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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