Object Dictionary Management

The Object Dictionary is the heart of each CANopen device containing all communication and application objects. More...

Data Structures
struct	struct_CO_Data
	This structure contains all necessary informations to define a CANOpen node. More...
Defines
#define	getODentry(OD, wIndex, bSubindex, pDestData, pExpectedSize, pDataType,checkAccess)
	getODentry() to read from object and endianize
#define	readLocalDict(OD, wIndex, bSubindex, pDestData, pExpectedSize, pDataType,checkAccess)
	readLocalDict() reads an entry from the object dictionary, but in contrast to getODentry(), readLocalDict() doesn't endianize entry and reads entry in machine native endianness.
#define	setODentry(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess)
	setODentry converts SourceData from network byte order to machine native format, and writes that to OD.
#define	writeLocalDict(d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess)
	Writes machine native SourceData to OD.

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Detailed Description

The Object Dictionary is the heart of each CANopen device containing all communication and application objects.

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Define Documentation

#define getODentry	(		OD,
			wIndex,
			bSubindex,
			pDestData,
			pExpectedSize,
			pDataType,
			checkAccess
	)

Value:

_getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
                  pDataType,  checkAccess, 1)

getODentry() to read from object and endianize

Parameters:

OD	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to read an entry
bSubindex	The subindex of the Index. e.g. mostly subindex 0 is used to tell you how many valid entries you can find in this index. Look at the canopen standard for further information
*pDestData	Pointer to the pointer which points to the variable where the value of this object dictionary entry should be copied
pExpectedSize	This function writes the size of the copied value (in Byte) into this variable.
*pDataType	Pointer to the type of the data. See objdictdef.h
checkAccess	Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
endianize	Set to 1 : endianized into network byte order

Returns:

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)

Definition at line 144 of file objacces.h.

#define readLocalDict	(		OD,
			wIndex,
			bSubindex,
			pDestData,
			pExpectedSize,
			pDataType,
			checkAccess
	)

Value:

_getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \
                  pDataType,  checkAccess, 0)

readLocalDict() reads an entry from the object dictionary, but in contrast to getODentry(), readLocalDict() doesn't endianize entry and reads entry in machine native endianness.

Parameters:

OD	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to read an entry
bSubindex	The subindex of the Index. e.g. mostly subindex 0 is used to tell you how many valid entries you can find in this index. Look at the canopen standard for further information
*pDestData	Pointer to the pointer which points to the variable where the value of this object dictionary entry should be copied
pExpectedSize	This function writes the size of the copied value (in Byte) into this variable.
*pDataType	Pointer to the type of the data. See objdictdef.h
checkAccess	if other than 0, do not read if the data is Write Only [Not used today. Put always 0].
endianize	Set to 0, data is not endianized and copied in machine native endianness

Returns:

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)

Definition at line 174 of file objacces.h.

#define setODentry	(		d,
			wIndex,
			bSubindex,
			pSourceData,
			pExpectedSize,
			checkAccess
	)

Value:

_setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, \
                  checkAccess, 1)

setODentry converts SourceData from network byte order to machine native format, and writes that to OD.

 // Example usage:
 UNS8 B;
 B = 0xFF; // set transmission type

 retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );

Parameters:

d	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to write an entry
bSubindex	The subindex of the Index. e.g. mostly subindex 0 is used to tell you how many valid entries you can find in this index. Look at the canopen standard for further information
*pSourceData	Pointer to the variable that holds the value that should be copied into the object dictionary
*pExpectedSize	The size of the value (in Byte).
checkAccess	Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
endianize	Set to 1 : endianized into network byte order

Returns:

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)

Definition at line 233 of file objacces.h.

UNS32 writeLocalDict	(		d,
			wIndex,
			bSubindex,
			pSourceData,
			pExpectedSize,
			checkAccess
	)

Writes machine native SourceData to OD.

Parameters:

d	Pointer to a CAN object data structure
wIndex	The index in the object dictionary where you want to write an entry
bSubindex	The subindex of the Index. e.g. mostly subindex 0 is used to tell you how many valid entries you can find in this index. Look at the canopen standard for further information
*pSourceData	Pointer to the variable that holds the value that should be copied into the object dictionary
*pExpectedSize	The size of the value (in Byte).
checkAccess	Flag that indicate if a check rights must be perfomed (0 : no , other than 0 : yes)
endianize	Data is not endianized and copied in machine native endianness

Returns:

• OD_SUCCESSFUL is returned upon success.
• SDO abort code is returned if error occurs . (See file def.h)
  
  

   // Example usage:
   UNS8 B;
   B = 0xFF; // set transmission type
  
   retcode = writeLocalDict( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );
  

Definition at line 266 of file objacces.h.