CO_SDOclient.h

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#ifndef CO_SDO_CLIENT_H
#define CO_SDO_CLIENT_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_SDOserver.h"
#include "301/CO_fifo.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SDO_CLI
#define CO_CONFIG_SDO_CLI (0)
#endif
 
#ifndef CO_DOXYGEN
#ifndef CO_CONFIG_SDO_CLI_BUFFER_SIZE
#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_BLOCK) != 0
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000U
#else
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32U
#endif
#endif
#endif
 
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0) || defined CO_DOXYGEN
    OD_t* OD;       
    uint8_t nodeId; 
    OD_IO_t OD_IO;  
#endif
    CO_CANmodule_t* CANdevRx; 
    uint16_t CANdevRxIdx;     
    CO_CANmodule_t* CANdevTx; 
    uint16_t CANdevTxIdx;     
    CO_CANtx_t* CANtxBuff;    
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
 
    uint32_t COB_IDClientToServer;    
    uint32_t COB_IDServerToClient;    
    OD_extension_t OD_1280_extension; 
#endif
    uint8_t nodeIDOfTheSDOServer;  
    bool_t valid;                  
    uint16_t index;                
    uint8_t subIndex;              
    bool_t finished;               
    size_t sizeInd;                
    size_t sizeTran;               
    volatile CO_SDO_state_t state; 
    uint32_t SDOtimeoutTime_us;    
    uint32_t timeoutTimer;         
    CO_fifo_t bufFifo;             
    uint8_t buf[CO_CONFIG_SDO_CLI_BUFFER_SIZE + 1U]; 
    volatile void* CANrxNew; 
    uint8_t CANrxData[8];    
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignal)(void* object); 
    void* functSignalObject;            
#endif
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_SEGMENTED) != 0) || defined CO_DOXYGEN
    uint8_t toggle; 
#endif
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_BLOCK) != 0) || defined CO_DOXYGEN
    uint32_t block_SDOtimeoutTime_us; 
    uint32_t block_timeoutTimer;      
    uint8_t block_seqno;              
    uint8_t block_blksize;            
    uint8_t block_noData;             
    bool_t block_crcEnabled;          
    uint8_t block_dataUploadLast[7];  
    uint16_t block_crc;               
#endif
} CO_SDOclient_t;
 
CO_ReturnError_t CO_SDOclient_init(CO_SDOclient_t* SDO_C, OD_t* OD, OD_entry_t* OD_1280_SDOcliPar, uint8_t nodeId,
                                   CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx,
                                   uint16_t CANdevTxIdx, uint32_t* errInfo);
 
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_SDOclient_initCallbackPre(CO_SDOclient_t* SDOclient, void* object, void (*pFunctSignal)(void* object));
#endif
 
CO_SDO_return_t CO_SDOclient_setup(CO_SDOclient_t* SDO_C, uint32_t COB_IDClientToServer, uint32_t COB_IDServerToClient,
                                   uint8_t nodeIDOfTheSDOServer);
 
CO_SDO_return_t CO_SDOclientDownloadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subIndex,
                                             size_t sizeIndicated, uint16_t SDOtimeoutTime_ms, bool_t blockEnable);
 
void CO_SDOclientDownloadInitSize(CO_SDOclient_t* SDO_C, size_t sizeIndicated);
 
size_t CO_SDOclientDownloadBufWrite(CO_SDOclient_t* SDO_C, const uint8_t* buf, size_t count);
 
CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t send_abort,
                                     bool_t bufferPartial, CO_SDO_abortCode_t* SDOabortCode, size_t* sizeTransferred,
                                     uint32_t* timerNext_us);
 
CO_SDO_return_t CO_SDOclientUploadInitiate(CO_SDOclient_t* SDO_C, uint16_t index, uint8_t subIndex,
                                           uint16_t SDOtimeoutTime_ms, bool_t blockEnable);
 
CO_SDO_return_t CO_SDOclientUpload(CO_SDOclient_t* SDO_C, uint32_t timeDifference_us, bool_t send_abort,
                                   CO_SDO_abortCode_t* SDOabortCode, size_t* sizeIndicated, size_t* sizeTransferred,
                                   uint32_t* timerNext_us);
 
size_t CO_SDOclientUploadBufRead(CO_SDOclient_t* SDO_C, uint8_t* buf, size_t count);
 
void CO_SDOclientClose(CO_SDOclient_t* SDO_C);
 
 /* CO_SDOclient */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE */
 
#endif /* CO_SDO_CLIENT_H */