com_demo_sdo.c

---

//============================================================================//
// File:          com_demo_sdo.c                                              //
// Description:   Examples for SDO service in CANopen Master stack            //
//                                                                            //
// Copyright (C) MicroControl GmbH & Co. KG                                   //
// 53844 Troisdorf - Germany                                                  //
// www.microcontrol.net                                                       //
//                                                                            //
//----------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of         //
// MicroControl GmbH & Co. KG, Germany. The program(s) may be used            //
// and/or copied only with the written permission of MicroControl GmbH &      //
// Co. KG or in accordance with the terms and conditions stipulated in        //
// the agreement/contract under which the program(s) have been supplied.      //
//                                                                            //
//============================================================================//


#include "com_sdo_cln.h"   // CANopen Master SDO client service
#include <stdio.h>         // for sprintf() function



uint32_t ulIdx1000G;
uint8_t  ubIdx1001G;
char     szIdx1008G[64];
uint16_t uwIdx1017G;
uint32_t ulIdx1018_1G;
uint32_t ulObjCntG;
uint32_t ulIdx1400_1G;
uint8_t  ubIdx1400_2G;
uint32_t ulIdx1800_1G;
uint8_t  ubIdx1800_2G;
uint16_t uwIdx1800_5G;


CoObject_ts atsObjDictReadG[] = {
      { 0x1000, 0x00, 0x00,  4, &ulIdx1000G     },
      { 0x1001, 0x00, 0x00,  1, &ubIdx1001G     },
      { 0x1008, 0x00, 0x00, 32, &szIdx1008G     },
      { 0x1017, 0x00, 0x00,  2, &uwIdx1017G     },
      { 0x1018, 0x01, 0x00,  4, &ulIdx1018_1G   }

};

CoObject_ts atsObjDictWriteG[] = {
      { 0x1017, 0x00, 0x00,  2, &uwIdx1017G     },
      { 0x1400, 0x01, 0x00,  4, &ulIdx1400_1G   },
      { 0x1400, 0x02, 0x00,  1, &ubIdx1400_2G   },
      { 0x1800, 0x01, 0x00,  4, &ulIdx1800_1G   },
      { 0x1800, 0x02, 0x00,  1, &ubIdx1800_2G   },
      { 0x1800, 0x05, 0x00,  2, &uwIdx1800_5G   }
};

//----------------------------------------------------------------------------//
// DemoComSdoObjectRead()                                                     //
// Read all Objects defined in the list 'atsObjDictReadG'                     //
//----------------------------------------------------------------------------//
ComStatus_tv ComDemoSdoObjectRead(uint8_t ubNetV, uint8_t ubNodeIdV)
{
   ComStatus_tv   tvStatusT;
   uint8_t        ubSdoClientT;

   ubSdoClientT = ComSdoGetClient(ubNetV);
   ulObjCntG = sizeof(atsObjDictReadG) / sizeof (CoObject_ts);
   tvStatusT = ComSdoReadObject( ubNetV, ubSdoClientT, ubNodeIdV,
                                 &atsObjDictReadG[0], &ulObjCntG);

   return(tvStatusT);
}


//----------------------------------------------------------------------------//
// DemoComSdoObjectWrite()                                                    //
// Write all Objects defined in the list 'atsObjDictWriteG'                   //
//----------------------------------------------------------------------------//
ComStatus_tv ComDemoSdoObjectWrite(uint8_t ubNetV, uint8_t ubNodeIdV)
{
   ComStatus_tv   tvStatusT;

   uwIdx1017G   = 500;
   ulIdx1400_1G = 0x211;
   ubIdx1400_2G = 0xFF;
   ulIdx1800_1G = 0x191;
   ubIdx1800_2G = 0xFF;
   uwIdx1800_5G = 100;;

   ulObjCntG = sizeof(atsObjDictWriteG) / sizeof (CoObject_ts);
   tvStatusT = ComSdoWriteObject( ubNetV, 0, ubNodeIdV,
                                 &atsObjDictWriteG[0], &ulObjCntG);

   return(tvStatusT);
}

//----------------------------------------------------------------------------//
// DemoComNmtPrintNodeState()                                                 //
// Print node state in text buffer                                            //
//----------------------------------------------------------------------------//
void ComDemoSdoPrintStatus(uint8_t ubNodeIdV, uint8_t ubSdoV, char * szBufferV)
{
   ComStatus_tv   tvStatusT;
   uint32_t           ulAbortT;

   tvStatusT = ComSdoGetStatus(ubNodeIdV, ubSdoV);

   switch(tvStatusT)
   {
      case eCOM_SDO_STAT_SUCCESS:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "OK          ");
         break;

      case eCOM_SDO_STAT_ABORT:
         ComSdoGetAbortCode(ubNodeIdV, ubSdoV, &ulAbortT);
         sprintf(szBufferV, "NID %d: (a)%08ulX", ubNodeIdV, (unsigned int) ulAbortT);
         break;

      case eCOM_SDO_STAT_TIMEOUT:
         sprintf(szBufferV, "NID %d: Timeout", ubNodeIdV);
         break;

      case eCOM_SDO_STAT_ERR:
         sprintf(szBufferV, "NID %d: Prot. Error", ubNodeIdV);
         break;

      case eCOM_SDO_STAT_SIZE:
         sprintf(szBufferV, "NID %d: Data size fail", ubNodeIdV);
         break;

      default:
         sprintf(szBufferV, "NID %d: Error - state unknown", ubNodeIdV);
         break;
   }

}  // DemoComSdoPrintStatus