Function CO_SDOclient_init

301/CO_SDOclient.c:214–284

#endif /* (CO_CONFIG_SDO_CLI) & CO_CONFIG_FLAG_OD_DYNAMIC */

CO_ReturnError_t
CO_SDOclient_init(CO_SDOclient_t* SDO_C, OD_t* OD, OD_entry_t* OD_1280_SDOcliPar, uint8_t nodeId,
                  CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
                  uint32_t* errInfo) {
    bool_t index_SDOcliPar_min = (OD_getIndex(OD_1280_SDOcliPar) < (uint16_t)(OD_H1280_SDO_CLIENT_1_PARAM));
    bool_t index_SDOcliPar_max = (OD_getIndex(OD_1280_SDOcliPar) > ((uint16_t)(OD_H1280_SDO_CLIENT_1_PARAM) + 0x7FU));

    /* verify arguments */
    if ((SDO_C == NULL) || (OD_1280_SDOcliPar == NULL) || index_SDOcliPar_min || index_SDOcliPar_max
        || (CANdevRx == NULL) || (CANdevTx == NULL)) {
        return CO_ERROR_ILLEGAL_ARGUMENT;
    }

    /* Configure object variables */
#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_LOCAL) != 0
    SDO_C->OD = OD;
    SDO_C->nodeId = nodeId;
#endif
    SDO_C->CANdevRx = CANdevRx;
    SDO_C->CANdevRxIdx = CANdevRxIdx;
    SDO_C->CANdevTx = CANdevTx;
    SDO_C->CANdevTxIdx = CANdevTxIdx;
#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
    SDO_C->pFunctSignal = NULL;
    SDO_C->functSignalObject = NULL;
#endif

    /* prepare circular fifo buffer */
    CO_fifo_init(&SDO_C->bufFifo, SDO_C->buf, CO_CONFIG_SDO_CLI_BUFFER_SIZE + 1U);

    /* Get parameters from Object Dictionary (initial values) */
    uint8_t maxSubIndex, nodeIDOfTheSDOServer;
    uint32_t COB_IDClientToServer, COB_IDServerToClient;
    ODR_t odRet0 = OD_get_u8(OD_1280_SDOcliPar, 0, &maxSubIndex, true);
    ODR_t odRet1 = OD_get_u32(OD_1280_SDOcliPar, 1, &COB_IDClientToServer, true);
    ODR_t odRet2 = OD_get_u32(OD_1280_SDOcliPar, 2, &COB_IDServerToClient, true);
    ODR_t odRet3 = OD_get_u8(OD_1280_SDOcliPar, 3, &nodeIDOfTheSDOServer, true);

    if ((odRet0 != ODR_OK) || (maxSubIndex != 3U) || (odRet1 != ODR_OK) || (odRet2 != ODR_OK) || (odRet3 != ODR_OK)) {
        if (errInfo != NULL) {
            *errInfo = OD_getIndex(OD_1280_SDOcliPar);
        }
        return CO_ERROR_OD_PARAMETERS;
    }

#if ((CO_CONFIG_SDO_CLI)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0
    SDO_C->OD_1280_extension.object = SDO_C;
    SDO_C->OD_1280_extension.read = OD_readOriginal;
    SDO_C->OD_1280_extension.write = OD_write_1280;
    ODR_t odRetE = OD_extension_init(OD_1280_SDOcliPar, &SDO_C->OD_1280_extension);
    if (odRetE != ODR_OK) {
        if (errInfo != NULL) {
            *errInfo = OD_getIndex(OD_1280_SDOcliPar);
        }
        return CO_ERROR_OD_PARAMETERS;
    }

    /* set to zero to make sure CO_SDOclient_setup() will reconfigure CAN */