372 lines
12 KiB
C
372 lines
12 KiB
C
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/*
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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 <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. 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 distributed under the License is
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* distributed on an "AS IS" BASIS, 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 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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ODR_t
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OD_readOriginal(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) {
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if ((stream == NULL) || (buf == NULL) || (countRead == NULL)) {
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return ODR_DEV_INCOMPAT;
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}
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OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
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const uint8_t* dataOrig = stream->dataOrig;
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if (dataOrig == NULL) {
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return ODR_SUB_NOT_EXIST;
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}
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ODR_t 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 size, then data was (will be) read in several segments */
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if ((stream->dataOffset > 0U) || (dataLenToCopy > count)) {
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if (stream->dataOffset >= dataLenToCopy) {
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return ODR_DEV_INCOMPAT;
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}
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/* Reduce for already copied data */
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dataLenToCopy -= stream->dataOffset;
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dataOrig += stream->dataOffset;
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if (dataLenToCopy > count) {
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/* Not enough space in destination 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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} else {
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stream->dataOffset = 0; /* copy finished, reset offset */
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}
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}
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(void)memcpy((void*)buf, (const void*)dataOrig, dataLenToCopy);
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*countRead = dataLenToCopy;
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return returnCode;
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}
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ODR_t
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OD_writeOriginal(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
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if ((stream == NULL) || (buf == NULL) || (countWritten == NULL)) {
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return ODR_DEV_INCOMPAT;
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}
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OD_size_t dataLenToCopy = stream->dataLength; /* length of OD variable */
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OD_size_t dataLenRemain = dataLenToCopy; /* remaining length of dataOrig buffer */
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uint8_t* dataOrig = stream->dataOrig;
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if (dataOrig == NULL) {
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return ODR_SUB_NOT_EXIST;
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}
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ODR_t returnCode = ODR_OK;
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/* If previous write was partial or OD variable length is larger than current buffer size,
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* then data was (will be) written in several segments */
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if ((stream->dataOffset > 0U) || (dataLenToCopy > count)) {
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if (stream->dataOffset >= dataLenToCopy) {
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return ODR_DEV_INCOMPAT;
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}
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/* reduce for already copied data */
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dataLenToCopy -= stream->dataOffset;
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dataLenRemain = dataLenToCopy;
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dataOrig += 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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} 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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return ODR_DATA_LONG;
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}
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/* additional check for Misra c compliance */
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if ((dataLenToCopy <= dataLenRemain) && (dataLenToCopy <= count)) {
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(void)memcpy((void*)dataOrig, (const void*)buf, dataLenToCopy);
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} else {
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return ODR_DEV_INCOMPAT;
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}
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*countWritten = dataLenToCopy;
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return returnCode;
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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 ODR_t
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OD_readDisabled(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) {
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(void)stream;
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(void)buf;
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(void)count;
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(void)countRead;
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return ODR_UNSUPP_ACCESS;
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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 ODR_t
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OD_writeDisabled(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
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(void)stream;
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(void)buf;
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(void)count;
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(void)countWritten;
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return ODR_UNSUPP_ACCESS;
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}
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OD_entry_t*
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OD_find(OD_t* od, uint16_t index) {
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if ((od == NULL) || (od->size == 0U)) {
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return NULL;
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}
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uint16_t min = 0;
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uint16_t max = od->size - 1U;
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/* Fast search in ordered Object Dictionary. If indexes are mixed, this won't work. If Object
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* Dictionary has up to N entries, then the max number of loop passes is log2(N) */
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while (min < max) {
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/* get entry between min and max */
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uint16_t cur = (min + max) >> 1;
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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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if (index < entry->index) {
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max = (cur > 0U) ? (cur - 1U) : cur;
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} else {
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min = cur + 1U;
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}
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}
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if (min == max) {
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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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ODR_t
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OD_getSub(const OD_entry_t* entry, uint8_t subIndex, OD_IO_t* io, bool_t odOrig) {
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if ((entry == NULL) || (entry->odObject == NULL)) {
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return ODR_IDX_NOT_EXIST;
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}
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if (io == NULL) {
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return ODR_DEV_INCOMPAT;
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}
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ODR_t ret = ODR_OK;
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OD_stream_t* stream = &io->stream;
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/* attribute, dataOrig and dataLength, depends on object type */
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switch (entry->odObjectType & (uint8_t)ODT_TYPE_MASK) {
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case ODT_VAR: {
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if (subIndex > 0U) {
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ret = ODR_SUB_NOT_EXIST;
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break;
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}
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CO_PROGMEM OD_obj_var_t* odo = entry->odObject;
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stream->attribute = odo->attribute;
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stream->dataOrig = odo->dataOrig;
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stream->dataLength = odo->dataLength;
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break;
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}
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case ODT_ARR: {
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if (subIndex >= entry->subEntriesCount) {
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ret = ODR_SUB_NOT_EXIST;
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break;
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}
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CO_PROGMEM OD_obj_array_t* odo = entry->odObject;
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if (subIndex == 0U) {
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stream->attribute = odo->attribute0;
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stream->dataOrig = odo->dataOrig0;
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stream->dataLength = 1;
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} else {
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stream->attribute = odo->attribute;
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uint8_t* ptr = odo->dataOrig;
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stream->dataOrig = (ptr == NULL) ? ptr : (ptr + (odo->dataElementSizeof * (uint8_t)(subIndex - 1U)));
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stream->dataLength = odo->dataElementLength;
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}
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break;
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}
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case ODT_REC: {
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CO_PROGMEM OD_obj_record_t* odoArr = entry->odObject;
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CO_PROGMEM OD_obj_record_t* odo = NULL;
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for (uint8_t 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) {
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ret = ODR_SUB_NOT_EXIST;
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break;
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}
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stream->attribute = odo->attribute;
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stream->dataOrig = odo->dataOrig;
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stream->dataLength = odo->dataLength;
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break;
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}
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default: {
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ret = ODR_DEV_INCOMPAT;
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break;
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}
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}
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if (ret == ODR_OK) {
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/* Access data from the original OD location */
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if ((entry->extension == NULL) || odOrig) {
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io->read = OD_readOriginal;
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io->write = OD_writeOriginal;
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stream->object = NULL;
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}
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/* Access data from extension specified by application */
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else {
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io->read = (entry->extension->read != NULL) ? entry->extension->read : OD_readDisabled;
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io->write = (entry->extension->write != NULL) ? entry->extension->write : OD_writeDisabled;
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stream->object = entry->extension->object;
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}
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/* Reset stream data offset */
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stream->dataOffset = 0;
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/* Add informative data */
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stream->index = entry->index;
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stream->subIndex = subIndex;
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}
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return ret;
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}
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uint32_t
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OD_getSDOabCode(ODR_t returnCode) {
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static const uint32_t abortCodes[(uint8_t)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 transferred 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 < ODR_OK) || (returnCode >= ODR_COUNT)) ? abortCodes[ODR_DEV_INCOMPAT] : abortCodes[returnCode];
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}
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ODR_t
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OD_get_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig) {
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if (val == NULL) {
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return ODR_DEV_INCOMPAT;
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}
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OD_IO_t io = {NULL};
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OD_stream_t* stream = &io.stream;
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OD_size_t countRd = 0;
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ODR_t ret = OD_getSub(entry, subIndex, &io, odOrig);
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if (ret != ODR_OK) {
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return ret;
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}
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if (stream->dataLength != len) {
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return ODR_TYPE_MISMATCH;
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}
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return io.read(stream, val, len, &countRd);
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}
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ODR_t
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OD_set_value(const OD_entry_t* entry, uint8_t subIndex, void* val, OD_size_t len, bool_t odOrig) {
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if (val == NULL) {
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return ODR_DEV_INCOMPAT;
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}
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OD_IO_t io = {NULL};
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OD_stream_t* stream = &io.stream;
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OD_size_t countWritten = 0;
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ODR_t ret = OD_getSub(entry, subIndex, &io, odOrig);
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if (ret != ODR_OK) {
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return ret;
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}
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if (stream->dataLength != len) {
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return ODR_TYPE_MISMATCH;
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}
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return io.write(stream, val, len, &countWritten);
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}
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void*
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OD_getPtr(const OD_entry_t* entry, uint8_t subIndex, OD_size_t len, ODR_t* err) {
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ODR_t errCopy;
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OD_IO_t io;
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OD_stream_t* stream = &io.stream;
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errCopy = OD_getSub(entry, subIndex, &io, true);
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if (errCopy == ODR_OK) {
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if ((stream->dataOrig == NULL) || (stream->dataLength == 0U)) {
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errCopy = ODR_DEV_INCOMPAT;
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} else if ((len != 0U) && (len != stream->dataLength)) {
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errCopy = ODR_TYPE_MISMATCH;
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} else { /* MISRA C 2004 14.10 */
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}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (err != NULL) {
|
||
|
|
*err = errCopy;
|
||
|
|
}
|
||
|
|
|
||
|
|
return (errCopy == ODR_OK) ? stream->dataOrig : NULL;
|
||
|
|
}
|