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

#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"

Data Structures
struct	CO_SDOserver_t
	SDO server object. More...

Macros
#define	CO_SDO_ST_FLAG_DOWNLOAD 0x10U
	Internal state flags indicate type of transfer. More...

Enumerations
enum	CO_SDO_state_t { 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 }
	Internal states of the SDO state machine. More...

enum	CO_SDO_abortCode_t { 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 }
	SDO abort codes. More...

enum	CO_SDO_return_t { 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 }
	Return values from SDO server or client functions. More...

Functions
CO_ReturnError_t	CO_SDOserver_init (CO_SDOserver_t SDO, const OD_t OD, const 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)
	Initialize SDO object. More...

void	CO_SDOserver_initCallbackPre (CO_SDOserver_t SDO, void object, void(pFunctSignalPre)(void object))
	Initialize SDOrx callback function. More...

CO_SDO_return_t	CO_SDOserver_process (CO_SDOserver_t SDO, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t timerNext_us)
	Process SDO communication. More...

Detailed Description

CANopen Service Data Object - server protocol.

Author: Janez Paternoster

This file is part of CANopenNode, an opensource CANopen Stack. Project home page is https://github.com/CANopenNode/CANopenNode. For more information on CANopen see http://www.can-cia.org/.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Data Structures

Macros

Enumerations

Functions

Detailed Description