sdo.c

AVR平台下的CanOpen协议桟源码包括应用

	      break;

	    default:
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	      break;
	    }
	}
      else
	{
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	}
      break;
#endif /* __INCLUDE_TESTS__ */

    default:
      /* The index can not be accessed, does not exist */
      sdo_error = SDO_ECODE_NONEXISTENT;
      break;
    }

  /* Set appropriate SDO command specifier for reply... */
  msg_data[0]  = SDO_INITIATE_UPLOAD_RESP | SDO_EXPEDITED;

  /* ...and segment size (count of non-significant bytes) */
  msg_data[0] |= (SDO_SEGMENT_SIZE_INDICATED |
		  ((4-nbytes) << SDO_DATA_SIZE_SHIFT));

  return sdo_error;
}

/* ------------------------------------------------------------------------ */

static BYTE sdo_expedited_write( BYTE *msg_data )
{
  BYTE sdo_error;
  BYTE sdo_mode, nbytes;
  BYTE od_index_hi, od_index_lo, od_subind;

  /* No error */
  sdo_error   = 0;

  /* Get the number of significant bytes */
  sdo_mode = msg_data[0];
  if( sdo_mode & SDO_DATA_SIZE_INDICATED )
    /* Size indicated */
    nbytes = 4-((sdo_mode & SDO_DATA_SIZE_MASK)>>SDO_DATA_SIZE_SHIFT);
  else
    /* If number of bytes is zero, size was not indicated... */
    nbytes = 0;

  /* Extract Object Dictionary indices */
  od_index_lo = msg_data[1];
  od_index_hi = msg_data[2];
  od_subind   = msg_data[3];

  /* Write the requested object */
  switch( od_index_hi )
    {
    case OD_DIGITAL_OUT_HI:
      switch( od_index_lo )
	{
	case OD_DIGITAL_OUT_8_LO:
	case OD_DIGITAL_OUT_8_MSK_LO:
	  if( od_subind != 0 && od_subind <= digout_port_cnt() )
	    {
	      if( nbytes <= 1 )
		{
		  if( od_index_lo == OD_DIGITAL_OUT_8_LO )
		    digout_set_port( od_subind, msg_data[4] );
		  else
		    {
		      if( od_subind == 2 )
			digout_set_mask( od_subind, msg_data[4] );
		      else
			/* The sub-index cannot be written to */
			sdo_error = SDO_ECODE_ACCESS;
		    }
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	default:
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	  break;
	}
      break;

    case OD_ANALOG_HI:
      switch( od_index_lo )
	{
	case OD_ANALOG_OUT_16_LO:
	  if( od_subind != 0 && od_subind <= dac_chan_cnt() )
	    {
	      if( nbytes == 2 || nbytes == 0 )
		{
		  if( dac_write( od_subind-1, &msg_data[4] ) == FALSE )
		    {
		      /* Something wrong with parameters */
		      sdo_error = SDO_ECODE_ATTRIBUTE;
		    }
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ANALOG_IN_DELTA_LO:
	case OD_ANALOG_IN_UPPER_LO:
	case OD_ANALOG_IN_LOWER_LO:
	  if( od_subind != 0 &&
	      (od_subind <= ADC_MAX_INPUTS || od_subind == 0xFF) )
	    {
	      if( nbytes == 4 || nbytes == 0 )
		{
		  switch( od_index_lo )
		    {
		    case OD_ANALOG_IN_DELTA_LO:
		      if( adc_set_delta( od_subind-1, &msg_data[4] ) == FALSE )
			{
			  /* EEPROM write operation failed */
			  sdo_error = SDO_ECODE_HARDWARE;
			}
		      break;
		    case OD_ANALOG_IN_UPPER_LO:
		      if( adc_set_upperlimit( od_subind-1, &msg_data[4] ) ==
			  FALSE )
			{
			  /* EEPROM write operation failed */
			  sdo_error = SDO_ECODE_HARDWARE;
			}
		      break;
		    case OD_ANALOG_IN_LOWER_LO:
		      if( adc_set_lowerlimit( od_subind-1, &msg_data[4] ) ==
			  FALSE )
			{
			  /* EEPROM write operation failed */
			  sdo_error = SDO_ECODE_HARDWARE;
			}
		      break;
		    default:
		      /* The sub-index does not exist */
		      sdo_error = SDO_ECODE_ATTRIBUTE;
		      break;
		    }
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ANALOG_IN_INT_ENA_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_set_readout_on_change( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	default:
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	  break;
	}
      break;

    case OD_ADC_CONFIG_HI:
      switch( od_index_lo )
	{
	case OD_ADC_CONFIG_LO:
	  if( adc_set_config( od_subind, nbytes, &msg_data[4] ) == FALSE )
	    {
	      /* Setting the parameter did not succeed:
		 - the sub-index does not exist or
		 - the parameter is read-only or
		 - the number of bytes is incorrect or
		 - parameter value is out of range or
		 - parameter can not be set: ADC in use */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ADC_RESET_CALIB_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_reset_and_calibrate( TRUE ) == FALSE )
		    {
		      /* Reset or calibrate operation failed */
		      sdo_error = SDO_ECODE_HARDWARE;
		    }
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ADC_RECALIB_SCAN_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_set_calib_before_scan( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ADC_DELTA_ENA_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_set_delta_scan_ena( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ADC_WINDOW_ENA_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_set_window_scan_ena( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_ADC_WINDOW_CNTR_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( adc_set_window_scan_cntr( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;


	default:
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	  break;
	}
      break;

    case OD_TPDO_PAR_HI:
      if( od_index_lo < TPDO_CNT )
	{
	  if( tpdo_set_comm_par( od_index_lo, od_subind,
				 nbytes, &msg_data[4] ) == FALSE )
	    {
	      /* The subindex does not exist or the number of bytes
		 is incorrect or the parameter could not be written */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	}
      else
	{
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	}
      break;

    case OD_DIGITAL_IN_HI:
      switch( od_index_lo )
	{
	case OD_DIGIN_INTRPT_ENA_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( digin_set_intrpt_ena( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_DIGIN_INTRPT_MSK_LO:
	  if( od_subind != 0 && od_subind <= digin_port_cnt() )
	    {
	      if( nbytes <= 1 )
		{
		  digin_set_intrpt_mask( od_subind, msg_data[4] );
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	default:
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	  break;
	}
      break;

    case OD_DIGIN_PAR_HI:
      if( od_index_lo == OD_DIGIN_DEBOUNCE_LO )
	{
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  digin_set_debounce( msg_data[4] );
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	}
      else
	{
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	}
      break;

    case OD_DIGOUT_PAR_HI:
      if( od_index_lo == OD_DIGOUT_INIT_LO )
	{
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( digout_set_init( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	}
      else
	{
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	}
      break;

    case OD_DAC_CONFIG_HI:
      if( od_index_lo == OD_DAC_CONFIG_LO )
	{
	  switch( od_subind )
	    {
	    case 2:
	      if( nbytes <= 1 )
		{
		  if( dac_set_max525_select( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      break;
	    case 3:
	      if( nbytes <= 1 )
		{
		  if( dac_set_opto_delay( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      break;
	    default:
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	      break;
	    }
	}
      else
	{
	  /* The index can not be accessed, does not exist */
	  sdo_error = SDO_ECODE_NONEXISTENT;
	}
      break;

    case OD_SPI_HI:
      switch( od_index_lo )
	{
	case OD_SPI_ACCESS_LO:
	  if( od_subind > OD_NO_OF_ENTRIES && od_subind < 5 )
	    {
	      if( nbytes == 4 || nbytes == 0 )
		{
		  switch( od_subind )
		    {
		    case 4:
		      spi_write_byte( msg_data[7] );
		    case 3:
		      spi_write_byte( msg_data[6] );
		    case 2:
		      spi_write_byte( msg_data[5] );
		    case 1:
		      spi_write_byte( msg_data[4] );
		      break;
		    }
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_SPI_SELECT_LO:
	  if( od_subind == 0 )
	    {
	      if( nbytes <= 1 )
		{
		  if( spi_set_chipselect( msg_data[4] ) == FALSE )
		    sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	      else
		{
		  /* Wrong number of bytes provided */
		  sdo_error = SDO_ECODE_ATTRIBUTE;
		}
	    }
	  else
	    {
	      /* The sub-index does not exist */
	      sdo_error = SDO_ECODE_ATTRIBUTE;
	    }
	  break;

	case OD_SPI_CONFIG_LO:
	  switch( od_subind )
	    {
	    case 1: