src/objacces.c
author greg
Fri, 09 May 2008 09:47:56 +0200
changeset 463 f7455fef585f
parent 450 dff8cc600cba
child 469 f2b07ea215b5
permissions -rw-r--r--
add rt_task_join for receive task and timerloop task
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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/*!
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** @file   objacces.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 08:55:23 2007
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**
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** @brief
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**
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**
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*/
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/* #define DEBUG_WAR_CONSOLE_ON */
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/* #define DEBUG_ERR_CONSOLE_ON */
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b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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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.
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#include "data.h"
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/*!
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**
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**
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** @param index
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** @param subIndex
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** @param sizeDataDict
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** @param sizeDataGiven
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** @param code
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**
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** @return
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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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{
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#ifdef DEBUG_WAR_CONSOLE_ON
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  MSG_WAR(0x2B09,"Dictionary index : ", index);
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  MSG_WAR(0X2B10,"           subindex : ", subIndex);
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  switch (code) {
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  case  OD_NO_SUCH_OBJECT:
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    MSG_WAR(0x2B11,"Index not found ", index);
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    break;
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  case OD_NO_SUCH_SUBINDEX :
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    MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
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    break;
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  case OD_WRITE_NOT_ALLOWED :
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    MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
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    break;
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  case OD_LENGTH_DATA_INVALID :
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    MSG_WAR(0x2B14,"Conflict size data. Should be (bytes)  : ", sizeDataDict);
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    MSG_WAR(0x2B15,"But you have given the size  : ", sizeDataGiven);
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    break;
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  case OD_NOT_MAPPABLE :
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    MSG_WAR(0x2B16,"Not mappable data in a PDO at index    : ", index);
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    break;
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  case OD_VALUE_TOO_LOW :
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    MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
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    break;
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  case OD_VALUE_TOO_HIGH :
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    MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
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    break;
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  default :
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    MSG_WAR(0x2B20, "Unknown error code : ", code);
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  }
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#endif
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  return 0;
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pDestData
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** @param pExpectedSize
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** @param pDataType
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** @param checkAccess
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** @param endianize
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**
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** @return
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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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{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
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    loop if it fails. */
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  UNS32 errorCode;
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  UNS8 szData;
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  const indextable *ptrTable;
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  ODCallback_t *Callback;
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  ptrTable = (*d->scanIndexOD)(wIndex, &errorCode, &Callback);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  if( ptrTable->bSubCount <= bSubindex ) {
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    /* Subindex not found */
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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
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    return OD_NO_SUCH_SUBINDEX;
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  }
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  if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
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    MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_READ_NOT_ALLOWED);
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    return OD_READ_NOT_ALLOWED;
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  }
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  *pDataType = ptrTable->pSubindex[bSubindex].bDataType;
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  szData = ptrTable->pSubindex[bSubindex].size;
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  if(*pExpectedSize == 0 ||
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     *pExpectedSize == szData ||
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     /* allow to fetch a shorter string than expected */
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     (*pDataType >= visible_string && *pExpectedSize < szData)) { 
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#  ifdef CANOPEN_BIG_ENDIAN
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     if(endianize && *pDataType > boolean && !(
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            *pDataType >= visible_string && 
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            *pDataType <= domain)) {
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      /* data must be transmited with low byte first */
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      UNS8 i, j = 0;
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      MSG_WAR(boolean, "data type ", *pDataType);
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      MSG_WAR(visible_string, "data type ", *pDataType);
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      for ( i = szData ; i > 0 ; i--) {
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        MSG_WAR(i," ", j);
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        ((UNS8*)pDestData)[j++] =
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          ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
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      }
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      *pExpectedSize = szData;
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    }
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    else /* no endianisation change */
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#  endif
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    if(*pDataType != visible_string) {
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        memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
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        *pExpectedSize = szData;
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    }else{
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        /* TODO : CONFORM TO DS-301 : 
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         *  - stop using NULL terminated strings
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         *  - store string size in td_subindex 
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         * */
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        /* Copy null terminated string to user, and return discovered size */
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        UNS8 *ptr = (UNS8*)ptrTable->pSubindex[bSubindex].pObject;
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        UNS8 *ptr_start = ptr;
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        /* *pExpectedSize IS < szData . if null, use szData */
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        UNS8 *ptr_end = ptr + (*pExpectedSize ? *pExpectedSize : szData) ; 
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        UNS8 *ptr_dest = (UNS8*)pDestData;
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        while( *ptr && ptr < ptr_end){
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            *(ptr_dest++) = *(ptr++);
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        } 
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        *pExpectedSize = ptr - ptr_start;
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        /* terminate string if not maximum length */
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        if (*pExpectedSize < szData) 
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            *(ptr) = 0; 
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    }
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    return OD_SUCCESSFUL;
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  }
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  else { /* Error ! */
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    *pExpectedSize = szData;
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    accessDictionaryError(wIndex, bSubindex, szData,
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                          *pExpectedSize, OD_LENGTH_DATA_INVALID);
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    return OD_LENGTH_DATA_INVALID;
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  }
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pDestData
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** @param pExpectedSize
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** @param pDataType
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** @param checkAccess
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**
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** @return
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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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{
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  return _getODentry( d,
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                      wIndex,
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                      bSubindex,
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                      pDestData,
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                      pExpectedSize,
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                      pDataType,
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                      checkAccess,
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                      1);//endianize
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pDestData
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** @param pExpectedSize
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** @param pDataType
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** @param checkAccess
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**
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** @return
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**/
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UNS32 readLocalDict( 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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{
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  return _getODentry( d,
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                      wIndex,
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                      bSubindex,
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                      pDestData,
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                      pExpectedSize,
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                      pDataType,
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                      checkAccess,
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                      0);//do not endianize
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pSourceData
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** @param pExpectedSize
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** @param checkAccess
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** @param endianize
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**
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** @return
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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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  UNS8 szData;
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  UNS8 dataType;
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  UNS32 errorCode;
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  const indextable *ptrTable;
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  ODCallback_t *Callback;
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  ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
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  if (errorCode != OD_SUCCESSFUL)
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    return errorCode;
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  if( ptrTable->bSubCount <= bSubindex ) {
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    /* Subindex not found */
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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);
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    return OD_NO_SUCH_SUBINDEX;
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  }
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b3dc740b4b04 Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
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  if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
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    MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
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    return OD_WRITE_NOT_ALLOWED;
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  }
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  dataType = ptrTable->pSubindex[bSubindex].bDataType;
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  szData = ptrTable->pSubindex[bSubindex].size;
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  if( *pExpectedSize == 0 ||
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      *pExpectedSize == szData ||
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      /* allow to store a shorter string than entry size */
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      (dataType == visible_string && *pExpectedSize < szData))
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    {
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#ifdef CANOPEN_BIG_ENDIAN
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      /* re-endianize do not occur for bool, strings time and domains */
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      if(endianize && dataType > boolean && !(
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            dataType >= visible_string && 
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            dataType <= domain))
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        {
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          /* we invert the data source directly. This let us do range
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            testing without */
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          /* additional temp variable */
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          UNS8 i;
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          for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1)  ; i++)
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            {
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              UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
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              ((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
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              ((UNS8 *)pSourceData)[i] = tmp;
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            }
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        }
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#endif
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      errorCode = (*d->valueRangeTest)(dataType, pSourceData);
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      if (errorCode) {
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        accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
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        return errorCode;
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      }
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8d4a822f95e4 Fixed Endianisation/ValueRange order in SetODentry
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      memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
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     /* TODO : CONFORM TO DS-301 : 
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      *  - stop using NULL terminated strings
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      *  - store string size in td_subindex 
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      * */
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      /* terminate visible_string with '\0' */
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      if(dataType == visible_string && *pExpectedSize < szData)
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        ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[*pExpectedSize] = 0;
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      *pExpectedSize = szData;
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      /* Callbacks */
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      if(Callback && Callback[bSubindex]){
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        errorCode = (Callback[bSubindex])(d, ptrTable, bSubindex);
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        if(errorCode != OD_SUCCESSFUL)
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        {
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            return errorCode;
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        }
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       }
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      /* TODO : Store dans NVRAM */
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      if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
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        (*d->storeODSubIndex)(d, wIndex, bSubindex);
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      }
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      return OD_SUCCESSFUL;
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    }else{
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      *pExpectedSize = szData;
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      accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
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      return OD_LENGTH_DATA_INVALID;
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    }
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pSourceData
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** @param pExpectedSize
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** @param checkAccess
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**
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** @return
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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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{
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  return _setODentry( d,
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                      wIndex,
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                      bSubindex,
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                      pSourceData,
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                      pExpectedSize,
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                      checkAccess,
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                      1);//endianize
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param pSourceData
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** @param pExpectedSize
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** @param checkAccess
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**
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** @return
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**/
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UNS32 writeLocalDict( 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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{
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  return _setODentry( d,
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                      wIndex,
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                      bSubindex,
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                      pSourceData,
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                      pExpectedSize,
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                      checkAccess,
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                      0);//do not endianize
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param errorCode
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** @param Callback
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**
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** @return
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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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{
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  return (*d->scanIndexOD)(wIndex, errorCode, Callback);
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}
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/*!
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**
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**
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** @param d
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** @param wIndex
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** @param bSubindex
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** @param Callback
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**
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** @return
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**/
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UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
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{
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  UNS32 errorCode;
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  ODCallback_t *CallbackList;
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  scanIndexOD (d, wIndex, &errorCode, &CallbackList);
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  if(errorCode == OD_SUCCESSFUL && CallbackList)
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    CallbackList[bSubindex] = Callback;
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  return errorCode;
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}
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/*!
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**
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**
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** @param wIndex
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** @param bSubindex
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**/
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void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex){}