etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: /** \file
etisserant@0:  *  \brief Responsible for accessing the object dictionary.
etisserant@0:  *
etisserant@0:  *  This file contains functions for accessing the object dictionary and
etisserant@0:  *  variables that are contained by the object dictionary.
etisserant@0:  *  Accessing the object dictionary contains setting local variables
etisserant@0:  *  as PDOs and accessing (read/write) all entries of the object dictionary
etisserant@0:  *  \warning Only the basic entries of an object dictionary are included
etisserant@0:  *           at the moment.
etisserant@0:  */
etisserant@0: 
etisserant@0: #ifndef __objacces_h__
etisserant@0: #define __objacces_h__
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: 
etisserant@0: typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
etisserant@0: 
etisserant@0: #include "data.h"
etisserant@0: 
etisserant@0: 
etisserant@0: 
frdupin@71: /*
etisserant@0: Print MSG_WAR (s) if error to the access to the object dictionary occurs.
frdupin@71: You must uncomment the lines
etisserant@0: //#define DEBUG_CAN
etisserant@0: //#define DEBUG_WAR_CONSOLE_ON
etisserant@0: //#define DEBUG_ERR_CONSOLE_ON
frdupin@71: in the file objaccess.c
etisserant@0: sizeDataDict : Size of the data defined in the dictionary
etisserant@0: sizeDataGiven : Size data given by the user.
etisserant@0: code : error code to print. (SDO abort code. See file def.h)
etisserant@0: Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
etisserant@0: this function but we do not have the access to the right value. One example is
etisserant@0: getSDOerror(). So do not take attention to these variables if they are null.
etisserant@0: */
frdupin@75: 
etisserant@0: UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 
etisserant@0: 			   UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
frdupin@75: 
etisserant@0: 
frdupin@71: /* Reads an entry from the object dictionary.\n
etisserant@0:  *  \code
etisserant@0:  *  // Example usage:
etisserant@0:  *  UNS8  *pbData;
etisserant@0:  *  UNS8 length;
etisserant@0:  *  UNS32 returnValue;
etisserant@0:  *
etisserant@0:  *  returnValue = getODentry( (UNS16)0x100B, (UNS8)1, 
etisserant@0:  *  (void * *)&pbData, (UNS8 *)&length );
etisserant@0:  *  if( returnValue != SUCCESSFUL )
etisserant@0:  *  {
etisserant@0:  *      // error handling
etisserant@0:  *  }
etisserant@0:  *  \endcode 
etisserant@0:  *  \param wIndex The index in the object dictionary where you want to read
etisserant@0:  *                an entry
etisserant@0:  *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
etisserant@0:  *                   used to tell you how many valid entries you can find
etisserant@0:  *                   in this index. Look at the canopen standard for further
etisserant@0:  *                   information
etisserant@0:  *  \param ppbData Pointer to the pointer which points to the variable where
etisserant@0:  *                 the value of this object dictionary entry should be copied
etisserant@0:  *  \param pdwSize This function writes the size of the copied value (in Byte)
etisserant@0:  *                 into this variable.
etisserant@0:  *  \param pDataType : The type of the data. See objdictdef.h
etisserant@0:  *  \param CheckAccess if other than 0, do not read if the data is Write Only
etisserant@0:  *                     [Not used today. Put always 0].
etisserant@0:  *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
etisserant@0:  */
etisserant@0: UNS32 getODentry( CO_Data* d, 
etisserant@0:                   UNS16 wIndex,
etisserant@0: 		  UNS8 bSubindex,
etisserant@0: 		  void * pDestData,
etisserant@0: 		  UNS8 * pExpectedSize,
etisserant@0: 		  UNS8 * pDataType,
etisserant@0: 		  UNS8 checkAccess);
etisserant@0: 
etisserant@0: 
frdupin@71: /* By this function you can write an entry into the object dictionary\n
etisserant@0:  *  \code
etisserant@0:  *  // Example usage:
etisserant@0:  *  UNS8 B;
etisserant@0:  *  B = 0xFF; // set transmission type
etisserant@0:  *
etisserant@0:  *  retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
etisserant@0:  *  \endocde
etisserant@0:  *  \param wIndex The index in the object dictionary where you want to write
etisserant@0:  *                an entry
etisserant@0:  *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
etisserant@0:  *                   used to tell you how many valid entries you can find
etisserant@0:  *                   in this index. Look at the canopen standard for further
etisserant@0:  *                   information
etisserant@0:  *  \param pbData Pointer to the variable that holds the value that should
etisserant@0:  *                 be copied into the object dictionary
etisserant@0:  *  \param dwSize The size of the value (in Byte).
etisserant@0:  *  \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
etisserant@0:  *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
etisserant@0:  */
etisserant@0: UNS32 setODentry( CO_Data* d, 
etisserant@0:                   UNS16 wIndex,
etisserant@0: 		  UNS8 bSubindex, 
etisserant@0: 		  void * pSourceData, 
etisserant@0: 		  UNS8 * pExpectedSize, 
etisserant@0: 		  UNS8 checkAccess);
etisserant@0: 
etisserant@0: 
frdupin@71: /* Scan the index of object dictionary. Used only by setODentry and getODentry.
etisserant@0:  *  *errorCode :  OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
etisserant@0:  *  Return NULL if index not found. Else : return the table part of the object dictionary.
etisserant@0:  */
etisserant@0:  const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback);
etisserant@0: 
etisserant@0: UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback);
etisserant@0: 
frdupin@71: #endif /* __objacces_h__ */