include/objacces.h
author etisserant
Fri, 25 Jul 2008 10:57:20 +0200
changeset 504 ad574af3628d
parent 469 f2b07ea215b5
child 528 0a30e161d63c
permissions -rw-r--r--
Added removal of dynamically loaded CAN driver interface library in clean make target
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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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#ifndef __objacces_h__
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#define __objacces_h__
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#include <applicfg.h>
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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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Print MSG_WAR (s) if error to the access to the object dictionary occurs.
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You must uncomment the lines
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//#define DEBUG_CAN
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//#define DEBUG_WAR_CONSOLE_ON
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//#define DEBUG_ERR_CONSOLE_ON
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in the file objaccess.c
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sizeDataDict : Size of the data defined in the dictionary
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sizeDataGiven : Size data given by the user.
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code : error code to print. (SDO abort code. See file def.h)
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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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*/
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UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 
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			   UNS8 sizeDataDict, UNS8 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 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 ppbData 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 pdwSize This function writes the size of the copied value (in Byte)
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 *                 into this variable.
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 *  \param pDataType : 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 OD_SUCCESSFUL or SDO abort code. (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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		  UNS8 * pExpectedSize,
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		  UNS8 * pDataType,
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		  UNS8 checkAccess,
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		  UNS8 endianize);
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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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 * 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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 */
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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\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 = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
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 *  \endocde
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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 pbData 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 dwSize The size of the value (in Byte).
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 *  \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
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 *  \return OD_SUCCESSFUL or SDO abort code. (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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                   UNS8 * pExpectedSize,
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                   UNS8 checkAccess,
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                   UNS8 endianize);
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/*
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 * setODentry converts SourceData from network byte order to machine native 
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 *            format, and writes that to OD.
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 */
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#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
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       _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 1)
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/*
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 * writeLocalDict writes machine native SourceData to OD.
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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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e255529b6f7d Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
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/* Scan the index of object dictionary. Used only by setODentry and getODentry.
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 *  *errorCode :  OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
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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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#endif /* __objacces_h__ */