Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
--- 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,*/
--- 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,*/
--- 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]="";--- 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)
--- 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)
{--- 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