# HG changeset patch
# User etisserant
# Date 1177426180 -7200
# Node ID e255529b6f7d14faac7f8e864152f3721191d3e5
# Parent  cd1638bc0cb0042784d6fbf1be5fe6c05df0478f
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.

diff -r cd1638bc0cb0 -r e255529b6f7d examples/TestMasterMicroMod/TestMasterMicroMod.c
--- a/examples/TestMasterMicroMod/TestMasterMicroMod.c	Tue Apr 24 16:16:03 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMasterMicroMod.c	Tue Apr 24 16:49:40 2007 +0200
@@ -63,7 +63,7 @@
 	/*****************************************
 	 * Define RPDOs to match slave ID=0x40 TPDOs*
 	 *****************************************/
-	setODentry( &TestMaster_Data, /*CO_Data* d*/
+	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 			0x1400, /*UNS16 index*/
 			0x01, /*UNS8 subind*/ 
 			&PDO1_COBID, /*void * pSourceData,*/ 
@@ -74,7 +74,7 @@
 	/*****************************************
 	 * Define TPDOs to match slave ID=0x40 RPDOs*
 	 *****************************************/
-	setODentry( &TestMaster_Data, /*CO_Data* d*/
+	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 			0x1800, /*UNS16 index*/
 			0x01, /*UNS8 subind*/ 
 			&PDO2_COBID, /*void * pSourceData,*/ 
diff -r cd1638bc0cb0 -r e255529b6f7d examples/TestMasterSlave/Master.c
--- a/examples/TestMasterSlave/Master.c	Tue Apr 24 16:16:03 2007 +0200
+++ b/examples/TestMasterSlave/Master.c	Tue Apr 24 16:49:40 2007 +0200
@@ -46,14 +46,14 @@
 	/*****************************************
 	 * Define RPDOs to match slave ID=2 TPDOs*
 	 *****************************************/
-	setODentry( &TestMaster_Data, /*CO_Data* d*/
+	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 			0x1400, /*UNS16 index*/
 			0x01, /*UNS8 subind*/ 
 			&PDO1_COBID, /*void * pSourceData,*/ 
 			&size, /* UNS8 * pExpectedSize*/
 			RW);  /* UNS8 checkAccess */
 			
-	setODentry( &TestMaster_Data, /*CO_Data* d*/
+	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 			0x1401, /*UNS16 index*/
 			0x01, /*UNS8 subind*/ 
 			&PDO2_COBID, /*void * pSourceData,*/ 
diff -r cd1638bc0cb0 -r e255529b6f7d examples/win32test/main.c
--- a/examples/win32test/main.c	Tue Apr 24 16:16:03 2007 +0200
+++ b/examples/win32test/main.c	Tue Apr 24 16:49:40 2007 +0200
@@ -134,9 +134,9 @@
          UNS32 Node_ID_of_the_SDO_Server = node_id;
          UNS8 ExpectedSize = sizeof (UNS32);
 
-         if (OD_SUCCESSFUL ==  setODentry(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW) 
-              && OD_SUCCESSFUL ==  setODentry(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW) 
-              && OD_SUCCESSFUL ==  setODentry(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
+         if (OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW) 
+              && OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW) 
+              && OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
             {
             UNS32 dev_type = 0;
             char device_name[64]="";
diff -r cd1638bc0cb0 -r e255529b6f7d include/objacces.h
--- a/include/objacces.h	Tue Apr 24 16:16:03 2007 +0200
+++ b/include/objacces.h	Tue Apr 24 16:49:40 2007 +0200
@@ -128,6 +128,14 @@
 		  UNS8 * pExpectedSize, 
 		  UNS8 checkAccess);
 
+/*The same, without endianisation*/
+UNS32 writeLocalDict( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex, 
+		  void * pSourceData, 
+		  UNS8 * pExpectedSize, 
+		  UNS8 checkAccess);
+
 
 /* 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)
diff -r cd1638bc0cb0 -r e255529b6f7d src/objacces.c
--- a/src/objacces.c	Tue Apr 24 16:16:03 2007 +0200
+++ b/src/objacces.c	Tue Apr 24 16:49:40 2007 +0200
@@ -65,13 +65,14 @@
 }	
 
 
-UNS32 getODentry( CO_Data* d, 
+UNS32 _getODentry( CO_Data* d, 
                   UNS16 wIndex,
 		  UNS8 bSubindex,
 		  void * pDestData,
 		  UNS8 * pExpectedSize,
 		  UNS8 * pDataType,
-		  UNS8 checkAccess)
+		  UNS8 checkAccess,
+		  UNS8 endianize)
 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */
   UNS32 errorCode;
   UNS8 szData;
@@ -102,7 +103,7 @@
   	(*pDataType == visible_string && *pExpectedSize < szData)) {/* We allow to fetch a shorter string than expected */
      
 #  ifdef CANOPEN_BIG_ENDIAN
-     if(*pDataType > boolean && *pDataType < visible_string) {
+     if(endianize && *pDataType > boolean && *pDataType < visible_string) {
        /* data must be transmited with low byte first */
        UNS8 i, j = 0;
        MSG_WAR(boolean, "data type ", *pDataType);
@@ -141,12 +142,49 @@
    }
 }
 
-UNS32 setODentry( CO_Data* d, 
+UNS32 getODentry( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex,
+		  void * pDestData,
+		  UNS8 * pExpectedSize,
+		  UNS8 * pDataType,
+		  UNS8 checkAccess)
+{
+	return _getODentry( d, 
+                  wIndex,
+		  bSubindex,
+		  pDestData,
+		  pExpectedSize,
+		  pDataType,
+		  checkAccess,
+		  1);//endianize
+}
+
+UNS32 readLocalDict( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex,
+		  void * pDestData,
+		  UNS8 * pExpectedSize,
+		  UNS8 * pDataType,
+		  UNS8 checkAccess)
+{
+		return _getODentry( d, 
+                  wIndex,
+		  bSubindex,
+		  pDestData,
+		  pExpectedSize,
+		  pDataType,
+		  checkAccess,
+		  0);//do not endianize
+}
+
+UNS32 _setODentry( CO_Data* d, 
                   UNS16 wIndex,
 		  UNS8 bSubindex, 
 		  void * pSourceData, 
 		  UNS8 * pExpectedSize, 
-		  UNS8 checkAccess)
+		  UNS8 checkAccess,
+		  UNS8 endianize)
 {
   UNS8 szData;
   UNS8 dataType;
@@ -178,7 +216,7 @@
   	(dataType == visible_string && *pExpectedSize < szData)) /* We allow to store a shorter string than entry size */
   {
       #ifdef CANOPEN_BIG_ENDIAN
-	      if(dataType > boolean && dataType < visible_string)
+	      if(endianize && dataType > boolean && dataType < visible_string)
 	      {
 			/* we invert the data source directly. This let us do range testing without */
 			/* additional temp variable */
@@ -216,6 +254,40 @@
   }
 }
 
+UNS32 setODentry( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex, 
+		  void * pSourceData, 
+		  UNS8 * pExpectedSize, 
+		  UNS8 checkAccess)
+{
+	return _setODentry( d, 
+                  wIndex,
+		  bSubindex, 
+		  pSourceData, 
+		  pExpectedSize, 
+		  checkAccess,
+		  1);//endianize
+}
+
+UNS32 writeLocalDict( CO_Data* d, 
+                  UNS16 wIndex,
+		  UNS8 bSubindex, 
+		  void * pSourceData, 
+		  UNS8 * pExpectedSize, 
+		  UNS8 checkAccess)
+{
+	return _setODentry( d, 
+                  wIndex,
+		  bSubindex, 
+		  pSourceData, 
+		  pExpectedSize, 
+		  checkAccess,
+		  0);//do not endianize
+}
+
+
+
 
 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
 {
diff -r cd1638bc0cb0 -r e255529b6f7d src/win32/CanFestival-3.def
--- a/src/win32/CanFestival-3.def	Tue Apr 24 16:16:03 2007 +0200
+++ b/src/win32/CanFestival-3.def	Tue Apr 24 16:49:40 2007 +0200
@@ -15,6 +15,8 @@
         accessDictionaryError
         getODentry
         setODentry
+        writeLocalDict
+        readLocalDict
         scanIndexOD
         RegisterSetODentryCallBack
         sendPDO