author | greg |
Wed, 12 Mar 2008 10:08:43 +0100 | |
changeset 416 | 9ef58fa2c66a |
parent 402 | 77f875d45250 |
child 419 | f63ce68a8239 |
permissions | -rw-r--r-- |
0 | 1 |
/* |
208 | 2 |
This file is part of CanFestival, a library implementing CanOpen |
3 |
Stack. |
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4 |
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5 |
Copyright (C): Edouard TISSERANT and Francis DUPIN |
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6 |
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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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18 |
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19 |
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 |
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USA |
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0 | 23 |
*/ |
208 | 24 |
/*! |
25 |
** @file objacces.c |
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26 |
** @author Edouard TISSERANT and Francis DUPIN |
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27 |
** @date Tue Jun 5 08:55:23 2007 |
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28 |
** |
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29 |
** @brief |
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30 |
** |
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31 |
** |
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32 |
*/ |
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33 |
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0 | 36 |
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71 | 37 |
/* #define DEBUG_WAR_CONSOLE_ON */ |
38 |
/* #define DEBUG_ERR_CONSOLE_ON */ |
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11 | 39 |
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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
|
40 |
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378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
215
diff
changeset
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41 |
#include "data.h" |
0 | 42 |
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8 | 43 |
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208 | 44 |
/*! |
45 |
** |
|
46 |
** |
|
47 |
** @param index |
|
48 |
** @param subIndex |
|
49 |
** @param sizeDataDict |
|
50 |
** @param sizeDataGiven |
|
51 |
** @param code |
|
52 |
** |
|
53 |
** @return |
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54 |
**/ |
|
55 |
UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, |
|
56 |
UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code) |
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0 | 57 |
{ |
75
debc68b124b7
compiler compatibility : accessDictionaryError contains nothing out of debogue mode
frdupin
parents:
71
diff
changeset
|
58 |
#ifdef DEBUG_WAR_CONSOLE_ON |
0 | 59 |
MSG_WAR(0x2B09,"Dictionary index : ", index); |
60 |
MSG_WAR(0X2B10," subindex : ", subIndex); |
|
61 |
switch (code) { |
|
208 | 62 |
case OD_NO_SUCH_OBJECT: |
63 |
MSG_WAR(0x2B11,"Index not found ", index); |
|
64 |
break; |
|
65 |
case OD_NO_SUCH_SUBINDEX : |
|
66 |
MSG_WAR(0x2B12,"SubIndex not found ", subIndex); |
|
67 |
break; |
|
68 |
case OD_WRITE_NOT_ALLOWED : |
|
69 |
MSG_WAR(0x2B13,"Write not allowed, data is read only ", index); |
|
70 |
break; |
|
71 |
case OD_LENGTH_DATA_INVALID : |
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72 |
MSG_WAR(0x2B14,"Conflict size data. Should be (bytes) : ", sizeDataDict); |
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73 |
MSG_WAR(0x2B15,"But you have given the size : ", sizeDataGiven); |
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74 |
break; |
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75 |
case OD_NOT_MAPPABLE : |
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76 |
MSG_WAR(0x2B16,"Not mappable data in a PDO at index : ", index); |
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77 |
break; |
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78 |
case OD_VALUE_TOO_LOW : |
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79 |
MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code); |
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80 |
break; |
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81 |
case OD_VALUE_TOO_HIGH : |
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82 |
MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code); |
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83 |
break; |
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0 | 84 |
default : |
85 |
MSG_WAR(0x2B20, "Unknown error code : ", code); |
|
86 |
} |
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75
debc68b124b7
compiler compatibility : accessDictionaryError contains nothing out of debogue mode
frdupin
parents:
71
diff
changeset
|
87 |
#endif |
208 | 88 |
return 0; |
89 |
} |
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90 |
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91 |
/*! |
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92 |
** |
|
93 |
** |
|
94 |
** @param d |
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95 |
** @param wIndex |
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96 |
** @param bSubindex |
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97 |
** @param pDestData |
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98 |
** @param pExpectedSize |
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99 |
** @param pDataType |
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100 |
** @param checkAccess |
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101 |
** @param endianize |
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102 |
** |
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103 |
** @return |
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104 |
**/ |
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105 |
UNS32 _getODentry( CO_Data* d, |
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106 |
UNS16 wIndex, |
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107 |
UNS8 bSubindex, |
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108 |
void * pDestData, |
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109 |
UNS8 * pExpectedSize, |
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110 |
UNS8 * pDataType, |
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111 |
UNS8 checkAccess, |
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112 |
UNS8 endianize) |
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215 | 113 |
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite |
208 | 114 |
loop if it fails. */ |
0 | 115 |
UNS32 errorCode; |
116 |
UNS8 szData; |
|
117 |
const indextable *ptrTable; |
|
118 |
ODCallback_t *Callback; |
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119 |
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120 |
ptrTable = (*d->scanIndexOD)(wIndex, &errorCode, &Callback); |
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121 |
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122 |
if (errorCode != OD_SUCCESSFUL) |
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123 |
return errorCode; |
|
124 |
if( ptrTable->bSubCount <= bSubindex ) { |
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71 | 125 |
/* Subindex not found */ |
0 | 126 |
accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX); |
127 |
return OD_NO_SUCH_SUBINDEX; |
|
128 |
} |
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208 | 129 |
|
402
77f875d45250
Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled)
etisserant
parents:
378
diff
changeset
|
130 |
if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType & WO)) { |
208 | 131 |
MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType); |
0 | 132 |
accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED); |
133 |
return OD_READ_NOT_ALLOWED; |
|
134 |
} |
|
135 |
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136 |
*pDataType = ptrTable->pSubindex[bSubindex].bDataType; |
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208 | 137 |
szData = ptrTable->pSubindex[bSubindex].size; |
138 |
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139 |
if(*pExpectedSize == 0 || |
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140 |
*pExpectedSize == szData || |
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141 |
(*pDataType == visible_string && *pExpectedSize < szData)) { |
|
215 | 142 |
/* We |
208 | 143 |
allow to fetch a shorter string than expected */ |
144 |
||
12 | 145 |
# ifdef CANOPEN_BIG_ENDIAN |
208 | 146 |
if(endianize && *pDataType > boolean && *pDataType < visible_string) { |
215 | 147 |
/* data must be transmited with low byte first */ |
208 | 148 |
UNS8 i, j = 0; |
149 |
MSG_WAR(boolean, "data type ", *pDataType); |
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150 |
MSG_WAR(visible_string, "data type ", *pDataType); |
|
151 |
for ( i = szData ; i > 0 ; i--) { |
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152 |
MSG_WAR(i," ", j); |
|
153 |
((UNS8*)pDestData)[j++] = |
|
154 |
((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1]; |
|
155 |
} |
|
156 |
} |
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215 | 157 |
else /* It it is a visible string no endianisation to perform */ |
208 | 158 |
memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData); |
12 | 159 |
# else |
208 | 160 |
memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData); |
12 | 161 |
# endif |
208 | 162 |
|
163 |
*pExpectedSize = szData; |
|
402
77f875d45250
Fixed faulty read access checking on OD access. Added read acces s checking in SDO (was disabled)
etisserant
parents:
378
diff
changeset
|
164 |
|
208 | 165 |
return OD_SUCCESSFUL; |
166 |
} |
|
215 | 167 |
else { /* Error ! */ |
208 | 168 |
*pExpectedSize = szData; |
169 |
accessDictionaryError(wIndex, bSubindex, szData, |
|
170 |
*pExpectedSize, OD_LENGTH_DATA_INVALID); |
|
171 |
return OD_LENGTH_DATA_INVALID; |
|
172 |
} |
|
173 |
} |
|
174 |
||
175 |
/*! |
|
176 |
** |
|
177 |
** |
|
178 |
** @param d |
|
179 |
** @param wIndex |
|
180 |
** @param bSubindex |
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181 |
** @param pDestData |
|
182 |
** @param pExpectedSize |
|
183 |
** @param pDataType |
|
184 |
** @param checkAccess |
|
185 |
** |
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186 |
** @return |
|
187 |
**/ |
|
188 |
UNS32 getODentry( CO_Data* d, |
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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
|
189 |
UNS16 wIndex, |
208 | 190 |
UNS8 bSubindex, |
191 |
void * pDestData, |
|
192 |
UNS8 * pExpectedSize, |
|
193 |
UNS8 * pDataType, |
|
194 |
UNS8 checkAccess) |
|
195 |
{ |
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196 |
return _getODentry( d, |
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197 |
wIndex, |
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198 |
bSubindex, |
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199 |
pDestData, |
|
200 |
pExpectedSize, |
|
201 |
pDataType, |
|
202 |
checkAccess, |
|
203 |
1);//endianize |
|
204 |
} |
|
205 |
||
206 |
/*! |
|
207 |
** |
|
208 |
** |
|
209 |
** @param d |
|
210 |
** @param wIndex |
|
211 |
** @param bSubindex |
|
212 |
** @param pDestData |
|
213 |
** @param pExpectedSize |
|
214 |
** @param pDataType |
|
215 |
** @param checkAccess |
|
216 |
** |
|
217 |
** @return |
|
218 |
**/ |
|
219 |
UNS32 readLocalDict( CO_Data* d, |
|
220 |
UNS16 wIndex, |
|
221 |
UNS8 bSubindex, |
|
222 |
void * pDestData, |
|
223 |
UNS8 * pExpectedSize, |
|
224 |
UNS8 * pDataType, |
|
225 |
UNS8 checkAccess) |
|
226 |
{ |
|
227 |
return _getODentry( d, |
|
228 |
wIndex, |
|
229 |
bSubindex, |
|
230 |
pDestData, |
|
231 |
pExpectedSize, |
|
232 |
pDataType, |
|
233 |
checkAccess, |
|
234 |
0);//do not endianize |
|
235 |
} |
|
236 |
||
237 |
/*! |
|
238 |
** |
|
239 |
** |
|
240 |
** @param d |
|
241 |
** @param wIndex |
|
242 |
** @param bSubindex |
|
243 |
** @param pSourceData |
|
244 |
** @param pExpectedSize |
|
245 |
** @param checkAccess |
|
246 |
** @param endianize |
|
247 |
** |
|
248 |
** @return |
|
249 |
**/ |
|
250 |
UNS32 _setODentry( CO_Data* d, |
|
251 |
UNS16 wIndex, |
|
252 |
UNS8 bSubindex, |
|
253 |
void * pSourceData, |
|
254 |
UNS8 * pExpectedSize, |
|
255 |
UNS8 checkAccess, |
|
256 |
UNS8 endianize) |
|
0 | 257 |
{ |
258 |
UNS8 szData; |
|
259 |
UNS8 dataType; |
|
260 |
UNS32 errorCode; |
|
261 |
const indextable *ptrTable; |
|
262 |
ODCallback_t *Callback; |
|
263 |
||
264 |
ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback); |
|
265 |
if (errorCode != OD_SUCCESSFUL) |
|
266 |
return errorCode; |
|
267 |
||
268 |
if( ptrTable->bSubCount <= bSubindex ) { |
|
215 | 269 |
/* Subindex not found */ |
0 | 270 |
accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX); |
271 |
return OD_NO_SUCH_SUBINDEX; |
|
272 |
} |
|
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
|
273 |
if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) { |
208 | 274 |
MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType); |
0 | 275 |
accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED); |
276 |
return OD_WRITE_NOT_ALLOWED; |
|
277 |
} |
|
278 |
||
279 |
||
208 | 280 |
dataType = ptrTable->pSubindex[bSubindex].bDataType; |
281 |
szData = ptrTable->pSubindex[bSubindex].size; |
|
0 | 282 |
|
283 |
if( *pExpectedSize == 0 || |
|
208 | 284 |
*pExpectedSize == szData || |
285 |
(dataType == visible_string && *pExpectedSize < szData)) /* We |
|
286 |
allow to store a shorter string than entry size */ |
|
287 |
{ |
|
288 |
#ifdef CANOPEN_BIG_ENDIAN |
|
289 |
if(endianize && dataType > boolean && dataType < visible_string) |
|
290 |
{ |
|
215 | 291 |
/* we invert the data source directly. This let us do range |
208 | 292 |
testing without */ |
215 | 293 |
/* additional temp variable */ |
208 | 294 |
UNS8 i; |
295 |
for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1) ; i++) |
|
296 |
{ |
|
297 |
UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i]; |
|
298 |
((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i]; |
|
299 |
((UNS8 *)pSourceData)[i] = tmp; |
|
300 |
} |
|
301 |
} |
|
302 |
#endif |
|
0 | 303 |
errorCode = (*d->valueRangeTest)(dataType, pSourceData); |
304 |
if (errorCode) { |
|
208 | 305 |
accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode); |
306 |
return errorCode; |
|
0 | 307 |
} |
2
8d4a822f95e4
Fixed Endianisation/ValueRange order in SetODentry
etisserant
parents:
1
diff
changeset
|
308 |
memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize); |
0 | 309 |
*pExpectedSize = szData; |
208 | 310 |
|
215 | 311 |
/* Callbacks */ |
0 | 312 |
if(Callback && Callback[bSubindex]){ |
208 | 313 |
(*Callback[bSubindex])(d, ptrTable, bSubindex); |
0 | 314 |
} |
208 | 315 |
|
215 | 316 |
/* 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
|
317 |
if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){ |
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
215
diff
changeset
|
318 |
(*d->storeODSubIndex)(d, wIndex, bSubindex); |
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
|
319 |
} |
0 | 320 |
return OD_SUCCESSFUL; |
208 | 321 |
}else{ |
0 | 322 |
*pExpectedSize = szData; |
323 |
accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID); |
|
324 |
return OD_LENGTH_DATA_INVALID; |
|
208 | 325 |
} |
326 |
} |
|
327 |
||
328 |
/*! |
|
329 |
** |
|
330 |
** |
|
331 |
** @param d |
|
332 |
** @param wIndex |
|
333 |
** @param bSubindex |
|
334 |
** @param pSourceData |
|
335 |
** @param pExpectedSize |
|
336 |
** @param checkAccess |
|
337 |
** |
|
338 |
** @return |
|
339 |
**/ |
|
340 |
UNS32 setODentry( CO_Data* d, |
|
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
|
341 |
UNS16 wIndex, |
208 | 342 |
UNS8 bSubindex, |
343 |
void * pSourceData, |
|
344 |
UNS8 * pExpectedSize, |
|
345 |
UNS8 checkAccess) |
|
346 |
{ |
|
347 |
return _setODentry( d, |
|
348 |
wIndex, |
|
349 |
bSubindex, |
|
350 |
pSourceData, |
|
351 |
pExpectedSize, |
|
352 |
checkAccess, |
|
353 |
1);//endianize |
|
354 |
} |
|
355 |
||
356 |
/*! |
|
357 |
** |
|
358 |
** |
|
359 |
** @param d |
|
360 |
** @param wIndex |
|
361 |
** @param bSubindex |
|
362 |
** @param pSourceData |
|
363 |
** @param pExpectedSize |
|
364 |
** @param checkAccess |
|
365 |
** |
|
366 |
** @return |
|
367 |
**/ |
|
368 |
UNS32 writeLocalDict( CO_Data* d, |
|
369 |
UNS16 wIndex, |
|
370 |
UNS8 bSubindex, |
|
371 |
void * pSourceData, |
|
372 |
UNS8 * pExpectedSize, |
|
373 |
UNS8 checkAccess) |
|
374 |
{ |
|
375 |
return _setODentry( d, |
|
376 |
wIndex, |
|
377 |
bSubindex, |
|
378 |
pSourceData, |
|
379 |
pExpectedSize, |
|
380 |
checkAccess, |
|
381 |
0);//do not endianize |
|
382 |
} |
|
383 |
||
384 |
/*! |
|
385 |
** |
|
386 |
** |
|
387 |
** @param d |
|
388 |
** @param wIndex |
|
389 |
** @param errorCode |
|
390 |
** @param Callback |
|
391 |
** |
|
392 |
** @return |
|
393 |
**/ |
|
0 | 394 |
const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback) |
395 |
{ |
|
396 |
return (*d->scanIndexOD)(wIndex, errorCode, Callback); |
|
397 |
} |
|
398 |
||
208 | 399 |
/*! |
400 |
** |
|
401 |
** |
|
402 |
** @param d |
|
403 |
** @param wIndex |
|
404 |
** @param bSubindex |
|
405 |
** @param Callback |
|
406 |
** |
|
407 |
** @return |
|
408 |
**/ |
|
0 | 409 |
UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback) |
410 |
{ |
|
208 | 411 |
UNS32 errorCode; |
412 |
ODCallback_t *CallbackList; |
|
413 |
||
414 |
scanIndexOD (d, wIndex, &errorCode, &CallbackList); |
|
415 |
if(errorCode == OD_SUCCESSFUL && CallbackList) |
|
416 |
CallbackList[bSubindex] = Callback; |
|
417 |
return errorCode; |
|
418 |
} |
|
419 |
||
420 |
/*! |
|
421 |
** |
|
422 |
** |
|
423 |
** @param wIndex |
|
424 |
** @param bSubindex |
|
425 |
**/ |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
215
diff
changeset
|
426 |
void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex){} |