diff -r 7d5c74cc8f91 -r 0a30e161d63c include/objacces.h --- a/include/objacces.h Thu Nov 20 07:51:14 2008 +0100 +++ b/include/objacces.h Sat Jan 17 17:25:58 2009 +0100 @@ -20,17 +20,21 @@ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -/** \file - * \brief Responsible for accessing the object dictionary. +/** @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 + * @warning Only the basic entries of an object dictionary are included * at the moment. */ +/** @defgroup od Object Dictionary Management + * @ingroup userapi + */ + #ifndef __objacces_h__ #define __objacces_h__ @@ -40,21 +44,24 @@ typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex); void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex); -/* -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. -*/ - +/** + * @ingroup od + * @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, UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code); @@ -64,36 +71,37 @@ * 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 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]. - * \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 or SDO abort code. (See file def.h) + * @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 on 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 on 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 or SDO abort code. (See file def.h) */ UNS32 _getODentry( CO_Data* d, UNS16 wIndex, @@ -104,40 +112,76 @@ UNS8 checkAccess, UNS8 endianize); +/** + * @ingroup od + * @brief getODentry() to read from object and endianize + * @param OD Pointer on 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 on 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 1 : endianized into network byte order + * @return OD_SUCCESSFUL or SDO abort code. (See file def.h) + */ #define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ pDataType, checkAccess) \ _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ pDataType, checkAccess, 1) -/* - * readLocalDict() reads an entry from the object dictionary, but in +/** + * @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. + * entry in machine native endianness. + * @param OD Pointer on 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 on 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 or SDO abort code. (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\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) +/** + * @brief By this function you can write an entry into the object dictionary + * @param *d Pointer on 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 if other than 0, do not read if the data is Read Only or Constant + * @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 or SDO abort code. (See file def.h) */ UNS32 _setODentry( CO_Data* d, UNS16 wIndex, @@ -147,24 +191,70 @@ UNS8 checkAccess, UNS8 endianize); -/* - * setODentry converts SourceData from network byte order to machine native - * format, and writes that to OD. +/** + * @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 on 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 if other than 0, do not read if the data is Read Only or Constant + * @param endianize Set to 1 : endianized into network byte order + * @return OD_SUCCESSFUL or SDO abort code. (See file def.h) */ #define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 1) -/* - * writeLocalDict writes machine native SourceData to OD. +/** + * @ingroup od + * @brief Writes machine native SourceData to OD. + * @code + * // Example usage: + * UNS8 B; + * B = 0xFF; // set transmission type + * + * retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 ); + * @endcode + * @param d Pointer on 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 if other than 0, do not read if the data is Read Only or Constant + * @param endianize Data is not endianized and copied in machine native endianness + * @return OD_SUCCESSFUL or SDO abort code. (See file def.h) */ #define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0) -/* 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. +/** + * @brief Scan the index of object dictionary. Used only by setODentry and getODentry. + * @param *d Pointer on 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);