & abFrame[0]; | |
3231 | ||
3232 | EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame)); | |
3233 | ||
3234 | // build generic part of frame | |
3235 | // get pointer to command layerpart of frame | |
3236 | pCommandFrame = | |
3237 | &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. | |
3238 | m_le_abSdoSeqPayload; | |
3239 | AmiSetByteToLe(&pCommandFrame->m_le_bCommandId, | |
3240 | pSdoComCon_p->m_SdoServiceType); | |
3241 | AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId, | |
3242 | pSdoComCon_p->m_bTransactionId); | |
3243 | ||
3244 | uiSizeOfFrame = 8; | |
3245 | ||
3246 | // set response and abort flag | |
3247 | pCommandFrame->m_le_bFlags |= 0x40; | |
3248 | ||
3249 | // copy abortcode to frame | |
3250 | AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0], dwAbortCode_p); | |
3251 | ||
3252 | // set size of segment | |
3253 | AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, sizeof(DWORD)); | |
3254 | ||
3255 | // update counter | |
3256 | pSdoComCon_p->m_uiTransferredByte = sizeof(DWORD); | |
3257 | pSdoComCon_p->m_uiTransSize = 0; | |
3258 | ||
3259 | // calc framesize | |
3260 | uiSizeOfFrame += sizeof(DWORD); | |
3261 | ||
3262 | // save abort code | |
3263 | pSdoComCon_p->m_dwLastAbortCode = dwAbortCode_p; | |
3264 | ||
3265 | // call send function of lower layer | |
3266 | switch (pSdoComCon_p->m_SdoProtType) { | |
3267 | case kEplSdoTypeAsnd: | |
3268 | case kEplSdoTypeUdp: | |
3269 | { | |
3270 | Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl, | |
3271 | uiSizeOfFrame, pFrame); | |
3272 | break; | |
3273 | } | |
3274 | ||
3275 | default: | |
3276 | { | |
3277 | Ret = kEplSdoComUnsupportedProt; | |
3278 | } | |
3279 | } // end of switch(pSdoComCon_p->m_SdoProtType) | |
3280 | ||
3281 | return Ret; | |
9d7164cf DK |
3282 | } |
3283 | #endif | |
3284 | ||
3285 | //--------------------------------------------------------------------------- | |
3286 | // | |
3287 | // Function: EplSdoComTransferFinished | |
3288 | // | |
3289 | // Description: calls callback function of application if available | |
3290 | // and clears entry in control structure | |
3291 | // | |
3292 | // Parameters: pSdoComCon_p = pointer to control structure of connection | |
3293 | // SdoComConState_p = state of SDO transfer | |
3294 | // | |
3295 | // Returns: tEplKernel = errorcode | |
3296 | // | |
3297 | // | |
3298 | // State: | |
3299 | // | |
3300 | //--------------------------------------------------------------------------- | |
833dfbe7 GKH |
3301 | static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p, |
3302 | tEplSdoComCon * pSdoComCon_p, | |
3303 | tEplSdoComConState SdoComConState_p) | |
9d7164cf | 3304 | { |
833dfbe7 GKH |
3305 | tEplKernel Ret; |
3306 | ||
3307 | Ret = kEplSuccessful; | |
3308 | ||
3309 | if (pSdoComCon_p->m_pfnTransferFinished != NULL) { | |
3310 | tEplSdoFinishedCb pfnTransferFinished; | |
3311 | tEplSdoComFinished SdoComFinished; | |
3312 | ||
3313 | SdoComFinished.m_pUserArg = pSdoComCon_p->m_pUserArg; | |
3314 | SdoComFinished.m_uiNodeId = pSdoComCon_p->m_uiNodeId; | |
3315 | SdoComFinished.m_uiTargetIndex = pSdoComCon_p->m_uiTargetIndex; | |
3316 | SdoComFinished.m_uiTargetSubIndex = | |
3317 | pSdoComCon_p->m_uiTargetSubIndex; | |
3318 | SdoComFinished.m_uiTransferredByte = | |
3319 | pSdoComCon_p->m_uiTransferredByte; | |
3320 | SdoComFinished.m_dwAbortCode = pSdoComCon_p->m_dwLastAbortCode; | |
3321 | SdoComFinished.m_SdoComConHdl = SdoComCon_p; | |
3322 | SdoComFinished.m_SdoComConState = SdoComConState_p; | |
3323 | if (pSdoComCon_p->m_SdoServiceType == | |
3324 | kEplSdoServiceWriteByIndex) { | |
3325 | SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeWrite; | |
3326 | } else { | |
3327 | SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeRead; | |
3328 | } | |
3329 | ||
3330 | // reset transfer state so this handle is not busy anymore | |
3331 | pSdoComCon_p->m_uiTransferredByte = 0; | |
3332 | pSdoComCon_p->m_uiTransSize = 0; | |
3333 | ||
3334 | pfnTransferFinished = pSdoComCon_p->m_pfnTransferFinished; | |
3335 | // delete function pointer to inform application only once for each transfer | |
3336 | pSdoComCon_p->m_pfnTransferFinished = NULL; | |
3337 | ||
3338 | // call application's callback function | |
3339 | pfnTransferFinished(&SdoComFinished); | |
3340 | ||
3341 | } | |
3342 | ||
3343 | return Ret; | |
9d7164cf DK |
3344 | } |
3345 | ||
3346 | // EOF |