src/objacces.c
author etisserant
Thu, 10 Aug 2006 17:38:53 +0200
changeset 45 45885c4e3e56
parent 12 1d3b9ad366c8
child 55 96173dd44f2c
permissions -rw-r--r--
Updated doc
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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//#define DEBUG_WAR_CONSOLE_ON
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//#define DEBUG_ERR_CONSOLE_ON
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#include "objacces.h"
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#ifdef DEBUG_WAR_CONSOLE_ON
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UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 
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			     UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
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{
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  MSG_WAR(0x2B09,"Dictionary index : ", index);
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  MSG_WAR(0X2B10,"           subindex : ", subIndex);
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  switch (code) {
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    case  OD_NO_SUCH_OBJECT: 
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      MSG_WAR(0x2B11,"Index not found ", index);
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      break;
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    case OD_NO_SUCH_SUBINDEX :
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      MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
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      break;   
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    case OD_WRITE_NOT_ALLOWED :
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      MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
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      break;         
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    case OD_LENGTH_DATA_INVALID :    
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      MSG_WAR(0x2B14,"Conflict size data. Should be (bytes)  : ", sizeDataDict);
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      MSG_WAR(0x2B15,"But you have given the size  : ", sizeDataGiven);
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      break;
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    case OD_NOT_MAPPABLE :
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      MSG_WAR(0x2B16,"Not mappable data in a PDO at index    : ", index);
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      break;
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    case OD_VALUE_TOO_LOW :
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      MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
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      break;
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    case OD_VALUE_TOO_HIGH :
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      MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
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      break;
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  default :
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    MSG_WAR(0x2B20, "Unknown error code : ", code);
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  }
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  return 0; 
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}	
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#endif
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UNS32 getODentry( CO_Data* d, 
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                  UNS16 wIndex,
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		  UNS8 bSubindex,
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		  void * pDestData,
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		  UNS8 * pExpectedSize,
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		  UNS8 * pDataType,
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		  UNS8 checkAccess)
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{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.
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  UNS32 errorCode;
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  UNS8 szData;
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  const indextable *ptrTable;
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  ODCallback_t *Callback;
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  ptrTable = (*d->scanIndexOD)(wIndex, &errorCode, &Callback);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  if( ptrTable->bSubCount <= bSubindex ) {
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    // Subindex not found
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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
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    return OD_NO_SUCH_SUBINDEX;
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  }
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  if (checkAccess && !(ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
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  	MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);
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    return OD_READ_NOT_ALLOWED;
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  }
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  *pDataType = ptrTable->pSubindex[bSubindex].bDataType;
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   szData = ptrTable->pSubindex[bSubindex].size;
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   if(	*pExpectedSize == 0 ||
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  	*pExpectedSize == szData ||
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  	(*pDataType == visible_string && *pExpectedSize < szData)) {// We allow to fetch a shorter string than expected
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#  ifdef CANOPEN_BIG_ENDIAN
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     if(*pDataType > boolean && *pDataType < visible_string) {
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       // data must be transmited with low byte first
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       UNS8 i, j = 0;
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       MSG_WAR(boolean, "data type ", *pDataType);
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       MSG_WAR(visible_string, "data type ", *pDataType);
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       for ( i = szData ; i > 0 ; i--) {
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         MSG_WAR(i," ", j);
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	 ((UNS8*)pDestData)[j++] = 
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	   ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
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       }
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     }
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     else // It it is a visible string no endianisation to perform
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       memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
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#  else
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     memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
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#  endif
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     *pExpectedSize = szData;
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#if 0
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     // Me laisser ça, please ! (FD)
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     {
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       UNS8 i;
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       for (i = 0 ; i < 10 ; i++) {
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	 MSG_WAR(*pExpectedSize, "dic data= ",
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		 *(UNS8 *)(ptrTable->pSubindex[bSubindex].pObject + i));
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       }
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     }
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#endif
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     return OD_SUCCESSFUL;
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   }
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   else { // Error !
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     *pExpectedSize = szData;
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     accessDictionaryError(wIndex, bSubindex, szData, 
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			   *pExpectedSize, OD_LENGTH_DATA_INVALID);
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     return OD_LENGTH_DATA_INVALID;
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   }
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}
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UNS32 setODentry( CO_Data* d, 
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                  UNS16 wIndex,
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		  UNS8 bSubindex, 
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		  void * pSourceData, 
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		  UNS8 * pExpectedSize, 
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		  UNS8 checkAccess)
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{
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  UNS8 szData;
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  UNS8 dataType;
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  UNS32 errorCode;
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  const indextable *ptrTable;
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  ODCallback_t *Callback;
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  ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  if( ptrTable->bSubCount <= bSubindex ) {
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    // Subindex not found
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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);
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    return OD_NO_SUCH_SUBINDEX;
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  }
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  if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
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  	MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
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    return OD_WRITE_NOT_ALLOWED;
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  }
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   dataType = ptrTable->pSubindex[bSubindex].bDataType;
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   szData = ptrTable->pSubindex[bSubindex].size;
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  if( *pExpectedSize == 0 ||
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  	*pExpectedSize == szData ||
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  	(dataType == visible_string && *pExpectedSize < szData)) // We allow to store a shorter string than entry size
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  {
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      #ifdef CANOPEN_BIG_ENDIAN
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	      if(dataType > boolean && dataType < visible_string)
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	      {
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			// we invert the data source directly. This let us do range testing without
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			// additional temp variable
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		 	UNS8 tmp, i;
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	  		for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1)  ; i++) 
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	  		{
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	    		UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
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	    		((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
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	    		((UNS8 *)pSourceData)[i] = tmp;
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	    	}
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		}  
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      #endif
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      errorCode = (*d->valueRangeTest)(dataType, pSourceData);
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      if (errorCode) {
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	accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
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	return errorCode;
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      }
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      memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
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      *pExpectedSize = szData;
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      // Callbacks
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      if(Callback && Callback[bSubindex]){
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      	 (*Callback[bSubindex])(d, ptrTable, bSubindex);
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      }
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      // TODO : Store dans NVRAM      
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      // if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVED)
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      return OD_SUCCESSFUL;
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  }else{
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      *pExpectedSize = szData;
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      accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
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      return OD_LENGTH_DATA_INVALID;
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  }
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}
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const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
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{
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  return (*d->scanIndexOD)(wIndex, errorCode, Callback);
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}
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UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
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{
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	UNS32 errorCode;
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	ODCallback_t *CallbackList;
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	scanIndexOD (d, wIndex, &errorCode, &CallbackList);
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	if(errorCode == OD_SUCCESSFUL && CallbackList) 
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		CallbackList[bSubindex] = Callback;
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	return errorCode;
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}
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