Sam Grove
/
canopen_masternode
CANfestival - an open source CANopen framework
Diff: framework/include/objacces.h
- Revision:
- 0:9dd7c6129683
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/include/objacces.h Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,287 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +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 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 +*/ + +/** @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 + * 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> + + +#ifdef __cplusplus +extern "C" { +#endif + + +typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value); +typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex); +void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex); + +/** + * @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, + UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code); + + +/* _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 + * + * @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 to 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 to 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 is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + */ +UNS32 _getODentry( CO_Data* d, + UNS16 wIndex, + UNS8 bSubindex, + void * pDestData, + UNS32 * pExpectedSize, + UNS8 * pDataType, + UNS8 checkAccess, + UNS8 endianize); + +/** + * @ingroup od + * @brief getODentry() to read from object and endianize + * @param OD Pointer to 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 to the type of the data. See objdictdef.h + * @param checkAccess Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes) + * @param endianize Set to 1 : endianized into network byte order + * @return + * - OD_SUCCESSFUL is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + */ +#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ + pDataType, checkAccess) \ + _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ + pDataType, checkAccess, 1) + +/** + * @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 to 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 to 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 is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + */ +#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ + pDataType, checkAccess) \ + _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \ + pDataType, checkAccess, 0) + +/* By this function you can write an entry into the object dictionary + * @param *d Pointer to 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 Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes) + * @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 is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + */ +UNS32 _setODentry( CO_Data* d, + UNS16 wIndex, + UNS8 bSubindex, + void * pSourceData, + UNS32 * 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 to 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 Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes) + * @param endianize Set to 1 : endianized into network byte order + * @return + * - OD_SUCCESSFUL is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + */ +#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \ + checkAccess) \ + _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \ + checkAccess, 1) + +/** @fn UNS32 writeLocalDict(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) + * @ingroup od + * @hideinitializer + * @brief Writes machine native SourceData to OD. + * @param d Pointer to 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 Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes) + * @param endianize Data is not endianized and copied in machine native endianness + * @return + * - OD_SUCCESSFUL is returned upon success. + * - SDO abort code is returned if error occurs . (See file def.h) + * \n\n + * @code + * // Example usage: + * UNS8 B; + * B = 0xFF; // set transmission type + * + * retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 ); + * @endcode + */ +#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \ + _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0) + + + +/** + * @brief Scan the index of object dictionary. Used only by setODentry and getODentry. + * @param *d Pointer to 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); + +UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback); + +#ifdef __cplusplus +} +#endif + +#endif /* __objacces_h__ */