/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
+ This file is part of CanFestival, a library implementing CanOpen
+ Stack.
-Copyright (C): Edouard TISSERANT and Francis DUPIN
+ Copyright (C): Edouard TISSERANT and Francis DUPIN
-See COPYING file for copyrights details.
+ See COPYING file for copyrights details.
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
+ USA
*/
+/*!
+** @file objacces.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date Tue Jun 5 08:55:23 2007
+**
+** @brief
+**
+**
+*/
+
+
+
/* #define DEBUG_WAR_CONSOLE_ON */
/* #define DEBUG_ERR_CONSOLE_ON */
-#include "objacces.h"
+#include "data.h"
+/*!
+**
+**
+** @param index
+** @param subIndex
+** @param sizeDataDict
+** @param sizeDataGiven
+** @param code
+**
+** @return
+**/
#ifdef DEBUG_WAR_CONSOLE_ON
-UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
- UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
+UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
+ UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
{
MSG_WAR(0x2B09,"Dictionary index : ", index);
MSG_WAR(0X2B10," subindex : ", subIndex);
switch (code) {
- case OD_NO_SUCH_OBJECT:
- MSG_WAR(0x2B11,"Index not found ", index);
- break;
- case OD_NO_SUCH_SUBINDEX :
- MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
- break;
- case OD_WRITE_NOT_ALLOWED :
- MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
- break;
- case OD_LENGTH_DATA_INVALID :
- MSG_WAR(0x2B14,"Conflict size data. Should be (bytes) : ", sizeDataDict);
- MSG_WAR(0x2B15,"But you have given the size : ", sizeDataGiven);
- break;
- case OD_NOT_MAPPABLE :
- MSG_WAR(0x2B16,"Not mappable data in a PDO at index : ", index);
- break;
- case OD_VALUE_TOO_LOW :
- MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
- break;
- case OD_VALUE_TOO_HIGH :
- MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
- break;
+ case OD_NO_SUCH_OBJECT:
+ MSG_WAR(0x2B11,"Index not found ", index);
+ break;
+ case OD_NO_SUCH_SUBINDEX :
+ MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
+ break;
+ case OD_WRITE_NOT_ALLOWED :
+ MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
+ break;
+ case OD_LENGTH_DATA_INVALID :
+ MSG_WAR(0x2B14,"Conflict size data. Should be (bytes) : ", sizeDataDict);
+ MSG_WAR(0x2B15,"But you have given the size : ", sizeDataGiven);
+ break;
+ case OD_NOT_MAPPABLE :
+ MSG_WAR(0x2B16,"Not mappable data in a PDO at index : ", index);
+ break;
+ case OD_VALUE_TOO_LOW :
+ MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
+ break;
+ case OD_VALUE_TOO_HIGH :
+ MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
+ break;
default :
MSG_WAR(0x2B20, "Unknown error code : ", code);
}
- return 0;
-}
+ return 0;
+}
+#else
+#define accessDictionaryError(index, subIndex, sizeDataDict, sizeDataGiven, code)
#endif
-UNS32 getODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pDestData,
- UNS8 * pExpectedSize,
- UNS8 * pDataType,
- UNS8 checkAccess)
-{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */
+/*!
+**
+**
+** @param d
+** @param wIndex
+** @param bSubindex
+** @param pDestData
+** @param pExpectedSize
+** @param pDataType
+** @param checkAccess
+** @param endianize
+**
+** @return
+**/
+UNS32 _getODentry( CO_Data* d,
+ UNS16 wIndex,
+ UNS8 bSubindex,
+ void * pDestData,
+ UNS8 * pExpectedSize,
+ UNS8 * pDataType,
+ 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;
const indextable *ptrTable;
accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
return OD_NO_SUCH_SUBINDEX;
}
-
- if (checkAccess && !(ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
- MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
- accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);
+
+ if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
+ MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
+ accessDictionaryError(wIndex, bSubindex, 0, 0, OD_READ_NOT_ALLOWED);
return OD_READ_NOT_ALLOWED;
}
*pDataType = ptrTable->pSubindex[bSubindex].bDataType;
- szData = ptrTable->pSubindex[bSubindex].size;
+ szData = ptrTable->pSubindex[bSubindex].size;
+
+ if(*pExpectedSize == 0 ||
+ *pExpectedSize == szData ||
+ /* allow to fetch a shorter string than expected */
+ (*pDataType >= visible_string && *pExpectedSize < szData)) {
- if( *pExpectedSize == 0 ||
- *pExpectedSize == szData ||
- (*pDataType == visible_string && *pExpectedSize < szData)) {/* We allow to fetch a shorter string than expected */
-
# ifdef CANOPEN_BIG_ENDIAN
- if(*pDataType > boolean && *pDataType < visible_string) {
- /* data must be transmited with low byte first */
- UNS8 i, j = 0;
- MSG_WAR(boolean, "data type ", *pDataType);
- MSG_WAR(visible_string, "data type ", *pDataType);
- for ( i = szData ; i > 0 ; i--) {
- MSG_WAR(i," ", j);
- ((UNS8*)pDestData)[j++] =
- ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
- }
- }
- else /* It it is a visible string no endianisation to perform */
- memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
-# else
- memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
+ if(endianize && *pDataType > boolean && !(
+ *pDataType >= visible_string &&
+ *pDataType <= domain)) {
+ /* data must be transmited with low byte first */
+ UNS8 i, j = 0;
+ MSG_WAR(boolean, "data type ", *pDataType);
+ MSG_WAR(visible_string, "data type ", *pDataType);
+ for ( i = szData ; i > 0 ; i--) {
+ MSG_WAR(i," ", j);
+ ((UNS8*)pDestData)[j++] =
+ ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
+ }
+ *pExpectedSize = szData;
+ }
+ else /* no endianisation change */
# endif
-
- *pExpectedSize = szData;
-#if 0
- /* Me laisser ça, please ! (FD) */
- {
- UNS8 i;
- for (i = 0 ; i < 10 ; i++) {
- MSG_WAR(*pExpectedSize, "dic data= ",
- *(UNS8 *)(ptrTable->pSubindex[bSubindex].pObject + i));
- }
-
- }
-#endif
- return OD_SUCCESSFUL;
- }
- else { /* Error ! */
- *pExpectedSize = szData;
- accessDictionaryError(wIndex, bSubindex, szData,
- *pExpectedSize, OD_LENGTH_DATA_INVALID);
- return OD_LENGTH_DATA_INVALID;
- }
+ if(*pDataType != visible_string) {
+ memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
+ *pExpectedSize = szData;
+ }else{
+ /* TODO : CONFORM TO DS-301 :
+ * - stop using NULL terminated strings
+ * - store string size in td_subindex
+ * */
+ /* Copy null terminated string to user, and return discovered size */
+ UNS8 *ptr = (UNS8*)ptrTable->pSubindex[bSubindex].pObject;
+ UNS8 *ptr_start = ptr;
+ /* *pExpectedSize IS < szData . if null, use szData */
+ UNS8 *ptr_end = ptr + (*pExpectedSize ? *pExpectedSize : szData) ;
+ UNS8 *ptr_dest = (UNS8*)pDestData;
+ while( *ptr && ptr < ptr_end){
+ *(ptr_dest++) = *(ptr++);
+ }
+
+ *pExpectedSize = ptr - ptr_start;
+ /* terminate string if not maximum length */
+ if (*pExpectedSize < szData)
+ *(ptr) = 0;
+ }
+
+ return OD_SUCCESSFUL;
+ }
+ else { /* Error ! */
+ *pExpectedSize = szData;
+ accessDictionaryError(wIndex, bSubindex, szData,
+ *pExpectedSize, OD_LENGTH_DATA_INVALID);
+ return OD_LENGTH_DATA_INVALID;
+ }
}
-UNS32 setODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pSourceData,
- UNS8 * pExpectedSize,
- UNS8 checkAccess)
+/*!
+**
+**
+** @param d
+** @param wIndex
+** @param bSubindex
+** @param pSourceData
+** @param pExpectedSize
+** @param checkAccess
+** @param endianize
+**
+** @return
+**/
+UNS32 _setODentry( CO_Data* d,
+ UNS16 wIndex,
+ UNS8 bSubindex,
+ void * pSourceData,
+ UNS8 * pExpectedSize,
+ UNS8 checkAccess,
+ UNS8 endianize)
{
UNS8 szData;
UNS8 dataType;
return OD_NO_SUCH_SUBINDEX;
}
if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
- MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
+ MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
return OD_WRITE_NOT_ALLOWED;
}
- dataType = ptrTable->pSubindex[bSubindex].bDataType;
- szData = ptrTable->pSubindex[bSubindex].size;
+ dataType = ptrTable->pSubindex[bSubindex].bDataType;
+ szData = ptrTable->pSubindex[bSubindex].size;
if( *pExpectedSize == 0 ||
- *pExpectedSize == szData ||
- (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)
- {
- /* we invert the data source directly. This let us do range testing without */
- /* additional temp variable */
- UNS8 i;
- for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1) ; i++)
- {
- UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
- ((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
- ((UNS8 *)pSourceData)[i] = tmp;
- }
- }
- #endif
+ *pExpectedSize == szData ||
+ /* allow to store a shorter string than entry size */
+ (dataType == visible_string && *pExpectedSize < szData))
+ {
+#ifdef CANOPEN_BIG_ENDIAN
+ /* re-endianize do not occur for bool, strings time and domains */
+ if(endianize && dataType > boolean && !(
+ dataType >= visible_string &&
+ dataType <= domain))
+ {
+ /* we invert the data source directly. This let us do range
+ testing without */
+ /* additional temp variable */
+ UNS8 i;
+ for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1) ; i++)
+ {
+ UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
+ ((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
+ ((UNS8 *)pSourceData)[i] = tmp;
+ }
+ }
+#endif
errorCode = (*d->valueRangeTest)(dataType, pSourceData);
if (errorCode) {
- accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
- return errorCode;
+ accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
+ return errorCode;
}
memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
- *pExpectedSize = szData;
+ /* TODO : CONFORM TO DS-301 :
+ * - stop using NULL terminated strings
+ * - store string size in td_subindex
+ * */
+ /* terminate visible_string with '\0' */
+ if(dataType == visible_string && *pExpectedSize < szData)
+ ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[*pExpectedSize] = 0;
+ *pExpectedSize = szData;
+
/* Callbacks */
if(Callback && Callback[bSubindex]){
- (*Callback[bSubindex])(d, ptrTable, bSubindex);
+ errorCode = (Callback[bSubindex])(d, ptrTable, bSubindex);
+ if(errorCode != OD_SUCCESSFUL)
+ {
+ return errorCode;
+ }
+ }
+
+ /* TODO : Store dans NVRAM */
+ if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
+ (*d->storeODSubIndex)(d, wIndex, bSubindex);
}
-
- /* TODO : Store dans NVRAM */
- /* if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVED) */
return OD_SUCCESSFUL;
- }else{
+ }else{
*pExpectedSize = szData;
accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
return OD_LENGTH_DATA_INVALID;
- }
+ }
}
-
+/*!
+**
+**
+** @param d
+** @param wIndex
+** @param errorCode
+** @param Callback
+**
+** @return
+**/
const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
{
return (*d->scanIndexOD)(wIndex, errorCode, Callback);
}
+/*!
+**
+**
+** @param d
+** @param wIndex
+** @param bSubindex
+** @param Callback
+**
+** @return
+**/
UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
{
- UNS32 errorCode;
- ODCallback_t *CallbackList;
+UNS32 errorCode;
+ODCallback_t *CallbackList;
+const indextable *odentry;
- scanIndexOD (d, wIndex, &errorCode, &CallbackList);
- if(errorCode == OD_SUCCESSFUL && CallbackList)
- CallbackList[bSubindex] = Callback;
- return errorCode;
+ odentry = scanIndexOD (d, wIndex, &errorCode, &CallbackList);
+ if(errorCode == OD_SUCCESSFUL && CallbackList && bSubindex < odentry->bSubCount)
+ CallbackList[bSubindex] = Callback;
+ return errorCode;
}
-
+/*!
+**
+**
+** @param wIndex
+** @param bSubindex
+**/
+void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex){}
projects / CanFestival-3.git / blobdiff