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Make OD_requestTPDO() more clear, remove OD_getFlagsPDO().

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This commit is contained in:
Janez 2024-10-19 12:42:36 +02:00
parent 9e9aaf5f8d
commit fbd42d46a2
1 changed files with 15 additions and 34 deletions
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49
301/CO_ODinterface.h
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@ -322,7 +322,7 @@ OD_entry_t* OD_find(OD_t* od, uint16_t index);
* Read and write functions may be called from different threads, so critical sections in custom functions must be
* observed, see @ref CO_critical_sections.
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
* @param subIndex Sub-index of the variable from the OD object.
* @param [out] io Structure will be populated on success.
* @param odOrig If true, then potential IO extension on entry will be ignored and access to data entry in the original
@ -335,7 +335,7 @@ ODR_t OD_getSub(const OD_entry_t* entry, uint8_t subIndex, OD_IO_t* io, bool_t o
/**
* Return index from OD entry
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
*
* @return OD index
*/
@ -374,25 +374,6 @@ OD_rwRestart(OD_stream_t* stream) {
}
}
/**
* Get TPDO request flags for OD entry.
*
* flagsPDO can be used for @ref OD_requestTPDO() or @ref OD_TPDOtransmitted().
*
* @param entry OD entry returned by @ref OD_find().
*
* @return pointer to flagsPDO
*/
static inline uint8_t*
OD_getFlagsPDO(OD_entry_t* entry) {
#if OD_FLAGS_PDO_SIZE > 0
if ((entry != NULL) && (entry->extension != NULL)) {
return &entry->extension->flagsPDO[0];
}
#endif
return NULL;
}
/**
* Request TPDO, to which OD variable is mapped
*
@ -404,16 +385,16 @@ OD_getFlagsPDO(OD_entry_t* entry) {
* TPDO event driven transmission is enabled, if TPDO communication parameter, transmission type is set to 0, 254
* or 255. For other transmission types (synchronous) flagPDO bit is ignored.
*
* @param flagsPDO TPDO request flags returned by @ref OD_getFlagsPDO.
* @param entry Object Dictionary entry.
* @param subIndex subIndex of the OD variable.
*/
static inline void
OD_requestTPDO(uint8_t* flagsPDO, uint8_t subIndex) {
OD_requestTPDO(OD_entry_t* entry, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
if ((entry != NULL) && (entry->extension != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
/* clear subIndex-th bit */
uint8_t mask = ~(1U << (subIndex & 0x07U));
flagsPDO[subIndex >> 3] &= mask;
entry->extension->flagsPDO[subIndex >> 3] &= mask;
}
#endif
}
@ -421,20 +402,20 @@ OD_requestTPDO(uint8_t* flagsPDO, uint8_t subIndex) {
/**
* Check if requested TPDO was transmitted
*
* @param flagsPDO TPDO request flags returned by @ref OD_getFlagsPDO.
* @param entry Object Dictionary entry.
* @param subIndex subIndex of the OD variable.
*
* @return Return true if event driven TPDO with mapping to OD variable, indicated by flagsPDO and subIndex, was
* @return Return true if event driven TPDO with mapping to OD variable, indicated by entry and subIndex, was
* transmitted since last @ref OD_requestTPDO call. If there was no @ref OD_requestTPDO call yet and TPDO was
* transmitted by other event, function also returns true.
*/
static inline bool_t
OD_TPDOtransmitted(uint8_t* flagsPDO, uint8_t subIndex) {
OD_TPDOtransmitted(OD_entry_t* entry, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
if ((entry != NULL) && (entry->extension != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
/* return true, if subIndex-th bit is set */
uint8_t mask = 1U << (subIndex & 0x07U);
if ((flagsPDO[subIndex >> 3] & mask) != 0U) {
if ((entry->extension->flagsPDO[subIndex >> 3] & mask) != 0U) {
return true;
}
}
@ -472,7 +453,7 @@ uint32_t OD_getSDOabCode(ODR_t returnCode);
* Read and write functions may be called from different threads, so critical sections in custom functions must be
* observed, see @ref CO_critical_sections.
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
* @param extension Extension object, which must be initialized externally. Extension object must exist permanently. If
* NULL, extension will be removed.
*
@ -496,7 +477,7 @@ OD_extension_init(OD_entry_t* entry, OD_extension_t* extension) {
/**
* Get variable from Object Dictionary
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
* @param subIndex Sub-index of the variable from the OD object.
* @param [out] val Value will be written here.
* @param len Size of value to retrieve from OD.
@ -571,7 +552,7 @@ OD_get_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t* val, bool_t odO
/**
* Set variable in Object Dictionary
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
* @param subIndex Sub-index of the variable from the OD object.
* @param val Pointer to value to write.
* @param len Size of value to write.
@ -649,7 +630,7 @@ OD_set_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t val, bool_t odOr
* Function always returns "dataOrig" pointer, which points to data in the original OD location. Take care, if IO
* extension is enabled on OD entry. Take also care that "dataOrig" could be not aligned to data type.
*
* @param entry OD entry returned by @ref OD_find().
* @param entry Object Dictionary entry.
* @param subIndex Sub-index of the variable from the OD object.
* @param len Required length of the variable. If len is different than zero, then actual length of the variable must
* match len or error is returned.