--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/objacces.h	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,140 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/** \file
+ *  \brief Responsible for accessing the object dictionary.
+ *
+ *  This file contains functions for accessing the object dictionary and
+ *  variables that are contained by the object dictionary.
+ *  Accessing the object dictionary contains setting local variables
+ *  as PDOs and accessing (read/write) all entries of the object dictionary
+ *  \warning Only the basic entries of an object dictionary are included
+ *           at the moment.
+ */
+
+#ifndef __objacces_h__
+#define __objacces_h__
+
+#include <applicfg.h>
+
+typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
+
+#include "data.h"
+
+
+
+/**
+Print MSG_WAR (s) if error to the access to the object dictionary occurs.
+You must uncomment the lines 
+//#define DEBUG_CAN
+//#define DEBUG_WAR_CONSOLE_ON
+//#define DEBUG_ERR_CONSOLE_ON
+in the file objaccess.c
+sizeDataDict : Size of the data defined in the dictionary
+sizeDataGiven : Size data given by the user.
+code : error code to print. (SDO abort code. See file def.h)
+Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
+this function but we do not have the access to the right value. One example is
+getSDOerror(). So do not take attention to these variables if they are null.
+*/
+#ifdef DEBUG_WAR_CONSOLE_ON
+UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 
+			   UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
+#else
+#define accessDictionaryError(...) 
+#endif
+
+/** Reads an entry from the object dictionary.\n
+ *  \code
+ *  // Example usage:
+ *  UNS8  *pbData;
+ *  UNS8 length;
+ *  UNS32 returnValue;
+ *
+ *  returnValue = getODentry( (UNS16)0x100B, (UNS8)1, 
+ *  (void * *)&pbData, (UNS8 *)&length );
+ *  if( returnValue != SUCCESSFUL )
+ *  {
+ *      // error handling
+ *  }
+ *  \endcode 
+ *  \param wIndex The index in the object dictionary where you want to read
+ *                an entry
+ *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ *                   used to tell you how many valid entries you can find
+ *                   in this index. Look at the canopen standard for further
+ *                   information
+ *  \param ppbData Pointer to the pointer which points to the variable where
+ *                 the value of this object dictionary entry should be copied
+ *  \param pdwSize This function writes the size of the copied value (in Byte)
+ *                 into this variable.
+ *  \param pDataType : The type of the data. See objdictdef.h
+ *  \param CheckAccess if other than 0, do not read if the data is Write Only
+ *                     [Not used today. Put always 0].
+ *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+UNS32 getODentry( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex,
+		  void * pDestData,
+		  UNS8 * pExpectedSize,
+		  UNS8 * pDataType,
+		  UNS8 checkAccess);
+
+
+/** By this function you can write an entry into the object dictionary\n
+ *  \code
+ *  // Example usage:
+ *  UNS8 B;
+ *  B = 0xFF; // set transmission type
+ *
+ *  retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
+ *  \endocde
+ *  \param wIndex The index in the object dictionary where you want to write
+ *                an entry
+ *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ *                   used to tell you how many valid entries you can find
+ *                   in this index. Look at the canopen standard for further
+ *                   information
+ *  \param pbData Pointer to the variable that holds the value that should
+ *                 be copied into the object dictionary
+ *  \param dwSize The size of the value (in Byte).
+ *  \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
+ *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+UNS32 setODentry( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex, 
+		  void * pSourceData, 
+		  UNS8 * pExpectedSize, 
+		  UNS8 checkAccess);
+
+
+/** Scan the index of object dictionary. Used only by setODentry and getODentry.
+ *  *errorCode :  OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
+ *  Return NULL if index not found. Else : return the table part of the object dictionary.
+ */
+ const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback);
+
+UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback);
+
+#endif // __objacces_h__