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<h1>objacces.h</h1><a href="objacces_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00034"></a>00034 <span class="preprocessor">#ifndef __objacces_h__</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define __objacces_h__</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a><a class="code" href="objacces_8h.html#0c04a935735f5dbc8466f6e0a981723b">00039</a> <span class="keyword">typedef</span> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> (*<a class="code" href="objacces_8h.html#0c04a935735f5dbc8466f6e0a981723b">valueRangeTest_t</a>)(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> typeValue, <span class="keywordtype">void</span> *Value);
<a name="l00040"></a><a class="code" href="objacces_8h.html#0fffa15168046a1e8231be4c80aa4ac4">00040</a> <span class="keyword">typedef</span> void (* <a class="code" href="objacces_8h.html#0fffa15168046a1e8231be4c80aa4ac4">storeODSubIndex_t</a>)(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex);
<a name="l00041"></a>00041 <span class="keywordtype">void</span> <a class="code" href="objacces_8c.html#8c45d7c0745b490ef4ea58f09bae358f">_storeODSubIndex</a> (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex);
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#include "<a class="code" href="data_8h.html">data.h</a>"</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">/*</span>
<a name="l00048"></a>00048 <span class="comment">Print MSG_WAR (s) if error to the access to the object dictionary occurs.</span>
<a name="l00049"></a>00049 <span class="comment">You must uncomment the lines</span>
<a name="l00050"></a>00050 <span class="comment">//#define DEBUG_CAN</span>
<a name="l00051"></a>00051 <span class="comment">//#define DEBUG_WAR_CONSOLE_ON</span>
<a name="l00052"></a>00052 <span class="comment">//#define DEBUG_ERR_CONSOLE_ON</span>
<a name="l00053"></a>00053 <span class="comment">in the file objaccess.c</span>
<a name="l00054"></a>00054 <span class="comment">sizeDataDict : Size of the data defined in the dictionary</span>
<a name="l00055"></a>00055 <span class="comment">sizeDataGiven : Size data given by the user.</span>
<a name="l00056"></a>00056 <span class="comment">code : error code to print. (SDO abort code. See file def.h)</span>
<a name="l00057"></a>00057 <span class="comment">Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use</span>
<a name="l00058"></a>00058 <span class="comment">this function but we do not have the access to the right value. One example is</span>
<a name="l00059"></a>00059 <span class="comment">getSDOerror(). So do not take attention to these variables if they are null.</span>
<a name="l00060"></a>00060 <span class="comment">*/</span>
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="objacces_8c.html#8577ef029b11faa6cfd1102f6bb10f59">accessDictionaryError</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex,
<a name="l00063"></a>00063 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> sizeDataDict, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> sizeDataGiven, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> code);
<a name="l00064"></a>00064
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="comment">/* Reads an entry from the object dictionary.\n</span>
<a name="l00067"></a>00067 <span class="comment"> * \code</span>
<a name="l00068"></a>00068 <span class="comment"> * // Example usage:</span>
<a name="l00069"></a>00069 <span class="comment"> * UNS8 *pbData;</span>
<a name="l00070"></a>00070 <span class="comment"> * UNS8 length;</span>
<a name="l00071"></a>00071 <span class="comment"> * UNS32 returnValue;</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a>00073 <span class="comment"> * returnValue = getODentry( (UNS16)0x100B, (UNS8)1, </span>
<a name="l00074"></a>00074 <span class="comment"> * (void * *)&pbData, (UNS8 *)&length );</span>
<a name="l00075"></a>00075 <span class="comment"> * if( returnValue != SUCCESSFUL )</span>
<a name="l00076"></a>00076 <span class="comment"> * {</span>
<a name="l00077"></a>00077 <span class="comment"> * // error handling</span>
<a name="l00078"></a>00078 <span class="comment"> * }</span>
<a name="l00079"></a>00079 <span class="comment"> * \endcode </span>
<a name="l00080"></a>00080 <span class="comment"> * \param wIndex The index in the object dictionary where you want to read</span>
<a name="l00081"></a>00081 <span class="comment"> * an entry</span>
<a name="l00082"></a>00082 <span class="comment"> * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is</span>
<a name="l00083"></a>00083 <span class="comment"> * used to tell you how many valid entries you can find</span>
<a name="l00084"></a>00084 <span class="comment"> * in this index. Look at the canopen standard for further</span>
<a name="l00085"></a>00085 <span class="comment"> * information</span>
<a name="l00086"></a>00086 <span class="comment"> * \param ppbData Pointer to the pointer which points to the variable where</span>
<a name="l00087"></a>00087 <span class="comment"> * the value of this object dictionary entry should be copied</span>
<a name="l00088"></a>00088 <span class="comment"> * \param pdwSize This function writes the size of the copied value (in Byte)</span>
<a name="l00089"></a>00089 <span class="comment"> * into this variable.</span>
<a name="l00090"></a>00090 <span class="comment"> * \param pDataType : The type of the data. See objdictdef.h</span>
<a name="l00091"></a>00091 <span class="comment"> * \param CheckAccess if other than 0, do not read if the data is Write Only</span>
<a name="l00092"></a>00092 <span class="comment"> * [Not used today. Put always 0].</span>
<a name="l00093"></a>00093 <span class="comment"> * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="objacces_8c.html#cad0c118b1e06230c9cceb8e3985822b">getODentry</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d,
<a name="l00096"></a>00096 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex,
<a name="l00097"></a>00097 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex,
<a name="l00098"></a>00098 <span class="keywordtype">void</span> * pDestData,
<a name="l00099"></a>00099 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pExpectedSize,
<a name="l00100"></a>00100 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pDataType,
<a name="l00101"></a>00101 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> checkAccess);
<a name="l00102"></a>00102
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">/* By this function you can write an entry into the object dictionary\n</span>
<a name="l00105"></a>00105 <span class="comment"> * \code</span>
<a name="l00106"></a>00106 <span class="comment"> * // Example usage:</span>
<a name="l00107"></a>00107 <span class="comment"> * UNS8 B;</span>
<a name="l00108"></a>00108 <span class="comment"> * B = 0xFF; // set transmission type</span>
<a name="l00109"></a>00109 <span class="comment"> *</span>
<a name="l00110"></a>00110 <span class="comment"> * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );</span>
<a name="l00111"></a>00111 <span class="comment"> * \endocde</span>
<a name="l00112"></a>00112 <span class="comment"> * \param wIndex The index in the object dictionary where you want to write</span>
<a name="l00113"></a>00113 <span class="comment"> * an entry</span>
<a name="l00114"></a>00114 <span class="comment"> * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is</span>
<a name="l00115"></a>00115 <span class="comment"> * used to tell you how many valid entries you can find</span>
<a name="l00116"></a>00116 <span class="comment"> * in this index. Look at the canopen standard for further</span>
<a name="l00117"></a>00117 <span class="comment"> * information</span>
<a name="l00118"></a>00118 <span class="comment"> * \param pbData Pointer to the variable that holds the value that should</span>
<a name="l00119"></a>00119 <span class="comment"> * be copied into the object dictionary</span>
<a name="l00120"></a>00120 <span class="comment"> * \param dwSize The size of the value (in Byte).</span>
<a name="l00121"></a>00121 <span class="comment"> * \param CheckAccess if other than 0, do not read if the data is Read Only or Constant</span>
<a name="l00122"></a>00122 <span class="comment"> * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="objacces_8c.html#dad5d2f7890168cade2fbb7e0e4c6200">setODentry</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d,
<a name="l00125"></a>00125 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex,
<a name="l00126"></a>00126 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex,
<a name="l00127"></a>00127 <span class="keywordtype">void</span> * pSourceData,
<a name="l00128"></a>00128 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pExpectedSize,
<a name="l00129"></a>00129 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> checkAccess);
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">/*The same, without endianisation*/</span>
<a name="l00132"></a>00132 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d,
<a name="l00133"></a>00133 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex,
<a name="l00134"></a>00134 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex,
<a name="l00135"></a>00135 <span class="keywordtype">void</span> * pSourceData,
<a name="l00136"></a>00136 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> * pExpectedSize,
<a name="l00137"></a>00137 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> checkAccess);
<a name="l00138"></a>00138
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">/* Scan the index of object dictionary. Used only by setODentry and getODentry.</span>
<a name="l00141"></a>00141 <span class="comment"> * *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)</span>
<a name="l00142"></a>00142 <span class="comment"> * Return NULL if index not found. Else : return the table part of the object dictionary.</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * <a class="code" href="objacces_8c.html#b2839d53051e322c12605c1d7f3dc4e5">scanIndexOD</a> (<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *errorCode, <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> **Callback);
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="objacces_8c.html#9a512a966532e40f35d3a4201bf54ead">RegisterSetODentryCallBack</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex, <a class="code" href="objdictdef_8h.html#01303c7a6ee17ba5678931e2756dd5e6">ODCallback_t</a> Callback);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="preprocessor">#endif </span><span class="comment">/* __objacces_h__ */</span>
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