/** * CANopen Object Dictionary interface * * @file CO_ODinterface.h * @ingroup CO_ODinterface * @author Janez Paternoster * @copyright 2020 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #ifndef CO_OD_INTERFACE_H #define CO_OD_INTERFACE_H #include "301/CO_driver.h" #ifdef __cplusplus extern "C" { #endif /** * @defgroup CO_ODinterface OD interface * @ingroup CO_CANopen_301 * @{ * See @ref doc/objectDictionary.md */ #ifndef OD_size_t /** Variable of type OD_size_t contains data length in bytes of OD variable */ #define OD_size_t uint32_t /** Type of flagsPDO variable from OD_subEntry_t */ #define OD_flagsPDO_t uint32_t #endif /** Size of Object Dictionary attribute */ #define OD_attr_t uint8_t /** * Common DS301 object dictionary entries. */ typedef enum { OD_H1000_DEV_TYPE = 0x1000U,/**< Device type */ OD_H1001_ERR_REG = 0x1001U,/**< Error register */ OD_H1002_MANUF_STATUS_REG = 0x1002U,/**< Manufacturer status register */ OD_H1003_PREDEF_ERR_FIELD = 0x1003U,/**< Predefined error field */ OD_H1004_RSV = 0x1004U,/**< Reserved */ OD_H1005_COBID_SYNC = 0x1005U,/**< Sync message cob-id */ OD_H1006_COMM_CYCL_PERIOD = 0x1006U,/**< Communication cycle period */ OD_H1007_SYNC_WINDOW_LEN = 0x1007U,/**< Sync windows length */ OD_H1008_MANUF_DEV_NAME = 0x1008U,/**< Manufacturer device name */ OD_H1009_MANUF_HW_VERSION = 0x1009U,/**< Manufacturer hardware version */ OD_H100A_MANUF_SW_VERSION = 0x100AU,/**< Manufacturer software version */ OD_H100B_RSV = 0x100BU,/**< Reserved */ OD_H100C_GUARD_TIME = 0x100CU,/**< Guard time */ OD_H100D_LIFETIME_FACTOR = 0x100DU,/**< Life time factor */ OD_H100E_RSV = 0x100EU,/**< Reserved */ OD_H100F_RSV = 0x100FU,/**< Reserved */ OD_H1010_STORE_PARAM_FUNC = 0x1010U,/**< Store params in persistent mem.*/ OD_H1011_REST_PARAM_FUNC = 0x1011U,/**< Restore default parameters */ OD_H1012_COBID_TIME = 0x1012U,/**< Timestamp message cob-id */ OD_H1013_HIGH_RES_TIMESTAMP = 0x1013U,/**< High resolution timestamp */ OD_H1014_COBID_EMERGENCY = 0x1014U,/**< Emergency message cob-id */ OD_H1015_INHIBIT_TIME_EMCY = 0x1015U,/**< Inhibit time emergency message */ OD_H1016_CONSUMER_HB_TIME = 0x1016U,/**< Consumer heartbeat time */ OD_H1017_PRODUCER_HB_TIME = 0x1017U,/**< Producer heartbeat time */ OD_H1018_IDENTITY_OBJECT = 0x1018U,/**< Identity object */ OD_H1019_SYNC_CNT_OVERFLOW = 0x1019U,/**< Sync counter overflow value */ OD_H1020_VERIFY_CONFIG = 0x1020U,/**< Verify configuration */ OD_H1021_STORE_EDS = 0x1021U,/**< Store EDS */ OD_H1022_STORE_FORMAT = 0x1022U,/**< Store format */ OD_H1023_OS_CMD = 0x1023U,/**< OS command */ OD_H1024_OS_CMD_MODE = 0x1024U,/**< OS command mode */ OD_H1025_OS_DBG_INTERFACE = 0x1025U,/**< OS debug interface */ OD_H1026_OS_PROMPT = 0x1026U,/**< OS prompt */ OD_H1027_MODULE_LIST = 0x1027U,/**< Module list */ OD_H1028_EMCY_CONSUMER = 0x1028U,/**< Emergency consumer object */ OD_H1029_ERR_BEHAVIOR = 0x1029U,/**< Error behaviour */ OD_H1200_SDO_SERVER_1_PARAM = 0x1200U,/**< SDO server parameter */ OD_H1280_SDO_CLIENT_1_PARAM = 0x1280U,/**< SDO client parameter */ OD_H1300_GFC_PARAM = 0x1300U,/**< Global fail-safe command param */ OD_H1301_SRDO_1_PARAM = 0x1301U,/**< SRDO communication parameter */ OD_H1381_SRDO_1_MAPPING = 0x1381U,/**< SRDO mapping parameter */ OD_H13FE_SRDO_VALID = 0x13FEU,/**< SRDO Configuration valid */ OD_H13FF_SRDO_CHECKSUM = 0x13FFU,/**< SRDO configuration checksum */ OD_H1400_RXPDO_1_PARAM = 0x1400U,/**< RXPDO communication parameter */ OD_H1600_RXPDO_1_MAPPING = 0x1600U,/**< RXPDO mapping parameters */ OD_H1800_TXPDO_1_PARAM = 0x1800U,/**< TXPDO communication parameter */ OD_H1A00_TXPDO_1_MAPPING = 0x1A00U,/**< TXPDO mapping parameters */ } OD_ObjDicId_30x_t; /** * Attributes (bit masks) for OD sub-object. */ typedef enum { ODA_SDO_R = 0x01, /**< SDO server may read from the variable */ ODA_SDO_W = 0x02, /**< SDO server may write to the variable */ ODA_SDO_RW = 0x03, /**< SDO server may read from or write to the variable */ ODA_TPDO = 0x04, /**< Variable is mappable into TPDO (can be read) */ ODA_RPDO = 0x08, /**< Variable is mappable into RPDO (can be written) */ ODA_TRPDO = 0x0C, /**< Variable is mappable into TPDO or RPDO */ ODA_TSRDO = 0x10, /**< Variable is mappable into transmitting SRDO */ ODA_RSRDO = 0x20, /**< Variable is mappable into receiving SRDO */ ODA_TRSRDO = 0x30, /**< Variable is mappable into tx or rx SRDO */ ODA_MB = 0x40, /**< Variable is multi-byte ((u)int16_t to (u)int64_t) */ ODA_RESERVED = 0x80, /**< Reserved for further use */ } OD_attributes_t; /** * Return codes from OD access functions. * * @ref OD_getSDOabCode() can be used to retrive corresponding SDO abort code. */ typedef enum { /* !!!! WARNING !!!! * If changing these values, change also OD_getSDOabCode() function! */ /** Read/write is only partial, make more calls */ ODR_PARTIAL = -1, /** SDO abort 0x00000000 - Read/write successfully finished */ ODR_OK = 0, /** SDO abort 0x05040005 - Out of memory */ ODR_OUT_OF_MEM = 1, /** SDO abort 0x06010000 - Unsupported access to an object */ ODR_UNSUPP_ACCESS = 2, /** SDO abort 0x06010001 - Attempt to read a write only object */ ODR_WRITEONLY = 3, /** SDO abort 0x06010002 - Attempt to write a read only object */ ODR_READONLY = 4, /** SDO abort 0x06020000 - Object does not exist in the object dict. */ ODR_IDX_NOT_EXIST = 5, /** SDO abort 0x06040041 - Object cannot be mapped to the PDO */ ODR_NO_MAP = 6, /** SDO abort 0x06040042 - PDO length exceeded */ ODR_MAP_LEN = 7, /** SDO abort 0x06040043 - General parameter incompatibility reasons */ ODR_PAR_INCOMPAT = 8, /** SDO abort 0x06040047 - General internal incompatibility in device */ ODR_DEV_INCOMPAT = 9, /** SDO abort 0x06060000 - Access failed due to hardware error */ ODR_HW = 10, /** SDO abort 0x06070010 - Data type does not match */ ODR_TYPE_MISMATCH = 11, /** SDO abort 0x06070012 - Data type does not match, length too high */ ODR_DATA_LONG = 12, /** SDO abort 0x06070013 - Data type does not match, length too short */ ODR_DATA_SHORT = 13, /** SDO abort 0x06090011 - Sub index does not exist */ ODR_SUB_NOT_EXIST = 14, /** SDO abort 0x06090030 - Invalid value for parameter (download only) */ ODR_INVALID_VALUE = 15, /** SDO abort 0x06090031 - Value range of parameter written too high */ ODR_VALUE_HIGH = 16, /** SDO abort 0x06090032 - Value range of parameter written too low */ ODR_VALUE_LOW = 17, /** SDO abort 0x06090036 - Maximum value is less than minimum value */ ODR_MAX_LESS_MIN = 18, /** SDO abort 0x060A0023 - Resource not available: SDO connection */ ODR_NO_RESOURCE = 19, /** SDO abort 0x08000000 - General error */ ODR_GENERAL = 20, /** SDO abort 0x08000020 - Data cannot be transferred or stored to app */ ODR_DATA_TRANSF = 21, /** SDO abort 0x08000021 - Data can't be transf (local control) */ ODR_DATA_LOC_CTRL = 22, /** SDO abort 0x08000022 - Data can't be transf (present device state) */ ODR_DATA_DEV_STATE = 23, /** SDO abort 0x08000023 - Object dictionary not present */ ODR_OD_MISSING = 23, /** SDO abort 0x08000024 - No data available */ ODR_NO_DATA = 25, /** Last element, number of responses */ ODR_COUNT = 26 } ODR_t; /** * IO stream structure, used for read/write access to OD variable. * * Structure is initialized with @ref OD_getSub() function. */ typedef struct { /** Pointer to original data object, defined by Object Dictionary. Default * read/write functions operate on it. If memory for data object is not * specified by Object Dictionary, then dataObjectOriginal is NULL. */ void *dataObjectOriginal; /** Pointer to object, passed by @ref OD_extensionIO_init(). Can be used * inside read / write functions from IO extension. */ void *object; /** Data length in bytes or 0, if length is not specified */ OD_size_t dataLength; /** In case of large data, dataOffset indicates position of already * transferred data */ OD_size_t dataOffset; } OD_stream_t; /** * Structure describing properties of a variable, located in specific index and * sub-index inside the Object Dictionary. * * Structure is initialized with @ref OD_getSub() function. */ typedef struct { /** Object Dictionary index */ uint16_t index; /** Object Dictionary sub-index */ uint8_t subIndex; /** Number of sub-entries in OD object. For VAR is 1, for ARRAY is * maxSubIndex + 1, for RECORD maxSubIndex may be larger, if there is a gap * between sub-indexes. */ uint8_t subEntriesCount; /** Attribute bit-field of the OD sub-object, see @ref OD_attributes_t */ OD_attr_t attribute; /** * Pointer to PDO flags bit-field. This is optional extension of OD object. * If OD object has enabled this extension, then each sub-element is coupled * with own flagsPDO variable of size 8 to 64 bits (size is configurable * by @ref OD_flagsPDO_t). Flag is useful, when variable is mapped to RPDO * or TPDO. * * If sub-element is mapped to RPDO, then bit0 is set to 1 each time, when * any RPDO writes new data into variable. Application may clear bit0. * * If sub-element is mapped to TPDO, then TPDO will set one bit on the time, * it is sent. First TPDO will set bit1, second TPDO will set bit2, etc. Up * to 63 TPDOs can use flagsPDO. * * Another functionality is with asynchronous TPDOs, to which variable may * be mapped. If corresponding bit is 0, TPDO will be sent. This means, that * if application sets variable pointed by flagsPDO to zero, it will trigger * sending all asynchronous TPDOs (up to first 63), to which variable is * mapped. */ OD_flagsPDO_t *flagsPDO; /** * Function pointer for reading value from specified variable from Object * Dictionary. If OD variable is larger than buf, then this function must * be called several times. After completed successful read function returns * 'ODR_OK'. If read is partial, it returns 'ODR_PARTIAL'. In case of errors * function returns code similar to SDO abort code. * * Read can be restarted with @ref OD_rwRestart() function. * * At the moment, when Object Dictionary is initialised, every variable has * assigned the same "read" function. This default function simply copies * data from Object Dictionary variable. Application can bind its own "read" * function for specific object. In that case application is able to * calculate data for reading from own internal state at the moment of * "read" function call. For this functionality OD object must have IO * extension enabled. OD object must also be initialised with * @ref OD_extensionIO_init() function call. * * "read" function must always copy all own data to buf, except if "buf" is * not large enough. ("*returnCode" must not return 'ODR_PARTIAL', if there * is still space in "buf".) * * @param stream Object Dictionary stream object, returned from * @ref OD_getSub() function, see @ref OD_stream_t. * @param subIndex Object Dictionary subIndex of the accessed element. * @param buf Pointer to external buffer, where to data will be copied. * @param count Size of the external buffer in bytes. * @param [out] returnCode Return value from @ref ODR_t. * * @return Number of bytes successfully read. */ OD_size_t (*read)(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode); /** * Function pointer for writing value into specified variable inside Object * Dictionary. If OD variable is larger than buf, then this function must * be called several times. After completed successful write function * returns 'ODR_OK'. If write is partial, it returns 'ODR_PARTIAL'. In case * of errors function returns code similar to SDO abort code. * * Write can be restarted with @ref OD_rwRestart() function. * * At the moment, when Object Dictionary is initialised, every variable has * assigned the same "write" function, which simply copies data to Object * Dictionary variable. Application can bind its own "write" function, * similar as it can bind "read" function. * * "write" function must always copy all available data from buf. If OD * variable expect more data, then "*returnCode" must return 'ODR_PARTIAL'. * * @param stream Object Dictionary stream object, returned from * @ref OD_getSub() function, see @ref OD_stream_t. * @param subIndex Object Dictionary subIndex of the accessed element. * @param buf Pointer to external buffer, from where data will be copied. * @param count Size of the external buffer in bytes. * @param [out] returnCode Return value from ODR_t. * * @return Number of bytes successfully written, must be equal to count on * success or zero on error. */ OD_size_t (*write)(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode); } OD_subEntry_t; /** * Helper structure for storing all objects necessary for frequent read from or * write to specific OD variable. Structure can be used by application and can * be filled inside and after @ref OD_getSub() function call. */ typedef struct { /** Object passed to read or write */ OD_stream_t stream; /** Read function pointer, see @ref OD_subEntry_t */ OD_size_t (*read)(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode); /** Write function pointer, see @ref OD_subEntry_t */ OD_size_t (*write)(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode); } OD_IO_t; /** * Object Dictionary entry for one OD object. * * OD entries are collected inside OD_t as array (list). Each OD entry contains * basic information about OD object (index and subEntriesCount) and * access function together with a pointer to other details of the OD object. */ typedef struct { /** Object Dictionary index */ uint16_t index; /** Maximum sub-index in the OD object */ uint8_t subEntriesCount; /** Type of the odObject, indicated by @ref OD_objectTypes_t enumerator. */ uint8_t odObjectType; /** OD object of type indicated by odObjectType, from which @ref OD_getSub() * fetches the information */ const void *odObject; } OD_entry_t; /** * Object Dictionary */ typedef struct { /** Number of elements in the list, without last element, which is blank */ uint16_t size; /** List OD entries (table of contents), ordered by index */ const OD_entry_t *list; } OD_t; /** * Read value from original OD location * * This function can be used inside read / write functions, specified by * @ref OD_extensionIO_init(). It reads data directly from memory location * specified by Object dictionary. If no IO extension is used on OD entry, then * subEntry->read returned by @ref OD_getSub() equals to this function. See * also @ref OD_subEntry_t. */ OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode); /** * Write value to original OD location * * This function can be used inside read / write functions, specified by * @ref OD_extensionIO_init(). It writes data directly to memory location * specified by Object dictionary. If no IO extension is used on OD entry, then * subEntry->write returned by @ref OD_getSub() equals to this function. See * also @ref OD_subEntry_t. */ OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode); /** * Find OD entry in Object Dictionary * * @param od Object Dictionary * @param index CANopen Object Dictionary index of object in Object Dictionary * * @return Pointer to OD entry or NULL if not found */ const OD_entry_t *OD_find(const OD_t *od, uint16_t index); /** * Find sub-object with specified sub-index on OD entry returned by OD_find. * Function populates subEntry and stream structures with sub-object data. * * @param entry OD entry returned by @ref OD_find(). * @param subIndex Sub-index of the variable from the OD object. * @param [out] subEntry Structure will be populated on success. * @param [out] stream 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 OD location will be returned * * @return Value from @ref ODR_t, "ODR_OK" in case of success. */ ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex, OD_subEntry_t *subEntry, OD_stream_t *stream, bool_t odOrig); /** * Return index from OD entry * * @param entry OD entry returned by @ref OD_find(). * * @return OD index */ static inline uint16_t OD_getIndex(const OD_entry_t *entry) { return entry->index; } /** * Restart read or write operation on OD variable * * It is not necessary to call this function, if stream was initialised by * @ref OD_getSub(). It is also not necessary to call this function, if prevous * read or write was successfully finished. * * @param stream Object Dictionary stream object, returned from * @ref OD_getSub() function, see @ref OD_stream_t. */ static inline void OD_rwRestart(OD_stream_t *stream) { stream->dataOffset = 0; } /** * Get SDO abort code from returnCode * * @param returnCode Returned from some OD access functions * * @return Corresponding @ref CO_SDO_abortCode_t */ uint32_t OD_getSDOabCode(ODR_t returnCode); /** * Initialise extended OD object with own read/write functions * * This function works on OD object, which has IO extension enabled. It gives * application very powerful tool: definition of own IO access on own OD * object. Structure and attributes are the same as defined in original OD * object, but data are read directly from (or written directly to) application * specified object via custom function calls. * * If this function is not called yet, then normal access ("odOrig" argument is * false) to OD entry is disabled. * * @warning * Object dictionary storage works only directly on OD variables. It does not * access read function specified here. So, if extended OD objects needs to be * preserved, then @ref OD_writeOriginal can be used inside custom write * function. * * @warning * Read and write functions may be called from different threads, so critical * sections in custom functions must be protected with @ref CO_LOCK_OD() and * @ref CO_UNLOCK_OD(). * * @param entry OD entry returned by @ref OD_find(). * @param object Object, which will be passed to read or write function. * @param read Read function pointer. If NULL, then read will be disabled. * @ref OD_readOriginal can be used here to keep original read function. * For function description see @ref OD_subEntry_t. * @param write Write function pointer. If NULL, then write will be disabled. * @ref OD_writeOriginal can be used here to keep original write function. * For function description see @ref OD_subEntry_t. * * @return true on success, false if OD object doesn't exist or is not extended. */ bool_t OD_extensionIO_init(const OD_entry_t *entry, void *object, OD_size_t (*read)(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode), OD_size_t (*write)(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode)); /** * @defgroup CO_ODgetSetters Getters and setters * @{ * * Getter and setter helper functions for accessing different types of Object * Dictionary variables. */ /** * Get int8_t variable from Object Dictionary * * @param entry OD entry returned by @ref OD_find(). * @param subIndex Sub-index of the variable from the OD object. * @param [out] val Value will be written here. * @param odOrig If true, then potential IO extension on entry will be * ignored and data in the original OD location will be returned. * * @return Value from @ref ODR_t, "ODR_OK" in case of success. Error, if * variable does not exist in object dictionary or it does not have the correct * length or other reason. */ ODR_t OD_get_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t *val, bool_t odOrig); /** Get int16_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t *val, bool_t odOrig); /** Get int32_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t *val, bool_t odOrig); /** Get int64_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t *val, bool_t odOrig); /** Get uint8_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t *val, bool_t odOrig); /** Get uint16_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t *val, bool_t odOrig); /** Get uint32_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t *val, bool_t odOrig); /** Get uint64_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t *val, bool_t odOrig); /** Get float32_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t *val, bool_t odOrig); /** Get float64_t variable from Object Dictionary, see @ref OD_get_i8 */ ODR_t OD_get_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t *val, bool_t odOrig); /** * Set int8_t variable in Object Dictionary * * @param entry OD entry returned by @ref OD_find(). * @param subIndex Sub-index of the variable from the OD object. * @param val Value to write. * @param odOrig If true, then potential IO extension on entry will be * ignored and data in the original OD location will be written. * * @return Value from @ref ODR_t, "ODR_OK" in case of success. Error, if * variable does not exist in object dictionary or it does not have the correct * length or other reason. */ ODR_t OD_set_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t val, bool_t odOrig); /** Set int16_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t val, bool_t odOrig); /** Set int16_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t val, bool_t odOrig); /** Set int16_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t val, bool_t odOrig); /** Set uint8_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t val, bool_t odOrig); /** Set uint16_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t val, bool_t odOrig); /** Set uint32_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t val, bool_t odOrig); /** Set uint64_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t val, bool_t odOrig); /** Set float32_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t val, bool_t odOrig); /** Set float64_t variable in Object Dictionary, see @ref OD_set_i8 */ ODR_t OD_set_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t val, bool_t odOrig); /** * Get pointer to int8_t variable from Object Dictionary * * Function always returns "dataObjectOriginal" pointer, which points to data * in the original OD location. Take care, if IO extension is enabled on OD * entry. * * @param entry OD entry returned by @ref OD_find(). * @param subIndex Sub-index of the variable from the OD object. * @param [out] val Pointer to variable will be written here. * * @return Value from @ref ODR_t, "ODR_OK" in case of success. Error, if * variable does not exist in object dictionary or it does not have the correct * length or other reason. */ ODR_t OD_getPtr_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t **val); /** Get pointer to int16_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t **val); /** Get pointer to int32_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t **val); /** Get pointer to int64_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t **val); /** Get pointer to uint8_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t **val); /** Get pointer to uint16_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t **val); /** Get pointer to uint32_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t **val); /** Get pointer to uint64_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t **val); /** Get pointer to float32_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t **val); /** Get pointer to float64_t variable from OD, see @ref OD_getPtr_i8 */ ODR_t OD_getPtr_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t **val); /** @} */ /* CO_ODgetSetters */ #if defined OD_DEFINITION || defined CO_DOXYGEN /** * @defgroup CO_ODdefinition OD definition objects * @{ * * Types and functions used only for definition of Object Dictionary */ /** * Types for OD object. */ typedef enum { /** This type corresponds to CANopen Object Dictionary object with object * code equal to VAR. OD object is type of @ref OD_obj_var_t and represents * single variable of any type (any length), located on sub-index 0. Other * sub-indexes are not used. */ ODT_VAR = 0x01, /** This type corresponds to CANopen Object Dictionary object with object * code equal to ARRAY. OD object is type of @ref OD_obj_array_t and * represents array of variables with the same type, located on sub-indexes * above 0. Sub-index 0 is of type uint8_t and usually represents length of * the array. */ ODT_ARR = 0x02, /** This type corresponds to CANopen Object Dictionary object with object * code equal to RECORD. This type of OD object represents structure of * the variables. Each variable from the structure can have own type and * own attribute. OD object is an array of elements of type * @ref OD_obj_var_t. Variable at sub-index 0 is of type uint8_t and usually * represents number of sub-elements in the structure. */ ODT_REC = 0x03, /** Same as ODT_VAR, but extended with OD_obj_extended_t type. It includes * additional pointer to IO extension and PDO flags */ ODT_EVAR = 0x11, /** Same as ODT_ARR, but extended with OD_obj_extended_t type */ ODT_EARR = 0x12, /** Same as ODT_REC, but extended with OD_obj_extended_t type */ ODT_EREC = 0x13, /** Mask for basic type */ ODT_TYPE_MASK = 0x0F, /** Mask for extension */ ODT_EXTENSION_MASK = 0x10 } OD_objectTypes_t; /** * Object for single OD variable, used for "VAR" type OD objects */ typedef struct { void *data; /**< Pointer to data */ OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */ OD_size_t dataLength; /**< Data length in bytes */ } OD_obj_var_t; /** * Object for OD array of variables, used for "ARRAY" type OD objects */ typedef struct { uint8_t *data0; /**< Pointer to data for sub-index 0 */ void *data; /**< Pointer to array of data */ OD_attr_t attribute0; /**< Attribute bitfield for sub-index 0, see @ref OD_attributes_t */ OD_attr_t attribute; /**< Attribute bitfield for array elements */ OD_size_t dataElementLength; /**< Data length of array elements in bytes */ OD_size_t dataElementSizeof; /**< Sizeof one array element in bytes */ } OD_obj_array_t; /** * Object for OD sub-elements, used in "RECORD" type OD objects */ typedef struct { void *data; /**< Pointer to data */ uint8_t subIndex; /**< Sub index of element. */ OD_attr_t attribute; /**< Attribute bitfield, see @ref OD_attributes_t */ OD_size_t dataLength; /**< Data length in bytes */ } OD_obj_record_t; /** * Object pointed by @ref OD_obj_extended_t contains application specified * parameters for extended OD object */ typedef struct { /** Object on which read and write will operate */ void *object; /** Application specified function pointer, see @ref OD_subEntry_t. */ OD_size_t (*read)(OD_stream_t *stream, uint8_t subIndex, void *buf, OD_size_t count, ODR_t *returnCode); /** Application specified function pointer, see @ref OD_subEntry_t. */ OD_size_t (*write)(OD_stream_t *stream, uint8_t subIndex, const void *buf, OD_size_t count, ODR_t *returnCode); } OD_extensionIO_t; /** * Object for extended type of OD variable, configurable by * @ref OD_extensionIO_init() function */ typedef struct { /** Pointer to application specified IO extension, may be NULL. */ OD_extensionIO_t *extIO; /** Pointer to PDO flags bit-field, see @ref OD_subEntry_t, may be NULL. */ OD_flagsPDO_t *flagsPDO; /** Pointer to original odObject, see @ref OD_entry_t. */ const void *odObjectOriginal; } OD_obj_extended_t; /** @} */ /* CO_ODdefinition */ #endif /* defined OD_DEFINITION */ /** @} */ /* CO_ODinterface */ #ifdef __cplusplus } #endif /*__cplusplus*/ #endif /* CO_OD_INTERFACE_H */