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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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/** @file
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* @brief Responsible for accessing the object dictionary.
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*
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* This file contains functions for accessing the object dictionary and
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* variables that are contained by the object dictionary.
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* Accessing the object dictionary contains setting local variables
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* as PDOs and accessing (read/write) all entries of the object dictionary
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* @warning Only the basic entries of an object dictionary are included
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* at the moment.
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*/
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/** @defgroup od Object Dictionary Management
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* @brief The Object Dictionary is the heart of each CANopen device containing all communication and application objects.
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* @ingroup userapi
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*/
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#ifndef __objacces_h__
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#define __objacces_h__
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#include <applicfg.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
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typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
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void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
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/**
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* @brief Print MSG_WAR (s) if error to the access to the object dictionary occurs.
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*
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* You must uncomment the lines in the file objaccess.c :\n
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* //#define DEBUG_CAN\n
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* //#define DEBUG_WAR_CONSOLE_ON\n
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* //#define DEBUG_ERR_CONSOLE_ON\n\n
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* Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
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* this function but we do not have the access to the right value. One example is
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* getSDOerror(). So do not take attention to these variables if they are null.
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* @param index
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* @param subIndex
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* @param sizeDataDict Size of the data defined in the dictionary
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* @param sizeDataGiven Size data given by the user.
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* @param code error code to print. (SDO abort code. See file def.h)
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* @return
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*/
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UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
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UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code);
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/* _getODentry() Reads an entry from the object dictionary.\n
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*
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* use getODentry() macro to read from object and endianize
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* use readLocalDict() macro to read from object and not endianize
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*
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* @code
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* // Example usage:
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* UNS8 *pbData;
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* UNS8 length;
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* UNS32 returnValue;
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*
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* returnValue = getODentry( (UNS16)0x100B, (UNS8)1,
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* (void * *)&pbData, (UNS8 *)&length );
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* if( returnValue != SUCCESSFUL )
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* {
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* // error handling
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* }
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* @endcode
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* @param *d Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to read
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pDestData Pointer to the pointer which points to the variable where
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* the value of this object dictionary entry should be copied
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* @param pExpectedSize This function writes the size of the copied value (in Byte)
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* into this variable.
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* @param *pDataType Pointer to the type of the data. See objdictdef.h
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* @param CheckAccess if other than 0, do not read if the data is Write Only
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* [Not used today. Put always 0].
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* @param Endianize When not 0, data is endianized into network byte order
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* when 0, data is not endianized and copied in machine native
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* endianness
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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*/
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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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UNS32 * pExpectedSize,
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UNS8 * pDataType,
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UNS8 checkAccess,
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UNS8 endianize);
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/**
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* @ingroup od
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* @brief getODentry() to read from object and endianize
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* @param OD Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to read
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pDestData Pointer to the pointer which points to the variable where
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* the value of this object dictionary entry should be copied
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* @param pExpectedSize This function writes the size of the copied value (in Byte)
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* into this variable.
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* @param *pDataType Pointer to the type of the data. See objdictdef.h
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* @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
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* @param endianize Set to 1 : endianized into network byte order
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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*/
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#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
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pDataType, checkAccess) \
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_getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
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pDataType, checkAccess, 1)
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/**
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* @ingroup od
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* @brief readLocalDict() reads an entry from the object dictionary, but in
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* contrast to getODentry(), readLocalDict() doesn't endianize entry and reads
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* entry in machine native endianness.
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* @param OD Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to read
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pDestData Pointer to the pointer which points to the variable where
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* the value of this object dictionary entry should be copied
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* @param pExpectedSize This function writes the size of the copied value (in Byte)
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* into this variable.
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* @param *pDataType Pointer to the type of the data. See objdictdef.h
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* @param checkAccess if other than 0, do not read if the data is Write Only
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* [Not used today. Put always 0].
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* @param endianize Set to 0, data is not endianized and copied in machine native
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* endianness
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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*/
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#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
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pDataType, checkAccess) \
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_getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
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pDataType, checkAccess, 0)
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/* By this function you can write an entry into the object dictionary
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* @param *d Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to write
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pSourceData Pointer to the variable that holds the value that should
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* be copied into the object dictionary
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* @param *pExpectedSize The size of the value (in Byte).
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* @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
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* @param endianize When not 0, data is endianized into network byte order
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* when 0, data is not endianized and copied in machine native
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* endianness
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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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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UNS32 * pExpectedSize,
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UNS8 checkAccess,
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UNS8 endianize);
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/**
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* @ingroup od
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* @brief setODentry converts SourceData from network byte order to machine native
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* format, and writes that to OD.
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* @code
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* // Example usage:
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* UNS8 B;
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* B = 0xFF; // set transmission type
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*
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* retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
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* @endcode
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* @param d Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to write
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pSourceData Pointer to the variable that holds the value that should
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* be copied into the object dictionary
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* @param *pExpectedSize The size of the value (in Byte).
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* @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
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* @param endianize Set to 1 : endianized into network byte order
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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*/
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#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
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checkAccess) \
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_setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
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checkAccess, 1)
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/** @fn UNS32 writeLocalDict(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess)
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* @ingroup od
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* @hideinitializer
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* @brief Writes machine native SourceData to OD.
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* @param d Pointer to a CAN object data structure
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* @param wIndex The index in the object dictionary where you want to write
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* an entry
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* @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
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* used to tell you how many valid entries you can find
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* in this index. Look at the canopen standard for further
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* information
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* @param *pSourceData Pointer to the variable that holds the value that should
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* be copied into the object dictionary
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* @param *pExpectedSize The size of the value (in Byte).
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* @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
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* @param endianize Data is not endianized and copied in machine native endianness
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* @return
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* - OD_SUCCESSFUL is returned upon success.
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* - SDO abort code is returned if error occurs . (See file def.h)
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* \n\n
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* @code
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* // Example usage:
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* UNS8 B;
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* B = 0xFF; // set transmission type
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*
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* retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
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* @endcode
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*/
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#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
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_setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)
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/**
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* @brief Scan the index of object dictionary. Used only by setODentry and getODentry.
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* @param *d Pointer to a CAN object data structure
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* @param wIndex
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* @param *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
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* @param **Callback
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* @return NULL if index not found. Else : return the table part of the object dictionary.
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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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UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __objacces_h__ */
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