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)
#endif
#ifndef CO_CONFIG_SDO_SRV_BUFFER_SIZE
#define CO_CONFIG_SDO_SRV_BUFFER_SIZE 32
#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;
    const OD_t *OD;
    uint8_t nodeId;
    /* If true, SDO channel is valid */
    bool_t valid;
    volatile CO_SDO_state_t state;
    OD_IO_t OD_IO;
    uint16_t index;
    uint8_t subIndex;
    OD_attr_t attribute;
    volatile void *CANrxNew;
    uint8_t CANrxData[8];
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
 
    CO_CANmodule_t *CANdevRx;
    uint16_t CANdevRxIdx;
    uint16_t CANdevTxIdx;
    uint32_t COB_IDClientToServer;
    uint32_t COB_IDServerToClient;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_SEGMENTED) || defined CO_DOXYGEN
 
    OD_size_t sizeInd;
    OD_size_t sizeTran;
    uint8_t toggle;
    bool_t finished;
    uint32_t SDOtimeoutTime_us;
    uint32_t timeoutTimer;
    char buf[CO_CONFIG_SDO_SRV_BUFFER_SIZE + 1];
    OD_size_t bufOffsetWr;
    OD_size_t bufOffsetRd;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_SDO_SRV_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;
    uint16_t block_crc;
#endif
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void (*pFunctSignalPre)(void *object);
    void *functSignalObjectPre;
#endif
} CO_SDOserver_t;
 
 
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);
 
 
#if ((CO_CONFIG_SDO_SRV) & CO_CONFIG_FLAG_CALLBACK_PRE) || 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 */