CO_SDOserver.h

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#ifndef CO_SDO_SERVER_H
#define CO_SDO_SERVER_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SDO_SRV
#define CO_CONFIG_SDO_SRV                                                                                              \
    (CO_CONFIG_SDO_SRV_SEGMENTED | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT                \
     | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32U
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define CO_SDO_ST_FLAG_DOWNLOAD 0x10U
#define CO_SDO_ST_FLAG_UPLOAD   0x20U
#define CO_SDO_ST_FLAG_BLOCK    0x40U
 
typedef enum {
    CO_SDO_ST_IDLE = 0x00U,
    CO_SDO_ST_ABORT = 0x01U,
 
    CO_SDO_ST_DOWNLOAD_LOCAL_TRANSFER = 0x10U,
    CO_SDO_ST_DOWNLOAD_INITIATE_REQ = 0x11U,
    CO_SDO_ST_DOWNLOAD_INITIATE_RSP = 0x12U,
    CO_SDO_ST_DOWNLOAD_SEGMENT_REQ = 0x13U,
    CO_SDO_ST_DOWNLOAD_SEGMENT_RSP = 0x14U,
 
    CO_SDO_ST_UPLOAD_LOCAL_TRANSFER = 0x20U,
    CO_SDO_ST_UPLOAD_INITIATE_REQ = 0x21U,
    CO_SDO_ST_UPLOAD_INITIATE_RSP = 0x22U,
    CO_SDO_ST_UPLOAD_SEGMENT_REQ = 0x23U,
    CO_SDO_ST_UPLOAD_SEGMENT_RSP = 0x24U,
 
    CO_SDO_ST_DOWNLOAD_BLK_INITIATE_REQ = 0x51U,
    CO_SDO_ST_DOWNLOAD_BLK_INITIATE_RSP = 0x52U,
    CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_REQ = 0x53U,
    CO_SDO_ST_DOWNLOAD_BLK_SUBBLOCK_RSP = 0x54U,
    CO_SDO_ST_DOWNLOAD_BLK_END_REQ = 0x55U,
    CO_SDO_ST_DOWNLOAD_BLK_END_RSP = 0x56U,
 
    CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ = 0x61U,
    CO_SDO_ST_UPLOAD_BLK_INITIATE_RSP = 0x62U,
    CO_SDO_ST_UPLOAD_BLK_INITIATE_REQ2 = 0x63U,
    CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_SREQ = 0x64U,
    CO_SDO_ST_UPLOAD_BLK_SUBBLOCK_CRSP = 0x65U,
    CO_SDO_ST_UPLOAD_BLK_END_SREQ = 0x66U,
    CO_SDO_ST_UPLOAD_BLK_END_CRSP = 0x67U,
} CO_SDO_state_t;
 
typedef enum {
    CO_SDO_AB_NONE = 0x00000000UL,               
    CO_SDO_AB_TOGGLE_BIT = 0x05030000UL,         
    CO_SDO_AB_TIMEOUT = 0x05040000UL,            
    CO_SDO_AB_CMD = 0x05040001UL,                
    CO_SDO_AB_BLOCK_SIZE = 0x05040002UL,         
    CO_SDO_AB_SEQ_NUM = 0x05040003UL,            
    CO_SDO_AB_CRC = 0x05040004UL,                
    CO_SDO_AB_OUT_OF_MEM = 0x05040005UL,         
    CO_SDO_AB_UNSUPPORTED_ACCESS = 0x06010000UL, 
    CO_SDO_AB_WRITEONLY = 0x06010001UL,          
    CO_SDO_AB_READONLY = 0x06010002UL,           
    CO_SDO_AB_NOT_EXIST = 0x06020000UL,          
    CO_SDO_AB_NO_MAP = 0x06040041UL,             
    CO_SDO_AB_MAP_LEN = 0x06040042UL,            
    CO_SDO_AB_PRAM_INCOMPAT = 0x06040043UL,      
    CO_SDO_AB_DEVICE_INCOMPAT = 0x06040047UL,    
    CO_SDO_AB_HW = 0x06060000UL,                 
    CO_SDO_AB_TYPE_MISMATCH = 0x06070010UL,      
    CO_SDO_AB_DATA_LONG = 0x06070012UL,          
    CO_SDO_AB_DATA_SHORT = 0x06070013UL,         
    CO_SDO_AB_SUB_UNKNOWN = 0x06090011UL,        
    CO_SDO_AB_INVALID_VALUE = 0x06090030UL,      
    CO_SDO_AB_VALUE_HIGH = 0x06090031UL,         
    CO_SDO_AB_VALUE_LOW = 0x06090032UL,          
    CO_SDO_AB_MAX_LESS_MIN = 0x06090036UL,       
    CO_SDO_AB_NO_RESOURCE = 0x060A0023UL,        
    CO_SDO_AB_GENERAL = 0x08000000UL,            
    CO_SDO_AB_DATA_TRANSF = 0x08000020UL,        
    CO_SDO_AB_DATA_LOC_CTRL = 0x08000021UL,      
    CO_SDO_AB_DATA_DEV_STATE = 0x08000022UL,     
    CO_SDO_AB_DATA_OD = 0x08000023UL,            
    CO_SDO_AB_NO_DATA = 0x08000024UL             
} CO_SDO_abortCode_t;
 
typedef enum {
    CO_SDO_RT_waitingLocalTransfer = 6,  
    CO_SDO_RT_uploadDataBufferFull = 5,  
    CO_SDO_RT_transmittBufferFull = 4,   
    CO_SDO_RT_blockDownldInProgress = 3, 
    CO_SDO_RT_blockUploadInProgress = 2, 
    CO_SDO_RT_waitingResponse = 1,       
    CO_SDO_RT_ok_communicationEnd = 0,   
    CO_SDO_RT_wrongArguments = -2,       
    CO_SDO_RT_endedWithClientAbort = -9, 
    CO_SDO_RT_endedWithServerAbort = -10, 
} CO_SDO_return_t;
 
typedef struct {
    CO_CANmodule_t* CANdevTx;      
    CO_CANtx_t* CANtxBuff;         
    OD_t* OD;                      
    uint8_t nodeId;                
    bool_t valid;                  
    volatile CO_SDO_state_t state; 
    OD_IO_t OD_IO;                 
    uint16_t index;                
    uint8_t subIndex;              
    volatile void* CANrxNew;       
    uint8_t CANrxData[8];          
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
    CO_CANmodule_t* CANdevRx;         
    uint16_t CANdevRxIdx;             
    uint16_t CANdevTxIdx;             
    uint32_t COB_IDClientToServer;    
    uint32_t COB_IDServerToClient;    
    OD_extension_t OD_1200_extension; 
#endif
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_SEGMENTED) != 0) || defined CO_DOXYGEN
    OD_size_t sizeInd;          
    OD_size_t sizeTran;         
    uint8_t toggle;             
    bool_t finished;            
    uint32_t SDOtimeoutTime_us; 
    uint32_t timeoutTimer;      
    uint8_t buf[CO_CONFIG_SDO_SRV_BUFFER_SIZE + 1U]; 
    OD_size_t bufOffsetWr; 
    OD_size_t bufOffsetRd; 
#endif
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_SDO_SRV_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;          
    uint16_t block_crc;               
#endif
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
} CO_SDOserver_t;
 
CO_ReturnError_t CO_SDOserver_init(CO_SDOserver_t* SDO, OD_t* OD, OD_entry_t* OD_1200_SDOsrvPar, uint8_t nodeId,
                                   uint16_t SDOtimeoutTime_ms, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
                                   CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint32_t* errInfo);
 
#if (((CO_CONFIG_SDO_SRV)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_SDOserver_initCallbackPre(CO_SDOserver_t* SDO, void* object, void (*pFunctSignalPre)(void* object));
#endif
 
CO_SDO_return_t CO_SDOserver_process(CO_SDOserver_t* SDO, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
                                     uint32_t* timerNext_us);
 
 /* CO_SDOserver */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CO_SDO_SERVER_H */