SDO client

CANopen Service Data Object - client protocol. More...

Collaboration diagram for SDO client:

Files
file	CO_SDOclient.h
	CANopen Service Data Object - client protocol.

Data Structures
struct	CO_SDOclient_t
	SDO client object. More...

Functions
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)
	Initialize SDO client object.
void	CO_SDOclient_initCallbackPre (CO_SDOclient_t *SDOclient, void *object, void(*pFunctSignal)(void *object))
	Initialize SDOclient callback function.
CO_SDO_return_t	CO_SDOclient_setup (CO_SDOclient_t *SDO_C, uint32_t COB_IDClientToServer, uint32_t COB_IDServerToClient, uint8_t nodeIDOfTheSDOServer)
	Setup SDO client object.
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)
	Initiate SDO download communication.
void	CO_SDOclientDownloadInitSize (CO_SDOclient_t *SDO_C, size_t sizeIndicated)
	Initiate SDO download communication - update size.
size_t	CO_SDOclientDownloadBufWrite (CO_SDOclient_t *SDO_C, const uint8_t *buf, size_t count)
	Write data into SDO client buffer.
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)
	Process SDO download communication.
CO_SDO_return_t	CO_SDOclientUploadInitiate (CO_SDOclient_t *SDO_C, uint16_t index, uint8_t subIndex, uint16_t SDOtimeoutTime_ms, bool_t blockEnable)
	Initiate SDO upload communication.
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)
	Process SDO upload communication.
size_t	CO_SDOclientUploadBufRead (CO_SDOclient_t *SDO_C, uint8_t *buf, size_t count)
	Read data from SDO client buffer.
void	CO_SDOclientClose (CO_SDOclient_t *SDO_C)
	Close SDO communication temporary.

Detailed Description

CANopen Service Data Object - client protocol.

SDO client is able to access Object Dictionary variables from remote nodes. Usually there is one SDO client on CANopen network, which is able to configure other CANopen nodes. It is also possible to establish individual SDO client-server communication channels between devices.

SDO client is used in CANopenNode from CO_gateway_ascii.c with default SDO CAN identifiers. There is quite advanced usage in non-blocking function.

If enabled, SDO client is initialized in CANopen.c file with CO_SDOclient_init() function.

Basic usage:

CO_SDO_abortCode_t
read_SDO(CO_SDOclient_t* SDO_C, uint8_t nodeId, uint16_t index, uint8_t subIndex, uint8_t* buf, size_t bufSize,
         size_t* readSize) {
    CO_SDO_return_t SDO_ret;
 
    // setup client (this can be skipped, if remote device don't change)
    SDO_ret = CO_SDOclient_setup(SDO_C, CO_CAN_ID_SDO_CLI + nodeId, CO_CAN_ID_SDO_SRV + nodeId, nodeId);
    if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
        return CO_SDO_AB_GENERAL;
    }
 
    // initiate upload
    SDO_ret = CO_SDOclientUploadInitiate(SDO_C, index, subIndex, 1000, false);
    if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
        return CO_SDO_AB_GENERAL;
    }
 
    // upload data
    do {
        uint32_t timeDifference_us = 10000;
        CO_SDO_abortCode_t abortCode = CO_SDO_AB_NONE;
 
        SDO_ret = CO_SDOclientUpload(SDO_C, timeDifference_us, false, &abortCode, NULL, NULL, NULL);
        if (SDO_ret < 0) {
            return abortCode;
        }
 
        sleep_us(timeDifference_us);
    } while (SDO_ret > 0);
 
    // copy data to the user buffer (for long data function must be called several times inside the loop)
    *readSize = CO_SDOclientUploadBufRead(SDO_C, buf, bufSize);
 
    return CO_SDO_AB_NONE;
}
 
CO_SDO_abortCode_t
write_SDO(CO_SDOclient_t* SDO_C, uint8_t nodeId, uint16_t index, uint8_t subIndex, uint8_t* data, size_t dataSize) {
    CO_SDO_return_t SDO_ret;
    bool_t bufferPartial = false;
 
    // setup client (this can be skipped, if remote device is the same)
    SDO_ret = CO_SDOclient_setup(SDO_C, CO_CAN_ID_SDO_CLI + nodeId, CO_CAN_ID_SDO_SRV + nodeId, nodeId);
    if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
        return -1
    }
 
    // initiate download
    SDO_ret = CO_SDOclientDownloadInitiate(SDO_C, index, subIndex, dataSize, 1000, false);
    if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
        return -1
    }
 
    // fill data
    size_t nWritten = CO_SDOclientDownloadBufWrite(SDO_C, data, dataSize);
    if (nWritten < dataSize) {
        bufferPartial = true;
        // If SDO Fifo buffer is too small, data can be refilled in the loop.
    }
 
    // download data
    do {
        uint32_t timeDifference_us = 10000;
        CO_SDO_abortCode_t abortCode = CO_SDO_AB_NONE;
 
        SDO_ret = CO_SDOclientDownload(SDO_C, timeDifference_us, false, bufferPartial, &abortCode, NULL, NULL);
        if (SDO_ret < 0) {
            return abortCode;
        }
 
        sleep_us(timeDifference_us);
    } while (SDO_ret > 0);
 
    return CO_SDO_AB_NONE;
}

See also

SDO server

Function Documentation

CO_SDOclient_init()

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 )

Initialize SDO client object.

Function must be called in the communication reset section.

Parameters

	SDO_C	This object will be initialized.
	OD	Object Dictionary. It is used in case, if client is accessing object dictionary from its own device. If NULL, it will be ignored.
	OD_1280_SDOcliPar	OD entry for SDO client parameter (0x1280+). It may have IO extension enabled to allow dynamic configuration (see also CO_CONFIG_FLAG_OD_DYNAMIC). Entry is required.
	nodeId	CANopen Node ID of this device. It is used in case, if client is accessing object dictionary from its own device. If 0, it will be ignored.
	CANdevRx	CAN device for SDO client reception.
	CANdevRxIdx	Index of receive buffer in the above CAN device.
	CANdevTx	CAN device for SDO client transmission.
	CANdevTxIdx	Index of transmit buffer in the above CAN device.
[out]	errInfo	Additional information in case of error, may be NULL.

Returns

CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

CO_SDOclient_initCallbackPre()

void CO_SDOclient_initCallbackPre	(	CO_SDOclient_t *	SDOclient,
		void *	object,
		void(*	pFunctSignal )(void *object) )

Initialize SDOclient callback function.

Function initializes optional callback function, which should immediately start processing of CO_SDOclientDownload() or CO_SDOclientUpload() function. Callback is called after SDOclient message is received from the CAN bus or when new call without delay is necessary (exchange data with own SDO server or SDO block transfer is in progress).

Parameters

SDOclient	This object.
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL.
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_SDOclient_setup()

CO_SDO_return_t CO_SDOclient_setup	(	CO_SDOclient_t *	SDO_C,
		uint32_t	COB_IDClientToServer,
		uint32_t	COB_IDServerToClient,
		uint8_t	nodeIDOfTheSDOServer )

Setup SDO client object.

Function is called in from CO_SDOclient_init() and each time when "SDO client parameter" is written. Application can call this function before new SDO communication. If parameters to this function are the same as before, then CAN is not reconfigured.

Parameters

SDO_C	This object.
COB_IDClientToServer	See CO_SDOclient_t.
COB_IDServerToClient	See CO_SDOclient_t.
nodeIDOfTheSDOServer	Node-ID of the SDO server. If it is the same as node-ID of this node, then data will be exchanged with this node (without CAN communication).

Returns

CO_SDO_return_t, CO_SDO_RT_ok_communicationEnd or CO_SDO_RT_wrongArguments

CO_SDOclientDownloadInitiate()

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 )

Initiate SDO download communication.

Function initiates SDO download communication with server specified in CO_SDOclient_init() function. Data will be written to remote node. Function is non-blocking.

Parameters

SDO_C	This object.
index	Index of object in object dictionary in remote node.
subIndex	Subindex of object in object dictionary in remote node.
sizeIndicated	Optionally indicate size of data to be downloaded. Actual data are written with one or multiple CO_SDOclientDownloadBufWrite() calls. If sizeIndicated is different than 0, then total number of data written by CO_SDOclientDownloadBufWrite() will be compared against sizeIndicated. Also sizeIndicated info will be passed to the server, which will compare actual data size downloaded. In case of mismatch, SDO abort message will be generated. If sizeIndicated is 0, then actual data size will not be verified.
SDOtimeoutTime_ms	Timeout time for SDO communication in milliseconds.
blockEnable	Try to initiate block transfer.

Returns

CO_SDO_return_t

CO_SDOclientDownloadInitSize()

void CO_SDOclientDownloadInitSize	(	CO_SDOclient_t *	SDO_C,
		size_t	sizeIndicated )

Initiate SDO download communication - update size.

This is optional function, which updates sizeIndicated, if it was not known in the CO_SDOclientDownloadInitiate() function call. This function can be used after CO_SDOclientDownloadBufWrite(), but must be used before CO_SDOclientDownload().

Parameters

SDO_C	This object.
sizeIndicated	Same as in CO_SDOclientDownloadInitiate().

CO_SDOclientDownloadBufWrite()

size_t CO_SDOclientDownloadBufWrite	(	CO_SDOclient_t *	SDO_C,
		const uint8_t *	buf,
		size_t	count )

Write data into SDO client buffer.

This function copies data from buf into internal SDO client fifo buffer. Function returns number of bytes successfully copied. If there is not enough space in destination, not all bytes will be copied. Additional data can be copied in next cycles. If there is enough space in destination and sizeIndicated is different than zero, then all data must be written at once.

This function is basically a wrapper for CO_fifo_write() function. As alternative, other functions from CO_fifo can be used directly, for example CO_fifo_cpyTok2U8() or similar.

Parameters

SDO_C	This object.
buf	Buffer which will be copied
count	Number of bytes in buf

Returns

number of bytes actually written.

CO_SDOclientDownload()

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 )

Process SDO download communication.

Function must be called cyclically until it returns <=0. It Proceeds SDO download communication initiated with CO_SDOclientDownloadInitiate(). Function is non-blocking.

If function returns CO_SDO_RT_blockDownldInProgress and OS has buffer for CAN tx messages, then this function may be called multiple times within own loop. This can speed-up SDO block transfer.

Parameters

	SDO_C	This object.
	timeDifference_us	Time difference from previous function call in [microseconds].
	send_abort	If true, SDO client will send abort message from SDOabortCode and transmission will be aborted.
	bufferPartial	True indicates, not all data were copied to internal buffer yet. Buffer will be refilled later with CO_SDOclientDownloadBufWrite.
[out]	SDOabortCode	In case of error in communication, SDO abort code contains reason of error. Ignored if NULL.
[out]	sizeTransferred	Actual size of data transferred. Ignored if NULL
[out]	timerNext_us	info to OS - see CO_process(). Ignored if NULL.

Returns

CO_SDO_return_t. If less than 0, then error occurred, SDOabortCode contains reason and state becomes idle. If 0, communication ends successfully and state becomes idle. If greater than 0, then communication is in progress.

CO_SDOclientUploadInitiate()

CO_SDO_return_t CO_SDOclientUploadInitiate	(	CO_SDOclient_t *	SDO_C,
		uint16_t	index,
		uint8_t	subIndex,
		uint16_t	SDOtimeoutTime_ms,
		bool_t	blockEnable )

Initiate SDO upload communication.

Function initiates SDO upload communication with server specified in CO_SDOclient_init() function. Data will be read from remote node. Function is non-blocking.

Parameters

SDO_C	This object.
index	Index of object in object dictionary in remote node.
subIndex	Subindex of object in object dictionary in remote node.
SDOtimeoutTime_ms	Timeout time for SDO communication in milliseconds.
blockEnable	Try to initiate block transfer.

Returns

CO_SDO_return_t

CO_SDOclientUpload()

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 )

Process SDO upload communication.

Function must be called cyclically until it returns <=0. It Proceeds SDO upload communication initiated with CO_SDOclientUploadInitiate(). Function is non-blocking.

If this function returns CO_SDO_RT_uploadDataBufferFull, then data must be read from fifo buffer to make it empty. This function can then be called once again immediately to speed-up block transfer. Note also, that remaining data must be read after function returns CO_SDO_RT_ok_communicationEnd. Data must not be read, if function returns CO_SDO_RT_blockUploadInProgress.

Parameters

	SDO_C	This object.
	timeDifference_us	Time difference from previous function call in [microseconds].
	send_abort	If true, SDO client will send abort message from SDOabortCode and reception will be aborted.
[out]	SDOabortCode	In case of error in communication, SDO abort code contains reason of error. Ignored if NULL.
[out]	sizeIndicated	If larger than 0, then SDO server has indicated size of data transfer. Ignored if NULL.
[out]	sizeTransferred	Actual size of data transferred. Ignored if NULL
[out]	timerNext_us	info to OS - see CO_process(). Ignored if NULL.

Returns

CO_SDO_return_t. If less than 0, then error occurred, SDOabortCode contains reason and state becomes idle. If 0, communication ends successfully and state becomes idle. If greater than 0, then communication is in progress.

CO_SDOclientUploadBufRead()

size_t CO_SDOclientUploadBufRead	(	CO_SDOclient_t *	SDO_C,
		uint8_t *	buf,
		size_t	count )

Read data from SDO client buffer.

This function copies data from internal fifo buffer of SDO client into buf. Function returns number of bytes successfully copied. It can be called in multiple cycles, if data length is large.

This function is basically a wrapper for CO_fifo_read() function. As alternative, other functions from CO_fifo can be used directly, for example CO_fifo_readU82a() or similar.

Warning

This function (or similar) must NOT be called when CO_SDOclientUpload() returns CO_SDO_RT_blockUploadInProgress!

Parameters

SDO_C	This object.
buf	Buffer into which data will be copied
count	Copy up to count bytes into buffer

Returns

number of bytes actually read.

CO_SDOclientClose()

void CO_SDOclientClose

(

CO_SDOclient_t *

SDO_C

)

Close SDO communication temporary.

Function must be called after finish of each SDO client communication cycle. It disables reception of SDO client CAN messages. It is necessary, because CO_SDOclient_receive function may otherwise write into undefined SDO buffer.

Parameters

SDO_C

This object.