Sam Grove
/
canopen_slavenode
CANfestival - an open source CANopen framework
framework/include/objacces.h
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/* 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__ */