objacces.c File Reference

#include "data.h"

Go to the source code of this file.

Macros
#define	accessDictionaryError(index, subIndex, sizeDataDict, sizeDataGiven, code)
	Print MSG_WAR (s) if error to the access to the object dictionary occurs.

Functions
UNS32	_getODentry (CO_Data *d, UNS16 wIndex, UNS8 bSubindex, void *pDestData, UNS32 *pExpectedSize, UNS8 *pDataType, UNS8 checkAccess, UNS8 endianize)
	_getODentry() Reads an entry from the object dictionary.
UNS32	_setODentry (CO_Data *d, UNS16 wIndex, UNS8 bSubindex, void *pSourceData, UNS32 *pExpectedSize, UNS8 checkAccess, UNS8 endianize)
	By this function you can write an entry into the object dictionary.
const indextable *	scanIndexOD (CO_Data *d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
	Scan the index of object dictionary. Used only by setODentry and getODentry.
UNS32	RegisterSetODentryCallBack (CO_Data *d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
	<BRIEF>
void	_storeODSubIndex (CO_Data *d, UNS16 wIndex, UNS8 bSubindex)
	<BRIEF>

Detailed Description

Date

Created on: Oct 10, 2024

Author

Jerry Ukwela (jeu6@.nosp@m.case.nosp@m..edu)

Definition in file objacces.c.

Macro Definition Documentation

accessDictionaryError

#define accessDictionaryError	(		index,
			subIndex,
			sizeDataDict,
			sizeDataGiven,
			code )

Print MSG_WAR (s) if error to the access to the object dictionary occurs.

You must uncomment the lines in the file objaccess.c :
//#define DEBUG_CAN
//#define DEBUG_WAR_CONSOLE_ON
//#define DEBUG_ERR_CONSOLE_ON

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.

Parameters

index
subIndex
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)

Returns

Definition at line 68 of file objacces.c.

Referenced by _getODentry(), and _setODentry().

Function Documentation

_getODentry()

UNS32 _getODentry	(	CO_Data *	d,
		UNS16	wIndex,
		UNS8	bSubindex,
		void *	pDestData,
		UNS32 *	pExpectedSize,
		UNS8 *	pDataType,
		UNS8	checkAccess,
		UNS8	endianize )

_getODentry() Reads an entry from the object dictionary.

use getODentry() macro to read from object and endianize use readLocalDict() macro to read from object and not endianize

// Example usage:
UNS8  *pbData;
UNS8 length;
UNS32 returnValue;
 
returnValue = getODentry( (UNS16)0x100B, (UNS8)1,
(void * *)&pbData, (UNS8 *)&length );
if( returnValue != SUCCESSFUL )
{
    // error handling
}

Parameters

*d	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to read an entry
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
*pDestData	Pointer to the pointer which points to the variable where the value of this object dictionary entry should be copied
*pExpectedSize	This function writes the size of the copied value (in Byte) into this variable.
*pDataType	Pointer to the type of the data. See objdictdef.h
CheckAccess	if other than 0, do not read if the data is Write Only [Not used today. Put always 0].
Endianize	When not 0, data is endianized into network byte order when 0, data is not endianized and copied in machine native endianness

Returns

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)

Definition at line 111 of file objacces.c.

_setODentry()

UNS32 _setODentry	(	CO_Data *	d,
		UNS16	wIndex,
		UNS8	bSubindex,
		void *	pSourceData,
		UNS32 *	pExpectedSize,
		UNS8	checkAccess,
		UNS8	endianize )

By this function you can write an entry into the object dictionary.

Parameters

*d	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to write an entry
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
*pSourceData	Pointer to the variable that holds the value that should be copied into the object dictionary
*pExpectedSize	The size of the value (in Byte).
checkAccess	Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
endianize	When not 0, data is endianized into network byte order when 0, data is not endianized and copied in machine native endianness

Returns

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)

Definition at line 235 of file objacces.c.

scanIndexOD()

const indextable * scanIndexOD	(	CO_Data *	d,
		UNS16	wIndex,
		UNS32 *	errorCode,
		ODCallback_t **	Callback )

Scan the index of object dictionary. Used only by setODentry and getODentry.

Parameters

*d	Pointer to a CAN object data structure
wIndex
*errorCode	: OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)
**Callback

Returns

NULL if index not found. Else : return the table part of the object dictionary.

Definition at line 343 of file objacces.c.

Referenced by PDOInit(), and RegisterSetODentryCallBack().

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