2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Edouard TISSERANT and Francis DUPIN
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
24 * \brief Responsible for accessing the object dictionary.
26 * This file contains functions for accessing the object dictionary and
27 * variables that are contained by the object dictionary.
28 * Accessing the object dictionary contains setting local variables
29 * as PDOs and accessing (read/write) all entries of the object dictionary
30 * \warning Only the basic entries of an object dictionary are included
34 #ifndef __objacces_h__
35 #define __objacces_h__
39 typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
40 typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
41 void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
44 Print MSG_WAR (s) if error to the access to the object dictionary occurs.
45 You must uncomment the lines
47 //#define DEBUG_WAR_CONSOLE_ON
48 //#define DEBUG_ERR_CONSOLE_ON
49 in the file objaccess.c
50 sizeDataDict : Size of the data defined in the dictionary
51 sizeDataGiven : Size data given by the user.
52 code : error code to print. (SDO abort code. See file def.h)
53 Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
54 this function but we do not have the access to the right value. One example is
55 getSDOerror(). So do not take attention to these variables if they are null.
58 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
59 UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
62 /* _getODentry() Reads an entry from the object dictionary.\n
64 * use getODentry() macro to read from object and endianize
65 * use readLocalDict() macro to read from object and not endianize
73 * returnValue = getODentry( (UNS16)0x100B, (UNS8)1,
74 * (void * *)&pbData, (UNS8 *)&length );
75 * if( returnValue != SUCCESSFUL )
80 * \param wIndex The index in the object dictionary where you want to read
82 * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
83 * used to tell you how many valid entries you can find
84 * in this index. Look at the canopen standard for further
86 * \param ppbData Pointer to the pointer which points to the variable where
87 * the value of this object dictionary entry should be copied
88 * \param pdwSize This function writes the size of the copied value (in Byte)
90 * \param pDataType : The type of the data. See objdictdef.h
91 * \param CheckAccess if other than 0, do not read if the data is Write Only
92 * [Not used today. Put always 0].
93 * \param Endianize when not 0, data is endianized into network byte order
94 * when 0, data is not endianized and copied in machine native
96 * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
98 UNS32 _getODentry( CO_Data* d,
102 UNS8 * pExpectedSize,
107 #define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
108 pDataType, checkAccess) \
109 _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
110 pDataType, checkAccess, 1)
113 * readLocalDict() reads an entry from the object dictionary, but in
114 * contrast to getODentry(), readLocalDict() doesn't endianize entry and reads
115 * entry in machine native endianness.
117 #define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
118 pDataType, checkAccess) \
119 _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
120 pDataType, checkAccess, 0)
122 /* By this function you can write an entry into the object dictionary\n
126 * B = 0xFF; // set transmission type
128 * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
130 * \param wIndex The index in the object dictionary where you want to write
132 * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
133 * used to tell you how many valid entries you can find
134 * in this index. Look at the canopen standard for further
136 * \param pbData Pointer to the variable that holds the value that should
137 * be copied into the object dictionary
138 * \param dwSize The size of the value (in Byte).
139 * \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
140 * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
142 UNS32 _setODentry( CO_Data* d,
146 UNS8 * pExpectedSize,
151 * setODentry converts SourceData from network byte order to machine native
152 * format, and writes that to OD.
154 #define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
155 _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 1)
158 * writeLocalDict writes machine native SourceData to OD.
160 #define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
161 _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)
165 /* Scan the index of object dictionary. Used only by setODentry and getODentry.
166 * *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
167 * Return NULL if index not found. Else : return the table part of the object dictionary.
169 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback);
171 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback);
173 #endif /* __objacces_h__ */