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SDO SVR STANDARD OBJECTS.ST
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SDO SVR STANDARD OBJECTS.ST
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(* @NESTEDCOMMENTS := 'Yes' *)
(* @PATH := '\/SDO Server' *)
(* @OBJECTFLAGS := '0, 8' *)
(* @SYMFILEFLAGS := '2048' *)
FUNCTION_BLOCK FB_SDOSVR_STDOBJS
VAR_INPUT
SDOSVR_PROC : POINTER TO FB_SDOSVR_PROC;
DeviceType_Profile : WORD := 0; (* device profile this device supports, 0 indicates no predefined device (ex: 401 indicates input/output device profile DS401) *)
DeviceType_Features : WORD := 0; (* device profile features this device supports, or 16#FFFF to indicate a multi-profile device ??? *)
OBJ_DevName_String : POINTER TO STRING; (* Device name for 0x1008 *)
OBJ_HWVer_String : POINTER TO STRING; (* Hardware version for 0x1009 *)
OBJ_SWVer_String : POINTER TO STRING; (* Software version for 0x100A *)
HeartBeat_Prod_TM : TIME := t#1s; (* Producer Heartbeat time, 0x1017 *)
END_VAR
VAR
Dn_Buffer : ARRAY[0..3] OF BYTE; (* buffer for downloading of objects *)
(* Up_Buffer : ARRAY[0..3] OF BYTE; (* buffer for uploading of objects *) *)
END_VAR
(* @END_DECLARATION := '0' *)
IF SDOSVR_PROC <> 0 THEN
(* on call, SDO Processor should have a request dispatch, check if it matches any of our objects *)
CASE SDOSVR_PROC^.Request_RESULT OF
2:
(* Upload or READ requests *)
CASE SDOSVR_PROC^.Request_OBJ OF
16#1000:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* transfer device profile and features and submit to processor via expedited response *)
SDOSVR_PROC^.CANSDO_DATA[4] := WORD_TO_BYTE( DeviceType_Profile );
SDOSVR_PROC^.CANSDO_DATA[5] := WORD_TO_BYTE( SHR( DeviceType_Profile, 8 ) );
SDOSVR_PROC^.CANSDO_DATA[6] := WORD_TO_BYTE( DeviceType_Features );
SDOSVR_PROC^.CANSDO_DATA[7] := WORD_TO_BYTE( SHR( DeviceType_Features, 8 ) );
SDOSVR_PROC^.TX_EXP_UP_RESP( Response_BUFFER_LEN:=4 );
END_IF
16#1008:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* send device name string, if one is set *)
IF OBJ_DevName_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_DevName_String^ ), Response_BUFFER_PTR:=OBJ_DevName_String );
END_IF
END_IF
16#1009:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* send hw version string, if one is set *)
IF OBJ_HWVer_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_HWVer_String^ ), Response_BUFFER_PTR:=OBJ_HWVer_String );
END_IF
END_IF
16#100A:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* send sw version string, if one is set *)
IF OBJ_SWVer_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_SWVer_String^ ), Response_BUFFER_PTR:=OBJ_SWVer_String );
END_IF
END_IF
16#1017:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* upload request, deposit in SDO processor buffer and submit expedited response *)
SDOSVR_PROC^.CANSDO_DATA[4] := DWORD_TO_BYTE( MIN( TIME_TO_DWORD( HeartBeat_Prod_TM ), 65535 ) AND 16#FF );
SDOSVR_PROC^.CANSDO_DATA[5] := DWORD_TO_BYTE( SHR( MIN( TIME_TO_DWORD( HeartBeat_Prod_TM ), 65535 ), 8 ) );
SDOSVR_PROC^.CANSDO_DATA[6] := SDOSVR_PROC^.CANSDO_DATA[7] := 0;
SDOSVR_PROC^.TX_EXP_UP_RESP( Response_BUFFER_LEN:=2 );
END_IF
END_CASE
3:
(* download (WRITE) request notification *)
CASE SDOSVR_PROC^.Request_OBJ OF
16#1000,
16#1008,
16#1009,
16#100A:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* client tried to download, object is read only *)
SDOSVR_PROC^.TX_ERR_R_ONLY();
END_IF
16#1017:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSE
(* download request, if length known, and not right, reject it, else accept it to our buffer *)
IF SEL( SDOSVR_PROC^.Request_LEN_KNOWN, SDOSVR_PROC^.Request_LEN >= 2, SDOSVR_PROC^.Request_LEN = 2 ) THEN
IF SDOSVR_PROC^.Request_EXP THEN
(* with request expedited we'll just handle it here *)
HeartBeat_Prod_TM := DWORD_TO_TIME( SHL( BYTE_TO_DWORD( SDOSVR_PROC^.CANSDO_DATA[5] ), 8 ) + SDOSVR_PROC^.CANSDO_DATA[4] );
SDOSVR_PROC^.TX_ACK_EXP_DN(); (* acknowledge the download request *)
ELSE
(* requester didn't expedite but the length seems within reason so allow the request to CONTINUE *)
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=2, Response_BUFFER_PTR:=ADR( Dn_Buffer ) );
END_IF
ELSE
SDOSVR_PROC^.TX_ERR_BAD_SIZE(); (* incorrect size for object *)
END_IF
END_IF
END_CASE
4:
(* download completion notification *)
CASE SDOSVR_PROC^.Request_OBJ OF
16#1017:
(* download completed, save value, if right number of bytes received, not overrunning our buffer *)
IF SDOSVR_PROC^.Request_LEN = 2 AND NOT SDOSVR_PROC^.Request_BUFFEROVERRUN THEN
(* convert from little endian to big endian and store in register *)
HeartBeat_Prod_TM := DWORD_TO_TIME( SHL( BYTE_TO_DWORD( Dn_Buffer[1] ), 8 ) + Dn_Buffer[0] );
ELSE
SDOSVR_PROC^.TX_ERR_BAD_SIZE(); (* incorrect size for object *)
END_IF
END_CASE
END_CASE
(* this is an alternate coding method ...
(* only process when RESULT is 2, 3 or 4 *)
IF MUX( SDOSVR_PROC^.Request_RESULT, FALSE, FALSE, TRUE, TRUE, TRUE, FALSE ) THEN
CASE SDOSVR_PROC^.Request_OBJ OF
16#1000:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSIF SDOSVR_PROC^.Request_RESULT = 3 THEN
(* client tried to download, object is read only *)
SDOSVR_PROC^.TX_ERR_R_ONLY();
ELSE
(* transfer device profile and features and submit to processor via expedited response *)
SDOSVR_PROC^.CANSDO_DATA[4] := WORD_TO_BYTE( DeviceType_Profile );
SDOSVR_PROC^.CANSDO_DATA[5] := WORD_TO_BYTE( SHR( DeviceType_Profile, 8 ) );
SDOSVR_PROC^.CANSDO_DATA[6] := WORD_TO_BYTE( DeviceType_Features );
SDOSVR_PROC^.CANSDO_DATA[7] := WORD_TO_BYTE( SHR( DeviceType_Features, 8 ) );
SDOSVR_PROC^.TX_EXP_UP_RESP( Response_BUFFER_LEN:=4 );
END_IF
16#1008:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSIF SDOSVR_PROC^.Request_RESULT = 3 THEN
(* client tried to download, object is read only *)
SDOSVR_PROC^.TX_ERR_R_ONLY();
ELSIF OBJ_DevName_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_DevName_String^ ), Response_BUFFER_PTR:=OBJ_DevName_String );
END_IF
16#1009:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSIF SDOSVR_PROC^.Request_RESULT = 3 THEN
(* client tried to download, object is read only *)
SDOSVR_PROC^.TX_ERR_R_ONLY();
ELSIF OBJ_HWVer_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_HWVer_String^ ), Response_BUFFER_PTR:=OBJ_HWVer_String );
END_IF
16#100A:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSIF SDOSVR_PROC^.Request_RESULT = 3 THEN
(* client tried to download, object is read only *)
SDOSVR_PROC^.TX_ERR_R_ONLY();
ELSIF OBJ_SWVer_String <> 0 THEN
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=LEN( OBJ_SWVer_String^ ), Response_BUFFER_PTR:=OBJ_SWVer_String );
END_IF
16#1017:
IF SDOSVR_PROC^.Request_SIDX <> 0 THEN
(* object is wholly contained in SIDX 0 *)
SDOSVR_PROC^.TX_ERR_INV_SIDX();
ELSIF SDOSVR_PROC^.Request_RESULT = 3 THEN
(* download request, if length known, and not right, reject it, else accept it to our buffer *)
IF SEL( SDOSVR_PROC^.Request_LEN_KNOWN, SDOSVR_PROC^.Request_LEN >= 2, SDOSVR_PROC^.Request_LEN = 2 ) THEN
IF SDOSVR_PROC^.Request_EXP THEN
HeartBeat_Prod_TM := DWORD_TO_TIME( SHL( BYTE_TO_DWORD( SDOSVR_PROC^.CANSDO_DATA[5] ), 8 ) + SDOSVR_PROC^.CANSDO_DATA[4] );
SDOSVR_PROC^.TX_ACK_EXP_DN(); (* acknowledge the download request *)
ELSE
(* requester didn't expedite but the length seems within reason so allow the request to CONTINUE *)
SDOSVR_PROC^.DispatchResponse( Response_BUFFER_LEN:=2, Response_BUFFER_PTR:=ADR( Dn_Buffer ) );
END_IF
ELSE
SDOSVR_PROC^.TX_ERR_BAD_SIZE(); (* incorrect size for object *)
END_IF
ELSIF SDOSVR_PROC^.Request_RESULT = 4 THEN
(* download completed, save value, if right number of bytes received, not overrunning our buffer *)
IF SDOSVR_PROC^.Request_LEN = 2 AND NOT SDOSVR_PROC^.Request_BUFFEROVERRUN THEN
(* convert from little endian to big endian and store in register *)
HeartBeat_Prod_TM := DWORD_TO_TIME( SHL( BYTE_TO_DWORD( Dn_Buffer[1] ), 8 ) + Dn_Buffer[0] );
ELSE
SDOSVR_PROC^.TX_ERR_BAD_SIZE(); (* incorrect size for object *)
END_IF
ELSIF SDOSVR_PROC^.Request_RESULT = 2 THEN
(* upload request, deposit in SDO processor buffer and submit expedited response *)
SDOSVR_PROC^.CANSDO_DATA[4] := DWORD_TO_BYTE( MIN( TIME_TO_DWORD( HeartBeat_Prod_TM ), 65535 ) AND 16#FF );
SDOSVR_PROC^.CANSDO_DATA[5] := DWORD_TO_BYTE( SHR( MIN( TIME_TO_DWORD( HeartBeat_Prod_TM ), 65535 ), 8 ) );
SDOSVR_PROC^.CANSDO_DATA[6] := SDOSVR_PROC^.CANSDO_DATA[7] := 0;
SDOSVR_PROC^.TX_EXP_UP_RESP( Response_BUFFER_LEN:=2 );
END_IF
END_CASE
END_IF
*)
END_IF
END_FUNCTION_BLOCK