canfestival: src/objacces.c@48b59c852636 (annotated)

0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	1	/*
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	2	This file is part of CanFestival, a library implementing CanOpen Stack.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	3
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	5
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	6	See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	7
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	8	This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	9	modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	10	License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	11	version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	12
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	13	This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	16	Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	17
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	18	You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	19	License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	21	*/
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	22
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	23	/* #define DEBUG_WAR_CONSOLE_ON */
95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	24	/* #define DEBUG_ERR_CONSOLE_ON */
11 64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	25
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	26
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	27	#include "objacces.h"
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	28
8 eee2b0c89213 correction bogue pour BIG_ENDIAN dejoigny parents: 2 diff changeset	29
75 debc68b124b7 compiler compatibility : accessDictionaryError contains nothing out of debogue mode frdupin parents: 71 diff changeset	30
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	31	UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	32	UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	33	{
75 debc68b124b7 compiler compatibility : accessDictionaryError contains nothing out of debogue mode frdupin parents: 71 diff changeset	34	#ifdef DEBUG_WAR_CONSOLE_ON
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	35	MSG_WAR(0x2B09,"Dictionary index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	36	MSG_WAR(0X2B10," subindex : ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	37	switch (code) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	38	case OD_NO_SUCH_OBJECT:
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	39	MSG_WAR(0x2B11,"Index not found ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	40	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	41	case OD_NO_SUCH_SUBINDEX :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	42	MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	43	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	44	case OD_WRITE_NOT_ALLOWED :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	45	MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	46	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	47	case OD_LENGTH_DATA_INVALID :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	48	MSG_WAR(0x2B14,"Conflict size data. Should be (bytes) : ", sizeDataDict);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	49	MSG_WAR(0x2B15,"But you have given the size : ", sizeDataGiven);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	50	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	51	case OD_NOT_MAPPABLE :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	52	MSG_WAR(0x2B16,"Not mappable data in a PDO at index : ", index);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	53	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	54	case OD_VALUE_TOO_LOW :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	55	MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	56	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	57	case OD_VALUE_TOO_HIGH :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	58	MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	59	break;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	60	default :
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	61	MSG_WAR(0x2B20, "Unknown error code : ", code);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	62	}
75 debc68b124b7 compiler compatibility : accessDictionaryError contains nothing out of debogue mode frdupin parents: 71 diff changeset	63	#endif
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	64	return 0;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	65	}
75 debc68b124b7 compiler compatibility : accessDictionaryError contains nothing out of debogue mode frdupin parents: 71 diff changeset	66
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	67
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	68	UNS32 _getODentry( CO_Data* d,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	69	UNS16 wIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	70	UNS8 bSubindex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	71	void * pDestData,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	72	UNS8 * pExpectedSize,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	73	UNS8 * pDataType,
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	74	UNS8 checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	75	UNS8 endianize)
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	76	{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	77	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	78	UNS8 szData;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	79	const indextable *ptrTable;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	80	ODCallback_t *Callback;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	81
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	82	ptrTable = (*d->scanIndexOD)(wIndex, &errorCode, &Callback);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	83
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	84	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	85	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	86	if( ptrTable->bSubCount <= bSubindex ) {
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	87	/* Subindex not found */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	88	accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	89	return OD_NO_SUCH_SUBINDEX;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	90	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	91
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	92	if (checkAccess && !(ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	93	MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	94	accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	95	return OD_READ_NOT_ALLOWED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	96	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	97
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	98	*pDataType = ptrTable->pSubindex[bSubindex].bDataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	99	szData = ptrTable->pSubindex[bSubindex].size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	100
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	101	if( *pExpectedSize == 0 \|\|
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	102	*pExpectedSize == szData \|\|
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	103	(pDataType == visible_string && pExpectedSize < szData)) {/* We allow to fetch a shorter string than expected */
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	104
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	105	# ifdef CANOPEN_BIG_ENDIAN
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	106	if(endianize && pDataType > boolean && pDataType < visible_string) {
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	107	/* data must be transmited with low byte first */
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	108	UNS8 i, j = 0;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	109	MSG_WAR(boolean, "data type ", *pDataType);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	110	MSG_WAR(visible_string, "data type ", *pDataType);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	111	for ( i = szData ; i > 0 ; i--) {
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	112	MSG_WAR(i," ", j);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	113	((UNS8*)pDestData)[j++] =
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	114	((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	115	}
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	116	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	117	else /* It it is a visible string no endianisation to perform */
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	118	memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	119	# else
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	120	memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	121	# endif
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	122
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	123	*pExpectedSize = szData;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	124	#if 0
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	125	/* Me laisser ça, please ! (FD) */
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	126	{
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	127	UNS8 i;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	128	for (i = 0 ; i < 10 ; i++) {
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	129	MSG_WAR(*pExpectedSize, "dic data= ",
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	130	(UNS8 )(ptrTable->pSubindex[bSubindex].pObject + i));
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	131	}
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	132
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	133	}
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	134	#endif
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	135	return OD_SUCCESSFUL;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	136	}
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	137	else { /* Error ! */
12 1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	138	*pExpectedSize = szData;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	139	accessDictionaryError(wIndex, bSubindex, szData,
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	140	*pExpectedSize, OD_LENGTH_DATA_INVALID);
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	141	return OD_LENGTH_DATA_INVALID;
1d3b9ad366c8 CANOPEN_BIG_ENDIAN : dejoigny parents: 11 diff changeset	142	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	143	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	144
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	145	UNS32 getODentry( CO_Data* d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	146	UNS16 wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	147	UNS8 bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	148	void * pDestData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	149	UNS8 * pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	150	UNS8 * pDataType,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	151	UNS8 checkAccess)
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	152	{
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	153	return _getODentry( d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	154	wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	155	bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	156	pDestData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	157	pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	158	pDataType,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	159	checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	160	1);//endianize
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	161	}
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	162
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	163	UNS32 readLocalDict( CO_Data* d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	164	UNS16 wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	165	UNS8 bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	166	void * pDestData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	167	UNS8 * pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	168	UNS8 * pDataType,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	169	UNS8 checkAccess)
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	170	{
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	171	return _getODentry( d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	172	wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	173	bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	174	pDestData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	175	pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	176	pDataType,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	177	checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	178	0);//do not endianize
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	179	}
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	180
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	181	UNS32 _setODentry( CO_Data* d,
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	182	UNS16 wIndex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	183	UNS8 bSubindex,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	184	void * pSourceData,
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	185	UNS8 * pExpectedSize,
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	186	UNS8 checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	187	UNS8 endianize)
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	188	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	189	UNS8 szData;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	190	UNS8 dataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	191	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	192	const indextable *ptrTable;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	193	ODCallback_t *Callback;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	194
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	195	ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	196	if (errorCode != OD_SUCCESSFUL)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	197	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	198
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	199	if( ptrTable->bSubCount <= bSubindex ) {
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	200	/* Subindex not found */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	201	accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	202	return OD_NO_SUCH_SUBINDEX;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	203	}
1 b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	204	if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug. etisserant parents: 0 diff changeset	205	MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	206	accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	207	return OD_WRITE_NOT_ALLOWED;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	208	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	209
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	210
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	211	dataType = ptrTable->pSubindex[bSubindex].bDataType;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	212	szData = ptrTable->pSubindex[bSubindex].size;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	213
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	214	if( *pExpectedSize == 0 \|\|
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	215	*pExpectedSize == szData \|\|
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	216	(dataType == visible_string && pExpectedSize < szData)) / We allow to store a shorter string than entry size */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	217	{
2 8d4a822f95e4 Fixed Endianisation/ValueRange order in SetODentry etisserant parents: 1 diff changeset	218	#ifdef CANOPEN_BIG_ENDIAN
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	219	if(endianize && dataType > boolean && dataType < visible_string)
11 64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	220	{
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	221	/* we invert the data source directly. This let us do range testing without */
95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	222	/* additional temp variable */
55 96173dd44f2c unused variable deleted frdupin parents: 12 diff changeset	223	UNS8 i;
11 64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	224	for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1) ; i++)
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	225	{
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	226	UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	227	((UNS8 )pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 )pSourceData)[i];
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	228	((UNS8 *)pSourceData)[i] = tmp;
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	229	}
64ed038bdc74 Bogue:big endian dejoigny parents: 10 diff changeset	230	}
2 8d4a822f95e4 Fixed Endianisation/ValueRange order in SetODentry etisserant parents: 1 diff changeset	231	#endif
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	232	errorCode = (*d->valueRangeTest)(dataType, pSourceData);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	233	if (errorCode) {
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	234	accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	235	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	236	}
2 8d4a822f95e4 Fixed Endianisation/ValueRange order in SetODentry etisserant parents: 1 diff changeset	237	memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	238	*pExpectedSize = szData;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	239
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	240	/* Callbacks */
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	241	if(Callback && Callback[bSubindex]){
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	242	(*Callback[bSubindex])(d, ptrTable, bSubindex);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	243	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	244
71 95cd3376cc9f compilator compatitibility frdupin parents: 55 diff changeset	245	/* TODO : Store dans NVRAM */
161 c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 75 diff changeset	246	if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 75 diff changeset	247	(*d->storeODSubIndex)(wIndex, bSubindex);
c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 75 diff changeset	248	}
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	249	return OD_SUCCESSFUL;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	250	}else{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	251	*pExpectedSize = szData;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	252	accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	253	return OD_LENGTH_DATA_INVALID;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	254	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	255	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	256
175 e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	257	UNS32 setODentry( CO_Data* d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	258	UNS16 wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	259	UNS8 bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	260	void * pSourceData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	261	UNS8 * pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	262	UNS8 checkAccess)
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	263	{
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	264	return _setODentry( d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	265	wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	266	bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	267	pSourceData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	268	pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	269	checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	270	1);//endianize
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	271	}
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	272
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	273	UNS32 writeLocalDict( CO_Data* d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	274	UNS16 wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	275	UNS8 bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	276	void * pSourceData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	277	UNS8 * pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	278	UNS8 checkAccess)
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	279	{
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	280	return _setODentry( d,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	281	wIndex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	282	bSubindex,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	283	pSourceData,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	284	pExpectedSize,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	285	checkAccess,
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	286	0);//do not endianize
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	287	}
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	288
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	289
e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem. etisserant parents: 161 diff changeset	290
0 4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	291
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	292	const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 errorCode, ODCallback_t *Callback)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	293	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	294	return (*d->scanIndexOD)(wIndex, errorCode, Callback);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	295	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	296
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	297	UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	298	{
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	299	UNS32 errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	300	ODCallback_t *CallbackList;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	301
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	302	scanIndexOD (d, wIndex, &errorCode, &CallbackList);
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	303	if(errorCode == OD_SUCCESSFUL && CallbackList)
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	304	CallbackList[bSubindex] = Callback;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	305	return errorCode;
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	306	}
4472ee7c6c3e Commit a new cvs repo. etisserant parents: diff changeset	307
161 c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI) etisserant parents: 75 diff changeset	308	void _storeODSubIndex (UNS16 wIndex, UNS8 bSubindex){}

author	greg
	Mon, 14 May 2007 11:24:32 +0200
changeset 199	48b59c852636
parent 175	e255529b6f7d
child 208	05d95c45b388
permissions	-rw-r--r--