author | etisserant |
Wed, 04 Jun 2008 10:59:09 +0200 | |
changeset 471 | bea45a091214 |
parent 469 | f2b07ea215b5 |
child 528 | 0a30e161d63c |
permissions | -rw-r--r-- |
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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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/* 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__ */ |