--- a/include/objacces.h Fri Nov 12 22:02:32 2010 +0100
+++ b/include/objacces.h Fri Nov 12 22:24:06 2010 +0100
@@ -1,287 +1,287 @@
-/*
-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.
- */
-
-/** @defgroup od Object Dictionary Management
- * @brief The Object Dictionary is the heart of each CANopen device containing all communication and application objects.
- * @ingroup userapi
- */
-
-#ifndef __objacces_h__
-#define __objacces_h__
-
-#include <applicfg.h>
-
-
+/*
+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.
+ */
+
+/** @defgroup od Object Dictionary Management
+ * @brief The Object Dictionary is the heart of each CANopen device containing all communication and application objects.
+ * @ingroup userapi
+ */
+
+#ifndef __objacces_h__
+#define __objacces_h__
+
+#include <applicfg.h>
+
+
#ifdef __cplusplus
extern "C" {
-#endif
-
-
-typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
-typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
-void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
-
-/**
- * @brief Print MSG_WAR (s) if error to the access to the object dictionary occurs.
- *
- * You must uncomment the lines in the file objaccess.c :\n
- * //#define DEBUG_CAN\n
- * //#define DEBUG_WAR_CONSOLE_ON\n
- * //#define DEBUG_ERR_CONSOLE_ON\n\n
- * 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.
- * @param index
- * @param subIndex
- * @param sizeDataDict Size of the data defined in the dictionary
- * @param sizeDataGiven Size data given by the user.
- * @param code error code to print. (SDO abort code. See file def.h)
- * @return
- */
-UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
- UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code);
-
-
-/* _getODentry() Reads an entry from the object dictionary.\n
- *
- * use getODentry() macro to read from object and endianize
- * use readLocalDict() macro to read from object and not endianize
- *
- * @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 *d Pointer to a CAN object data structure
- * @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 *pDestData Pointer to the pointer which points to the variable where
- * the value of this object dictionary entry should be copied
- * @param pExpectedSize This function writes the size of the copied value (in Byte)
- * into this variable.
- * @param *pDataType Pointer to 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].
- * @param Endianize When not 0, data is endianized into network byte order
- * when 0, data is not endianized and copied in machine native
- * endianness
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- */
-UNS32 _getODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pDestData,
- UNS32 * pExpectedSize,
- UNS8 * pDataType,
- UNS8 checkAccess,
- UNS8 endianize);
-
-/**
- * @ingroup od
- * @brief getODentry() to read from object and endianize
- * @param OD Pointer to a CAN object data structure
- * @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 *pDestData Pointer to the pointer which points to the variable where
- * the value of this object dictionary entry should be copied
- * @param pExpectedSize This function writes the size of the copied value (in Byte)
- * into this variable.
- * @param *pDataType Pointer to the type of the data. See objdictdef.h
- * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
- * @param endianize Set to 1 : endianized into network byte order
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- */
-#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
- pDataType, checkAccess) \
- _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
- pDataType, checkAccess, 1)
-
-/**
- * @ingroup od
- * @brief readLocalDict() reads an entry from the object dictionary, but in
- * contrast to getODentry(), readLocalDict() doesn't endianize entry and reads
- * entry in machine native endianness.
- * @param OD Pointer to a CAN object data structure
- * @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 *pDestData Pointer to the pointer which points to the variable where
- * the value of this object dictionary entry should be copied
- * @param pExpectedSize This function writes the size of the copied value (in Byte)
- * into this variable.
- * @param *pDataType Pointer to 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].
- * @param endianize Set to 0, data is not endianized and copied in machine native
- * endianness
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- */
-#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
- pDataType, checkAccess) \
- _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
- pDataType, checkAccess, 0)
-
-/* By this function you can write an entry into the object dictionary
- * @param *d Pointer to a CAN object data structure
- * @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 *pSourceData Pointer to the variable that holds the value that should
- * be copied into the object dictionary
- * @param *pExpectedSize The size of the value (in Byte).
- * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
- * @param endianize When not 0, data is endianized into network byte order
- * when 0, data is not endianized and copied in machine native
- * endianness
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- */
-UNS32 _setODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pSourceData,
- UNS32 * pExpectedSize,
- UNS8 checkAccess,
- UNS8 endianize);
-
-/**
- * @ingroup od
- * @brief setODentry converts SourceData from network byte order to machine native
- * format, and writes that to OD.
- * @code
- * // Example usage:
- * UNS8 B;
- * B = 0xFF; // set transmission type
- *
- * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
- * @endcode
- * @param d Pointer to a CAN object data structure
- * @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 *pSourceData Pointer to the variable that holds the value that should
- * be copied into the object dictionary
- * @param *pExpectedSize The size of the value (in Byte).
- * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
- * @param endianize Set to 1 : endianized into network byte order
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- */
-#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
- checkAccess) \
- _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
- checkAccess, 1)
-
-/** @fn UNS32 writeLocalDict(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess)
- * @ingroup od
- * @hideinitializer
- * @brief Writes machine native SourceData to OD.
- * @param d Pointer to a CAN object data structure
- * @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 *pSourceData Pointer to the variable that holds the value that should
- * be copied into the object dictionary
- * @param *pExpectedSize The size of the value (in Byte).
- * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
- * @param endianize Data is not endianized and copied in machine native endianness
- * @return
- * - OD_SUCCESSFUL is returned upon success.
- * - SDO abort code is returned if error occurs . (See file def.h)
- * \n\n
- * @code
- * // Example usage:
- * UNS8 B;
- * B = 0xFF; // set transmission type
- *
- * retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
- * @endcode
- */
-#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
- _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)
-
-
-
-/**
- * @brief Scan the index of object dictionary. Used only by setODentry and getODentry.
- * @param *d Pointer to a CAN object data structure
- * @param wIndex
- * @param *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
- * @param **Callback
- * @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
+
+
+typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
+typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
+void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
+
+/**
+ * @brief Print MSG_WAR (s) if error to the access to the object dictionary occurs.
+ *
+ * You must uncomment the lines in the file objaccess.c :\n
+ * //#define DEBUG_CAN\n
+ * //#define DEBUG_WAR_CONSOLE_ON\n
+ * //#define DEBUG_ERR_CONSOLE_ON\n\n
+ * 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.
+ * @param index
+ * @param subIndex
+ * @param sizeDataDict Size of the data defined in the dictionary
+ * @param sizeDataGiven Size data given by the user.
+ * @param code error code to print. (SDO abort code. See file def.h)
+ * @return
+ */
+UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
+ UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code);
+
+
+/* _getODentry() Reads an entry from the object dictionary.\n
+ *
+ * use getODentry() macro to read from object and endianize
+ * use readLocalDict() macro to read from object and not endianize
+ *
+ * @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 *d Pointer to a CAN object data structure
+ * @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 *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer to 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].
+ * @param Endianize When not 0, data is endianized into network byte order
+ * when 0, data is not endianized and copied in machine native
+ * endianness
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ */
+UNS32 _getODentry( CO_Data* d,
+ UNS16 wIndex,
+ UNS8 bSubindex,
+ void * pDestData,
+ UNS32 * pExpectedSize,
+ UNS8 * pDataType,
+ UNS8 checkAccess,
+ UNS8 endianize);
+
+/**
+ * @ingroup od
+ * @brief getODentry() to read from object and endianize
+ * @param OD Pointer to a CAN object data structure
+ * @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 *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer to the type of the data. See objdictdef.h
+ * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
+ * @param endianize Set to 1 : endianized into network byte order
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ */
+#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess) \
+ _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess, 1)
+
+/**
+ * @ingroup od
+ * @brief readLocalDict() reads an entry from the object dictionary, but in
+ * contrast to getODentry(), readLocalDict() doesn't endianize entry and reads
+ * entry in machine native endianness.
+ * @param OD Pointer to a CAN object data structure
+ * @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 *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer to 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].
+ * @param endianize Set to 0, data is not endianized and copied in machine native
+ * endianness
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ */
+#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess) \
+ _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess, 0)
+
+/* By this function you can write an entry into the object dictionary
+ * @param *d Pointer to a CAN object data structure
+ * @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 *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
+ * @param endianize When not 0, data is endianized into network byte order
+ * when 0, data is not endianized and copied in machine native
+ * endianness
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ */
+UNS32 _setODentry( CO_Data* d,
+ UNS16 wIndex,
+ UNS8 bSubindex,
+ void * pSourceData,
+ UNS32 * pExpectedSize,
+ UNS8 checkAccess,
+ UNS8 endianize);
+
+/**
+ * @ingroup od
+ * @brief setODentry converts SourceData from network byte order to machine native
+ * format, and writes that to OD.
+ * @code
+ * // Example usage:
+ * UNS8 B;
+ * B = 0xFF; // set transmission type
+ *
+ * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
+ * @endcode
+ * @param d Pointer to a CAN object data structure
+ * @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 *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
+ * @param endianize Set to 1 : endianized into network byte order
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ */
+#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
+ checkAccess) \
+ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
+ checkAccess, 1)
+
+/** @fn UNS32 writeLocalDict(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess)
+ * @ingroup od
+ * @hideinitializer
+ * @brief Writes machine native SourceData to OD.
+ * @param d Pointer to a CAN object data structure
+ * @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 *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
+ * @param endianize Data is not endianized and copied in machine native endianness
+ * @return
+ * - OD_SUCCESSFUL is returned upon success.
+ * - SDO abort code is returned if error occurs . (See file def.h)
+ * \n\n
+ * @code
+ * // Example usage:
+ * UNS8 B;
+ * B = 0xFF; // set transmission type
+ *
+ * retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
+ * @endcode
+ */
+#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
+ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)
+
+
+
+/**
+ * @brief Scan the index of object dictionary. Used only by setODentry and getODentry.
+ * @param *d Pointer to a CAN object data structure
+ * @param wIndex
+ * @param *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
+ * @param **Callback
+ * @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);
+
#ifdef __cplusplus
}
-#endif
-
-#endif /* __objacces_h__ */
+#endif
+
+#endif /* __objacces_h__ */