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 OD_size_t
 
#define OD_size_t uint32_t
 
#define OD_flagsPDO_t uint32_t
#endif
 
#define OD_attr_t uint8_t
 
 
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_PARAM_FUNC   = 0x1010U,
    OD_H1011_REST_PARAM_FUNC    = 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 = 0x01, 
    ODA_SDO_W = 0x02, 
    ODA_SDO_RW = 0x03, 
    ODA_TPDO = 0x04, 
    ODA_RPDO = 0x08, 
    ODA_TRPDO = 0x0C, 
    ODA_TSRDO = 0x10, 
    ODA_RSRDO = 0x20, 
    ODA_TRSRDO = 0x30, 
    ODA_MB = 0x40, 
    ODA_STR = 0x80 
} 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 = 23,
    ODR_NO_DATA = 25,
    ODR_COUNT = 26
} ODR_t;
 
 
typedef struct {
    uint16_t index;
    uint8_t subIndex;
    uint8_t subEntriesCount;
    OD_attr_t attribute;
    OD_flagsPDO_t *flagsPDO;
} OD_subEntry_t;
 
 
typedef struct {
    void *dataObjectOriginal;
    void *object;
    OD_size_t dataLength;
    OD_size_t dataOffset;
} OD_stream_t;
 
 
typedef struct {
    OD_stream_t stream;
    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);
} OD_IO_t;
 
 
typedef struct {
    uint16_t index;
    uint8_t subEntriesCount;
    uint8_t odObjectType;
    const void *odObject;
} OD_entry_t;
 
 
typedef struct {
    uint16_t size;
    const OD_entry_t *list;
} OD_t;
 
 
OD_size_t OD_readOriginal(OD_stream_t *stream, uint8_t subIndex,
                          void *buf, OD_size_t count, ODR_t *returnCode);
 
 
OD_size_t OD_writeOriginal(OD_stream_t *stream, uint8_t subIndex,
                           const void *buf, OD_size_t count, ODR_t *returnCode);
 
 
const OD_entry_t *OD_find(const OD_t *od, uint16_t index);
 
 
ODR_t OD_getSub(const OD_entry_t *entry, uint8_t subIndex,
                OD_subEntry_t *subEntry, OD_IO_t *io, bool_t odOrig);
 
 
static inline uint16_t OD_getIndex(const OD_entry_t *entry) {
    return entry->index;
}
 
 
static inline void OD_rwRestart(OD_stream_t *stream) {
    stream->dataOffset = 0;
}
 
 
uint32_t OD_getSDOabCode(ODR_t returnCode);
 
 
ODR_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));
 
 
ODR_t OD_get_i8(const OD_entry_t *entry, uint8_t subIndex,
                int8_t *val, bool_t odOrig);
ODR_t OD_get_i16(const OD_entry_t *entry, uint8_t subIndex,
                 int16_t *val, bool_t odOrig);
ODR_t OD_get_i32(const OD_entry_t *entry, uint8_t subIndex,
                 int32_t *val, bool_t odOrig);
ODR_t OD_get_i64(const OD_entry_t *entry, uint8_t subIndex,
                 int64_t *val, bool_t odOrig);
ODR_t OD_get_u8(const OD_entry_t *entry, uint8_t subIndex,
                uint8_t *val, bool_t odOrig);
ODR_t OD_get_u16(const OD_entry_t *entry, uint8_t subIndex,
                 uint16_t *val, bool_t odOrig);
ODR_t OD_get_u32(const OD_entry_t *entry, uint8_t subIndex,
                 uint32_t *val, bool_t odOrig);
ODR_t OD_get_u64(const OD_entry_t *entry, uint8_t subIndex,
                 uint64_t *val, bool_t odOrig);
ODR_t OD_get_r32(const OD_entry_t *entry, uint8_t subIndex,
                 float32_t *val, bool_t odOrig);
ODR_t OD_get_r64(const OD_entry_t *entry, uint8_t subIndex,
                 float64_t *val, bool_t odOrig);
 
ODR_t OD_set_i8(const OD_entry_t *entry, uint8_t subIndex,
                int8_t val, bool_t odOrig);
ODR_t OD_set_i16(const OD_entry_t *entry, uint8_t subIndex,
                 int16_t val, bool_t odOrig);
ODR_t OD_set_i32(const OD_entry_t *entry, uint8_t subIndex,
                 int32_t val, bool_t odOrig);
ODR_t OD_set_i64(const OD_entry_t *entry, uint8_t subIndex,
                 int64_t val, bool_t odOrig);
ODR_t OD_set_u8(const OD_entry_t *entry, uint8_t subIndex,
                uint8_t val, bool_t odOrig);
ODR_t OD_set_u16(const OD_entry_t *entry, uint8_t subIndex,
                 uint16_t val, bool_t odOrig);
ODR_t OD_set_u32(const OD_entry_t *entry, uint8_t subIndex,
                 uint32_t val, bool_t odOrig);
ODR_t OD_set_u64(const OD_entry_t *entry, uint8_t subIndex,
                 uint64_t val, bool_t odOrig);
ODR_t OD_set_r32(const OD_entry_t *entry, uint8_t subIndex,
                 float32_t val, bool_t odOrig);
ODR_t OD_set_r64(const OD_entry_t *entry, uint8_t subIndex,
                 float64_t val, bool_t odOrig);
 
ODR_t OD_getPtr_i8(const OD_entry_t *entry, uint8_t subIndex, int8_t **val);
ODR_t OD_getPtr_i16(const OD_entry_t *entry, uint8_t subIndex, int16_t **val);
ODR_t OD_getPtr_i32(const OD_entry_t *entry, uint8_t subIndex, int32_t **val);
ODR_t OD_getPtr_i64(const OD_entry_t *entry, uint8_t subIndex, int64_t **val);
ODR_t OD_getPtr_u8(const OD_entry_t *entry, uint8_t subIndex, uint8_t **val);
ODR_t OD_getPtr_u16(const OD_entry_t *entry, uint8_t subIndex, uint16_t **val);
ODR_t OD_getPtr_u32(const OD_entry_t *entry, uint8_t subIndex, uint32_t **val);
ODR_t OD_getPtr_u64(const OD_entry_t *entry, uint8_t subIndex, uint64_t **val);
ODR_t OD_getPtr_r32(const OD_entry_t *entry, uint8_t subIndex, float32_t **val);
ODR_t OD_getPtr_r64(const OD_entry_t *entry, uint8_t subIndex, float64_t **val);
ODR_t OD_getPtr_vs(const OD_entry_t *entry, uint8_t subIndex,
                   char **val, OD_size_t *dataLength);
ODR_t OD_getPtr_os(const OD_entry_t *entry, uint8_t subIndex,
                   uint8_t **val, OD_size_t *dataLength);
ODR_t OD_getPtr_us(const OD_entry_t *entry, uint8_t subIndex,
                   uint16_t **val, OD_size_t *dataLength); /* CO_ODgetSetters */
 
 
#if defined OD_DEFINITION || defined CO_DOXYGEN
 
typedef enum {
    ODT_VAR = 0x01,
    ODT_ARR = 0x02,
    ODT_REC = 0x03,
 
    ODT_EVAR = 0x11,
    ODT_EARR = 0x12,
    ODT_EREC = 0x13,
 
    ODT_TYPE_MASK = 0x0F,
    ODT_EXTENSION_MASK = 0x10
} OD_objectTypes_t;
 
typedef struct {
    void *data; 
    OD_attr_t attribute; 
    OD_size_t dataLength; 
} OD_obj_var_t;
 
typedef struct {
    uint8_t *data0; 
    void *data; 
    OD_attr_t attribute0; 
    OD_attr_t attribute; 
    OD_size_t dataElementLength; 
    OD_size_t dataElementSizeof; 
} OD_obj_array_t;
 
typedef struct {
    void *data; 
    uint8_t subIndex; 
    OD_attr_t attribute; 
    OD_size_t dataLength; 
} OD_obj_record_t;
 
typedef struct {
    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);
} OD_extensionIO_t;
 
typedef struct {
    OD_extensionIO_t *extIO;
    OD_flagsPDO_t *flagsPDO;
    const void *odObjectOriginal;
} OD_obj_extended_t;
 /* CO_ODdefinition */
 
#endif /* defined OD_DEFINITION */
 /* CO_ODinterface */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* CO_OD_INTERFACE_H */