Detailed Description

USDO services are intended for configuration and diagnostic tasks in CANopen FD systems. Nevertheless process data can be transferred via USDO services as well. The USDO service offers confirmed communication between one USDO client and one or several USDO servers. By means of the USDO protocol the USDO client has access to CANopen FD object dictionary entries supported in the CANopen FD devices in the network. The USDO services provide read and write access to sub-indexes in the USDO servers’ object dictionary (see com_dict.h).

USDO services allow the transfer of any data size between the USDO client and the USDO server. The inherent routing capability of the USDO services enables data transfer over CANopen FD network borders; USDO client and USDO server are not necessarily connected to the same CAN.

The communication timeout between USDO client request and USDO server response is device/application specific. The initial USDO communication timeout for the client is set to 50 milliseconds. The connection timeout value can be change with the ComUsdoSetTimeout() function.

Include dependency graph for com_usdo_cln.h:

Enumerations
enum	ComUsdoStat_e { eCOM_USDO_STAT_EMPTY = 0 , eCOM_USDO_STAT_EXP_RD = 1 , eCOM_USDO_STAT_SEG_RD = 2 , eCOM_USDO_STAT_BLK_RD = 3 , eCOM_USDO_STAT_EXP_WR = 4 , eCOM_USDO_STAT_SEG_WR = 5 , eCOM_USDO_STAT_BLK_WR = 6 , eCOM_USDO_STAT_SUCCESS = 7 , eCOM_USDO_STAT_ABORT = 8 , eCOM_USDO_STAT_TIMEOUT = 9 , eCOM_USDO_STAT_ERR = 10 , eCOM_USDO_STAT_SIZE = 11 }

Functions
uint8_t	ComUsdoGetClient (uint8_t ubNetV)

ComStatus_tv	ComUsdoGetStatus (uint8_t ubNetV, uint8_t ubClientV)

ComStatus_tv	ComUsdoReadObject (uint8_t ubNetV, uint8_t ubClientV, uint8_t ubNodeIdV, CoObject_ts ptsCoObjV, uint32_t pulObjCntV)

ComStatus_tv	ComUsdoSetTimeout (uint8_t ubNetV, uint8_t ubClientV, uint16_t uwTimeV)

ComStatus_tv	ComUsdoWriteObject (uint8_t ubNetV, uint8_t ubClientV, uint8_t ubNodeIdV, CoObject_ts ptsCoObjV, uint32_t pulObjCntV)

Enumeration Type Documentation

◆ ComUsdoStat_e

enum ComUsdoStat_e

USDO transfer status.

The enumeration defines the status of a USDO client connection. It can be requested with the ComUsdoGetStatus() function.

Enumerator
eCOM_USDO_STAT_EMPTY	USDO client is free, no USDO communication present
eCOM_USDO_STAT_EXP_RD	Expedited transfer in progress (read)
eCOM_USDO_STAT_SEG_RD	Segmented transfer in progress (read)
eCOM_USDO_STAT_BLK_RD	Bulk transfer in progress (read)
eCOM_USDO_STAT_EXP_WR	Expedited transfer in progress (write)
eCOM_USDO_STAT_SEG_WR	Segmented transfer in progress (write)
eCOM_USDO_STAT_BLK_WR	Block transfer in progress (write)
eCOM_USDO_STAT_SUCCESS	USDO communication success
eCOM_USDO_STAT_ABORT	USDO communication aborted
eCOM_USDO_STAT_TIMEOUT	USDO communication timeout
eCOM_USDO_STAT_ERR	USDO protocol error
eCOM_USDO_STAT_SIZE	Data size for client/server does not match

Function Documentation

◆ ComUsdoGetClient()

uint8_t ComUsdoGetClient ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: USDO client index

This function returns the index of an available USDO client. If no SDO client is free, the function will return the value COM_USDO_CLIENT_MAX.

◆ ComUsdoGetStatus()

ComStatus_tv ComUsdoGetStatus	(	uint8_t	ubNetV,
		uint8_t	ubClientV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubClientV	USDO client index

Returns: Value of enumeration ComErr_e

This function returns the status of a USDO transmission for the USDO client connection given by its index ubClientV. A negative return value indicates an error. The error values are taken from the ComErr_e enumeration. The return value eCOM_USDO_STAT_EMPTY indicates that the USDO client is available for a read/write operation. Positive return values (see ComUsdoStat_e) indicate the status of a USDO client in use.

◆ ComUsdoReadObject()

ComStatus_tv ComUsdoReadObject	(	uint8_t	ubNetV,
		uint8_t	ubClientV,
		uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint32_t *	pulObjCntV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubClientV	USDO client index
[in]	ubNodeIdV	node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in,out]	pulObjCntV	Pointer to variable for object count

Returns: Value of enumeration ComErr_e

See also: ComUsdoWriteObject()

This function will start the read request for an object that is defined by the structure CoObject_ts.

◆ ComUsdoSetTimeout()

ComStatus_tv ComUsdoSetTimeout	(	uint8_t	ubNetV,
		uint8_t	ubClientV,
		uint16_t	uwTimeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubClientV	USDO client index
[in]	uwTimeV	timeout value in milliseconds

Returns: Value of enumeration ComErr_e

This function sets a timeout value for a USDO communication. If the response to a USDO request takes longer than the configured timeout value, the state of the communication will be changed to eCOM_USDO_STAT_TIMEOUT. The state of the USDO communication can be evaluated by calling the function ComUsdoGetStatus(). Please note that the timeout value is passed in multiples of 1 millisecond. The timeout value supplied to this function will be rounded towards the next lower value if necessary (depends on timer granularity).

◆ ComUsdoWriteObject()

ComStatus_tv ComUsdoWriteObject	(	uint8_t	ubNetV,
		uint8_t	ubClientV,
		uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint32_t *	pulObjCntV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubClientV	USDO client index
[in]	ubNodeIdV	node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in,out]	pulObjCntV	Pointer to variable for object count

Returns: Value of enumeration ComErr_e

See also: ComUsdoReadObject()

This function will start the write request for an object that is defined by the structure CoObject_ts.

Detailed Description

Enumerations

Functions

Enumeration Type Documentation

◆ ComUsdoStat_e

Function Documentation

◆ ComUsdoGetClient()

◆ ComUsdoGetStatus()

◆ ComUsdoReadObject()

◆ ComUsdoSetTimeout()

◆ ComUsdoWriteObject()