com_sdo_srv.h File Reference

Detailed Description

With Service Data Objects (SDOs) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets (each containing an arbitrary large block of data) from a client to a server and vice versa. The client can control via a multiplexor (index and sub-index of the Object Dictionary) which data set is to be transferred. The contents of the data set are defined within the Object Dictionary (see com_dict.h).

The functions in this module are called by the CANopen master stack on reception of a SDO request.

#include "com_defs.h"
#include "com_dict.h"

Include dependency graph for com_sdo_srv.h:

Functions
uint32_t	ComSdoSrvBlkUpObjectSize (uint8_t ubNetV, uint16_t uwIndexV, uint8_t ubSubIndexV)
void	ComSdoSrvCopyValueToMessage (uint8_t ubNetV, void *pvdValueV, uint8_t ubDataTypeV)
void	ComSdoSrvCopyMessageToValue (uint8_t ubNetV, void *pvdValueV, uint8_t ubDataTypeV)
void	ComSdoSrvSegSetup (uint8_t ubNetV, void *pvdDataV, uint32_t ulSizeV)

Function Documentation

ComSdoSrvBlkUpObjectSize()

uint32_t ComSdoSrvBlkUpObjectSize	(	uint8_t	ubNetV,
		uint16_t	uwIndexV,
		uint8_t	ubSubIndexV )

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwIndexV	Object index value
[in]	ubSubIndexV	Object sub-index value

Returns

Number of bytes

This function is called by the ComSdoSrvBlkUpInit() function in order to determine the size (in bytes) of the object to be uploaded using a SDO block transfer.

The action on this function is application specific. The function body is placed inside the file com_user.c.

ComSdoSrvCopyMessageToValue()

void ComSdoSrvCopyMessageToValue	(	uint8_t	ubNetV,
		void *	pvdValueV,
		uint8_t	ubDataTypeV )

Copy data field from SDO message into value.

Parameters

[in]	ubNetV	CANopen Network channel
[out]	pvdValueV	Pointer to value
[in]	ubDataTypeV	Defines the value data type

This function copies the SDO data field into the location defined by pvdValueV. Depending on the data type the byte order is assigned according to CiA 301.

ComSdoSrvCopyValueToMessage()

void ComSdoSrvCopyValueToMessage	(	uint8_t	ubNetV,
		void *	pvdValueV,
		uint8_t	ubDataTypeV )

Parameters

[in]	ubNetV	CANopen Network channel
[in]	pvdValueV	Pointer to value
[in]	ubDataTypeV	Defines the value data type

This function copies the given value into the data field of a SDO message. Depending on the data type the byte order is assigned according to CiA 301.

ComSdoSrvExpReadRequest()

void ComSdoSrvExpReadRequest

(

uint8_t

ubNetV

)

ComSdoSrvExpReadResponse()

void ComSdoSrvExpReadResponse	(	uint8_t	ubNetV,
		uint8_t	ubRespCodeV )

ComSdoSrvExpWriteRequest()

void ComSdoSrvExpWriteRequest	(	uint8_t	ubNetV,
		uint8_t	ubReqCodeV )

ComSdoSrvExpWriteResponse()

void ComSdoSrvExpWriteResponse

(

uint8_t

ubNetV

)

ComSdoSrvGetCurrentIndex()

uint16_t ComSdoSrvGetCurrentIndex

(

uint8_t

ubNetV

)

ComSdoSrvInit()

ComStatus_tv ComSdoSrvInit

(

uint8_t

ubNetV

)

ComSdoSrvMessageHandler()

void ComSdoSrvMessageHandler	(	uint8_t	ubNetV,
		CpCanMsg_ts *	ptsCanMsgV )

ComSdoSrvResponse()

void ComSdoSrvResponse	(	uint8_t	ubNetV,
		uint8_t	ubResponseV )

ComSdoSrvSegReadRequest()

void ComSdoSrvSegReadRequest	(	uint8_t	ubNetV,
		uint8_t	ubReqCodeV )

ComSdoSrvSegSetup()

void ComSdoSrvSegSetup	(	uint8_t	ubNetV,
		void *	pvdDataV,
		uint32_t	ulSizeV )

Initialise segmented data transfer.

Parameters

ubNetV	Number of corresponding network
pvdDataV	Pointer to data
ulSizeV	Size of data be transferred

This function is used to initialise the Segmented SDO data transfer.

ComSdoSrvSegWriteRequest()

void ComSdoSrvSegWriteRequest	(	uint8_t	ubNetV,
		uint8_t	ubReqCodeV )

ComSdoSrvSendAbort()

void ComSdoSrvSendAbort	(	uint8_t	ubNetV,
		uint32_t	ulErrCodeV )