Skip to main content

​
CANopenUpload

Valid for: CANoe DE • CANoe:lite DE • CANoe4SW DE

​
Function Syntax

  • void CANopenUpload( dword id, dword index, dword subIndex, dword blockMode, dword errCode[] ); // form 1
  • void CANopenUpload( dword clientCOBID, dword serverCOBID, dword index, dword subIndex, dword blockMode, dword errCode[] ); // form 2
  • void CANopenUpload( char[] namespace, char[] variable, dword blockMode, dword errCode[] ); // form 3
  • void CANopenUpload( SysVarName, dword blockMode, dword errCode[] ); // form 4

​
Callback

  • void OnCANopenUploadResponse(dword id, dword index, dword subIndex, dword size)
  • void OnCANopenAbort(dword nodeId, dword index, dword subIndex, dword abortCode)

​
Description

Reads an entry from the object dictionary of another node using the SDO protocol. When the node responds with the requested data, the callback OnCANopenUploadResponse is called. If the data transfer is aborted, the callback OnCANopenAbort is called.

​
Parameters

  • nodeID: CANopen node ID of the SDO server, i.e. the node that contains the object dictionary with the entry to be read. Value range 1..127
  • id: nodeId for form 1, serverCOBID for form 2
  • clientCOBID: CAN ID of the SDO client
  • serverCOBID: CAN ID of the SDO server
  • index: Index of the object, value range 1..65.535
  • subIndex: Subindex of the object, value range 0..255
  • size: Size of the data in bytes
  • blockMode:
    • 0: Use expedited or segmented data transfer
    • 1: Use block data transfer
  • errCode: Error code buffer (is entered in index 0 of the field)
    • 0: Operation can be started
    • 1: Operation already running
    • 3: Invalid Client-COBID
    • 4: Invalid Server-COBID
    • 5: No CANopen license
    • 6: No CAN channel
  • namespace: Name of the namespace.
  • variable: Name of the CANopen system variable.
  • SysVarName: Name of the fully qualified name of the CANopen system variable, including all namespaces, separated by ”::”. The name must be preceded by “sysVar::”.

​
Return Values

—

​
Example

dword errCode[1];
CANopenUpload ( 1, 0x1000, 0x00, 0, errCode );

if (errCode[0] == 0)
{
  write( "SDO Upload successfully initiated" );
}

void OnCANopenUploadResponse ( dword nodeId, dword index, dword subIndex, dword size )
{
  dword errCode[1];
  dword value;
  value = CANopenUploadGetUnsigned ( errCode );
  write( "Upload response data: 0x%X", value );
}