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objacces.h

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00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00034 #ifndef __objacces_h__
-00035 #define __objacces_h__
-00036 
-00037 #include <applicfg.h>
-00038 
-00039 typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
-00040 typedef void (* storeODSubIndex_t)(UNS16 wIndex, UNS8 bSubindex);
-00041 void _storeODSubIndex (UNS16 wIndex, UNS8 bSubindex);
-00042 
-00043 #include "data.h"
-00044 
-00045 
-00046 
-00047 /*
-00048 Print MSG_WAR (s) if error to the access to the object dictionary occurs.
-00049 You must uncomment the lines
-00050 //#define DEBUG_CAN
-00051 //#define DEBUG_WAR_CONSOLE_ON
-00052 //#define DEBUG_ERR_CONSOLE_ON
-00053 in the file objaccess.c
-00054 sizeDataDict : Size of the data defined in the dictionary
-00055 sizeDataGiven : Size data given by the user.
-00056 code : error code to print. (SDO abort code. See file def.h)
-00057 Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
-00058 this function but we do not have the access to the right value. One example is
-00059 getSDOerror(). So do not take attention to these variables if they are null.
-00060 */
-00061 
-00062 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 
-00063                            UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
-00064 
-00065 
-00066 /* Reads an entry from the object dictionary.\n
-00067  *  \code
-00068  *  // Example usage:
-00069  *  UNS8  *pbData;
-00070  *  UNS8 length;
-00071  *  UNS32 returnValue;
-00072  *
-00073  *  returnValue = getODentry( (UNS16)0x100B, (UNS8)1, 
-00074  *  (void * *)&pbData, (UNS8 *)&length );
-00075  *  if( returnValue != SUCCESSFUL )
-00076  *  {
-00077  *      // error handling
-00078  *  }
-00079  *  \endcode 
-00080  *  \param wIndex The index in the object dictionary where you want to read
-00081  *                an entry
-00082  *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
-00083  *                   used to tell you how many valid entries you can find
-00084  *                   in this index. Look at the canopen standard for further
-00085  *                   information
-00086  *  \param ppbData Pointer to the pointer which points to the variable where
-00087  *                 the value of this object dictionary entry should be copied
-00088  *  \param pdwSize This function writes the size of the copied value (in Byte)
-00089  *                 into this variable.
-00090  *  \param pDataType : The type of the data. See objdictdef.h
-00091  *  \param CheckAccess if other than 0, do not read if the data is Write Only
-00092  *                     [Not used today. Put always 0].
-00093  *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
-00094  */
-00095 UNS32 getODentry( CO_Data* d, 
-00096                   UNS16 wIndex,
-00097                   UNS8 bSubindex,
-00098                   void * pDestData,
-00099                   UNS8 * pExpectedSize,
-00100                   UNS8 * pDataType,
-00101                   UNS8 checkAccess);
-00102 
-00103 
-00104 /* By this function you can write an entry into the object dictionary\n
-00105  *  \code
-00106  *  // Example usage:
-00107  *  UNS8 B;
-00108  *  B = 0xFF; // set transmission type
-00109  *
-00110  *  retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
-00111  *  \endocde
-00112  *  \param wIndex The index in the object dictionary where you want to write
-00113  *                an entry
-00114  *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
-00115  *                   used to tell you how many valid entries you can find
-00116  *                   in this index. Look at the canopen standard for further
-00117  *                   information
-00118  *  \param pbData Pointer to the variable that holds the value that should
-00119  *                 be copied into the object dictionary
-00120  *  \param dwSize The size of the value (in Byte).
-00121  *  \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
-00122  *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
-00123  */
-00124 UNS32 setODentry( CO_Data* d, 
-00125                   UNS16 wIndex,
-00126                   UNS8 bSubindex, 
-00127                   void * pSourceData, 
-00128                   UNS8 * pExpectedSize, 
-00129                   UNS8 checkAccess);
-00130 
-00131 /*The same, without endianisation*/
-00132 UNS32 writeLocalDict( CO_Data* d, 
-00133                   UNS16 wIndex,
-00134                   UNS8 bSubindex, 
-00135                   void * pSourceData, 
-00136                   UNS8 * pExpectedSize, 
-00137                   UNS8 checkAccess);
-00138 
-00139 
-00140 /* Scan the index of object dictionary. Used only by setODentry and getODentry.
-00141  *  *errorCode :  OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
-00142  *  Return NULL if index not found. Else : return the table part of the object dictionary.
-00143  */
-00144  const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback);
-00145 
-00146 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback);
-00147 
-00148 #endif /* __objacces_h__ */
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