diff -r 003cc3c63855 -r f49e5a6b7804 doc/doxygen/html/objacces_8h-source.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/doc/doxygen/html/objacces_8h-source.html Fri Jun 08 09:23:56 2007 +0200 @@ -0,0 +1,163 @@ + + +CanFestival: include/objacces.h Source File + + + + +
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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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