09bf926856
- Add OD_getPtr_vs(), OD_getPtr_os() and OD_getPtr_us(). - Move read/write from OD_subEntry_t into OD_IO_t structure. - Change argument in OD_getSub(), use OD_IO_t instead OD_stream_t. - OD_getSub(), argument subEntry is optional. - Change return value of OD_extensionIO_init() to ODR_t.
788 lines
26 KiB
C
788 lines
26 KiB
C
/*
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* CANopen Object Dictionary interface
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*
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* @file CO_ODinterface.c
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* @author Janez Paternoster
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* @copyright 2020 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <string.h>
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#define OD_DEFINITION
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#include "301/CO_ODinterface.h"
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/******************************************************************************/
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OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex,
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void *buf, OD_size_t count, ODR_t *returnCode)
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{
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(void) subIndex;
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if (stream == NULL || buf == NULL || returnCode == NULL) {
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if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
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return 0;
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}
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OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
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const char *odData = (const char *)stream->dataObjectOriginal;
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if (odData == NULL) {
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*returnCode = ODR_SUB_NOT_EXIST;
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return 0;
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}
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*returnCode = ODR_OK;
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/* If previous read was partial or OD variable length is larger than
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* current buffer len, then data was (will be) read in several segments */
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if (stream->dataOffset > 0 || dataLenToCopy > count) {
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if (stream->dataOffset >= dataLenToCopy) {
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*returnCode = ODR_DEV_INCOMPAT;
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return 0;
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}
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/* reduce for already copied data */
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dataLenToCopy -= stream->dataOffset;
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odData += stream->dataOffset;
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if (dataLenToCopy > count) {
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/* not enough space in destionation buffer */
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dataLenToCopy = count;
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stream->dataOffset += dataLenToCopy;
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*returnCode = ODR_PARTIAL;
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}
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else {
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stream->dataOffset = 0; /* copy finished, reset offset */
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}
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}
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CO_LOCK_OD();
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memcpy(buf, odData, dataLenToCopy);
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CO_UNLOCK_OD();
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return dataLenToCopy;
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}
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/******************************************************************************/
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OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
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const void *buf, OD_size_t count, ODR_t *returnCode)
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{
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(void) subIndex;
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if (stream == NULL || buf == NULL || returnCode == NULL) {
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if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
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return 0;
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}
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OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
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char *odData = (char *)stream->dataObjectOriginal;
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if (odData == NULL) {
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*returnCode = ODR_SUB_NOT_EXIST;
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return 0;
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}
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*returnCode = ODR_OK;
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/* If previous write was partial or OD variable length is larger than
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* current data len, then data was (will be) written in several segments */
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if (stream->dataOffset > 0 || dataLenToCopy > count) {
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if (stream->dataOffset >= dataLenToCopy) {
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*returnCode = ODR_DEV_INCOMPAT;
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return 0;
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}
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/* reduce for already copied data */
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dataLenToCopy -= stream->dataOffset;
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odData += stream->dataOffset;
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if (dataLenToCopy > count) {
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/* Remaining data space in OD variable is larger than current count
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* of data, so only current count of data will be copied */
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dataLenToCopy = count;
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stream->dataOffset += dataLenToCopy;
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*returnCode = ODR_PARTIAL;
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}
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else {
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stream->dataOffset = 0; /* copy finished, reset offset */
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}
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}
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if (dataLenToCopy < count) {
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/* OD variable is smaller than current amount of data */
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*returnCode = ODR_DATA_LONG;
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return 0;
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}
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else {
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CO_LOCK_OD();
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memcpy(odData, buf, dataLenToCopy);
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CO_UNLOCK_OD();
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return dataLenToCopy;
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}
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}
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/* Read value from variable from Object Dictionary disabled, see OD_IO_t*/
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static OD_size_t OD_readDisabled(OD_stream_t *stream, uint8_t subIndex,
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void *buf, OD_size_t count,
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ODR_t *returnCode)
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{
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(void) stream; (void) subIndex; (void) buf; (void) count;
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if (returnCode != NULL) *returnCode = ODR_UNSUPP_ACCESS;
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return 0;
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}
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/* Write value to variable from Object Dictionary disabled, see OD_IO_t */
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static OD_size_t OD_writeDisabled(OD_stream_t *stream, uint8_t subIndex,
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const void *buf, OD_size_t count,
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ODR_t *returnCode)
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{
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(void) stream; (void) subIndex; (void) buf; (void) count;
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if (returnCode != NULL) *returnCode = ODR_UNSUPP_ACCESS;
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return 0;
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}
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/******************************************************************************/
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const OD_entry_t *OD_find(const OD_t *od, uint16_t index) {
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unsigned int cur;
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unsigned int min = 0;
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unsigned int max = od->size - 1;
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if (od == NULL || od->size == 0) {
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return NULL;
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}
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/* Fast search in ordered Object Dictionary. If indexes are mixed,
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* this won't work. If Object Dictionary has up to 2^N entries, then N is
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* max number of loop passes. */
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while (min < max) {
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/* get entry between min and max */
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cur = (min + max) >> 1;
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const OD_entry_t* entry = &od->list[cur];
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if (index == entry->index) {
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return entry;
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}
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else if (index < entry->index) {
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max = cur;
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if(max > 0) max--;
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}
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else {
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min = cur + 1;
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}
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}
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if (min == max) {
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const OD_entry_t* entry = &od->list[min];
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if (index == entry->index) {
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return entry;
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}
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}
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return NULL; /* entry does not exist in OD */
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}
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/******************************************************************************/
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ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
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OD_subEntry_t *subEntry, OD_IO_t *io, bool_t odOrig)
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{
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if (entry == NULL || entry->odObject == NULL) return ODR_IDX_NOT_EXIST;
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else if (io == NULL) return ODR_DEV_INCOMPAT;
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const void *odObjectOrig = entry->odObject;
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const OD_obj_extended_t *odObjectExt = NULL;
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uint8_t odBasicType = entry->odObjectType & ODT_TYPE_MASK;
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OD_attr_t attr = 0;
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/* Is object type extended? */
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if ((entry->odObjectType & ODT_EXTENSION_MASK) != 0) {
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odObjectExt = (const OD_obj_extended_t *)odObjectOrig;
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odObjectOrig = odObjectExt->odObjectOriginal;
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if (odObjectOrig == NULL) return ODR_DEV_INCOMPAT;
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}
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/* attribute, dataObjectOriginal and dataLength, depends on object type */
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if (odBasicType == ODT_VAR) {
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if (subIndex > 0) return ODR_SUB_NOT_EXIST;
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const OD_obj_var_t *odo = (const OD_obj_var_t *)odObjectOrig;
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attr = odo->attribute;
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io->stream.dataObjectOriginal = odo->data;
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io->stream.dataLength = odo->dataLength;
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}
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else if (odBasicType == ODT_ARR) {
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if (subIndex >= entry->subEntriesCount) return ODR_SUB_NOT_EXIST;
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const OD_obj_array_t *odo = (const OD_obj_array_t *)odObjectOrig;
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if (subIndex == 0) {
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attr = odo->attribute0;
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io->stream.dataObjectOriginal = odo->data0;
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io->stream.dataLength = 1;
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}
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else {
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attr = odo->attribute;
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if (odo->data == NULL) {
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io->stream.dataObjectOriginal = NULL;
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}
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else {
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char *data = (char *)odo->data;
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int i = subIndex - 1;
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io->stream.dataObjectOriginal = data + odo->dataElementSizeof * i;
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}
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io->stream.dataLength = odo->dataElementLength;
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}
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}
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else if (odBasicType == ODT_REC) {
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const OD_obj_record_t *odoArr = (const OD_obj_record_t *)odObjectOrig;
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const OD_obj_record_t *odo = NULL;
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for (int i = 0; i< entry->subEntriesCount; i++) {
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if (odoArr[i].subIndex == subIndex) {
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odo = &odoArr[i];
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break;
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}
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}
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if (odo == NULL) return ODR_SUB_NOT_EXIST;
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attr = odo->attribute;
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io->stream.dataObjectOriginal = odo->data;
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io->stream.dataLength = odo->dataLength;
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}
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else {
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return ODR_DEV_INCOMPAT;
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}
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/* read, write and dataObject, direct or with IO extension */
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if (odObjectExt == NULL || odObjectExt->extIO == NULL || odOrig) {
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io->read = OD_readOriginal;
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io->write = OD_writeOriginal;
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io->stream.object = NULL;
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}
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else {
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io->read = odObjectExt->extIO->read != NULL ?
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odObjectExt->extIO->read : OD_readDisabled;
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io->write = odObjectExt->extIO->write != NULL ?
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odObjectExt->extIO->write : OD_writeDisabled;
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io->stream.object = odObjectExt->extIO->object;
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}
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/* common properties */
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if (subEntry != NULL) {
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subEntry->index = entry->index;
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subEntry->subIndex = subIndex;
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subEntry->subEntriesCount = entry->subEntriesCount;
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subEntry->attribute = attr;
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subEntry->flagsPDO = odObjectExt != NULL ?
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odObjectExt->flagsPDO : NULL;
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}
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io->stream.dataOffset = 0;
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return ODR_OK;
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}
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/******************************************************************************/
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uint32_t OD_getSDOabCode(ODR_t returnCode) {
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static const uint32_t abortCodes[ODR_COUNT] = {
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0x00000000UL, /* No abort */
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0x05040005UL, /* Out of memory */
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0x06010000UL, /* Unsupported access to an object */
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0x06010001UL, /* Attempt to read a write only object */
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0x06010002UL, /* Attempt to write a read only object */
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0x06020000UL, /* Object does not exist in the object dictionary */
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0x06040041UL, /* Object cannot be mapped to the PDO */
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0x06040042UL, /* Num and len of object to be mapped exceeds PDO len */
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0x06040043UL, /* General parameter incompatibility reasons */
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0x06040047UL, /* General internal incompatibility in device */
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0x06060000UL, /* Access failed due to hardware error */
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0x06070010UL, /* Data type does not match, length does not match */
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0x06070012UL, /* Data type does not match, length too high */
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0x06070013UL, /* Data type does not match, length too short */
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0x06090011UL, /* Sub index does not exist */
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0x06090030UL, /* Invalid value for parameter (download only). */
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0x06090031UL, /* Value range of parameter written too high */
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0x06090032UL, /* Value range of parameter written too low */
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0x06090036UL, /* Maximum value is less than minimum value. */
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0x060A0023UL, /* Resource not available: SDO connection */
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0x08000000UL, /* General error */
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0x08000020UL, /* Data cannot be transferred or stored to application */
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0x08000021UL, /* Data cannot be transf. because of local control */
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0x08000022UL, /* Data cannot be tran. because of present device state */
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0x08000023UL, /* Object dict. not present or dynamic generation fails */
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0x08000024UL /* No data available */
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};
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return (returnCode < 0 || returnCode >= ODR_COUNT) ?
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abortCodes[ODR_DEV_INCOMPAT] : abortCodes[returnCode];
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}
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/******************************************************************************/
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ODR_t OD_extensionIO_init(const OD_entry_t *entry,
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void *object,
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OD_size_t (*read)(OD_stream_t *stream,
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uint8_t subIndex,
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void *buf,
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OD_size_t count,
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ODR_t *returnCode),
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OD_size_t (*write)(OD_stream_t *stream,
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uint8_t subIndex,
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const void *buf,
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OD_size_t count,
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ODR_t *returnCode))
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{
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if (entry == NULL) {
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return ODR_IDX_NOT_EXIST;
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}
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const OD_obj_extended_t *odo = (const OD_obj_extended_t *) entry->odObject;
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if ((entry->odObjectType & ODT_EXTENSION_MASK) == 0 || odo->extIO == NULL) {
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return ODR_PAR_INCOMPAT;
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}
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odo->extIO->object = object;
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odo->extIO->read = read;
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odo->extIO->write = write;
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return ODR_OK;
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}
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/******************************************************************************/
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ODR_t OD_get_i8(const OD_entry_t *entry, uint8_t subIndex,
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int8_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_i16(const OD_entry_t *entry, uint8_t subIndex,
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int16_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_i32(const OD_entry_t *entry, uint8_t subIndex,
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int32_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_i64(const OD_entry_t *entry, uint8_t subIndex,
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int64_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_u8(const OD_entry_t *entry, uint8_t subIndex,
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uint8_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_u16(const OD_entry_t *entry, uint8_t subIndex,
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uint16_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_u32(const OD_entry_t *entry, uint8_t subIndex,
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uint32_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_u64(const OD_entry_t *entry, uint8_t subIndex,
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uint64_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_r32(const OD_entry_t *entry, uint8_t subIndex,
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float32_t *val, bool_t odOrig)
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{
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OD_IO_t io;
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ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
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if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
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ret = ODR_TYPE_MISMATCH;
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if (ret == ODR_OK) io.read(&io.stream, subIndex, val, sizeof(*val), &ret);
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return ret;
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}
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ODR_t OD_get_r64(const OD_entry_t *entry, uint8_t subIndex,
|
|
float64_t *val, bool_t odOrig)
|
|
{
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(*val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.read(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, 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_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, odOrig);
|
|
|
|
if (ret == ODR_OK && io.stream.dataLength != sizeof(val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
if (ret == ODR_OK) io.write(&io.stream, subIndex, &val, sizeof(val), &ret);
|
|
return ret;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
ODR_t OD_getPtr_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (int8_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (int16_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (int32_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (int64_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (uint8_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (uint16_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (uint32_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t **val) {
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (uint64_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t **val){
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (float32_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t **val){
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL)
|
|
ret = ODR_DEV_INCOMPAT;
|
|
else if (ret == ODR_OK && io.stream.dataLength != sizeof(**val))
|
|
ret = ODR_TYPE_MISMATCH;
|
|
else if (ret == ODR_OK)
|
|
*val = (float64_t *)io.stream.dataObjectOriginal;
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_vs(const OD_entry_t *entry, uint8_t subIndex,
|
|
char **val, OD_size_t *dataLength)
|
|
{
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL
|
|
|| io.stream.dataLength == 0)
|
|
{
|
|
ret = ODR_DEV_INCOMPAT;
|
|
}
|
|
else if (ret == ODR_OK) {
|
|
*val = (char *)io.stream.dataObjectOriginal;
|
|
if (dataLength != NULL) *dataLength = io.stream.dataLength;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_os(const OD_entry_t *entry, uint8_t subIndex,
|
|
uint8_t **val, OD_size_t *dataLength)
|
|
{
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL
|
|
|| io.stream.dataLength == 0)
|
|
{
|
|
ret = ODR_DEV_INCOMPAT;
|
|
}
|
|
else if (ret == ODR_OK) {
|
|
*val = (uint8_t *)io.stream.dataObjectOriginal;
|
|
if (dataLength != NULL) *dataLength = io.stream.dataLength;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
ODR_t OD_getPtr_us(const OD_entry_t *entry, uint8_t subIndex,
|
|
uint16_t **val, OD_size_t *dataLength)
|
|
{
|
|
OD_IO_t io;
|
|
ODR_t ret = OD_getSub(entry, subIndex, NULL, &io, true);
|
|
|
|
if (val == NULL || io.stream.dataObjectOriginal == NULL
|
|
|| io.stream.dataLength == 0)
|
|
{
|
|
ret = ODR_DEV_INCOMPAT;
|
|
}
|
|
else if (ret == ODR_OK) {
|
|
*val = (uint16_t *)io.stream.dataObjectOriginal;
|
|
if (dataLength != NULL) *dataLength = io.stream.dataLength;
|
|
}
|
|
return ret;
|
|
}
|