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.

This file is part of the optional package "Mini-Master".

Include dependency graph for cos_sdo_cln.h:

Data Structures
struct	CoObject_s

Enumerations
enum	CosSdoStat_e { eCOS_SDO_STAT_EXP_RD = 1 , eCOS_SDO_STAT_SEG_RD , eCOS_SDO_STAT_BLK_RD , eCOS_SDO_STAT_EXP_WR , eCOS_SDO_STAT_SEG_WR , eCOS_SDO_STAT_BLK_WR , eCOS_SDO_STAT_SUCCESS , eCOS_SDO_STAT_ABORT , eCOS_SDO_STAT_TIMEOUT , eCOS_SDO_STAT_ERR , eCOS_SDO_STAT_EMPTY , eCOS_SDO_STAT_SIZE }

enum	CosSdoMarker_e { eCOS_SDO_MARKER_USER_END = 200 , eCOS_SDO_MARKER_NODE_SET_HEARTBEAT }

enum	CosSdoConfig_e { eCOS_SDO_CONFIG_DEFAULT = 0 , eCOS_SDO_CONFIG_CMD_LEN = 1 , eCOS_SDO_CONFIG_BLOCK = 2 }

Functions
void	CosSdoClnEventObjectReady (uint8_t ubNodeIdV, CoObject_ts ptsCoObjV, uint32_t pulAbortV)

void	CosSdoClnEventTimeout (uint8_t ubNodeIdV, CoObject_ts *ptsCoObjV)

uint8_t	CosSdoClnGetStatus (void)

uint8_t	CosSdoClnReadObject (uint8_t ubNodeIdV, CoObject_ts ptsCoObjV, uint16_t uwObjCntV, uint32_t pulErrCodeV)

uint8_t	CosSdoClnWriteObject (uint8_t ubNodeIdV, CoObject_ts ptsCoObjV, uint16_t uwObjCntV, uint32_t pulErrCodeV)

void	CosSdoClnSendAbort (uint8_t ubNodeIdV, uint16_t uwIndexV, uint8_t ubSubIndexV, uint32_t ulErrCodeV)

void	CosSdoClnSetConfiguration (uint8_t ubConfigV)

void	CosSdoClnSetTimeout (uint16_t uwTimeV)

Enumeration Type Documentation

◆ CosSdoConfig_e

enum CosSdoConfig_e

SDO client configuration.

The enumeration defines configuration values for the SDO client behaviour, which is set via the function CosSdoClnSetConfiguration().

Enumerator
eCOS_SDO_CONFIG_DEFAULT	Use SDO client default configuration
eCOS_SDO_CONFIG_CMD_LEN	Set data length for command byte in expedited transfer
eCOS_SDO_CONFIG_BLOCK	Set SDO block transfer for data length > 4 bytes

◆ CosSdoMarker_e

enum CosSdoMarker_e

SDO transfer marker.

The enumeration defines values for the marker field inside the CANopen object structure CoObject_s. The marker field can be evaluated inside the CosSdoClnEventObjectReady() function.

Enumerator
eCOS_SDO_MARKER_USER_END	Last possible value for user-defined marker
eCOS_SDO_MARKER_NODE_SET_HEARTBEAT	Marker for CosNmtMasterSetHeartbeat() function call

◆ CosSdoStat_e

enum CosSdoStat_e

SDO transfer status.

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

Enumerator
eCOS_SDO_STAT_EXP_RD	Expedited transfer in progress (read)
eCOS_SDO_STAT_SEG_RD	Segmented transfer in progress (read)
eCOS_SDO_STAT_BLK_RD	Block transfer in progress (read)
eCOS_SDO_STAT_EXP_WR	Expedited transfer in progress (write)
eCOS_SDO_STAT_SEG_WR	Segmented transfer in progress (write)
eCOS_SDO_STAT_BLK_WR	Block transfer in progress (write)
eCOS_SDO_STAT_SUCCESS	SDO communication success
eCOS_SDO_STAT_ABORT	SDO communication aborted
eCOS_SDO_STAT_TIMEOUT	SDO communication timeout
eCOS_SDO_STAT_ERR	SDO protocol error
eCOS_SDO_STAT_EMPTY	SDO client is free, no SDO communication present
eCOS_SDO_STAT_SIZE	Data size for client/server does not match

Function Documentation

◆ CosSdoClnEventObjectReady()

void CosSdoClnEventObjectReady	(	uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint32_t *	pulAbortV )

Parameters

[in]	ubNodeIdV	Node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in]	pulAbortV	Pointer to SDO abort code

This handler is called after the SDO data transfer has finished. If the SDO transfer has been initiated by CosSdoClnReadObject() or CosSdoClnWriteObject() the parameter ptsCoObjV points to the last object which has been read or written. Otherwise the pointer ptsCoObjV is 0L. The user defined marker within the structure CoObject_ts can be used to track SDO operations.

In case of a SDO abort, the pointer pulAbortV allows to read the last abort code. The value of pulAbortV is 0L when no SDO error occurred.

◆ CosSdoClnEventTimeout()

void CosSdoClnEventTimeout	(	uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV )

Parameters

[in]	ubNodeIdV	Node-ID value
[in]	ptsCoObjV	Pointer to object structure

See also: CosSdoClnSetTimeout()

This handler is called if a SDO timer condition occurred. The parameters uwIndexV and ubSubIndexV define the object that was accessed. The SDO communication timeout can be configured by the ComSdoSetTimeout() function.

◆ CosSdoClnGetStatus()

uint8_t CosSdoClnGetStatus ( void )

Get SDO transfer status.

Returns: SDO connection status

This function returns the status of a SDO connection, possible values are given by the enumeration CosSdoStat_e.

◆ CosSdoClnReadObject()

uint8_t CosSdoClnReadObject	(	uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint16_t	uwObjCntV,
		uint32_t *	pulErrCodeV )

Parameters

[in]	ubNodeIdV	Node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in]	uwObjCntV	Number of objects to read
[in]	pulErrCodeV	Pointer to optional abort code data

Returns: Error code

This function will start a read request for an object that is defined by the pointer ptsCoObjV.

◆ CosSdoClnSendAbort()

void CosSdoClnSendAbort	(	uint8_t	ubNodeIdV,
		uint16_t	uwIndexV,
		uint8_t	ubSubIndexV,
		uint32_t	ulErrCodeV )

Parameters

[in]	ubNodeIdV	Node-ID value
[in]	uwIndexV	Index of object
[in]	ubSubIndexV	Sub-index of object
[in]	ulErrCodeV	SDO error code

This function is sends a SDO abort message. The abort code is taken from the file canopen.h (SDO_ERR_XXX). The identifier for the abort message is calculated via the node address ubNodeIdV.

◆ CosSdoClnSetConfiguration()

void CosSdoClnSetConfiguration ( uint8_t ubConfigV )

Parameters

[in] ubConfigV SDO client configuration value

This function is used to change the behaviour of the SDO client. The possible configuration values are defined via the CosSdoConfig_e enumeration.

◆ CosSdoClnSetTimeout()

void CosSdoClnSetTimeout ( uint16_t uwTimeV )

Parameters

[in] uwTimeV - timeout value in milliseconds

This function sets a timeout value for a SDO communication. If the response to a SDO request by the master takes longer than this timeout value, the state of the communication will be changed to eCOS_SDO_STAT_TIMEOUT. The state of the SDO communication can be evaluated by calling the function CosSdoClnGetStatus(). Please note that the timeout value is a multiple of the timer period (COS_TIMER_PERIOD). A value supplied to this function will be rounded towards the next lower value if necessary.

◆ CosSdoClnWriteObject()

uint8_t CosSdoClnWriteObject	(	uint8_t	ubNodeIdV,
		CoObject_ts *	ptsCoObjV,
		uint16_t	uwObjCntV,
		uint32_t *	pulErrCodeV )

Parameters

[in]	ubNodeIdV	Node-ID value
[in]	ptsCoObjV	Pointer to object structure
[in]	uwObjCntV	Number of objects to read
[in]	pulErrCodeV	Pointer to optional abort code data

Returns: Error code

This function will start a write request for for an object that is defined by the pointer ptsCoObjV.

Detailed Description

Data Structures

Enumerations

Functions

Enumeration Type Documentation

◆ CosSdoConfig_e

◆ CosSdoMarker_e

◆ CosSdoStat_e

Function Documentation

◆ CosSdoClnEventObjectReady()

◆ CosSdoClnEventTimeout()

◆ CosSdoClnGetStatus()

◆ CosSdoClnReadObject()

◆ CosSdoClnSendAbort()

◆ CosSdoClnSetConfiguration()

◆ CosSdoClnSetTimeout()

◆ CosSdoClnWriteObject()