CO_ODinterface.h

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#ifndef CO_OD_INTERFACE_H
#define CO_OD_INTERFACE_H
 
#include "301/CO_driver.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CO_OD_OWN_TYPES
typedef uint32_t OD_size_t; 
typedef uint8_t OD_attr_t;  
#endif
 
#ifndef OD_FLAGS_PDO_SIZE
#define OD_FLAGS_PDO_SIZE 4U 
#endif
 
#ifndef CO_PROGMEM
#define CO_PROGMEM const
#endif
 
typedef enum {
    OD_H1000_DEV_TYPE = 0x1000U,           
    OD_H1001_ERR_REG = 0x1001U,            
    OD_H1002_MANUF_STATUS_REG = 0x1002U,   
    OD_H1003_PREDEF_ERR_FIELD = 0x1003U,   
    OD_H1004_RSV = 0x1004U,                
    OD_H1005_COBID_SYNC = 0x1005U,         
    OD_H1006_COMM_CYCL_PERIOD = 0x1006U,   
    OD_H1007_SYNC_WINDOW_LEN = 0x1007U,    
    OD_H1008_MANUF_DEV_NAME = 0x1008U,     
    OD_H1009_MANUF_HW_VERSION = 0x1009U,   
    OD_H100A_MANUF_SW_VERSION = 0x100AU,   
    OD_H100B_RSV = 0x100BU,                
    OD_H100C_GUARD_TIME = 0x100CU,         
    OD_H100D_LIFETIME_FACTOR = 0x100DU,    
    OD_H100E_RSV = 0x100EU,                
    OD_H100F_RSV = 0x100FU,                
    OD_H1010_STORE_PARAMETERS = 0x1010U,   
    OD_H1011_RESTORE_DEFAULT = 0x1011U,    
    OD_H1012_COBID_TIME = 0x1012U,         
    OD_H1013_HIGH_RES_TIMESTAMP = 0x1013U, 
    OD_H1014_COBID_EMERGENCY = 0x1014U,    
    OD_H1015_INHIBIT_TIME_EMCY = 0x1015U,  
    OD_H1016_CONSUMER_HB_TIME = 0x1016U,   
    OD_H1017_PRODUCER_HB_TIME = 0x1017U,   
    OD_H1018_IDENTITY_OBJECT = 0x1018U,    
    OD_H1019_SYNC_CNT_OVERFLOW = 0x1019U,  
    OD_H1020_VERIFY_CONFIG = 0x1020U,      
    OD_H1021_STORE_EDS = 0x1021U,          
    OD_H1022_STORE_FORMAT = 0x1022U,       
    OD_H1023_OS_CMD = 0x1023U,             
    OD_H1024_OS_CMD_MODE = 0x1024U,        
    OD_H1025_OS_DBG_INTERFACE = 0x1025U,   
    OD_H1026_OS_PROMPT = 0x1026U,          
    OD_H1027_MODULE_LIST = 0x1027U,        
    OD_H1028_EMCY_CONSUMER = 0x1028U,      
    OD_H1029_ERR_BEHAVIOR = 0x1029U,       
    OD_H1200_SDO_SERVER_1_PARAM = 0x1200U, 
    OD_H1280_SDO_CLIENT_1_PARAM = 0x1280U, 
    OD_H1300_GFC_PARAM = 0x1300U,          
    OD_H1301_SRDO_1_PARAM = 0x1301U,       
    OD_H1381_SRDO_1_MAPPING = 0x1381U,     
    OD_H13FE_SRDO_VALID = 0x13FEU,         
    OD_H13FF_SRDO_CHECKSUM = 0x13FFU,      
    OD_H1400_RXPDO_1_PARAM = 0x1400U,      
    OD_H1600_RXPDO_1_MAPPING = 0x1600U,    
    OD_H1800_TXPDO_1_PARAM = 0x1800U,      
    OD_H1A00_TXPDO_1_MAPPING = 0x1A00U,    
} OD_ObjDicId_30x_t;
 
typedef enum {
    ODA_SDO_R = 0x01U,  
    ODA_SDO_W = 0x02U,  
    ODA_SDO_RW = 0x03U, 
    ODA_TPDO = 0x04U,   
    ODA_RPDO = 0x08U,   
    ODA_TRPDO = 0x0CU,  
    ODA_TSRDO = 0x10U,  
    ODA_RSRDO = 0x20U,  
    ODA_TRSRDO = 0x30U, 
    ODA_MB = 0x40U,     
    ODA_STR = 0x80U     
} OD_attributes_t;
 
typedef enum {
    /* !!!! WARNING !!!! If changing these values, change also OD_getSDOabCode() function! */
    ODR_PARTIAL = -1,        
    ODR_OK = 0,              
    ODR_OUT_OF_MEM = 1,      
    ODR_UNSUPP_ACCESS = 2,   
    ODR_WRITEONLY = 3,       
    ODR_READONLY = 4,        
    ODR_IDX_NOT_EXIST = 5,   
    ODR_NO_MAP = 6,          
    ODR_MAP_LEN = 7,         
    ODR_PAR_INCOMPAT = 8,    
    ODR_DEV_INCOMPAT = 9,    
    ODR_HW = 10,             
    ODR_TYPE_MISMATCH = 11,  
    ODR_DATA_LONG = 12,      
    ODR_DATA_SHORT = 13,     
    ODR_SUB_NOT_EXIST = 14,  
    ODR_INVALID_VALUE = 15,  
    ODR_VALUE_HIGH = 16,     
    ODR_VALUE_LOW = 17,      
    ODR_MAX_LESS_MIN = 18,   
    ODR_NO_RESOURCE = 19,    
    ODR_GENERAL = 20,        
    ODR_DATA_TRANSF = 21,    
    ODR_DATA_LOC_CTRL = 22,  
    ODR_DATA_DEV_STATE = 23, 
    ODR_OD_MISSING = 24,     
    ODR_NO_DATA = 25,        
    ODR_COUNT = 26           
} ODR_t;
 
typedef struct {
    void* dataOrig; 
    void* object; 
    OD_size_t dataLength; 
    OD_size_t dataOffset; 
    OD_attr_t attribute;  
    uint16_t index;       
    uint8_t subIndex;     
} OD_stream_t;
 
typedef struct {
    OD_stream_t stream;
    ODR_t (*read)(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
    ODR_t (*write)(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
} OD_IO_t;
 
typedef struct {
    void* object;
    ODR_t (*read)(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
    ODR_t (*write)(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
#if OD_FLAGS_PDO_SIZE > 0
    uint8_t flagsPDO[OD_FLAGS_PDO_SIZE];
#endif
} OD_extension_t;
 
typedef struct {
    uint16_t index;            
    uint8_t subEntriesCount;   
    uint8_t odObjectType;      
    CO_PROGMEM void* odObject; 
    OD_extension_t* extension; 
} OD_entry_t;
 
typedef struct {
    uint16_t size;    
    OD_entry_t* list; 
} OD_t;
 
ODR_t OD_readOriginal(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead);
 
ODR_t OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten);
 
OD_entry_t* OD_find(OD_t* od, uint16_t index);
 
ODR_t OD_getSub(const OD_entry_t* entry, uint8_t subIndex, OD_IO_t* io, bool_t odOrig);
 
static inline uint16_t
OD_getIndex(const OD_entry_t* entry) {
    return (entry != NULL) ? entry->index : 0U;
}
 
static inline bool_t
OD_mappable(OD_stream_t* stream) {
    return (stream != NULL) ? ((stream->attribute & ((OD_attr_t)ODA_TRPDO | (OD_attr_t)ODA_TRSRDO)) != 0U) : false;
}
 
static inline void
OD_rwRestart(OD_stream_t* stream) {
    if (stream != NULL) {
        stream->dataOffset = 0U;
    }
}
 
static inline uint8_t*
OD_getFlagsPDO(OD_entry_t* entry) {
#if OD_FLAGS_PDO_SIZE > 0
    if ((entry != NULL) && (entry->extension != NULL)) {
        return &entry->extension->flagsPDO[0];
    }
#endif
    return NULL;
}
 
static inline void
OD_requestTPDO(uint8_t* flagsPDO, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
    if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
        /* clear subIndex-th bit */
        uint8_t mask = ~(1U << (subIndex & 0x07U));
        flagsPDO[subIndex >> 3] &= mask;
    }
#endif
}
 
static inline bool_t
OD_TPDOtransmitted(uint8_t* flagsPDO, uint8_t subIndex) {
#if OD_FLAGS_PDO_SIZE > 0
    if ((flagsPDO != NULL) && (subIndex < (OD_FLAGS_PDO_SIZE * 8U))) {
        /* return true, if subIndex-th bit is set */
        uint8_t mask = 1U << (subIndex & 0x07U);
        if ((flagsPDO[subIndex >> 3] & mask) != 0U) {
            return true;
        }
    }
#endif
    return false;
}
 
uint32_t OD_getSDOabCode(ODR_t returnCode);
 
static inline ODR_t
OD_extension_init(OD_entry_t* entry, OD_extension_t* extension) {
    if (entry == NULL) {
        return ODR_IDX_NOT_EXIST;
    }
    entry->extension = extension;
    return ODR_OK;
}
 
ODR_t OD_get_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig);
 
static inline ODR_t
OD_get_i8(const OD_entry_t* entry, uint8_t subIndex, int8_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_i16(const OD_entry_t* entry, uint8_t subIndex, int16_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_i32(const OD_entry_t* entry, uint8_t subIndex, int32_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_i64(const OD_entry_t* entry, uint8_t subIndex, int64_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_u8(const OD_entry_t* entry, uint8_t subIndex, uint8_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_u16(const OD_entry_t* entry, uint8_t subIndex, uint16_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_u32(const OD_entry_t* entry, uint8_t subIndex, uint32_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_u64(const OD_entry_t* entry, uint8_t subIndex, uint64_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_f32(const OD_entry_t* entry, uint8_t subIndex, float32_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
static inline ODR_t
OD_get_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t* val, bool_t odOrig) {
    return OD_get_value(entry, subIndex, val, sizeof(*val), odOrig);
}
 
ODR_t OD_set_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig);
 
static inline ODR_t
OD_set_i8(const OD_entry_t* entry, uint8_t subIndex, int8_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_i16(const OD_entry_t* entry, uint8_t subIndex, int16_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_i32(const OD_entry_t* entry, uint8_t subIndex, int32_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_i64(const OD_entry_t* entry, uint8_t subIndex, int64_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_u8(const OD_entry_t* entry, uint8_t subIndex, uint8_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_u16(const OD_entry_t* entry, uint8_t subIndex, uint16_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_u32(const OD_entry_t* entry, uint8_t subIndex, uint32_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_u64(const OD_entry_t* entry, uint8_t subIndex, uint64_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_f32(const OD_entry_t* entry, uint8_t subIndex, float32_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
static inline ODR_t
OD_set_f64(const OD_entry_t* entry, uint8_t subIndex, float64_t val, bool_t odOrig) {
    return OD_set_value(entry, subIndex, &val, sizeof(val), odOrig);
}
 
void* OD_getPtr(const OD_entry_t* entry, uint8_t subIndex, OD_size_t len, ODR_t* err);
 /* CO_ODgetSetters */
 
#if defined OD_DEFINITION || defined CO_DOXYGEN
typedef enum {
    ODT_VAR = 0x01, 
    ODT_ARR = 0x02, 
    ODT_REC = 0x03, 
    ODT_TYPE_MASK = 0x0F, 
} OD_objectTypes_t;
 
typedef struct {
    void* dataOrig;       
    OD_attr_t attribute;  
    OD_size_t dataLength; 
} OD_obj_var_t;
 
typedef struct {
    uint8_t* dataOrig0;          
    void* dataOrig;              
    OD_attr_t attribute0;        
    OD_attr_t attribute;         
    OD_size_t dataElementLength; 
    OD_size_t dataElementSizeof; 
} OD_obj_array_t;
 
typedef struct {
    void* dataOrig;       
    uint8_t subIndex;     
    OD_attr_t attribute;  
    OD_size_t dataLength; 
} OD_obj_record_t;
 
 /* CO_ODdefinition */
 
#endif /* defined OD_DEFINITION */
 
 /* CO_ODinterface */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CO_OD_INTERFACE_H */