Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
-/** \file
- * \brief Responsible for accessing the object dictionary.
+/** @file
+ * @brief Responsible for accessing the object dictionary.
*
* This file contains functions for accessing the object dictionary and
* variables that are contained by the object dictionary.
* Accessing the object dictionary contains setting local variables
* as PDOs and accessing (read/write) all entries of the object dictionary
- * \warning Only the basic entries of an object dictionary are included
+ * @warning Only the basic entries of an object dictionary are included
* at the moment.
*/
+/** @defgroup od Object Dictionary Management
+ * @brief The Object Dictionary is the heart of each CANopen device containing all communication and application objects.
+ * @ingroup userapi
+ */
+
#ifndef __objacces_h__
#define __objacces_h__
#include <applicfg.h>
typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);
-typedef void (* storeODSubIndex_t)(UNS16 wIndex, UNS8 bSubindex);
-void _storeODSubIndex (UNS16 wIndex, UNS8 bSubindex);
-
-#include "data.h"
-
-
-
-/*
-Print MSG_WAR (s) if error to the access to the object dictionary occurs.
-You must uncomment the lines
-//#define DEBUG_CAN
-//#define DEBUG_WAR_CONSOLE_ON
-//#define DEBUG_ERR_CONSOLE_ON
-in the file objaccess.c
-sizeDataDict : Size of the data defined in the dictionary
-sizeDataGiven : Size data given by the user.
-code : error code to print. (SDO abort code. See file def.h)
-Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
-this function but we do not have the access to the right value. One example is
-getSDOerror(). So do not take attention to these variables if they are null.
-*/
+typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
+void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);
+/**
+ * @ingroup od
+ * @brief Print MSG_WAR (s) if error to the access to the object dictionary occurs.
+ *
+ * You must uncomment the lines in the file objaccess.c :\n
+ * //#define DEBUG_CAN\n
+ * //#define DEBUG_WAR_CONSOLE_ON\n
+ * //#define DEBUG_ERR_CONSOLE_ON\n\n
+ * Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use
+ * this function but we do not have the access to the right value. One example is
+ * getSDOerror(). So do not take attention to these variables if they are null.
+ * @param index
+ * @param subIndex
+ * @param sizeDataDict Size of the data defined in the dictionary
+ * @param sizeDataGiven Size data given by the user.
+ * @param code error code to print. (SDO abort code. See file def.h)
+ * @return
+ */
UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);
-/* Reads an entry from the object dictionary.\n
- * \code
- * // Example usage:
- * UNS8 *pbData;
- * UNS8 length;
- * UNS32 returnValue;
+/* _getODentry() Reads an entry from the object dictionary.\n
+ *
+ * use getODentry() macro to read from object and endianize
+ * use readLocalDict() macro to read from object and not endianize
*
- * returnValue = getODentry( (UNS16)0x100B, (UNS8)1,
- * (void * *)&pbData, (UNS8 *)&length );
- * if( returnValue != SUCCESSFUL )
- * {
- * // error handling
- * }
- * \endcode
- * \param wIndex The index in the object dictionary where you want to read
- * an entry
- * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
- * used to tell you how many valid entries you can find
- * in this index. Look at the canopen standard for further
- * information
- * \param ppbData Pointer to the pointer which points to the variable where
- * the value of this object dictionary entry should be copied
- * \param pdwSize This function writes the size of the copied value (in Byte)
- * into this variable.
- * \param pDataType : The type of the data. See objdictdef.h
- * \param CheckAccess if other than 0, do not read if the data is Write Only
- * [Not used today. Put always 0].
- * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ * @code
+ * // Example usage:
+ * UNS8 *pbData;
+ * UNS8 length;
+ * UNS32 returnValue;
+ *
+ * returnValue = getODentry( (UNS16)0x100B, (UNS8)1,
+ * (void * *)&pbData, (UNS8 *)&length );
+ * if( returnValue != SUCCESSFUL )
+ * {
+ * // error handling
+ * }
+ * @endcode
+ * @param *d Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to read
+ * an entry
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer on the type of the data. See objdictdef.h
+ * @param CheckAccess if other than 0, do not read if the data is Write Only
+ * [Not used today. Put always 0].
+ * @param Endianize When not 0, data is endianized into network byte order
+ * when 0, data is not endianized and copied in machine native
+ * endianness
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
*/
-UNS32 getODentry( CO_Data* d,
- UNS16 wIndex,
+UNS32 _getODentry( CO_Data* d,
+ UNS16 wIndex,
UNS8 bSubindex,
void * pDestData,
UNS8 * pExpectedSize,
UNS8 * pDataType,
- UNS8 checkAccess);
+ UNS8 checkAccess,
+ UNS8 endianize);
+/**
+ * @ingroup od
+ * @brief getODentry() to read from object and endianize
+ * @param OD Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to read
+ * an entry
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer on the type of the data. See objdictdef.h
+ * @param checkAccess if other than 0, do not read if the data is Write Only
+ * [Not used today. Put always 0].
+ * @param endianize Set to 1 : endianized into network byte order
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess) \
+ _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess, 1)
-/* By this function you can write an entry into the object dictionary\n
- * \code
- * // Example usage:
- * UNS8 B;
- * B = 0xFF; // set transmission type
- *
- * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
- * \endocde
- * \param wIndex The index in the object dictionary where you want to write
+/**
+ * @ingroup od
+ * @brief readLocalDict() reads an entry from the object dictionary, but in
+ * contrast to getODentry(), readLocalDict() doesn't endianize entry and reads
+ * entry in machine native endianness.
+ * @param OD Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to read
* an entry
- * \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
- * used to tell you how many valid entries you can find
- * in this index. Look at the canopen standard for further
- * information
- * \param pbData Pointer to the variable that holds the value that should
- * be copied into the object dictionary
- * \param dwSize The size of the value (in Byte).
- * \param CheckAccess if other than 0, do not read if the data is Read Only or Constant
- * \return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pDestData Pointer to the pointer which points to the variable where
+ * the value of this object dictionary entry should be copied
+ * @param pExpectedSize This function writes the size of the copied value (in Byte)
+ * into this variable.
+ * @param *pDataType Pointer on the type of the data. See objdictdef.h
+ * @param checkAccess if other than 0, do not read if the data is Write Only
+ * [Not used today. Put always 0].
+ * @param endianize Set to 0, data is not endianized and copied in machine native
+ * endianness
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess) \
+ _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
+ pDataType, checkAccess, 0)
+
+/**
+ * @brief By this function you can write an entry into the object dictionary
+ * @param *d Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to write
+ * an entry
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess if other than 0, do not read if the data is Read Only or Constant
+ * @param endianize When not 0, data is endianized into network byte order
+ * when 0, data is not endianized and copied in machine native
+ * endianness
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+UNS32 _setODentry( CO_Data* d,
+ UNS16 wIndex,
+ UNS8 bSubindex,
+ void * pSourceData,
+ UNS8 * pExpectedSize,
+ UNS8 checkAccess,
+ UNS8 endianize);
+
+/**
+ * @ingroup od
+ * @brief setODentry converts SourceData from network byte order to machine native
+ * format, and writes that to OD.
+ * @code
+ * // Example usage:
+ * UNS8 B;
+ * B = 0xFF; // set transmission type
+ *
+ * retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
+ * @endcode
+ * @param d Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to write
+ * an entry
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess if other than 0, do not read if the data is Read Only or Constant
+ * @param endianize Set to 1 : endianized into network byte order
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
*/
-UNS32 setODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pSourceData,
- UNS8 * pExpectedSize,
- UNS8 checkAccess);
+#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
+ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 1)
+
+/**
+ * @ingroup od
+ * @brief Writes machine native SourceData to OD.
+ * @code
+ * // Example usage:
+ * UNS8 B;
+ * B = 0xFF; // set transmission type
+ *
+ * retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
+ * @endcode
+ * @param d Pointer on a CAN object data structure
+ * @param wIndex The index in the object dictionary where you want to write
+ * an entry
+ * @param bSubindex The subindex of the Index. e.g. mostly subindex 0 is
+ * used to tell you how many valid entries you can find
+ * in this index. Look at the canopen standard for further
+ * information
+ * @param *pSourceData Pointer to the variable that holds the value that should
+ * be copied into the object dictionary
+ * @param *pExpectedSize The size of the value (in Byte).
+ * @param checkAccess if other than 0, do not read if the data is Read Only or Constant
+ * @param endianize Data is not endianized and copied in machine native endianness
+ * @return OD_SUCCESSFUL or SDO abort code. (See file def.h)
+ */
+#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \
+ _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)
+
-/* 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)
- * Return NULL if index not found. Else : return the table part of the object dictionary.
+/**
+ * @brief Scan the index of object dictionary. Used only by setODentry and getODentry.
+ * @param *d Pointer on a CAN object data structure
+ * @param wIndex
+ * @param *errorCode : OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
+ * @param **Callback
+ * @return NULL if index not found. Else : return the table part of the object dictionary.
*/
const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback);
projects / CanFestival-3.git / blobdiff