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+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for api function of the sdo module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdo.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "EplFrame.h"
+#include "EplSdoAc.h"
+
+#ifndef _EPLSDO_H_
+#define _EPLSDO_H_
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// global defines
+#ifndef EPL_SDO_MAX_PAYLOAD
+#define EPL_SDO_MAX_PAYLOAD 256
+#endif
+
+// handle between Protocol Abstraction Layer and asynchronous SDO Sequence Layer
+#define EPL_SDO_UDP_HANDLE 0x8000
+#define EPL_SDO_ASND_HANDLE 0x4000
+#define EPL_SDO_ASY_HANDLE_MASK 0xC000
+#define EPL_SDO_ASY_INVALID_HDL 0x3FFF
+
+// handle between SDO Sequence Layer and sdo command layer
+#define EPL_SDO_ASY_HANDLE 0x8000
+#define EPL_SDO_PDO_HANDLE 0x4000
+#define EPL_SDO_SEQ_HANDLE_MASK 0xC000
+#define EPL_SDO_SEQ_INVALID_HDL 0x3FFF
+
+#define EPL_ASND_HEADER_SIZE 4
+//#define EPL_SEQ_HEADER_SIZE 4
+#define EPL_ETHERNET_HEADER_SIZE 14
+
+#define EPL_SEQ_NUM_MASK 0xFC
+
+// size for send buffer and history
+#define EPL_MAX_SDO_FRAME_SIZE EPL_C_IP_MIN_MTU
+// size for receive frame
+// -> needed because SND-Kit sends up to 1518 Byte
+// without Sdo-Command: Maximum Segment Size
+#define EPL_MAX_SDO_REC_FRAME_SIZE EPL_C_IP_MAX_MTU
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+// handle between Protocol Abstraction Layer and asynchronuus SDO Sequence Layer
+typedef unsigned int tEplSdoConHdl;
+
+// callback function pointer for Protocol Abstraction Layer to call
+// asynchronuus SDO Sequence Layer
+typedef tEplKernel(PUBLIC * tEplSequLayerReceiveCb) (tEplSdoConHdl ConHdl_p,
+ tEplAsySdoSeq *
+ pSdoSeqData_p,
+ unsigned int uiDataSize_p);
+
+// handle between asynchronuus SDO Sequence Layer and SDO Command layer
+typedef unsigned int tEplSdoSeqConHdl;
+
+// callback function pointer for asynchronuus SDO Sequence Layer to call
+// SDO Command layer for received data
+typedef tEplKernel(PUBLIC *
+ tEplSdoComReceiveCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoCom * pAsySdoCom_p,
+ unsigned int uiDataSize_p);
+
+// status of connection
+typedef enum {
+ kAsySdoConStateConnected = 0x00,
+ kAsySdoConStateInitError = 0x01,
+ kAsySdoConStateConClosed = 0x02,
+ kAsySdoConStateAckReceived = 0x03,
+ kAsySdoConStateFrameSended = 0x04,
+ kAsySdoConStateTimeout = 0x05
+} tEplAsySdoConState;
+
+// callback function pointer for asynchronuus SDO Sequence Layer to call
+// SDO Command layer for connection status
+typedef tEplKernel(PUBLIC * tEplSdoComConCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoConState
+ AsySdoConState_p);
+
+// handle between SDO Command layer and application
+typedef unsigned int tEplSdoComConHdl;
+
+// status of connection
+typedef enum {
+ kEplSdoComTransferNotActive = 0x00,
+ kEplSdoComTransferRunning = 0x01,
+ kEplSdoComTransferTxAborted = 0x02,
+ kEplSdoComTransferRxAborted = 0x03,
+ kEplSdoComTransferFinished = 0x04,
+ kEplSdoComTransferLowerLayerAbort = 0x05
+} tEplSdoComConState;
+
+// SDO Services and Command-Ids from DS 1.0.0 p.152
+typedef enum {
+ kEplSdoServiceNIL = 0x00,
+ kEplSdoServiceWriteByIndex = 0x01,
+ kEplSdoServiceReadByIndex = 0x02
+ //--------------------------------
+ // the following services are optional and
+ // not supported now
+/*
+ kEplSdoServiceWriteAllByIndex = 0x03,
+ kEplSdoServiceReadAllByIndex = 0x04,
+ kEplSdoServiceWriteByName = 0x05,
+ kEplSdoServiceReadByName = 0x06,
+
+ kEplSdoServiceFileWrite = 0x20,
+ kEplSdoServiceFileRead = 0x21,
+
+ kEplSdoServiceWriteMultiByIndex = 0x31,
+ kEplSdoServiceReadMultiByIndex = 0x32,
+
+ kEplSdoServiceMaxSegSize = 0x70
+
+ // 0x80 - 0xFF manufacturer specific
+
+ */
+} tEplSdoServiceType;
+
+// describes if read or write access
+typedef enum {
+ kEplSdoAccessTypeRead = 0x00,
+ kEplSdoAccessTypeWrite = 0x01
+} tEplSdoAccessType;
+
+typedef enum {
+ kEplSdoTypeAuto = 0x00,
+ kEplSdoTypeUdp = 0x01,
+ kEplSdoTypeAsnd = 0x02,
+ kEplSdoTypePdo = 0x03
+} tEplSdoType;
+
+typedef enum {
+ kEplSdoTransAuto = 0x00,
+ kEplSdoTransExpedited = 0x01,
+ kEplSdoTransSegmented = 0x02
+} tEplSdoTransType;
+
+// structure to inform application about finish of SDO transfer
+typedef struct {
+ tEplSdoComConHdl m_SdoComConHdl;
+ tEplSdoComConState m_SdoComConState;
+ DWORD m_dwAbortCode;
+ tEplSdoAccessType m_SdoAccessType;
+ unsigned int m_uiNodeId; // NodeId of the target
+ unsigned int m_uiTargetIndex; // index which was accessed
+ unsigned int m_uiTargetSubIndex; // subindex which was accessed
+ unsigned int m_uiTransferredByte; // number of bytes transferred
+ void *m_pUserArg; // user definable argument pointer
+
+} tEplSdoComFinished;
+
+// callback function pointer to inform application about connection
+typedef tEplKernel(PUBLIC * tEplSdoFinishedCb) (tEplSdoComFinished *
+ pSdoComFinished_p);
+
+// structure to init SDO transfer to Read or Write by Index
+typedef struct {
+ tEplSdoComConHdl m_SdoComConHdl;
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubindex;
+ void *m_pData;
+ unsigned int m_uiDataSize;
+ unsigned int m_uiTimeout; // not used in this version
+ tEplSdoAccessType m_SdoAccessType;
+ tEplSdoFinishedCb m_pfnSdoFinishedCb;
+ void *m_pUserArg; // user definable argument pointer
+
+} tEplSdoComTransParamByIndex;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#endif // #ifndef _EPLSDO_H_