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_CONFIG_SDO_CLI_BUFFER_SIZE
 #if (CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK
  #define CO_CONFIG_SDO_CLI_BUFFER_SIZE 1000
 #else
  #define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32
 #endif
#endif
 
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_ENABLE) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_LOCAL) || defined CO_DOXYGEN
 
    const OD_t *OD;
    uint8_t nodeId;
    OD_IO_t OD_IO;
    OD_attr_t attribute;
#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) || defined CO_DOXYGEN
 
    uint32_t COB_IDClientToServer;
    uint32_t COB_IDServerToClient;
#endif
 
    uint8_t nodeIDOfTheSDOServer;
    /* If true, SDO channel is valid */
    bool_t valid;
    uint16_t index;
    uint8_t subIndex;
    /* If true, then data transfer is finished */
    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;
    char buf[CO_CONFIG_SDO_CLI_BUFFER_SIZE + 1];
    volatile void *CANrxNew;
    uint8_t CANrxData[8];
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void (*pFunctSignal)(void *object);
    void *functSignalObject;
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_SEGMENTED) || defined CO_DOXYGEN
 
    uint8_t toggle;
#endif
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_SDO_CLI_BLOCK) || 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,
                                   const OD_t *OD,
                                   const OD_entry_t *OD_1280_SDOcliPar,
                                   uint8_t nodeId,
                                   CO_CANmodule_t *CANdevRx,
                                   uint16_t CANdevRxIdx,
                                   CO_CANmodule_t *CANdevTx,
                                   uint16_t CANdevTxIdx);
 
 
#if ((CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_CALLBACK_PRE) || 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_SDOclientDownloadInitiateSize(CO_SDOclient_t *SDO_C,
                                      size_t sizeIndicated);
 
 
size_t CO_SDOclientDownloadBufWrite(CO_SDOclient_t *SDO_C,
                                    const char *buf,
                                    size_t count);
 
 
CO_SDO_return_t CO_SDOclientDownload(CO_SDOclient_t *SDO_C,
                                     uint32_t timeDifference_us,
                                     bool_t 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 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,
                                 char *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 */