This file is part of the CANopen library; it contains the implementation of the Server-SDO functions. More...

#include "co.h"
#include "sdo.h"
#include <lely/co/crc.h>
#include <lely/co/dev.h>
#include <lely/co/obj.h>
#include <lely/co/ssdo.h>
#include <lely/co/val.h>
#include <lely/util/endian.h>
#include <lely/util/errnum.h>
#include <assert.h>
#include <inttypes.h>
#include <stdlib.h>
#include <string.h>

Include dependency graph for ssdo.c:

Go to the source code of this file.

Data Structures
struct	__co_ssdo
	A CANopen Server-SDO. More...

struct	__co_ssdo_state
	A CANopen Server-SDO state. More...

Typedefs
typedef const struct __co_ssdo_state	co_ssdo_state_t
	An opaque CANopen Server-SDO state type.

Functions
static int	co_ssdo_update (co_ssdo_t *sdo)
	Updates and (de)activates a Server-SDO service.

static co_unsigned32_t	co_1200_dn_ind (co_sub_t sub, struct co_sdo_req req, void *data)
	The download indication function for (all sub-objects of) CANopen objects 1200..127F (SDO server parameter).

static int	co_ssdo_recv (const struct can_msg msg, void data)
	The CAN receive callback function for a Server-SDO service.

static int	co_ssdo_timer (const struct timespec tp, void data)
	The CAN timer callback function for a Server-SDO service.

static void	co_ssdo_enter (co_ssdo_t sdo, co_ssdo_state_t next)
	Enters the specified state of a Server-SDO service.

static void	co_ssdo_emit_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	Invokes the 'abort' transition function of the current state of a Server-SDO service.

static void	co_ssdo_emit_time (co_ssdo_t sdo, const struct timespec tp)
	Invokes the 'timeout' transition function of the current state of a Server-SDO service.

static void	co_ssdo_emit_recv (co_ssdo_t sdo, const struct can_msg msg)
	Invokes the 'CAN frame received' transition function of the current state of a Server-SDO service.

static co_ssdo_state_t *	co_ssdo_wait_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'abort' transition function of the 'waiting' state.

static co_ssdo_state_t *	co_ssdo_wait_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'waiting' state.

static co_ssdo_state_t *	co_ssdo_dn_ini_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'download initiate' state.

static co_ssdo_state_t *	co_ssdo_dn_seg_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'download initiate' state.

static co_ssdo_state_t *	co_ssdo_dn_seg_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'download segment' state.

static co_ssdo_state_t *	co_ssdo_dn_seg_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'download segment' state.

static co_ssdo_state_t *	co_ssdo_up_ini_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'upload initiate' state.

static co_ssdo_state_t *	co_ssdo_up_seg_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'upload initiate' state.

static co_ssdo_state_t *	co_ssdo_up_seg_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'upload segment' state.

static co_ssdo_state_t *	co_ssdo_up_seg_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'upload segment' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_ini_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block download initiate' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_sub_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'block download initiate' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_sub_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'block download sub-block' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_sub_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block download sub-block' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_end_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'abort' transition function of the 'block download end' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_end_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'block download end' state.

static co_ssdo_state_t *	co_ssdo_blk_dn_end_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block download end' state.

static co_ssdo_state_t *	co_ssdo_blk_up_ini_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block upload initiate' state.

static co_ssdo_state_t *	co_ssdo_blk_up_sub_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'block upload initiate' state.

static co_ssdo_state_t *	co_ssdo_blk_up_sub_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'block upload sub-block' state.

static co_ssdo_state_t *	co_ssdo_blk_up_sub_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block upload sub-block' state.

static co_ssdo_state_t *	co_ssdo_blk_up_end_on_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	The 'abort' transition function of the 'block upload end' state.

static co_ssdo_state_t *	co_ssdo_blk_up_end_on_time (co_ssdo_t sdo, const struct timespec tp)
	The 'timeout' transition function of the 'block upload end' state.

static co_ssdo_state_t *	co_ssdo_blk_up_end_on_recv (co_ssdo_t sdo, const struct can_msg msg)
	The 'CAN frame received' transition function of the 'block upload end' state.

static co_ssdo_state_t *	co_ssdo_abort_ind (co_ssdo_t *sdo)
	Processes an abort transfer indication by aborting any ongoing transfer of a Server-SDO and returning it to the waiting state.

static co_ssdo_state_t *	co_ssdo_abort_res (co_ssdo_t *sdo, co_unsigned32_t ac)
	Sends an abort transfer request and aborts any ongoing transfer by invoking co_ssdo_abort_ind().

static co_unsigned32_t	co_ssdo_dn_ind (co_ssdo_t *sdo)
	Processes a download indication of a Server-SDO by checking access to the requested sub-object and reading the data from the frame.

static co_unsigned32_t	co_ssdo_up_ind (co_ssdo_t *sdo)
	Processes an upload indication of a Server-SDO by checking access to the requested sub-object and writing the data to the internal buffer.

static co_unsigned32_t	co_ssdo_up_buf (co_ssdo_t *sdo, size_t nbyte)
	Copies at most nbyte bytes from a CANopen SDO upload request, obtaining more bytes with co_ssdo_up_ind() as necessary.

static void	co_ssdo_send_abort (co_ssdo_t *sdo, co_unsigned32_t ac)
	Sends an abort transfer request.

static void	co_ssdo_send_dn_ini_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'download initiate' response.

static void	co_ssdo_send_dn_seg_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'download segment' response.

static void	co_ssdo_send_up_exp_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'upload initiate' (expedited) response.

static void	co_ssdo_send_up_ini_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'upload initiate' response.

static void	co_ssdo_send_up_seg_res (co_ssdo_t *sdo, int last)
	Sends a Server-SDO 'upload segment' response.

static void	co_ssdo_send_blk_dn_ini_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'block download initiate' response.

static void	co_ssdo_send_blk_dn_sub_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'block upload sub-block' response.

static void	co_ssdo_send_blk_dn_end_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'block download end' response.

static void	co_ssdo_send_blk_up_ini_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'block upload initiate' response.

static void	co_ssdo_send_blk_up_sub_res (co_ssdo_t *sdo, int last)
	Sends a Server-SDO 'block upload sub-block' response.

static void	co_ssdo_send_blk_up_end_res (co_ssdo_t *sdo)
	Sends a Server-SDO 'block upload end' response.

static void	co_ssdo_init_ini_res (co_ssdo_t sdo, struct can_msg msg, co_unsigned8_t cs)
	Initializes a Server-SDO download/upload initiate response CAN frame.

static void	co_ssdo_init_seg_res (co_ssdo_t sdo, struct can_msg msg, co_unsigned8_t cs)
	Initializes a Server-SDO download/upload segment response CAN frame.

co_ssdo_t *	co_ssdo_create (can_net_t net, co_dev_t dev, co_unsigned8_t num)
	Creates a new CANopen Server-SDO service.

void	co_ssdo_destroy (co_ssdo_t *ssdo)
	Destroys a CANopen Server-SDO service.

int	co_ssdo_start (co_ssdo_t *sdo)
	Starts a Server-SDO service.

void	co_ssdo_stop (co_ssdo_t *sdo)
	Stops a Server-SDO service.

int	co_ssdo_is_stopped (const co_ssdo_t *sdo)
	Retuns 1 if the specified Server-SDO service is stopped, and 0 if not.

can_net_t *	co_ssdo_get_net (const co_ssdo_t *sdo)
	Returns a pointer to the CAN network of a Server-SDO.

co_dev_t *	co_ssdo_get_dev (const co_ssdo_t *sdo)
	Returns a pointer to the CANopen device of a Server-SDO.

co_unsigned8_t	co_ssdo_get_num (const co_ssdo_t *sdo)
	Returns the SDO number of a Server-SDO.

const struct co_sdo_par *	co_ssdo_get_par (const co_ssdo_t *sdo)
	Returns a pointer to the SDO parameter record of a Server-SDO.

int	co_ssdo_get_timeout (const co_ssdo_t *sdo)
	Returns the timeout (in milliseconds) of a Server-SDO.

void	co_ssdo_set_timeout (co_ssdo_t *sdo, int timeout)
	Sets the timeout of a Server-SDO.

Variables
static co_ssdo_state_t *const	co_ssdo_stopped_state = &(co_ssdo_state_t){ .on_recv = NULL }
	The 'stopped' state.

static co_ssdo_state_t *const	co_ssdo_wait_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_wait_on_abort, .on_recv = &co_ssdo_wait_on_recv }
	The 'waiting' state.

static co_ssdo_state_t *const	co_ssdo_dn_seg_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_dn_seg_on_abort, .on_time = &co_ssdo_dn_seg_on_time, .on_recv = &co_ssdo_dn_seg_on_recv }
	The 'download segment' state.

static co_ssdo_state_t *const	co_ssdo_up_seg_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_up_seg_on_abort, .on_time = &co_ssdo_up_seg_on_time, .on_recv = &co_ssdo_up_seg_on_recv }
	The 'upload segment' state.

static co_ssdo_state_t *const	co_ssdo_blk_dn_sub_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_blk_dn_sub_on_abort, .on_time = &co_ssdo_blk_dn_sub_on_time, .on_recv = &co_ssdo_blk_dn_sub_on_recv }
	The 'block download sub-block' state.

static co_ssdo_state_t *const	co_ssdo_blk_dn_end_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_blk_dn_end_on_abort, .on_time = &co_ssdo_blk_dn_end_on_time, .on_recv = &co_ssdo_blk_dn_end_on_recv }
	The 'block download end' state.

static co_ssdo_state_t *const	co_ssdo_blk_up_sub_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_blk_up_sub_on_abort, .on_time = &co_ssdo_blk_up_sub_on_time, .on_recv = &co_ssdo_blk_up_sub_on_recv }
	The 'block upload sub-block' state.

static co_ssdo_state_t *const	co_ssdo_blk_up_end_state = &(co_ssdo_state_t){ .on_abort = &co_ssdo_blk_up_end_on_abort, .on_time = &co_ssdo_blk_up_end_on_time, .on_recv = &co_ssdo_blk_up_end_on_recv }
	The 'block upload end' state.

Detailed Description

This file is part of the CANopen library; it contains the implementation of the Server-SDO functions.

See also: lely/co/ssdo.h, src/sdo.h

Copyright: 2016-2022 Lely Industries N.V.

Author: J. S. Seldenthuis jseld.nosp@m.enth.nosp@m.uis@l.nosp@m.ely..nosp@m.com

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file ssdo.c.

Function Documentation

◆ co_ssdo_update()

static int co_ssdo_update ( co_ssdo_t * sdo )

static

Updates and (de)activates a Server-SDO service.

This function is invoked when one of the SDO server parameters (objects 1200..127F) is updated.

Returns: 0 on success, or -1 on error.

Definition at line 823 of file ssdo.c.

◆ co_1200_dn_ind()

static co_unsigned32_t co_1200_dn_ind	(	co_sub_t *	sub,
		struct co_sdo_req *	req,
		void *	data )

static

The download indication function for (all sub-objects of) CANopen objects 1200..127F (SDO server parameter).

See also: co_sub_dn_ind_t

Definition at line 850 of file ssdo.c.

◆ co_ssdo_recv()

static int co_ssdo_recv	(	const struct can_msg *	msg,
		void *	data )

static

The CAN receive callback function for a Server-SDO service.

See also: can_recv_func_t

Definition at line 936 of file ssdo.c.

◆ co_ssdo_timer()

static int co_ssdo_timer	(	const struct timespec *	tp,
		void *	data )

static

The CAN timer callback function for a Server-SDO service.

See also: can_timer_func_t

Definition at line 958 of file ssdo.c.

◆ co_ssdo_emit_abort()

static void co_ssdo_emit_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

inlinestatic

Invokes the 'abort' transition function of the current state of a Server-SDO service.

Parameters

sdo	a pointer to a Server-SDO service.
ac	the abort code.

Definition at line 979 of file ssdo.c.

◆ co_ssdo_emit_time()

static void co_ssdo_emit_time	(	co_ssdo_t *	sdo,
		const struct timespec *	tp )

inlinestatic

Invokes the 'timeout' transition function of the current state of a Server-SDO service.

Parameters

sdo	a pointer to a Server-SDO service.
tp	a pointer to the current time.

Definition at line 989 of file ssdo.c.

◆ co_ssdo_emit_recv()

static void co_ssdo_emit_recv	(	co_ssdo_t *	sdo,
		const struct can_msg *	msg )

inlinestatic

Invokes the 'CAN frame received' transition function of the current state of a Server-SDO service.

Parameters

sdo	a pointer to a Server-SDO service.
msg	a pointer to the received CAN frame.

Definition at line 999 of file ssdo.c.

◆ co_ssdo_dn_seg_on_abort()

static co_ssdo_state_t * co_ssdo_dn_seg_on_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

The 'download initiate' state.

The 'abort' transition function of the 'download segment' state.

Definition at line 1094 of file ssdo.c.

◆ co_ssdo_up_seg_on_abort()

static co_ssdo_state_t * co_ssdo_up_seg_on_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

The 'upload initiate' state.

The 'abort' transition function of the 'upload segment' state.

Definition at line 1197 of file ssdo.c.

◆ co_ssdo_blk_dn_sub_on_abort()

static co_ssdo_state_t * co_ssdo_blk_dn_sub_on_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

The 'block download initiate' state.

The 'abort' transition function of the 'block download sub-block' state.

Definition at line 1300 of file ssdo.c.

◆ co_ssdo_blk_up_sub_on_abort()

static co_ssdo_state_t * co_ssdo_blk_up_sub_on_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

The 'block upload initiate' state.

The 'abort' transition function of the 'block upload sub-block' state.

Definition at line 1500 of file ssdo.c.

◆ co_ssdo_abort_ind()

static co_ssdo_state_t * co_ssdo_abort_ind ( co_ssdo_t * sdo )

static

Processes an abort transfer indication by aborting any ongoing transfer of a Server-SDO and returning it to the waiting state.

Returns: co_ssdo_wait_state

Definition at line 1622 of file ssdo.c.

◆ co_ssdo_abort_res()

static co_ssdo_state_t * co_ssdo_abort_res	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

Sends an abort transfer request and aborts any ongoing transfer by invoking co_ssdo_abort_ind().

Parameters

sdo	a pointer to a Server-SDO service.
ac	the SDO abort code.

Returns: co_ssdo_wait_state

See also: co_ssdo_send_abort()

Definition at line 1648 of file ssdo.c.

◆ co_ssdo_dn_ind()

static co_unsigned32_t co_ssdo_dn_ind ( co_ssdo_t * sdo )

static

Processes a download indication of a Server-SDO by checking access to the requested sub-object and reading the data from the frame.

Returns: 0 on success, or an SDO abort code on error.

Definition at line 1658 of file ssdo.c.

◆ co_ssdo_up_ind()

static co_unsigned32_t co_ssdo_up_ind ( co_ssdo_t * sdo )

static

Processes an upload indication of a Server-SDO by checking access to the requested sub-object and writing the data to the internal buffer.

Returns: 0 on success, or an SDO abort code on error.

Definition at line 1676 of file ssdo.c.

◆ co_ssdo_up_buf()

static co_unsigned32_t co_ssdo_up_buf	(	co_ssdo_t *	sdo,
		size_t	nbyte )

static

Copies at most nbyte bytes from a CANopen SDO upload request, obtaining more bytes with co_ssdo_up_ind() as necessary.

Returns: 0 on success, or an SDO abort code on error.

Definition at line 1700 of file ssdo.c.

◆ co_ssdo_send_abort()

static void co_ssdo_send_abort	(	co_ssdo_t *	sdo,
		co_unsigned32_t	ac )

static

Sends an abort transfer request.

Parameters

sdo	a pointer to a Server-SDO service.
ac	the SDO abort code.

Definition at line 1732 of file ssdo.c.

◆ co_ssdo_send_up_seg_res()

static void co_ssdo_send_up_seg_res	(	co_ssdo_t *	sdo,
		int	last )

static

Sends a Server-SDO 'upload segment' response.

Parameters

sdo	a pointer to a Server-SDO service.
last	a flag indicating whether this is the last segment.

Definition at line 1801 of file ssdo.c.

◆ co_ssdo_send_blk_up_sub_res()

static void co_ssdo_send_blk_up_sub_res	(	co_ssdo_t *	sdo,
		int	last )

static

Sends a Server-SDO 'block upload sub-block' response.

Parameters

sdo	a pointer to a Server-SDO service.
last	a flag indicating whether this block contains the last segment.

Definition at line 1882 of file ssdo.c.

◆ co_ssdo_init_ini_res()

static void co_ssdo_init_ini_res	(	co_ssdo_t *	sdo,
		struct can_msg *	msg,
		co_unsigned8_t	cs )

static

Initializes a Server-SDO download/upload initiate response CAN frame.

Parameters

sdo	a pointer to a Server-SDO service.
msg	a pointer to the CAN frame to be initialized.
cs	the command specifier.

Definition at line 1922 of file ssdo.c.

◆ co_ssdo_init_seg_res()

static void co_ssdo_init_seg_res	(	co_ssdo_t *	sdo,
		struct can_msg *	msg,
		co_unsigned8_t	cs )

static

Initializes a Server-SDO download/upload segment response CAN frame.

Parameters

sdo	a pointer to a Server-SDO service.
msg	a pointer to the CAN frame to be initialized.
cs	the command specifier.

Definition at line 1942 of file ssdo.c.

◆ co_ssdo_create()

co_ssdo_t * co_ssdo_create	(	can_net_t *	net,
		co_dev_t *	dev,
		co_unsigned8_t	num )

Creates a new CANopen Server-SDO service.

The service is started as if by co_ssdo_start().

Parameters

net	a pointer to a CAN network.
dev	a pointer to a CANopen device describing the server.
num	the SDO number (in the range [1..128]). Except when num is 1, the SDO parameter record MUST exist in the object dictionary of dev.

Returns: a pointer to a new Server-SDO service, or NULL on error. In the latter case, the error number can be obtained with get_errc().

See also: co_ssdo_destroy()

Definition at line 670 of file ssdo.c.

◆ co_ssdo_destroy()

void co_ssdo_destroy ( co_ssdo_t * sdo )

Destroys a CANopen Server-SDO service.

See also: co_ssdo_create()

Definition at line 697 of file ssdo.c.

◆ co_ssdo_start()

int co_ssdo_start ( co_ssdo_t * sdo )

Starts a Server-SDO service.

Postcondition: on success, co_ssdo_is_stopped() returns 0.

Returns: 0 on success, or -1 on error. In the latter case, the error number can be obtained with get_errc().

See also: co_ssdo_stop()

Definition at line 707 of file ssdo.c.

◆ co_ssdo_stop()

void co_ssdo_stop ( co_ssdo_t * sdo )

Stops a Server-SDO service.

Any ongoing request is aborted.

Postcondition: co_ssdo_is_stopped() returns 1.

See also: co_ssdo_start()

Definition at line 741 of file ssdo.c.

◆ co_ssdo_is_stopped()

int co_ssdo_is_stopped ( const co_ssdo_t * sdo )

Retuns 1 if the specified Server-SDO service is stopped, and 0 if not.

See also: co_ssdo_start, co_ssdo_stop()

Definition at line 764 of file ssdo.c.

◆ co_ssdo_get_timeout()

int co_ssdo_get_timeout ( const co_ssdo_t * sdo )

Returns the timeout (in milliseconds) of a Server-SDO.

A return value of 0 (the default) means no timeout is being used.

See also: co_ssdo_set_timeout()

Definition at line 804 of file ssdo.c.

◆ co_ssdo_set_timeout()

void co_ssdo_set_timeout	(	co_ssdo_t *	sdo,
		int	timeout )

Sets the timeout of a Server-SDO.

If the timeout expires before receiving a request from a client, the server aborts the transfer.

Parameters

sdo	a pointer to a Server-SDO service.
timeout	the timeout (in milliseconds). A value of 0 (the default) disables the timeout.

See also: co_ssdo_get_timeout()

Definition at line 812 of file ssdo.c.

Data Structures

Typedefs

Functions

Variables

Detailed Description

Function Documentation

◆ co_ssdo_update()

◆ co_1200_dn_ind()

◆ co_ssdo_recv()

◆ co_ssdo_timer()

◆ co_ssdo_emit_abort()

◆ co_ssdo_emit_time()

◆ co_ssdo_emit_recv()

◆ co_ssdo_dn_seg_on_abort()

◆ co_ssdo_up_seg_on_abort()

◆ co_ssdo_blk_dn_sub_on_abort()

◆ co_ssdo_blk_up_sub_on_abort()

◆ co_ssdo_abort_ind()

◆ co_ssdo_abort_res()

◆ co_ssdo_dn_ind()

◆ co_ssdo_up_ind()

◆ co_ssdo_up_buf()

◆ co_ssdo_send_abort()

◆ co_ssdo_send_up_seg_res()

◆ co_ssdo_send_blk_up_sub_res()

◆ co_ssdo_init_ini_res()

◆ co_ssdo_init_seg_res()

◆ co_ssdo_create()

◆ co_ssdo_destroy()

◆ co_ssdo_start()

◆ co_ssdo_stop()

◆ co_ssdo_is_stopped()

◆ co_ssdo_get_timeout()

◆ co_ssdo_set_timeout()