Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

framework/src/objacces.c@7:537bae5a6fc6, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:48:14 2012 +0000
Revision:
7:537bae5a6fc6
Parent:
0:9dd7c6129683 
Pushing the project into the new repo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1 /*
sam_grove 0:9dd7c6129683 2 This file is part of CanFestival, a library implementing CanOpen
sam_grove 0:9dd7c6129683 3 Stack.
sam_grove 0:9dd7c6129683 4
sam_grove 0:9dd7c6129683 5 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 6
sam_grove 0:9dd7c6129683 7 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 8
sam_grove 0:9dd7c6129683 9 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 10 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 11 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 12 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 13
sam_grove 0:9dd7c6129683 14 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 15 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 17 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 18
sam_grove 0:9dd7c6129683 19 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 20 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
sam_grove 0:9dd7c6129683 22 USA
sam_grove 0:9dd7c6129683 23 */
sam_grove 0:9dd7c6129683 24 /*!
sam_grove 0:9dd7c6129683 25 ** @file objacces.c
sam_grove 0:9dd7c6129683 26 ** @author Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 27 ** @date Tue Jun 5 08:55:23 2007
sam_grove 0:9dd7c6129683 28 **
sam_grove 0:9dd7c6129683 29 ** @brief
sam_grove 0:9dd7c6129683 30 **
sam_grove 0:9dd7c6129683 31 **
sam_grove 0:9dd7c6129683 32 */
sam_grove 0:9dd7c6129683 33
sam_grove 0:9dd7c6129683 34
sam_grove 0:9dd7c6129683 35
sam_grove 0:9dd7c6129683 36
sam_grove 0:9dd7c6129683 37 /* #define DEBUG_WAR_CONSOLE_ON */
sam_grove 0:9dd7c6129683 38 /* #define DEBUG_ERR_CONSOLE_ON */
sam_grove 0:9dd7c6129683 39
sam_grove 0:9dd7c6129683 40
sam_grove 0:9dd7c6129683 41 #include "data.h"
sam_grove 0:9dd7c6129683 42
sam_grove 0:9dd7c6129683 43 //We need the function implementation for linking
sam_grove 0:9dd7c6129683 44 //Only a placeholder with a define isnt enough!
sam_grove 0:9dd7c6129683 45 UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
sam_grove 0:9dd7c6129683 46 UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code)
sam_grove 0:9dd7c6129683 47 {
sam_grove 0:9dd7c6129683 48 #ifdef DEBUG_WAR_CONSOLE_ON
sam_grove 0:9dd7c6129683 49 MSG_WAR(0x2B09,"Dictionary index : ", index);
sam_grove 0:9dd7c6129683 50 MSG_WAR(0X2B10," subindex : ", subIndex);
sam_grove 0:9dd7c6129683 51 switch (code) {
sam_grove 0:9dd7c6129683 52 case OD_NO_SUCH_OBJECT:
sam_grove 0:9dd7c6129683 53 MSG_WAR(0x2B11,"Index not found ", index);
sam_grove 0:9dd7c6129683 54 break;
sam_grove 0:9dd7c6129683 55 case OD_NO_SUCH_SUBINDEX :
sam_grove 0:9dd7c6129683 56 MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
sam_grove 0:9dd7c6129683 57 break;
sam_grove 0:9dd7c6129683 58 case OD_WRITE_NOT_ALLOWED :
sam_grove 0:9dd7c6129683 59 MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
sam_grove 0:9dd7c6129683 60 break;
sam_grove 0:9dd7c6129683 61 case OD_LENGTH_DATA_INVALID :
sam_grove 0:9dd7c6129683 62 MSG_WAR(0x2B14,"Conflict size data. Should be (bytes) : ", sizeDataDict);
sam_grove 0:9dd7c6129683 63 MSG_WAR(0x2B15,"But you have given the size : ", sizeDataGiven);
sam_grove 0:9dd7c6129683 64 break;
sam_grove 0:9dd7c6129683 65 case OD_NOT_MAPPABLE :
sam_grove 0:9dd7c6129683 66 MSG_WAR(0x2B16,"Not mappable data in a PDO at index : ", index);
sam_grove 0:9dd7c6129683 67 break;
sam_grove 0:9dd7c6129683 68 case OD_VALUE_TOO_LOW :
sam_grove 0:9dd7c6129683 69 MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
sam_grove 0:9dd7c6129683 70 break;
sam_grove 0:9dd7c6129683 71 case OD_VALUE_TOO_HIGH :
sam_grove 0:9dd7c6129683 72 MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
sam_grove 0:9dd7c6129683 73 break;
sam_grove 0:9dd7c6129683 74 default :
sam_grove 0:9dd7c6129683 75 MSG_WAR(0x2B20, "Unknown error code : ", code);
sam_grove 0:9dd7c6129683 76 }
sam_grove 0:9dd7c6129683 77 #endif
sam_grove 0:9dd7c6129683 78
sam_grove 0:9dd7c6129683 79 return 0;
sam_grove 0:9dd7c6129683 80 }
sam_grove 0:9dd7c6129683 81
sam_grove 0:9dd7c6129683 82 UNS32 _getODentry( CO_Data* d,
sam_grove 0:9dd7c6129683 83 UNS16 wIndex,
sam_grove 0:9dd7c6129683 84 UNS8 bSubindex,
sam_grove 0:9dd7c6129683 85 void * pDestData,
sam_grove 0:9dd7c6129683 86 UNS32 * pExpectedSize,
sam_grove 0:9dd7c6129683 87 UNS8 * pDataType,
sam_grove 0:9dd7c6129683 88 UNS8 checkAccess,
sam_grove 0:9dd7c6129683 89 UNS8 endianize)
sam_grove 0:9dd7c6129683 90 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
sam_grove 0:9dd7c6129683 91 loop if it fails. */
sam_grove 0:9dd7c6129683 92 UNS32 errorCode;
sam_grove 0:9dd7c6129683 93 UNS32 szData;
sam_grove 0:9dd7c6129683 94 const indextable *ptrTable;
sam_grove 0:9dd7c6129683 95 ODCallback_t *Callback;
sam_grove 0:9dd7c6129683 96
sam_grove 0:9dd7c6129683 97 ptrTable = (*d->scanIndexOD)(wIndex, &errorCode, &Callback);
sam_grove 0:9dd7c6129683 98
sam_grove 0:9dd7c6129683 99 if (errorCode != OD_SUCCESSFUL)
sam_grove 0:9dd7c6129683 100 return errorCode;
sam_grove 0:9dd7c6129683 101 if( ptrTable->bSubCount <= bSubindex ) {
sam_grove 0:9dd7c6129683 102 /* Subindex not found */
sam_grove 0:9dd7c6129683 103 accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
sam_grove 0:9dd7c6129683 104 return OD_NO_SUCH_SUBINDEX;
sam_grove 0:9dd7c6129683 105 }
sam_grove 0:9dd7c6129683 106
sam_grove 0:9dd7c6129683 107 if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
sam_grove 0:9dd7c6129683 108 MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
sam_grove 0:9dd7c6129683 109 accessDictionaryError(wIndex, bSubindex, 0, 0, OD_READ_NOT_ALLOWED);
sam_grove 0:9dd7c6129683 110 return OD_READ_NOT_ALLOWED;
sam_grove 0:9dd7c6129683 111 }
sam_grove 0:9dd7c6129683 112
sam_grove 0:9dd7c6129683 113 *pDataType = ptrTable->pSubindex[bSubindex].bDataType;
sam_grove 0:9dd7c6129683 114 szData = ptrTable->pSubindex[bSubindex].size;
sam_grove 0:9dd7c6129683 115
sam_grove 0:9dd7c6129683 116 if(*pExpectedSize == 0 ||
sam_grove 0:9dd7c6129683 117 *pExpectedSize == szData ||
sam_grove 0:9dd7c6129683 118 /* allow to fetch a shorter string than expected */
sam_grove 0:9dd7c6129683 119 (*pDataType >= visible_string && *pExpectedSize < szData)) {
sam_grove 0:9dd7c6129683 120
sam_grove 0:9dd7c6129683 121 # ifdef CANOPEN_BIG_ENDIAN
sam_grove 0:9dd7c6129683 122 if(endianize && *pDataType > boolean && !(
sam_grove 0:9dd7c6129683 123 *pDataType >= visible_string &&
sam_grove 0:9dd7c6129683 124 *pDataType <= domain)) {
sam_grove 0:9dd7c6129683 125 /* data must be transmited with low byte first */
sam_grove 0:9dd7c6129683 126 UNS8 i, j = 0;
sam_grove 0:9dd7c6129683 127 MSG_WAR(boolean, "data type ", *pDataType);
sam_grove 0:9dd7c6129683 128 MSG_WAR(visible_string, "data type ", *pDataType);
sam_grove 0:9dd7c6129683 129 for ( i = szData ; i > 0 ; i--) {
sam_grove 0:9dd7c6129683 130 MSG_WAR(i," ", j);
sam_grove 0:9dd7c6129683 131 ((UNS8*)pDestData)[j++] =
sam_grove 0:9dd7c6129683 132 ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
sam_grove 0:9dd7c6129683 133 }
sam_grove 0:9dd7c6129683 134 *pExpectedSize = szData;
sam_grove 0:9dd7c6129683 135 }
sam_grove 0:9dd7c6129683 136 else /* no endianisation change */
sam_grove 0:9dd7c6129683 137 # endif
sam_grove 0:9dd7c6129683 138 if(*pDataType != visible_string) {
sam_grove 0:9dd7c6129683 139 memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
sam_grove 0:9dd7c6129683 140 *pExpectedSize = szData;
sam_grove 0:9dd7c6129683 141 }else{
sam_grove 0:9dd7c6129683 142 /* TODO : CONFORM TO DS-301 :
sam_grove 0:9dd7c6129683 143 * - stop using NULL terminated strings
sam_grove 0:9dd7c6129683 144 * - store string size in td_subindex
sam_grove 0:9dd7c6129683 145 * */
sam_grove 0:9dd7c6129683 146 /* Copy null terminated string to user, and return discovered size */
sam_grove 0:9dd7c6129683 147 UNS8 *ptr = (UNS8*)ptrTable->pSubindex[bSubindex].pObject;
sam_grove 0:9dd7c6129683 148 UNS8 *ptr_start = ptr;
sam_grove 0:9dd7c6129683 149 /* *pExpectedSize IS < szData . if null, use szData */
sam_grove 0:9dd7c6129683 150 UNS8 *ptr_end = ptr + (*pExpectedSize ? *pExpectedSize : szData) ;
sam_grove 0:9dd7c6129683 151 UNS8 *ptr_dest = (UNS8*)pDestData;
sam_grove 0:9dd7c6129683 152 while( *ptr && ptr < ptr_end){
sam_grove 0:9dd7c6129683 153 *(ptr_dest++) = *(ptr++);
sam_grove 0:9dd7c6129683 154 }
sam_grove 0:9dd7c6129683 155
sam_grove 0:9dd7c6129683 156 *pExpectedSize = (UNS32) (ptr - ptr_start);
sam_grove 0:9dd7c6129683 157 /* terminate string if not maximum length */
sam_grove 0:9dd7c6129683 158 if (*pExpectedSize < szData)
sam_grove 0:9dd7c6129683 159 *(ptr) = 0;
sam_grove 0:9dd7c6129683 160 }
sam_grove 0:9dd7c6129683 161
sam_grove 0:9dd7c6129683 162 return OD_SUCCESSFUL;
sam_grove 0:9dd7c6129683 163 }
sam_grove 0:9dd7c6129683 164 else { /* Error ! */
sam_grove 0:9dd7c6129683 165 *pExpectedSize = szData;
sam_grove 0:9dd7c6129683 166 accessDictionaryError(wIndex, bSubindex, szData,
sam_grove 0:9dd7c6129683 167 *pExpectedSize, OD_LENGTH_DATA_INVALID);
sam_grove 0:9dd7c6129683 168 return OD_LENGTH_DATA_INVALID;
sam_grove 0:9dd7c6129683 169 }
sam_grove 0:9dd7c6129683 170 }
sam_grove 0:9dd7c6129683 171
sam_grove 0:9dd7c6129683 172 UNS32 _setODentry( CO_Data* d,
sam_grove 0:9dd7c6129683 173 UNS16 wIndex,
sam_grove 0:9dd7c6129683 174 UNS8 bSubindex,
sam_grove 0:9dd7c6129683 175 void * pSourceData,
sam_grove 0:9dd7c6129683 176 UNS32 * pExpectedSize,
sam_grove 0:9dd7c6129683 177 UNS8 checkAccess,
sam_grove 0:9dd7c6129683 178 UNS8 endianize)
sam_grove 0:9dd7c6129683 179 {
sam_grove 0:9dd7c6129683 180 UNS32 szData;
sam_grove 0:9dd7c6129683 181 UNS8 dataType;
sam_grove 0:9dd7c6129683 182 UNS32 errorCode;
sam_grove 0:9dd7c6129683 183 const indextable *ptrTable;
sam_grove 0:9dd7c6129683 184 ODCallback_t *Callback;
sam_grove 0:9dd7c6129683 185
sam_grove 0:9dd7c6129683 186 ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
sam_grove 0:9dd7c6129683 187 if (errorCode != OD_SUCCESSFUL)
sam_grove 0:9dd7c6129683 188 return errorCode;
sam_grove 0:9dd7c6129683 189
sam_grove 0:9dd7c6129683 190 if( ptrTable->bSubCount <= bSubindex ) {
sam_grove 0:9dd7c6129683 191 /* Subindex not found */
sam_grove 0:9dd7c6129683 192 accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);
sam_grove 0:9dd7c6129683 193 return OD_NO_SUCH_SUBINDEX;
sam_grove 0:9dd7c6129683 194 }
sam_grove 0:9dd7c6129683 195 if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
sam_grove 0:9dd7c6129683 196 MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
sam_grove 0:9dd7c6129683 197 accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
sam_grove 0:9dd7c6129683 198 return OD_WRITE_NOT_ALLOWED;
sam_grove 0:9dd7c6129683 199 }
sam_grove 0:9dd7c6129683 200
sam_grove 0:9dd7c6129683 201
sam_grove 0:9dd7c6129683 202 dataType = ptrTable->pSubindex[bSubindex].bDataType;
sam_grove 0:9dd7c6129683 203 szData = ptrTable->pSubindex[bSubindex].size;
sam_grove 0:9dd7c6129683 204
sam_grove 0:9dd7c6129683 205 if( *pExpectedSize == 0 ||
sam_grove 0:9dd7c6129683 206 *pExpectedSize == szData ||
sam_grove 0:9dd7c6129683 207 /* allow to store a shorter string than entry size */
sam_grove 0:9dd7c6129683 208 (dataType == visible_string && *pExpectedSize < szData))
sam_grove 0:9dd7c6129683 209 {
sam_grove 0:9dd7c6129683 210 #ifdef CANOPEN_BIG_ENDIAN
sam_grove 0:9dd7c6129683 211 /* re-endianize do not occur for bool, strings time and domains */
sam_grove 0:9dd7c6129683 212 if(endianize && dataType > boolean && !(
sam_grove 0:9dd7c6129683 213 dataType >= visible_string &&
sam_grove 0:9dd7c6129683 214 dataType <= domain))
sam_grove 0:9dd7c6129683 215 {
sam_grove 0:9dd7c6129683 216 /* we invert the data source directly. This let us do range
sam_grove 0:9dd7c6129683 217 testing without */
sam_grove 0:9dd7c6129683 218 /* additional temp variable */
sam_grove 0:9dd7c6129683 219 UNS8 i;
sam_grove 0:9dd7c6129683 220 for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1) ; i++)
sam_grove 0:9dd7c6129683 221 {
sam_grove 0:9dd7c6129683 222 UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
sam_grove 0:9dd7c6129683 223 ((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
sam_grove 0:9dd7c6129683 224 ((UNS8 *)pSourceData)[i] = tmp;
sam_grove 0:9dd7c6129683 225 }
sam_grove 0:9dd7c6129683 226 }
sam_grove 0:9dd7c6129683 227 #endif
sam_grove 0:9dd7c6129683 228 errorCode = (*d->valueRangeTest)(dataType, pSourceData);
sam_grove 0:9dd7c6129683 229 if (errorCode) {
sam_grove 0:9dd7c6129683 230 accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
sam_grove 0:9dd7c6129683 231 return errorCode;
sam_grove 0:9dd7c6129683 232 }
sam_grove 0:9dd7c6129683 233 memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
sam_grove 0:9dd7c6129683 234 /* TODO : CONFORM TO DS-301 :
sam_grove 0:9dd7c6129683 235 * - stop using NULL terminated strings
sam_grove 0:9dd7c6129683 236 * - store string size in td_subindex
sam_grove 0:9dd7c6129683 237 * */
sam_grove 0:9dd7c6129683 238 /* terminate visible_string with '\0' */
sam_grove 0:9dd7c6129683 239 if(dataType == visible_string && *pExpectedSize < szData)
sam_grove 0:9dd7c6129683 240 ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[*pExpectedSize] = 0;
sam_grove 0:9dd7c6129683 241
sam_grove 0:9dd7c6129683 242 *pExpectedSize = szData;
sam_grove 0:9dd7c6129683 243
sam_grove 0:9dd7c6129683 244 /* Callbacks */
sam_grove 0:9dd7c6129683 245 if(Callback && Callback[bSubindex]){
sam_grove 0:9dd7c6129683 246 errorCode = (Callback[bSubindex])(d, ptrTable, bSubindex);
sam_grove 0:9dd7c6129683 247 if(errorCode != OD_SUCCESSFUL)
sam_grove 0:9dd7c6129683 248 {
sam_grove 0:9dd7c6129683 249 return errorCode;
sam_grove 0:9dd7c6129683 250 }
sam_grove 0:9dd7c6129683 251 }
sam_grove 0:9dd7c6129683 252
sam_grove 0:9dd7c6129683 253 /* TODO : Store dans NVRAM */
sam_grove 0:9dd7c6129683 254 if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
sam_grove 0:9dd7c6129683 255 (*d->storeODSubIndex)(d, wIndex, bSubindex);
sam_grove 0:9dd7c6129683 256 }
sam_grove 0:9dd7c6129683 257 return OD_SUCCESSFUL;
sam_grove 0:9dd7c6129683 258 }else{
sam_grove 0:9dd7c6129683 259 *pExpectedSize = szData;
sam_grove 0:9dd7c6129683 260 accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
sam_grove 0:9dd7c6129683 261 return OD_LENGTH_DATA_INVALID;
sam_grove 0:9dd7c6129683 262 }
sam_grove 0:9dd7c6129683 263 }
sam_grove 0:9dd7c6129683 264
sam_grove 0:9dd7c6129683 265 const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
sam_grove 0:9dd7c6129683 266 {
sam_grove 0:9dd7c6129683 267 return (*d->scanIndexOD)(wIndex, errorCode, Callback);
sam_grove 0:9dd7c6129683 268 }
sam_grove 0:9dd7c6129683 269
sam_grove 0:9dd7c6129683 270 UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
sam_grove 0:9dd7c6129683 271 {
sam_grove 0:9dd7c6129683 272 UNS32 errorCode;
sam_grove 0:9dd7c6129683 273 ODCallback_t *CallbackList;
sam_grove 0:9dd7c6129683 274 const indextable *odentry;
sam_grove 0:9dd7c6129683 275
sam_grove 0:9dd7c6129683 276 odentry = scanIndexOD (d, wIndex, &errorCode, &CallbackList);
sam_grove 0:9dd7c6129683 277 if(errorCode == OD_SUCCESSFUL && CallbackList && bSubindex < odentry->bSubCount)
sam_grove 0:9dd7c6129683 278 CallbackList[bSubindex] = Callback;
sam_grove 0:9dd7c6129683 279 return errorCode;
sam_grove 0:9dd7c6129683 280 }
sam_grove 0:9dd7c6129683 281
sam_grove 0:9dd7c6129683 282 void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex){}