nikon/CANopenNode
1
0
Fork 0
Code Activity Actions
CANopenNode/301/CO_ODinterface.c
Janez ace840fa6c Fix ODinterface, basic tests passed.
2020-10-26 18:16:00 +01:00

679 lines
25 KiB
C
Raw Blame History

/*
* CANopen Object Dictionary interface
*
* @file CO_ODinterface.c
* @author Janez Paternoster
* @copyright 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* 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.
*/
#include <string.h>
#define OD_DEFINITION
#include "301/CO_ODinterface.h"
/******************************************************************************/
OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex,
void *buf, OD_size_t count, ODR_t *returnCode)
{
(void) subIndex;
if (stream == NULL || buf == NULL || returnCode == NULL) {
if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
return 0;
}
OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
const char *odData = (const char *)stream->dataObjectOriginal;
if (odData == NULL) {
*returnCode = ODR_SUB_NOT_EXIST;
return 0;
}
*returnCode = ODR_OK;
/* If previous read was partial or OD variable length is larger than
* current buffer len, then data was (will be) read in several segments */
if (stream->dataOffset > 0 || dataLenToCopy > count) {
if (stream->dataOffset >= dataLenToCopy) {
*returnCode = ODR_DEV_INCOMPAT;
return 0;
}
/* reduce for already copied data */
dataLenToCopy -= stream->dataOffset;
odData += stream->dataOffset;
if (dataLenToCopy > count) {
/* not enough space in destionation buffer */
dataLenToCopy = count;
stream->dataOffset += dataLenToCopy;
*returnCode = ODR_PARTIAL;
}
else {
stream->dataOffset = 0; /* copy finished, reset offset */
}
}
CO_LOCK_OD();
memcpy(buf, odData, dataLenToCopy);
CO_UNLOCK_OD();
return dataLenToCopy;
}
/******************************************************************************/
OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
const void *buf, OD_size_t count, ODR_t *returnCode)
{
(void) subIndex;
if (stream == NULL || buf == NULL || returnCode == NULL) {
if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
return 0;
}
OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
char *odData = (char *)stream->dataObjectOriginal;
if (odData == NULL) {
*returnCode = ODR_SUB_NOT_EXIST;
return 0;
}
*returnCode = ODR_OK;
/* If previous write was partial or OD variable length is larger than
* current data len, then data was (will be) written in several segments */
if (stream->dataOffset > 0 || dataLenToCopy > count) {
if (stream->dataOffset >= dataLenToCopy) {
*returnCode = ODR_DEV_INCOMPAT;
return 0;
}
/* reduce for already copied data */
dataLenToCopy -= stream->dataOffset;
odData += stream->dataOffset;
if (dataLenToCopy > count) {
/* Reamining data space in OD variable is larger than current count
* of data, so only current count of data will be copied */
dataLenToCopy = count;
stream->dataOffset += dataLenToCopy;
*returnCode = ODR_PARTIAL;
}
else {
stream->dataOffset = 0; /* copy finished, reset offset */
}
}
if (dataLenToCopy < count) {
/* OD variable is smaller than current ammount of data */
*returnCode = ODR_DATA_LONG;
return 0;
}
else {
CO_LOCK_OD();
memcpy(odData, buf, dataLenToCopy);
CO_UNLOCK_OD();
return dataLenToCopy;
}
}
/* Read value from variable from Object Dictionary disabled, see OD_subEntry_t*/
static OD_size_t OD_readDisabled(OD_stream_t *stream, uint8_t subIndex,
void *buf, OD_size_t count,
ODR_t *returnCode)
{
(void) stream; (void) subIndex; (void) buf; (void) count;
if (returnCode != NULL) *returnCode = ODR_WRITEONLY;
return 0;
}
/* Write value to variable from Object Dictionary disabled, see OD_subEntry_t */
static OD_size_t OD_writeDisabled(OD_stream_t *stream, uint8_t subIndex,
const void *buf, OD_size_t count,
ODR_t *returnCode)
{
(void) stream; (void) subIndex; (void) buf; (void) count;
if (returnCode != NULL) *returnCode = ODR_READONLY;
return 0;
}
/******************************************************************************/
const OD_entry_t *OD_find(const OD_t *od, uint16_t index) {
unsigned int cur;
unsigned int min = 0;
unsigned int max = od->size - 1;
if (od == NULL || od->size == 0) {
return NULL;
}
/* Fast search in ordered Object Dictionary. If indexes are mixed,
* this won't work. If Object Dictionary has up to 2^N entries, then N is
* max number of loop passes. */
while (min < max) {
/* get entry between min and max */
cur = (min + max) >> 1;
const OD_entry_t* entry = &od->list[cur];
if (index == entry->index) {
return entry;
}
else if (index < entry->index) {
max = cur;
if(max > 0) max--;
}
else {
min = cur + 1;
}
}
if (min == max) {
const OD_entry_t* entry = &od->list[min];
if (index == entry->index) {
return entry;
}
}
return NULL; /* entry does not exist in OD */
}
/******************************************************************************/
ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
OD_subEntry_t *subEntry, OD_stream_t *stream, bool_t odOrig)
{
if (entry == NULL || entry->odObject == NULL) return ODR_IDX_NOT_EXIST;
else if (subEntry == NULL || stream == NULL) return ODR_DEV_INCOMPAT;
const void *odObjectOrig = entry->odObject;
const OD_obj_extended_t *odObjectExt = NULL;
uint8_t odBasicType = entry->odObjectType & ODT_TYPE_MASK;
/* Is object type extended? */
if ((entry->odObjectType & ODT_EXTENSION_MASK) != 0) {
odObjectExt = (const OD_obj_extended_t *)odObjectOrig;
odObjectOrig = odObjectExt->odObjectOriginal;
if (odObjectOrig == NULL) return ODR_DEV_INCOMPAT;
}
/* common properties */
subEntry->index = entry->index;
subEntry->subIndex = subIndex;
subEntry->subEntriesCount = entry->subEntriesCount;
subEntry->flagsPDO = (odObjectExt != NULL ) ? odObjectExt->flagsPDO : NULL;
stream->dataOffset = 0;
/* attribute, dataObjectOriginal and dataLength, depends on object type */
if (odBasicType == ODT_VAR) {
if (subIndex > 0) return ODR_SUB_NOT_EXIST;
const OD_obj_var_t *odo = (const OD_obj_var_t *)odObjectOrig;
subEntry->attribute = odo->attribute;
stream->dataObjectOriginal = odo->data;
stream->dataLength = odo->dataLength;
}
else if (odBasicType == ODT_ARR) {
if (subIndex >= entry->subEntriesCount) return ODR_SUB_NOT_EXIST;
const OD_obj_array_t *odo = (const OD_obj_array_t *)odObjectOrig;
if (subIndex == 0) {
subEntry->attribute = odo->attribute0;
stream->dataObjectOriginal = odo->data0;
stream->dataLength = 1;
}
else {
subEntry->attribute = odo->attribute;
if (odo->data == NULL) {
stream->dataObjectOriginal = NULL;
}
else {
char *data = (char *)odo->data;
int i = subIndex - 1;
stream->dataObjectOriginal = data + odo->dataElementSizeof * i;
}
stream->dataLength = odo->dataElementLength;
}
}
else if (odBasicType == ODT_REC) {
const OD_obj_record_t *odoArr = (const OD_obj_record_t *)odObjectOrig;
const OD_obj_record_t *odo = NULL;
for (int i = 0; i< entry->subEntriesCount; i++) {
if (odoArr[i].subIndex == subIndex) {
odo = &odoArr[i];
break;
}
}
if (odo == NULL) return ODR_SUB_NOT_EXIST;
subEntry->attribute = odo->attribute;
stream->dataObjectOriginal = odo->data;
stream->dataLength = odo->dataLength;
}
else {
return ODR_DEV_INCOMPAT;
}
/* read, write and dataObject, direct or with IO extension */
if (odObjectExt == NULL || odObjectExt->extIO == NULL || odOrig) {
subEntry->read = OD_readOriginal;
subEntry->write = OD_writeOriginal;
stream->object = NULL;
}
else {
subEntry->read = odObjectExt->extIO->read != NULL ?
odObjectExt->extIO->read : OD_readDisabled;
subEntry->write = odObjectExt->extIO->write != NULL ?
odObjectExt->extIO->write : OD_writeDisabled;
stream->object = odObjectExt->extIO->object;
}
return ODR_OK;
}
/******************************************************************************/
uint32_t OD_getSDOabCode(ODR_t returnCode) {
static const uint32_t abortCodes[ODR_COUNT] = {
0x00000000UL, /* No abort */
0x05040005UL, /* Out of memory */
0x06010000UL, /* Unsupported access to an object */
0x06010001UL, /* Attempt to read a write only object */
0x06010002UL, /* Attempt to write a read only object */
0x06020000UL, /* Object does not exist in the object dictionary */
0x06040041UL, /* Object cannot be mapped to the PDO */
0x06040042UL, /* Num and len of object to be mapped exceeds PDO len */
0x06040043UL, /* General parameter incompatibility reasons */
0x06040047UL, /* General internal incompatibility in device */
0x06060000UL, /* Access failed due to hardware error */
0x06070010UL, /* Data type does not match, length does not match */
0x06070012UL, /* Data type does not match, length too high */
0x06070013UL, /* Data type does not match, length too short */
0x06090011UL, /* Sub index does not exist */
0x06090030UL, /* Invalid value for parameter (download only). */
0x06090031UL, /* Value range of parameter written too high */
0x06090032UL, /* Value range of parameter written too low */
0x06090036UL, /* Maximum value is less than minimum value. */
0x060A0023UL, /* Resource not available: SDO connection */
0x08000000UL, /* General error */
0x08000020UL, /* Data cannot be transferred or stored to application */
0x08000021UL, /* Data cannot be transf. because of local control */
0x08000022UL, /* Data cannot be tran. because of present device state */
0x08000023UL, /* Object dict. not present or dynamic generation fails */
0x08000024UL /* No data available */
};
return (returnCode < 0 || returnCode >= ODR_COUNT) ?
abortCodes[ODR_DEV_INCOMPAT] : abortCodes[returnCode];
}
/******************************************************************************/
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))
{
if (entry == NULL || (entry->odObjectType & ODT_EXTENSION_MASK) == 0) {
return false;
}
const OD_obj_extended_t *odo = (const OD_obj_extended_t *) entry->odObject;
if (odo->extIO == NULL) {
return false;
}
odo->extIO->object = object;
odo->extIO->read = read;
odo->extIO->write = write;
return true;
}
/******************************************************************************/
ODR_t OD_get_i8(const OD_entry_t *entry, uint8_t subIndex,
int8_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_i16(const OD_entry_t *entry, uint8_t subIndex,
int16_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_i32(const OD_entry_t *entry, uint8_t subIndex,
int32_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_i64(const OD_entry_t *entry, uint8_t subIndex,
int64_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_u8(const OD_entry_t *entry, uint8_t subIndex,
uint8_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_u16(const OD_entry_t *entry, uint8_t subIndex,
uint16_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_u32(const OD_entry_t *entry, uint8_t subIndex,
uint32_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_u64(const OD_entry_t *entry, uint8_t subIndex,
uint64_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_r32(const OD_entry_t *entry, uint8_t subIndex,
float32_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
ODR_t OD_get_r64(const OD_entry_t *entry, uint8_t subIndex,
float64_t *val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(*val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.read(&st, subIndex, val, sizeof(*val), &ret);
return ret;
}
/******************************************************************************/
ODR_t OD_set_i8(const OD_entry_t *entry, uint8_t subIndex,
int8_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_i16(const OD_entry_t *entry, uint8_t subIndex,
int16_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_i32(const OD_entry_t *entry, uint8_t subIndex,
int32_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_i64(const OD_entry_t *entry, uint8_t subIndex,
int64_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_u8(const OD_entry_t *entry, uint8_t subIndex,
uint8_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_u16(const OD_entry_t *entry, uint8_t subIndex,
uint16_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_u32(const OD_entry_t *entry, uint8_t subIndex,
uint32_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_u64(const OD_entry_t *entry, uint8_t subIndex,
uint64_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_r32(const OD_entry_t *entry, uint8_t subIndex,
float32_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
ODR_t OD_set_r64(const OD_entry_t *entry, uint8_t subIndex,
float64_t val, bool_t odOrig)
{
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, odOrig);
if (ret == ODR_OK && st.dataLength != sizeof(val)) ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) subEntry.write(&st, subIndex, &val, sizeof(val), &ret);
return ret;
}
/******************************************************************************/
ODR_t OD_getPtr_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (int8_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (int16_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (int32_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (int64_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (uint8_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (uint16_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (uint32_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t **val) {
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (uint64_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t **val){
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (float32_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
ODR_t OD_getPtr_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t **val){
OD_subEntry_t subEntry; OD_stream_t st;
ODR_t ret = OD_getSub(entry, subIndex, &subEntry, &st, true);
if (ret == ODR_OK && st.dataLength != sizeof(**val))ret = ODR_TYPE_MISMATCH;
if (ret == ODR_OK) *val = (float64_t *)st.dataObjectOriginal;
if (*val == NULL) ret = ODR_DEV_INCOMPAT;
return ret;
}
View git blame Copy permalink