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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 /** \file |
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24 * \brief Responsible for accessing the object dictionary. |
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25 * |
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26 * This file contains functions for accessing the object dictionary and |
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27 * variables that are contained by the object dictionary. |
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28 * Accessing the object dictionary contains setting local variables |
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29 * as PDOs and accessing (read/write) all entries of the object dictionary |
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30 * \warning Only the basic entries of an object dictionary are included |
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31 * at the moment. |
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32 */ |
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33 |
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34 #ifndef __objacces_h__ |
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35 #define __objacces_h__ |
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36 |
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37 #include <applicfg.h> |
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38 |
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39 typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value); |
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40 |
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41 #include "data.h" |
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42 |
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43 |
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44 |
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45 /** |
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46 Print MSG_WAR (s) if error to the access to the object dictionary occurs. |
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47 You must uncomment the lines |
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48 //#define DEBUG_CAN |
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49 //#define DEBUG_WAR_CONSOLE_ON |
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50 //#define DEBUG_ERR_CONSOLE_ON |
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51 in the file objaccess.c |
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52 sizeDataDict : Size of the data defined in the dictionary |
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53 sizeDataGiven : Size data given by the user. |
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54 code : error code to print. (SDO abort code. See file def.h) |
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55 Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use |
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56 this function but we do not have the access to the right value. One example is |
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57 getSDOerror(). So do not take attention to these variables if they are null. |
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58 */ |
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59 #ifdef DEBUG_WAR_CONSOLE_ON |
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60 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, |
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61 UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code); |
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62 #else |
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63 #define accessDictionaryError(...) |
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64 #endif |
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65 |
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66 /** Reads an entry from the object dictionary.\n |
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67 * \code |
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68 * // Example usage: |
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69 * UNS8 *pbData; |
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70 * UNS8 length; |
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71 * UNS32 returnValue; |
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72 * |
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73 * returnValue = getODentry( (UNS16)0x100B, (UNS8)1, |
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74 * (void * *)&pbData, (UNS8 *)&length ); |
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75 * if( returnValue != SUCCESSFUL ) |
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76 * { |
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77 * // error handling |
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78 * } |
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79 * \endcode |
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80 * \param wIndex The index in the object dictionary where you want to read |
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81 * an entry |
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82 * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is |
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83 * used to tell you how many valid entries you can find |
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84 * in this index. Look at the canopen standard for further |
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85 * information |
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86 * \param ppbData Pointer to the pointer which points to the variable where |
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87 * the value of this object dictionary entry should be copied |
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88 * \param pdwSize This function writes the size of the copied value (in Byte) |
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89 * into this variable. |
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90 * \param pDataType : The type of the data. See objdictdef.h |
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91 * \param CheckAccess if other than 0, do not read if the data is Write Only |
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92 * [Not used today. Put always 0]. |
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93 * \return OD_SUCCESSFUL or SDO abort code. (See file def.h) |
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94 */ |
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95 UNS32 getODentry( CO_Data* d, |
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96 UNS16 wIndex, |
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97 UNS8 bSubindex, |
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98 void * pDestData, |
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99 UNS8 * pExpectedSize, |
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100 UNS8 * pDataType, |
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101 UNS8 checkAccess); |
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102 |
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103 |
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104 /** By this function you can write an entry into the object dictionary\n |
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105 * \code |
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106 * // Example usage: |
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107 * UNS8 B; |
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108 * B = 0xFF; // set transmission type |
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109 * |
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110 * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 ); |
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111 * \endocde |
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112 * \param wIndex The index in the object dictionary where you want to write |
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113 * an entry |
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114 * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is |
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115 * used to tell you how many valid entries you can find |
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116 * in this index. Look at the canopen standard for further |
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117 * information |
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118 * \param pbData Pointer to the variable that holds the value that should |
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119 * be copied into the object dictionary |
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120 * \param dwSize The size of the value (in Byte). |
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121 * \param CheckAccess if other than 0, do not read if the data is Read Only or Constant |
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122 * \return OD_SUCCESSFUL or SDO abort code. (See file def.h) |
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123 */ |
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124 UNS32 setODentry( CO_Data* d, |
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125 UNS16 wIndex, |
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126 UNS8 bSubindex, |
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127 void * pSourceData, |
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128 UNS8 * pExpectedSize, |
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129 UNS8 checkAccess); |
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130 |
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131 |
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132 /** Scan the index of object dictionary. Used only by setODentry and getODentry. |
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133 * *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h) |
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134 * Return NULL if index not found. Else : return the table part of the object dictionary. |
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135 */ |
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136 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback); |
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137 |
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138 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback); |
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139 |
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140 #endif // __objacces_h__ |