/**-------------------------------------------------------------------------------------------
// sends an SDO onto the bus
// description:
// should send an canopen-SDO onto the can-bus. !!! this function is not implemented
// correctly and not tested !!! to access the object directory of an other module, use
// read/write dictionary entries instead!
//------------------------------------------------------------------------------------------*/
void CANFestivalGui::sendSDO( )
{
int msgd;
unsigned char n, e, s, t, c;
unsigned char data[8];
s_SDO sdo;
sdo.ID = ui->canopenSDODeviceId->text( ).toInt( );
// + 1 wegen dem Command Specifier...
sdo.len = getLength( canopenSDODataList ) + 1;
if( ui->canopenSDOReadWrite->isChecked( ) == true ) {
msgd = Rx;
} else {
msgd = Tx;
}
n = 8 - (sdo.len-1);
ui->canopenSDONormal->isChecked( ) ? e=0: e=1;
s = 0; // !!!!!!!!!!! was isch das ueberhaupt?!
t = 0; // !!!!!!!!!!! fix this...
c = 1; // should also be changed !!!!!!!!!!!!
if( ui->canopenSDOCommandSpecifier->currentText( ).compare( "Init Domain Download" ) == 0 ) {
if( msgd == Tx ) {
data[0] = IDD_client( n, e, s );
} else {
data[0] = IDD_server;
}
} else if( ui->canopenSDOCommandSpecifier->currentText( ).compare( "Download Domain Segment" ) == 0 ) {
if( msgd == Tx ) {
data[0] = DDS_client( t, n, c );
} else {
data[0] = DDS_server;
}
} else if( ui->canopenSDOCommandSpecifier->currentText( ).compare( "Init Domain Upload" ) == 0 ) {
QMessageBox::information( this, "kdsfjsl", "lauft no nued..." );
} else if( ui->canopenSDOCommandSpecifier->currentText( ).compare( "Upload Domain Segment" ) == 0 ) {
QMessageBox::information( this, "kdsfjsl", "lauft no nued..." );
} else if( ui->canopenSDOCommandSpecifier->currentText( ).compare( "Abort Domain Transfer" ) == 0 ) {
data[0] = ADT_server;
}
for( int i=1; i<sdo.len-1; i++ ) {
if( ui->canopenSDOHexFormat->isChecked( ) ) {
data[i] = strtol( canopenSDODataList.at( i-1 )->text( ).toStdString().c_str(), NULL, 16 );
} else if( ui->canopenSDOBinFormat->isChecked( ) ) {
data[i] = strtol( canopenSDODataList.at( i-1 )->text( ).toStdString().c_str(), NULL, 2 );
} else {
data[i] = canopenSDODataList.at( i-1 )->text( ).toInt( );
}
}
memcpy(&(sdo.body), &(data[0]), sdo.len);
Send_SDO(0, sdo, msgd);
}
UNS8 SDOmGR(UNS8 bus_id, UNS8 line) //Flux Manager
{
UNS8 res;
UNS8 i;
UNS8 line_transfers;
UNS8 t, n, c, e, s;
s_SDO sdo;
MSG_WAR(0x3A11, "SDOmGR ", 0);
res = 0xFF;
sdo.nodeId = transfers[bus_id][line].nodeId ;
if(TS_HAVE_TO_DO(transfers[bus_id][line].state))
{
switch(TS_ACTIVITY(transfers[bus_id][line].state))
{
// Initiate a Domain (up/down)load ( first frame )
case TS_ACTIVATED:
MSG_WAR(0x3A12, "Initiate Domain ", 0);
//memcpy(&sdo.body.data[0], &transfers[bus_id][line].index, 2);
// This Memcpy depends on packing structure. Avoid
sdo.body.data[0] = transfers[bus_id][line].index & 0xFF; // LSB
sdo.body.data[1] = (transfers[bus_id][line].index >> 8) & 0xFF; // MSB of index (16 b)
sdo.body.data[2] = transfers[bus_id][line].subindex;
if(TS_IS_DOWNLOAD(transfers[bus_id][line].state))
{
// Number of bytes to transfer < 5 -> expedited tranfer
MSG_WAR(0x3A13, "Download ", 0);
if(transfers[bus_id][line].count < 5)
{
n = 4 - transfers[bus_id][line].count;
e = 1;
s = 1;
sdo.len = 8 - n;
for(i=0; i<4-n; i++)
sdo.body.data[i+3] = transfers[bus_id][line].data[i];
// Next call will finish.
transfers[bus_id][line].offset = transfers[bus_id][line].count;
} else
{ // Normal transfer
n = 0;
e = 0;
s = 1;
//the first byte of D containts the LSB of number of data to be
//download and the last byte of D contains the MSB
sdo.body.data[3] = transfers[bus_id][line].count;
sdo.body.data[6] = 0;
sdo.body.data[4] = 0;
sdo.body.data[5] = 0;
sdo.len = 8;
transfers[bus_id][line].offset = 0;
}
sdo.body.SCS = IDD_client(n,e,s);
} else
{ // initiate upload, expedited transfer
MSG_WAR(0x3A14, "Upload ", 0);
sdo.len = 4;
sdo.body.SCS = IDU_client;
transfers[bus_id][line].offset = 0;
}
res = sendSDO(bus_id, sdo);
TS_SET_ACTIVITY(transfers[bus_id][line].state,TS_WORKING | TS_WAIT_SERVER);
break;
// Follow Domain (up/down)load
// ( following frames, if more that one is needed )
case TS_WORKING:
MSG_WAR(0x3A15, "Domain Segment ", 0);
getSDOlineOnUse( bus_id,transfers[bus_id][line].nodeId, &line_transfers );
line = line_transfers;
if(TS_IS_DOWNLOAD(transfers[bus_id][line].state))
{
MSG_WAR(0x3A16, "Download ", 0);
i = transfers[bus_id][line].count - transfers[bus_id][line].offset;
if(i <= 0)
{ // Download Finished
res = 0;
transfers[bus_id][line].state = TS_FREE;
resetSDOline( bus_id, line );
break;
}
else
{ // Follow segmented transfer
if(i>7)
{
n = 0; // There is no unused byte
c = 0; // It is not the last message
}
else
{
n = 7 - i; // There could have unused bytes
c = 1; // This is the last message
}
sdo.len = 8 - n;
for(i=0; i<7-n; i++)
sdo.body.data[i] =transfers[bus_id][line].data[transfers[bus_id][line].offset++];
// take the toggle bit
t = (transfers[bus_id][line].state & TS_TOGGLE) >> 4;
sdo.body.SCS = DDS_client(t,n,c);
// toggle afterward
transfers[bus_id][line].state ^= TS_TOGGLE;
if (c)
resetSDOline( bus_id, line );
}
}
else
{ // Upload
MSG_WAR(0x3A17, "Upload ", 0);
//memcpy(&sdo.body.data[0], &transfers[bus_id][line].index, 2);
// This Memcpy depends on packing structure. Avoid
sdo.body.data[0] = transfers[bus_id][line].index & 0xFF; // LSB
sdo.body.data[1] = (transfers[bus_id][line].index >> 8) & 0xFF; // MSB of index (16 b)
sdo.body.data[2] = transfers[bus_id][line].subindex;
sdo.len = 4;
// take toggle bit
t = (transfers[bus_id][line].state & TS_TOGGLE) >> 4;
sdo.body.SCS = UDS_client(t);
// toggle afterward
transfers[bus_id][line].state ^= TS_TOGGLE;
}
res = sendSDO(bus_id, sdo);
TS_SET_ACTIVITY(transfers[bus_id][line].state,TS_WORKING | TS_WAIT_SERVER);
break;
default: // Transfer not in use or transfer error. Blub blub...
resetSDOline( bus_id, line );
break;
}
