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/**
* @defgroup CO_SDOclient SDO client
* CANopen Service Data Object - client protocol.
*
* @ingroup CO_CANopen_301
* @{
* SDO client is able to access Object Dictionary variables from remote nodes.
* Usually there is one SDO client on CANopen network, which is able to
* configure other CANopen nodes. It is also possible to establish individual
* SDO client-server communication channels between devices.
*
* SDO client is used in CANopenNode from CO_gateway_ascii.c with default SDO
* CAN identifiers. There is quite advanced usage in non-blocking function.
*
* If enabled, SDO client is initialized in CANopen.c file with
* @ref CO_SDOclient_init() function.
*
* Basic usage:
* @code{.c}
CO_SDO_abortCode_t read_SDO(CO_SDOclient_t *SDO_C, uint8_t nodeId,
uint16_t index, uint8_t subIndex,
uint8_t *buf, size_t bufSize, size_t *readSize)
{
CO_SDO_return_t SDO_ret;
// setup client (this can be skipped, if remote device don't change)
SDO_ret = CO_SDOclient_setup(SDO_C,
CO_CAN_ID_SDO_CLI + nodeId,
CO_CAN_ID_SDO_SRV + nodeId,
nodeId);
if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
return CO_SDO_AB_GENERAL;
}
// initiate upload
SDO_ret = CO_SDOclientUploadInitiate(SDO_C, index, subIndex, 1000, false);
if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
return CO_SDO_AB_GENERAL;
}
// upload data
do {
uint32_t timeDifference_us = 10000;
CO_SDO_abortCode_t abortCode = CO_SDO_AB_NONE;
SDO_ret = CO_SDOclientUpload(SDO_C,
timeDifference_us,
false,
&abortCode,
NULL, NULL, NULL);
if (SDO_ret < 0) {
return abortCode;
}
sleep_us(timeDifference_us);
} while(SDO_ret > 0);
// copy data to the user buffer (for long data function must be called
// several times inside the loop)
*readSize = CO_SDOclientUploadBufRead(SDO_C, buf, bufSize);
return CO_SDO_AB_NONE;
}
CO_SDO_abortCode_t write_SDO(CO_SDOclient_t *SDO_C, uint8_t nodeId,
uint16_t index, uint8_t subIndex,
uint8_t *data, size_t dataSize)
{
CO_SDO_return_t SDO_ret;
bool_t bufferPartial = false;
// setup client (this can be skipped, if remote device is the same)
SDO_ret = CO_SDOclient_setup(SDO_C,
CO_CAN_ID_SDO_CLI + nodeId,
CO_CAN_ID_SDO_SRV + nodeId,
nodeId);
if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
return -1
}
// initiate download
SDO_ret = CO_SDOclientDownloadInitiate(SDO_C, index, subIndex,
dataSize, 1000, false);
if (SDO_ret != CO_SDO_RT_ok_communicationEnd) {
return -1
}
// fill data
size_t nWritten = CO_SDOclientDownloadBufWrite(SDO_C, data, dataSize);
if (nWritten < dataSize) {
bufferPartial = true;
// If SDO Fifo buffer is too small, data can be refilled in the loop.
}
//download data
do {
uint32_t timeDifference_us = 10000;
CO_SDO_abortCode_t abortCode = CO_SDO_AB_NONE;
SDO_ret = CO_SDOclientDownload(SDO_C,
timeDifference_us,
false,
bufferPartial,
&abortCode,
NULL, NULL);
if (SDO_ret < 0) {
return abortCode;
}
sleep_us(timeDifference_us);
} while(SDO_ret > 0);
return CO_SDO_AB_NONE;
}
发表于 2023-10-14 07:39:09
发表于 2023-10-25 16:44:01
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