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added 2.6.29.6 aldebaran kernel
[nao-ulib.git] / kernel / 2.6.29.6-aldebaran-rt / drivers / staging / epl / EplObd.c
blobefbb1967a5dccd9322fad30f49230971d0f40908
1 /****************************************************************************
2
3 (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
4 www.systec-electronic.com
5
6 Project: openPOWERLINK
7
8 Description: source file for api function of EplOBD-Module
9
10 License:
11
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions
14 are met:
15
16 1. Redistributions of source code must retain the above copyright
17 notice, this list of conditions and the following disclaimer.
18
19 2. Redistributions in binary form must reproduce the above copyright
20 notice, this list of conditions and the following disclaimer in the
21 documentation and/or other materials provided with the distribution.
22
23 3. Neither the name of SYSTEC electronic GmbH nor the names of its
24 contributors may be used to endorse or promote products derived
25 from this software without prior written permission. For written
26 permission, please contact info@systec-electronic.com.
27
28 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
29 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
30 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
31 FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
32 COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
33 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
34 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
35 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
36 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
37 LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
38 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
39 POSSIBILITY OF SUCH DAMAGE.
40
41 Severability Clause:
42
43 If a provision of this License is or becomes illegal, invalid or
44 unenforceable in any jurisdiction, that shall not affect:
45 1. the validity or enforceability in that jurisdiction of any other
46 provision of this License; or
47 2. the validity or enforceability in other jurisdictions of that or
48 any other provision of this License.
49
50 -------------------------------------------------------------------------
51
52 $RCSfile: EplObd.c,v $
53
54 $Author: D.Krueger $
55
56 $Revision: 1.12 $ $Date: 2008/10/17 15:32:32 $
57
58 $State: Exp $
59
60 Build Environment:
61 Microsoft VC7
62
63 -------------------------------------------------------------------------
64
65 Revision History:
66
67 2006/06/02 k.t.: start of the implementation, version 1.00
68 ->based on CANopen OBD-Modul
69
70 ****************************************************************************/
71
72 #include "EplInc.h"
73 #include "kernel/EplObdk.h" // function prototyps of the EplOBD-Modul
74
75 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
76
77 /***************************************************************************/
78 /* */
79 /* */
80 /* G L O B A L D E F I N I T I O N S */
81 /* */
82 /* */
83 /***************************************************************************/
84
85 //---------------------------------------------------------------------------
86 // const defines
87 //---------------------------------------------------------------------------
88
89 // float definitions and macros
90 #define _SHIFTED_EXPONENT_MASK_SP 0xff
91 #define _BIAS_SP 126
92 #define T_SP 23
93 #define EXPONENT_DENORM_SP (-_BIAS_SP)
94 #define BASE_TO_THE_T_SP ((float) 8388608.0)
95 #define GET_EXPONENT_SP(x) ((((x) >> T_SP) & _SHIFTED_EXPONENT_MASK_SP) - _BIAS_SP)
96
97 //---------------------------------------------------------------------------
98 // local types
99 //---------------------------------------------------------------------------
100
101 // struct for instance table
102 INSTANCE_TYPE_BEGIN EPL_MCO_DECL_INSTANCE_MEMBER()
103
104 STATIC tEplObdInitParam INST_FAR m_ObdInitParam;
105 STATIC tEplObdStoreLoadObjCallback INST_NEAR m_fpStoreLoadObjCallback;
106
107 INSTANCE_TYPE_END
108 // decomposition of float
109 typedef union {
110 tEplObdReal32 m_flRealPart;
111 int m_nIntegerPart;
112
113 } tEplObdRealParts;
114
115 //---------------------------------------------------------------------------
116 // modul globale vars
117 //---------------------------------------------------------------------------
118
119 // This macro replace the unspecific pointer to an instance through
120 // the modul specific type for the local instance table. This macro
121 // must defined in each modul.
122 //#define tEplPtrInstance tEplInstanceInfo MEM*
123
124 EPL_MCO_DECL_INSTANCE_VAR()
125
126 BYTE MEM abEplObdTrashObject_g[8];
127
128 //---------------------------------------------------------------------------
129 // local function prototypes
130 //---------------------------------------------------------------------------
131
132 EPL_MCO_DEFINE_INSTANCE_FCT()
133
134 static tEplKernel EplObdCallObjectCallback(EPL_MCO_DECL_INSTANCE_PTR_
135 tEplObdCallback fpCallback_p,
136 tEplObdCbParam MEM * pCbParam_p);
137
138 static tEplObdSize EplObdGetDataSizeIntern(tEplObdSubEntryPtr pSubIndexEntry_p);
139
140 static tEplObdSize EplObdGetStrLen(void *pObjData_p,
141 tEplObdSize ObjLen_p, tEplObdType ObjType_p);
142
143 #if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
144 static tEplKernel EplObdCheckObjectRange(tEplObdSubEntryPtr pSubindexEntry_p,
145 void *pData_p);
146 #endif
147
148 static tEplKernel EplObdGetVarEntry(tEplObdSubEntryPtr pSubindexEntry_p,
149 tEplObdVarEntry MEM ** ppVarEntry_p);
150
151 static tEplKernel EplObdGetEntry(EPL_MCO_DECL_INSTANCE_PTR_
152 unsigned int uiIndex_p,
153 unsigned int uiSubindex_p,
154 tEplObdEntryPtr * ppObdEntry_p,
155 tEplObdSubEntryPtr * ppObdSubEntry_p);
156
157 static tEplObdSize EplObdGetObjectSize(tEplObdSubEntryPtr pSubIndexEntry_p);
158
159 static tEplKernel EplObdGetIndexIntern(tEplObdInitParam MEM * pInitParam_p,
160 unsigned int uiIndex_p,
161 tEplObdEntryPtr * ppObdEntry_p);
162
163 static tEplKernel EplObdGetSubindexIntern(tEplObdEntryPtr pObdEntry_p,
164 unsigned int uiSubIndex_p,
165 tEplObdSubEntryPtr * ppObdSubEntry_p);
166
167 static tEplKernel EplObdAccessOdPartIntern(EPL_MCO_DECL_INSTANCE_PTR_
168 tEplObdPart CurrentOdPart_p,
169 tEplObdEntryPtr pObdEnty_p,
170 tEplObdDir Direction_p);
171
172 static void *EplObdGetObjectDefaultPtr(tEplObdSubEntryPtr pSubIndexEntry_p);
173 static void MEM *EplObdGetObjectCurrentPtr(tEplObdSubEntryPtr pSubIndexEntry_p);
174
175 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
176
177 static tEplKernel EplObdCallStoreCallback(EPL_MCO_DECL_INSTANCE_PTR_
178 tEplObdCbStoreParam MEM *
179 pCbStoreParam_p);
180
181 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
182
183 static void EplObdCopyObjectData(void MEM * pDstData_p,
184 void *pSrcData_p,
185 tEplObdSize ObjSize_p, tEplObdType ObjType_p);
186
187 void *EplObdGetObjectDataPtrIntern(tEplObdSubEntryPtr pSubindexEntry_p);
188
189 static tEplKernel EplObdIsNumericalIntern(tEplObdSubEntryPtr pObdSubEntry_p,
190 BOOL * pfEntryNumerical_p);
191
192 static tEplKernel PUBLIC EplObdWriteEntryPre(EPL_MCO_DECL_INSTANCE_PTR_
193 unsigned int uiIndex_p,
194 unsigned int uiSubIndex_p,
195 void *pSrcData_p,
196 void **ppDstData_p,
197 tEplObdSize Size_p,
198 tEplObdEntryPtr * ppObdEntry_p,
199 tEplObdSubEntryPtr * ppSubEntry_p,
200 tEplObdCbParam MEM * pCbParam_p,
201 tEplObdSize * pObdSize_p);
202
203 static tEplKernel PUBLIC EplObdWriteEntryPost(EPL_MCO_DECL_INSTANCE_PTR_
204 tEplObdEntryPtr pObdEntry_p,
205 tEplObdSubEntryPtr pSubEntry_p,
206 tEplObdCbParam MEM * pCbParam_p,
207 void *pSrcData_p,
208 void *pDstData_p,
209 tEplObdSize ObdSize_p);
210
211 //=========================================================================//
212 // //
213 // P U B L I C F U N C T I O N S //
214 // //
215 //=========================================================================//
216
217 //---------------------------------------------------------------------------
218 //
219 // Function: EplObdInit()
220 //
221 // Description: initializes the first instance
222 //
223 // Parameters: pInitParam_p = init parameter
224 //
225 // Return: tEplKernel = errorcode
226 //
227 // State:
228 //
229 //---------------------------------------------------------------------------
230
231 EPLDLLEXPORT tEplKernel PUBLIC EplObdInit(EPL_MCO_DECL_PTR_INSTANCE_PTR_
232 tEplObdInitParam MEM * pInitParam_p)
233 {
234
235 tEplKernel Ret;
236 EPL_MCO_DELETE_INSTANCE_TABLE();
237
238 if (pInitParam_p == NULL) {
239 Ret = kEplSuccessful;
240 goto Exit;
241 }
242
243 Ret = EplObdAddInstance(EPL_MCO_PTR_INSTANCE_PTR_ pInitParam_p);
244
245 Exit:
246 return Ret;
247
248 }
249
250 //---------------------------------------------------------------------------
251 //
252 // Function: EplObdAddInstance()
253 //
254 // Description: adds a new instance
255 //
256 // Parameters: pInitParam_p
257 //
258 // Return: tEplKernel
259 //
260 // State:
261 //
262 //---------------------------------------------------------------------------
263
264 EPLDLLEXPORT tEplKernel PUBLIC EplObdAddInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR_
265 tEplObdInitParam MEM *
266 pInitParam_p)
267 {
268
269 EPL_MCO_DECL_INSTANCE_PTR_LOCAL tEplKernel Ret;
270
271 // check if pointer to instance pointer valid
272 // get free instance and set the globale instance pointer
273 // set also the instance addr to parameterlist
274 EPL_MCO_CHECK_PTR_INSTANCE_PTR();
275 EPL_MCO_GET_FREE_INSTANCE_PTR();
276 EPL_MCO_SET_PTR_INSTANCE_PTR();
277
278 // save init parameters
279 EPL_MEMCPY(&EPL_MCO_GLB_VAR(m_ObdInitParam), pInitParam_p,
280 sizeof(tEplObdInitParam));
281
282 // clear callback function for command LOAD and STORE
283 EPL_MCO_GLB_VAR(m_fpStoreLoadObjCallback) = NULL;
284
285 // sign instance as used
286 EPL_MCO_WRITE_INSTANCE_STATE(kStateUsed);
287
288 // initialize object dictionary
289 // so all all VarEntries will be initialized to trash object and default values will be set to current data
290 Ret = EplObdAccessOdPart(EPL_MCO_INSTANCE_PTR_
291 kEplObdPartAll, kEplObdDirInit);
292
293 return Ret;
294
295 }
296
297 //---------------------------------------------------------------------------
298 //
299 // Function: EplObdDeleteInstance()
300 //
301 // Description: delete instance
302 //
303 // Parameters: EPL_MCO_DECL_INSTANCE_PTR
304 //
305 // Return: tEplKernel
306 //
307 // State:
308 //
309 //---------------------------------------------------------------------------
310 #if (EPL_USE_DELETEINST_FUNC != FALSE)
311 EPLDLLEXPORT tEplKernel PUBLIC EplObdDeleteInstance(EPL_MCO_DECL_INSTANCE_PTR)
312 {
313 // check for all API function if instance is valid
314 EPL_MCO_CHECK_INSTANCE_STATE();
315
316 // sign instance as unused
317 EPL_MCO_WRITE_INSTANCE_STATE(kStateUnused);
318
319 return kEplSuccessful;
320
321 }
322 #endif // (EPL_USE_DELETEINST_FUNC != FALSE)
323
324 //---------------------------------------------------------------------------
325 //
326 // Function: EplObdWriteEntry()
327 //
328 // Description: Function writes data to an OBD entry. Strings
329 // are stored with added '\0' character.
330 //
331 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
332 // uiIndex_p = Index of the OD entry
333 // uiSubIndex_p = Subindex of the OD Entry
334 // pSrcData_p = Pointer to the data to write
335 // Size_p = Size of the data in Byte
336 //
337 // Return: tEplKernel = Errorcode
338 //
339 //
340 // State:
341 //
342 //---------------------------------------------------------------------------
343
344 EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntry(EPL_MCO_DECL_INSTANCE_PTR_
345 unsigned int uiIndex_p,
346 unsigned int uiSubIndex_p,
347 void *pSrcData_p,
348 tEplObdSize Size_p)
349 {
350
351 tEplKernel Ret;
352 tEplObdEntryPtr pObdEntry;
353 tEplObdSubEntryPtr pSubEntry;
354 tEplObdCbParam MEM CbParam;
355 void MEM *pDstData;
356 tEplObdSize ObdSize;
357
358 Ret = EplObdWriteEntryPre(EPL_MCO_INSTANCE_PTR_
359 uiIndex_p,
360 uiSubIndex_p,
361 pSrcData_p,
362 &pDstData,
363 Size_p,
364 &pObdEntry, &pSubEntry, &CbParam, &ObdSize);
365 if (Ret != kEplSuccessful) {
366 goto Exit;
367 }
368
369 Ret = EplObdWriteEntryPost(EPL_MCO_INSTANCE_PTR_
370 pObdEntry,
371 pSubEntry,
372 &CbParam, pSrcData_p, pDstData, ObdSize);
373 if (Ret != kEplSuccessful) {
374 goto Exit;
375 }
376
377 Exit:
378
379 return Ret;
380
381 }
382
383 //---------------------------------------------------------------------------
384 //
385 // Function: EplObdReadEntry()
386 //
387 // Description: The function reads an object entry. The application
388 // can always read the data even if attrib kEplObdAccRead
389 // is not set. The attrib is only checked up for SDO transfer.
390 //
391 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
392 // uiIndex_p = Index oof the OD entry to read
393 // uiSubIndex_p = Subindex to read
394 // pDstData_p = pointer to the buffer for data
395 // Offset_p = offset in data for read access
396 // pSize_p = IN: Size of the buffer
397 // OUT: number of readed Bytes
398 //
399 // Return: tEplKernel
400 //
401 // State:
402 //
403 //---------------------------------------------------------------------------
404
405 EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntry(EPL_MCO_DECL_INSTANCE_PTR_
406 unsigned int uiIndex_p,
407 unsigned int uiSubIndex_p,
408 void *pDstData_p,
409 tEplObdSize * pSize_p)
410 {
411
412 tEplKernel Ret;
413 tEplObdEntryPtr pObdEntry;
414 tEplObdSubEntryPtr pSubEntry;
415 tEplObdCbParam MEM CbParam;
416 void *pSrcData;
417 tEplObdSize ObdSize;
418
419 // check for all API function if instance is valid
420 EPL_MCO_CHECK_INSTANCE_STATE();
421
422 ASSERT(pDstData_p != NULL);
423 ASSERT(pSize_p != NULL);
424
425 // get address of index and subindex entry
426 Ret = EplObdGetEntry(EPL_MCO_INSTANCE_PTR_
427 uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
428 if (Ret != kEplSuccessful) {
429 goto Exit;
430 }
431 // get pointer to object data
432 pSrcData = EplObdGetObjectDataPtrIntern(pSubEntry);
433
434 // check source pointer
435 if (pSrcData == NULL) {
436 Ret = kEplObdReadViolation;
437 goto Exit;
438 }
439 //------------------------------------------------------------------------
440 // address of source data to structure of callback parameters
441 // so callback function can change this data before reading
442 CbParam.m_uiIndex = uiIndex_p;
443 CbParam.m_uiSubIndex = uiSubIndex_p;
444 CbParam.m_pArg = pSrcData;
445 CbParam.m_ObdEvent = kEplObdEvPreRead;
446 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
447 pObdEntry->m_fpCallback, &CbParam);
448 if (Ret != kEplSuccessful) {
449 goto Exit;
450 }
451 // get size of data and check if application has reserved enough memory
452 ObdSize = EplObdGetDataSizeIntern(pSubEntry);
453 // check if offset given and calc correct number of bytes to read
454 if (*pSize_p < ObdSize) {
455 Ret = kEplObdValueLengthError;
456 goto Exit;
457 }
458 // read value from object
459 EPL_MEMCPY(pDstData_p, pSrcData, ObdSize);
460 *pSize_p = ObdSize;
461
462 // write address of destination data to structure of callback parameters
463 // so callback function can change this data after reading
464 CbParam.m_pArg = pDstData_p;
465 CbParam.m_ObdEvent = kEplObdEvPostRead;
466 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
467 pObdEntry->m_fpCallback, &CbParam);
468
469 Exit:
470
471 return Ret;
472
473 }
474
475 //---------------------------------------------------------------------------
476 //
477 // Function: EplObdAccessOdPart()
478 //
479 // Description: restores default values of one part of OD
480 //
481 // Parameters: ObdPart_p
482 // Direction_p
483 //
484 // Return: tEplKernel
485 //
486 // State:
487 //
488 //---------------------------------------------------------------------------
489
490 EPLDLLEXPORT tEplKernel PUBLIC EplObdAccessOdPart(EPL_MCO_DECL_INSTANCE_PTR_
491 tEplObdPart ObdPart_p,
492 tEplObdDir Direction_p)
493 {
494
495 tEplKernel Ret = kEplSuccessful;
496 BOOL fPartFount;
497 tEplObdEntryPtr pObdEntry;
498
499 // check for all API function if instance is valid
500 EPL_MCO_CHECK_INSTANCE_STATE();
501
502 // part always has to be unequal to NULL
503 pObdEntry = EPL_MCO_GLB_VAR(m_ObdInitParam.m_pPart);
504 ASSERTMSG(pObdEntry != NULL,
505 "EplObdAccessOdPart(): no OD part is defined!\n");
506
507 // if ObdPart_p is not valid fPartFound keeps FALSE and function returns kEplObdIllegalPart
508 fPartFount = FALSE;
509
510 // access to part
511 if ((ObdPart_p & kEplObdPartGen) != 0) {
512 fPartFount = TRUE;
513
514 Ret = EplObdAccessOdPartIntern(EPL_MCO_INSTANCE_PTR_
515 kEplObdPartGen, pObdEntry,
516 Direction_p);
517 if (Ret != kEplSuccessful) {
518 goto Exit;
519 }
520 }
521 // access to manufacturer part
522 pObdEntry = EPL_MCO_GLB_VAR(m_ObdInitParam.m_pManufacturerPart);
523
524 if (((ObdPart_p & kEplObdPartMan) != 0) && (pObdEntry != NULL)) {
525 fPartFount = TRUE;
526
527 Ret = EplObdAccessOdPartIntern(EPL_MCO_INSTANCE_PTR_
528 kEplObdPartMan, pObdEntry,
529 Direction_p);
530 if (Ret != kEplSuccessful) {
531 goto Exit;
532 }
533 }
534 // access to device part
535 pObdEntry = EPL_MCO_GLB_VAR(m_ObdInitParam.m_pDevicePart);
536
537 if (((ObdPart_p & kEplObdPartDev) != 0) && (pObdEntry != NULL)) {
538 fPartFount = TRUE;
539
540 Ret = EplObdAccessOdPartIntern(EPL_MCO_INSTANCE_PTR_
541 kEplObdPartDev, pObdEntry,
542 Direction_p);
543 if (Ret != kEplSuccessful) {
544 goto Exit;
545 }
546 }
547 #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
548 {
549 // access to user part
550 pObdEntry = EPL_MCO_GLB_VAR(m_ObdInitParam.m_pUserPart);
551
552 if (((ObdPart_p & kEplObdPartUsr) != 0) && (pObdEntry != NULL)) {
553 fPartFount = TRUE;
554
555 Ret = EplObdAccessOdPartIntern(EPL_MCO_INSTANCE_PTR_
556 kEplObdPartUsr,
557 pObdEntry, Direction_p);
558 if (Ret != kEplSuccessful) {
559 goto Exit;
560 }
561 }
562 }
563 #endif
564
565 // no access to an OD part was done? illegal OD part was specified!
566 if (fPartFount == FALSE) {
567 Ret = kEplObdIllegalPart;
568 }
569
570 Exit:
571
572 return Ret;
573
574 }
575
576 //---------------------------------------------------------------------------
577 //
578 // Function: EplObdDefineVar()
579 //
580 // Description: defines a variable in OD
581 //
582 // Parameters: pEplVarParam_p
583 //
584 // Return: tEplKernel
585 //
586 // State:
587 //
588 //---------------------------------------------------------------------------
589
590 EPLDLLEXPORT tEplKernel PUBLIC EplObdDefineVar(EPL_MCO_DECL_INSTANCE_PTR_
591 tEplVarParam MEM * pVarParam_p)
592 {
593
594 tEplKernel Ret;
595 tEplObdVarEntry MEM *pVarEntry;
596 tEplVarParamValid VarValid;
597 tEplObdSubEntryPtr pSubindexEntry;
598
599 // check for all API function if instance is valid
600 EPL_MCO_CHECK_INSTANCE_STATE();
601
602 ASSERT(pVarParam_p != NULL); // is not allowed to be NULL
603
604 // get address of subindex entry
605 Ret = EplObdGetEntry(EPL_MCO_INSTANCE_PTR_
606 pVarParam_p->m_uiIndex,
607 pVarParam_p->m_uiSubindex, NULL, &pSubindexEntry);
608 if (Ret != kEplSuccessful) {
609 goto Exit;
610 }
611 // get var entry
612 Ret = EplObdGetVarEntry(pSubindexEntry, &pVarEntry);
613 if (Ret != kEplSuccessful) {
614 goto Exit;
615 }
616
617 VarValid = pVarParam_p->m_ValidFlag;
618
619 // copy only this values, which valid flag is set
620 if ((VarValid & kVarValidSize) != 0) {
621 if (pSubindexEntry->m_Type != kEplObdTypDomain) {
622 tEplObdSize DataSize;
623
624 // check passed size parameter
625 DataSize = EplObdGetObjectSize(pSubindexEntry);
626 if (DataSize != pVarParam_p->m_Size) { // size of variable does not match
627 Ret = kEplObdValueLengthError;
628 goto Exit;
629 }
630 } else { // size can be set only for objects of type DOMAIN
631 pVarEntry->m_Size = pVarParam_p->m_Size;
632 }
633 }
634
635 if ((VarValid & kVarValidData) != 0) {
636 pVarEntry->m_pData = pVarParam_p->m_pData;
637 }
638 /*
639 #if (EPL_PDO_USE_STATIC_MAPPING == FALSE)
640 {
641 if ((VarValid & kVarValidCallback) != 0)
642 {
643 pVarEntry->m_fpCallback = pVarParam_p->m_fpCallback;
644 }
645
646 if ((VarValid & kVarValidArg) != 0)
647 {
648 pVarEntry->m_pArg = pVarParam_p->m_pArg;
649 }
650 }
651 #endif
652 */
653 // Ret is already set to kEplSuccessful from ObdGetVarIntern()
654
655 Exit:
656
657 return Ret;
658
659 }
660
661 //---------------------------------------------------------------------------
662 //
663 // Function: EplObdGetObjectDataPtr()
664 //
665 // Description: It returnes the current data pointer. But if object is an
666 // constant object it returnes the default pointer.
667 //
668 // Parameters: uiIndex_p = Index of the entry
669 // uiSubindex_p = Subindex of the entry
670 //
671 // Return: void * = pointer to object data
672 //
673 // State:
674 //
675 //---------------------------------------------------------------------------
676
677 EPLDLLEXPORT void *PUBLIC EplObdGetObjectDataPtr(EPL_MCO_DECL_INSTANCE_PTR_
678 unsigned int uiIndex_p,
679 unsigned int uiSubIndex_p)
680 {
681 tEplKernel Ret;
682 void *pData;
683 tEplObdEntryPtr pObdEntry;
684 tEplObdSubEntryPtr pObdSubEntry;
685
686 // get pointer to index structure
687 Ret = EplObdGetIndexIntern(&EPL_MCO_GLB_VAR(m_ObdInitParam),
688 uiIndex_p, &pObdEntry);
689 if (Ret != kEplSuccessful) {
690 pData = NULL;
691 goto Exit;
692 }
693 // get pointer to subindex structure
694 Ret = EplObdGetSubindexIntern(pObdEntry, uiSubIndex_p, &pObdSubEntry);
695 if (Ret != kEplSuccessful) {
696 pData = NULL;
697 goto Exit;
698 }
699 // get Datapointer
700 pData = EplObdGetObjectDataPtrIntern(pObdSubEntry);
701
702 Exit:
703 return pData;
704
705 }
706
707 #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
708
709 //---------------------------------------------------------------------------
710 //
711 // Function: EplObdRegisterUserOd()
712 //
713 // Description: function registers the user OD
714 //
715 // Parameters: pUserOd_p =pointer to user ODd
716 //
717 // Return: tEplKernel = errorcode
718 //
719 // State:
720 //
721 //---------------------------------------------------------------------------
722 EPLDLLEXPORT tEplKernel PUBLIC EplObdRegisterUserOd(EPL_MCO_DECL_INSTANCE_PTR_
723 tEplObdEntryPtr pUserOd_p)
724 {
725
726 EPL_MCO_CHECK_INSTANCE_STATE();
727
728 EPL_MCO_GLB_VAR(m_ObdInitParam.m_pUserPart) = pUserOd_p;
729
730 return kEplSuccessful;
731
732 }
733
734 #endif
735
736 //---------------------------------------------------------------------------
737 //
738 // Function: EplObdInitVarEntry()
739 //
740 // Description: function to initialize VarEntry dependened on object type
741 //
742 // Parameters: pVarEntry_p = pointer to var entry structure
743 // Type_p = object type
744 // ObdSize_p = size of object data
745 //
746 // Returns: none
747 //
748 // State:
749 //
750 //---------------------------------------------------------------------------
751
752 EPLDLLEXPORT void PUBLIC EplObdInitVarEntry(EPL_MCO_DECL_INSTANCE_PTR_
753 tEplObdVarEntry MEM * pVarEntry_p,
754 tEplObdType Type_p,
755 tEplObdSize ObdSize_p)
756 {
757 /*
758 #if (EPL_PDO_USE_STATIC_MAPPING == FALSE)
759 {
760 // reset pointer to VAR callback and argument
761 pVarEntry_p->m_fpCallback = NULL;
762 pVarEntry_p->m_pArg = NULL;
763 }
764 #endif
765 */
766
767 // 10-dec-2004 r.d.: this function will not be used for strings
768 if ((Type_p == kEplObdTypDomain))
769 // (bType_p == kEplObdTypVString) /* ||
770 // (bType_p == kEplObdTypOString) ||
771 // (bType_p == kEplObdTypUString) */ )
772 {
773 // variables which are defined as DOMAIN or VSTRING should not point to
774 // trash object, because this trash object contains only 8 bytes. DOMAINS or
775 // STRINGS can be longer.
776 pVarEntry_p->m_pData = NULL;
777 pVarEntry_p->m_Size = 0;
778 } else {
779 // set address to variable data to trash object
780 // This prevents an access violation if user forgets to call EplObdDefineVar()
781 // for this variable but mappes it in a PDO.
782 pVarEntry_p->m_pData = &abEplObdTrashObject_g[0];
783 pVarEntry_p->m_Size = ObdSize_p;
784 }
785
786 }
787
788 //---------------------------------------------------------------------------
789 //
790 // Function: EplObdGetDataSize()
791 //
792 // Description: function to initialize VarEntry dependened on object type
793 //
794 // gets the data size of an object
795 // for string objects it returnes the string length
796 //
797 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
798 // uiIndex_p = Index
799 // uiSubIndex_p= Subindex
800 //
801 // Return: tEplObdSize
802 //
803 // State:
804 //
805 //---------------------------------------------------------------------------
806 EPLDLLEXPORT tEplObdSize PUBLIC EplObdGetDataSize(EPL_MCO_DECL_INSTANCE_PTR_
807 unsigned int uiIndex_p,
808 unsigned int uiSubIndex_p)
809 {
810 tEplKernel Ret;
811 tEplObdSize ObdSize;
812 tEplObdEntryPtr pObdEntry;
813 tEplObdSubEntryPtr pObdSubEntry;
814
815 // get pointer to index structure
816 Ret = EplObdGetIndexIntern(&EPL_MCO_GLB_VAR(m_ObdInitParam),
817 uiIndex_p, &pObdEntry);
818 if (Ret != kEplSuccessful) {
819 ObdSize = 0;
820 goto Exit;
821 }
822 // get pointer to subindex structure
823 Ret = EplObdGetSubindexIntern(pObdEntry, uiSubIndex_p, &pObdSubEntry);
824 if (Ret != kEplSuccessful) {
825 ObdSize = 0;
826 goto Exit;
827 }
828 // get size
829 ObdSize = EplObdGetDataSizeIntern(pObdSubEntry);
830 Exit:
831 return ObdSize;
832 }
833
834 //---------------------------------------------------------------------------
835 //
836 // Function: EplObdGetNodeId()
837 //
838 // Description: function returns nodeid from entry 0x1F93
839 //
840 //
841 // Parameters: EPL_MCO_DECL_INSTANCE_PTR = Instancepointer
842 //
843 // Return: unsigned int = Node Id
844 //
845 // State:
846 //
847 //---------------------------------------------------------------------------
848 EPLDLLEXPORT unsigned int PUBLIC EplObdGetNodeId(EPL_MCO_DECL_INSTANCE_PTR)
849 {
850 tEplKernel Ret;
851 tEplObdSize ObdSize;
852 BYTE bNodeId;
853
854 bNodeId = 0;
855 ObdSize = sizeof(bNodeId);
856 Ret = EplObdReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
857 EPL_OBD_NODE_ID_INDEX,
858 EPL_OBD_NODE_ID_SUBINDEX, &bNodeId, &ObdSize);
859 if (Ret != kEplSuccessful) {
860 bNodeId = EPL_C_ADR_INVALID;
861 goto Exit;
862 }
863
864 Exit:
865 return (unsigned int)bNodeId;
866
867 }
868
869 //---------------------------------------------------------------------------
870 //
871 // Function: EplObdSetNodeId()
872 //
873 // Description: function sets nodeid in entry 0x1F93
874 //
875 //
876 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
877 // uiNodeId_p = Node Id to set
878 // NodeIdType_p= Type on which way the Node Id was set
879 //
880 // Return: tEplKernel = Errorcode
881 //
882 // State:
883 //
884 //---------------------------------------------------------------------------
885 EPLDLLEXPORT tEplKernel PUBLIC EplObdSetNodeId(EPL_MCO_DECL_PTR_INSTANCE_PTR_
886 unsigned int uiNodeId_p,
887 tEplObdNodeIdType NodeIdType_p)
888 {
889 tEplKernel Ret;
890 tEplObdSize ObdSize;
891 BYTE fHwBool;
892 BYTE bNodeId;
893
894 // check Node Id
895 if (uiNodeId_p == EPL_C_ADR_INVALID) {
896 Ret = kEplInvalidNodeId;
897 goto Exit;
898 }
899 bNodeId = (BYTE) uiNodeId_p;
900 ObdSize = sizeof(BYTE);
901 // write NodeId to OD entry
902 Ret = EplObdWriteEntry(EPL_MCO_PTR_INSTANCE_PTR_
903 EPL_OBD_NODE_ID_INDEX,
904 EPL_OBD_NODE_ID_SUBINDEX, &bNodeId, ObdSize);
905 if (Ret != kEplSuccessful) {
906 goto Exit;
907 }
908 // set HWBOOL-Flag in Subindex EPL_OBD_NODE_ID_HWBOOL_SUBINDEX
909 switch (NodeIdType_p) {
910 // type unknown
911 case kEplObdNodeIdUnknown:
912 {
913 fHwBool = OBD_FALSE;
914 break;
915 }
916
917 case kEplObdNodeIdSoftware:
918 {
919 fHwBool = OBD_FALSE;
920 break;
921 }
922
923 case kEplObdNodeIdHardware:
924 {
925 fHwBool = OBD_TRUE;
926 break;
927 }
928
929 default:
930 {
931 fHwBool = OBD_FALSE;
932 }
933
934 } // end of switch (NodeIdType_p)
935
936 // write flag
937 ObdSize = sizeof(fHwBool);
938 Ret = EplObdWriteEntry(EPL_MCO_PTR_INSTANCE_PTR
939 EPL_OBD_NODE_ID_INDEX,
940 EPL_OBD_NODE_ID_HWBOOL_SUBINDEX,
941 &fHwBool, ObdSize);
942 if (Ret != kEplSuccessful) {
943 goto Exit;
944 }
945
946 Exit:
947 return Ret;
948 }
949
950 //---------------------------------------------------------------------------
951 //
952 // Function: EplObdIsNumerical()
953 //
954 // Description: function checks if a entry is numerical or not
955 //
956 //
957 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
958 // uiIndex_p = Index
959 // uiSubIndex_p = Subindex
960 // pfEntryNumerical_p = pointer to BOOL for returnvalue
961 // -> TRUE if entry a numerical value
962 // -> FALSE if entry not a numerical value
963 //
964 // Return: tEplKernel = Errorcode
965 //
966 // State:
967 //
968 //---------------------------------------------------------------------------
969 EPLDLLEXPORT tEplKernel PUBLIC EplObdIsNumerical(EPL_MCO_DECL_INSTANCE_PTR_
970 unsigned int uiIndex_p,
971 unsigned int uiSubIndex_p,
972 BOOL * pfEntryNumerical_p)
973 {
974 tEplKernel Ret;
975 tEplObdEntryPtr pObdEntry;
976 tEplObdSubEntryPtr pObdSubEntry;
977
978 // get pointer to index structure
979 Ret = EplObdGetIndexIntern(&EPL_MCO_GLB_VAR(m_ObdInitParam),
980 uiIndex_p, &pObdEntry);
981 if (Ret != kEplSuccessful) {
982 goto Exit;
983 }
984 // get pointer to subindex structure
985 Ret = EplObdGetSubindexIntern(pObdEntry, uiSubIndex_p, &pObdSubEntry);
986 if (Ret != kEplSuccessful) {
987 goto Exit;
988 }
989
990 Ret = EplObdIsNumericalIntern(pObdSubEntry, pfEntryNumerical_p);
991
992 Exit:
993 return Ret;
994
995 }
996
997 //---------------------------------------------------------------------------
998 //
999 // Function: EplObdReadEntryToLe()
1000 //
1001 // Description: The function reads an object entry from the byteoder
1002 // of the system to the little endian byteorder for numerical values.
1003 // For other types a normal read will be processed. This is usefull for
1004 // the PDO and SDO module. The application
1005 // can always read the data even if attrib kEplObdAccRead
1006 // is not set. The attrib is only checked up for SDO transfer.
1007 //
1008 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
1009 // uiIndex_p = Index of the OD entry to read
1010 // uiSubIndex_p = Subindex to read
1011 // pDstData_p = pointer to the buffer for data
1012 // Offset_p = offset in data for read access
1013 // pSize_p = IN: Size of the buffer
1014 // OUT: number of readed Bytes
1015 //
1016 // Return: tEplKernel
1017 //
1018 // State:
1019 //
1020 //---------------------------------------------------------------------------
1021 EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntryToLe(EPL_MCO_DECL_INSTANCE_PTR_
1022 unsigned int uiIndex_p,
1023 unsigned int uiSubIndex_p,
1024 void *pDstData_p,
1025 tEplObdSize * pSize_p)
1026 {
1027 tEplKernel Ret;
1028 tEplObdEntryPtr pObdEntry;
1029 tEplObdSubEntryPtr pSubEntry;
1030 tEplObdCbParam MEM CbParam;
1031 void *pSrcData;
1032 tEplObdSize ObdSize;
1033
1034 // check for all API function if instance is valid
1035 EPL_MCO_CHECK_INSTANCE_STATE();
1036
1037 ASSERT(pDstData_p != NULL);
1038 ASSERT(pSize_p != NULL);
1039
1040 // get address of index and subindex entry
1041 Ret = EplObdGetEntry(EPL_MCO_INSTANCE_PTR_
1042 uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
1043 if (Ret != kEplSuccessful) {
1044 goto Exit;
1045 }
1046 // get pointer to object data
1047 pSrcData = EplObdGetObjectDataPtrIntern(pSubEntry);
1048
1049 // check source pointer
1050 if (pSrcData == NULL) {
1051 Ret = kEplObdReadViolation;
1052 goto Exit;
1053 }
1054 //------------------------------------------------------------------------
1055 // address of source data to structure of callback parameters
1056 // so callback function can change this data before reading
1057 CbParam.m_uiIndex = uiIndex_p;
1058 CbParam.m_uiSubIndex = uiSubIndex_p;
1059 CbParam.m_pArg = pSrcData;
1060 CbParam.m_ObdEvent = kEplObdEvPreRead;
1061 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
1062 pObdEntry->m_fpCallback, &CbParam);
1063 if (Ret != kEplSuccessful) {
1064 goto Exit;
1065 }
1066 // get size of data and check if application has reserved enough memory
1067 ObdSize = EplObdGetDataSizeIntern(pSubEntry);
1068 // check if offset given and calc correct number of bytes to read
1069 if (*pSize_p < ObdSize) {
1070 Ret = kEplObdValueLengthError;
1071 goto Exit;
1072 }
1073 // check if numerical type
1074 switch (pSubEntry->m_Type) {
1075 //-----------------------------------------------
1076 // types without ami
1077 case kEplObdTypVString:
1078 case kEplObdTypOString:
1079 case kEplObdTypDomain:
1080 default:
1081 {
1082 // read value from object
1083 EPL_MEMCPY(pDstData_p, pSrcData, ObdSize);
1084 break;
1085 }
1086
1087 //-----------------------------------------------
1088 // numerical type which needs ami-write
1089 // 8 bit or smaller values
1090 case kEplObdTypBool:
1091 case kEplObdTypInt8:
1092 case kEplObdTypUInt8:
1093 {
1094 AmiSetByteToLe(pDstData_p, *((BYTE *) pSrcData));
1095 break;
1096 }
1097
1098 // 16 bit values
1099 case kEplObdTypInt16:
1100 case kEplObdTypUInt16:
1101 {
1102 AmiSetWordToLe(pDstData_p, *((WORD *) pSrcData));
1103 break;
1104 }
1105
1106 // 24 bit values
1107 case kEplObdTypInt24:
1108 case kEplObdTypUInt24:
1109 {
1110 AmiSetDword24ToLe(pDstData_p, *((DWORD *) pSrcData));
1111 break;
1112 }
1113
1114 // 32 bit values
1115 case kEplObdTypInt32:
1116 case kEplObdTypUInt32:
1117 case kEplObdTypReal32:
1118 {
1119 AmiSetDwordToLe(pDstData_p, *((DWORD *) pSrcData));
1120 break;
1121 }
1122
1123 // 40 bit values
1124 case kEplObdTypInt40:
1125 case kEplObdTypUInt40:
1126 {
1127 AmiSetQword40ToLe(pDstData_p, *((QWORD *) pSrcData));
1128 break;
1129 }
1130
1131 // 48 bit values
1132 case kEplObdTypInt48:
1133 case kEplObdTypUInt48:
1134 {
1135 AmiSetQword48ToLe(pDstData_p, *((QWORD *) pSrcData));
1136 break;
1137 }
1138
1139 // 56 bit values
1140 case kEplObdTypInt56:
1141 case kEplObdTypUInt56:
1142 {
1143 AmiSetQword56ToLe(pDstData_p, *((QWORD *) pSrcData));
1144 break;
1145 }
1146
1147 // 64 bit values
1148 case kEplObdTypInt64:
1149 case kEplObdTypUInt64:
1150 case kEplObdTypReal64:
1151 {
1152 AmiSetQword64ToLe(pDstData_p, *((QWORD *) pSrcData));
1153 break;
1154 }
1155
1156 // time of day
1157 case kEplObdTypTimeOfDay:
1158 case kEplObdTypTimeDiff:
1159 {
1160 AmiSetTimeOfDay(pDstData_p, ((tTimeOfDay *) pSrcData));
1161 break;
1162 }
1163
1164 } // end of switch(pSubEntry->m_Type)
1165
1166 *pSize_p = ObdSize;
1167
1168 // write address of destination data to structure of callback parameters
1169 // so callback function can change this data after reading
1170 CbParam.m_pArg = pDstData_p;
1171 CbParam.m_ObdEvent = kEplObdEvPostRead;
1172 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
1173 pObdEntry->m_fpCallback, &CbParam);
1174
1175 Exit:
1176
1177 return Ret;
1178
1179 }
1180
1181 //---------------------------------------------------------------------------
1182 //
1183 // Function: EplObdWriteEntryFromLe()
1184 //
1185 // Description: Function writes data to an OBD entry from a source with
1186 // little endian byteorder to the od with system specuific
1187 // byteorder. Not numerical values will only by copied. Strings
1188 // are stored with added '\0' character.
1189 //
1190 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
1191 // uiIndex_p = Index of the OD entry
1192 // uiSubIndex_p = Subindex of the OD Entry
1193 // pSrcData_p = Pointer to the data to write
1194 // Size_p = Size of the data in Byte
1195 //
1196 // Return: tEplKernel = Errorcode
1197 //
1198 //
1199 // State:
1200 //
1201 //---------------------------------------------------------------------------
1202 EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntryFromLe(EPL_MCO_DECL_INSTANCE_PTR_
1203 unsigned int uiIndex_p,
1204 unsigned int uiSubIndex_p,
1205 void *pSrcData_p,
1206 tEplObdSize Size_p)
1207 {
1208 tEplKernel Ret;
1209 tEplObdEntryPtr pObdEntry;
1210 tEplObdSubEntryPtr pSubEntry;
1211 tEplObdCbParam MEM CbParam;
1212 void MEM *pDstData;
1213 tEplObdSize ObdSize;
1214 QWORD qwBuffer;
1215 void *pBuffer = &qwBuffer;
1216
1217 Ret = EplObdWriteEntryPre(EPL_MCO_INSTANCE_PTR_
1218 uiIndex_p,
1219 uiSubIndex_p,
1220 pSrcData_p,
1221 &pDstData,
1222 Size_p,
1223 &pObdEntry, &pSubEntry, &CbParam, &ObdSize);
1224 if (Ret != kEplSuccessful) {
1225 goto Exit;
1226 }
1227
1228 // check if numerical type
1229 switch (pSubEntry->m_Type) {
1230 //-----------------------------------------------
1231 // types without ami
1232 default:
1233 { // do nothing, i.e. use the given source pointer
1234 pBuffer = pSrcData_p;
1235 break;
1236 }
1237
1238 //-----------------------------------------------
1239 // numerical type which needs ami-write
1240 // 8 bit or smaller values
1241 case kEplObdTypBool:
1242 case kEplObdTypInt8:
1243 case kEplObdTypUInt8:
1244 {
1245 *((BYTE *) pBuffer) = AmiGetByteFromLe(pSrcData_p);
1246 break;
1247 }
1248
1249 // 16 bit values
1250 case kEplObdTypInt16:
1251 case kEplObdTypUInt16:
1252 {
1253 *((WORD *) pBuffer) = AmiGetWordFromLe(pSrcData_p);
1254 break;
1255 }
1256
1257 // 24 bit values
1258 case kEplObdTypInt24:
1259 case kEplObdTypUInt24:
1260 {
1261 *((DWORD *) pBuffer) = AmiGetDword24FromLe(pSrcData_p);
1262 break;
1263 }
1264
1265 // 32 bit values
1266 case kEplObdTypInt32:
1267 case kEplObdTypUInt32:
1268 case kEplObdTypReal32:
1269 {
1270 *((DWORD *) pBuffer) = AmiGetDwordFromLe(pSrcData_p);
1271 break;
1272 }
1273
1274 // 40 bit values
1275 case kEplObdTypInt40:
1276 case kEplObdTypUInt40:
1277 {
1278 *((QWORD *) pBuffer) = AmiGetQword40FromLe(pSrcData_p);
1279 break;
1280 }
1281
1282 // 48 bit values
1283 case kEplObdTypInt48:
1284 case kEplObdTypUInt48:
1285 {
1286 *((QWORD *) pBuffer) = AmiGetQword48FromLe(pSrcData_p);
1287 break;
1288 }
1289
1290 // 56 bit values
1291 case kEplObdTypInt56:
1292 case kEplObdTypUInt56:
1293 {
1294 *((QWORD *) pBuffer) = AmiGetQword56FromLe(pSrcData_p);
1295 break;
1296 }
1297
1298 // 64 bit values
1299 case kEplObdTypInt64:
1300 case kEplObdTypUInt64:
1301 case kEplObdTypReal64:
1302 {
1303 *((QWORD *) pBuffer) = AmiGetQword64FromLe(pSrcData_p);
1304 break;
1305 }
1306
1307 // time of day
1308 case kEplObdTypTimeOfDay:
1309 case kEplObdTypTimeDiff:
1310 {
1311 AmiGetTimeOfDay(pBuffer, ((tTimeOfDay *) pSrcData_p));
1312 break;
1313 }
1314
1315 } // end of switch(pSubEntry->m_Type)
1316
1317 Ret = EplObdWriteEntryPost(EPL_MCO_INSTANCE_PTR_
1318 pObdEntry,
1319 pSubEntry,
1320 &CbParam, pBuffer, pDstData, ObdSize);
1321 if (Ret != kEplSuccessful) {
1322 goto Exit;
1323 }
1324
1325 Exit:
1326
1327 return Ret;
1328
1329 }
1330
1331 //---------------------------------------------------------------------------
1332 //
1333 // Function: EplObdGetAccessType()
1334 //
1335 // Description: Function returns accesstype of the entry
1336 //
1337 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
1338 // uiIndex_p = Index of the OD entry
1339 // uiSubIndex_p = Subindex of the OD Entry
1340 // pAccessTyp_p = pointer to buffer to store accesstype
1341 //
1342 // Return: tEplKernel = errorcode
1343 //
1344 //
1345 // State:
1346 //
1347 //---------------------------------------------------------------------------
1348 EPLDLLEXPORT tEplKernel PUBLIC EplObdGetAccessType(EPL_MCO_DECL_INSTANCE_PTR_
1349 unsigned int uiIndex_p,
1350 unsigned int uiSubIndex_p,
1351 tEplObdAccess * pAccessTyp_p)
1352 {
1353 tEplKernel Ret;
1354 tEplObdEntryPtr pObdEntry;
1355 tEplObdSubEntryPtr pObdSubEntry;
1356
1357 // get pointer to index structure
1358 Ret = EplObdGetIndexIntern(&EPL_MCO_GLB_VAR(m_ObdInitParam),
1359 uiIndex_p, &pObdEntry);
1360 if (Ret != kEplSuccessful) {
1361 goto Exit;
1362 }
1363 // get pointer to subindex structure
1364 Ret = EplObdGetSubindexIntern(pObdEntry, uiSubIndex_p, &pObdSubEntry);
1365 if (Ret != kEplSuccessful) {
1366 goto Exit;
1367 }
1368 // get accessType
1369 *pAccessTyp_p = pObdSubEntry->m_Access;
1370
1371 Exit:
1372 return Ret;
1373 }
1374
1375 //---------------------------------------------------------------------------
1376 //
1377 // Function: EplObdSearchVarEntry()
1378 //
1379 // Description: gets variable from OD
1380 //
1381 // Parameters: uiIndex_p = index of the var entry to search
1382 // uiSubindex_p = subindex of var entry to search
1383 // ppVarEntry_p = pointer to the pointer to the varentry
1384 //
1385 // Return: tEplKernel
1386 //
1387 // State:
1388 //
1389 //---------------------------------------------------------------------------
1390
1391 tEplKernel PUBLIC EplObdSearchVarEntry(EPL_MCO_DECL_INSTANCE_PTR_
1392 unsigned int uiIndex_p,
1393 unsigned int uiSubindex_p,
1394 tEplObdVarEntry MEM ** ppVarEntry_p)
1395 {
1396
1397 tEplKernel Ret;
1398 tEplObdSubEntryPtr pSubindexEntry;
1399
1400 // check for all API function if instance is valid
1401 EPL_MCO_CHECK_INSTANCE_STATE();
1402
1403 // get address of subindex entry
1404 Ret = EplObdGetEntry(EPL_MCO_INSTANCE_PTR_
1405 uiIndex_p, uiSubindex_p, NULL, &pSubindexEntry);
1406 if (Ret == kEplSuccessful) {
1407 // get var entry
1408 Ret = EplObdGetVarEntry(pSubindexEntry, ppVarEntry_p);
1409 }
1410
1411 return Ret;
1412
1413 }
1414
1415 //=========================================================================//
1416 // //
1417 // P R I V A T E D E F I N I T I O N S //
1418 // //
1419 //=========================================================================//
1420
1421 EPL_MCO_DECL_INSTANCE_FCT()
1422 //---------------------------------------------------------------------------
1423 //
1424 // Function: EplObdCallObjectCallback()
1425 //
1426 // Description: calls callback function of an object or of a variable
1427 //
1428 // Parameters: fpCallback_p
1429 // pCbParam_p
1430 //
1431 // Return: tEplKernel
1432 //
1433 // State:
1434 //
1435 //---------------------------------------------------------------------------
1436 static tEplKernel EplObdCallObjectCallback(EPL_MCO_DECL_INSTANCE_PTR_
1437 tEplObdCallback fpCallback_p,
1438 tEplObdCbParam MEM * pCbParam_p)
1439 {
1440
1441 tEplKernel Ret;
1442 tEplObdCallback MEM fpCallback;
1443
1444 // check for all API function if instance is valid
1445 EPL_MCO_CHECK_INSTANCE_STATE();
1446
1447 ASSERT(pCbParam_p != NULL);
1448
1449 Ret = kEplSuccessful;
1450
1451 // check address of callback function before calling it
1452 if (fpCallback_p != NULL) {
1453 // KEIL C51 V6.01 has a bug.
1454 // Therefore the parameter fpCallback_p has to be copied in local variable fpCallback.
1455 fpCallback = fpCallback_p;
1456
1457 // call callback function for this object
1458 Ret = fpCallback(EPL_MCO_INSTANCE_PARAM_IDX_()
1459 pCbParam_p);
1460 }
1461
1462 return Ret;
1463 }
1464
1465 //---------------------------------------------------------------------------
1466 //
1467 // Function: EplObdGetDataSizeIntern()
1468 //
1469 // Description: gets the data size of an object
1470 // for string objects it returnes the string length
1471 //
1472 // Parameters: pSubIndexEntry_p
1473 //
1474 // Return: tEplObdSize
1475 //
1476 // State:
1477 //
1478 //---------------------------------------------------------------------------
1479
1480 static tEplObdSize EplObdGetDataSizeIntern(tEplObdSubEntryPtr pSubIndexEntry_p)
1481 {
1482
1483 tEplObdSize DataSize;
1484 void MEM *pData;
1485
1486 // If OD entry is defined by macro EPL_OBD_SUBINDEX_ROM_VSTRING
1487 // then the current pointer is always NULL. The function
1488 // returns the length of default string.
1489 DataSize = EplObdGetObjectSize(pSubIndexEntry_p);
1490
1491 if (pSubIndexEntry_p->m_Type == kEplObdTypVString) {
1492 // The pointer to current value can be received from EplObdGetObjectCurrentPtr()
1493 pData =
1494 ((void MEM *)EplObdGetObjectCurrentPtr(pSubIndexEntry_p));
1495 if (pData != NULL) {
1496 DataSize =
1497 EplObdGetStrLen((void *)pData, DataSize,
1498 pSubIndexEntry_p->m_Type);
1499 }
1500
1501 }
1502
1503 return DataSize;
1504
1505 }
1506
1507 //---------------------------------------------------------------------------
1508 //
1509 // Function: EplObdGetStrLen()
1510 //
1511 // Description: The function calculates the length of string. The '\0'
1512 // character is included!!
1513 //
1514 // Parameters: pObjData_p = pointer to string
1515 // ObjLen_p = max. length of objectr entry
1516 // bObjType_p = object type (VSTRING, ...)
1517 //
1518 // Returns: string length + 1
1519 //
1520 // State:
1521 //
1522 //---------------------------------------------------------------------------
1523
1524 static tEplObdSize EplObdGetStrLen(void *pObjData_p,
1525 tEplObdSize ObjLen_p, tEplObdType ObjType_p)
1526 {
1527
1528 tEplObdSize StrLen = 0;
1529 BYTE *pbString;
1530
1531 if (pObjData_p == NULL) {
1532 goto Exit;
1533 }
1534 //----------------------------------------
1535 // Visible String: data format byte
1536 if (ObjType_p == kEplObdTypVString) {
1537 pbString = pObjData_p;
1538
1539 for (StrLen = 0; StrLen < ObjLen_p; StrLen++) {
1540 if (*pbString == '\0') {
1541 StrLen++;
1542 break;
1543 }
1544
1545 pbString++;
1546 }
1547 }
1548 //----------------------------------------
1549 // other string types ...
1550
1551 Exit:
1552 return (StrLen);
1553
1554 }
1555
1556 #if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
1557
1558 //---------------------------------------------------------------------------
1559 //
1560 // Function: EplObdCheckObjectRange()
1561 //
1562 // Description: function to check value range of object data
1563 //
1564 // NOTICE: The pointer of data (pData_p) must point out to an even address,
1565 // if ObjType is unequal to kEplObdTypInt8 or kEplObdTypUInt8! But it is
1566 // always realiced because pointer m_pDefault points always to an
1567 // array of the SPECIFIED type.
1568 //
1569 // Parameters: pSubindexEntry_p
1570 // pData_p
1571 //
1572 // Return: tEplKernel
1573 //
1574 // State:
1575 //
1576 //---------------------------------------------------------------------------
1577
1578 static tEplKernel EplObdCheckObjectRange(tEplObdSubEntryPtr pSubindexEntry_p,
1579 void *pData_p)
1580 {
1581
1582 tEplKernel Ret;
1583 void *pRangeData;
1584
1585 ASSERTMSG(pSubindexEntry_p != NULL,
1586 "EplObdCheckObjectRange(): no address to subindex struct!\n");
1587
1588 Ret = kEplSuccessful;
1589
1590 // check if data range has to be checked
1591 if ((pSubindexEntry_p->m_Access & kEplObdAccRange) == 0) {
1592 goto Exit;
1593 }
1594 // get address of default data
1595 pRangeData = pSubindexEntry_p->m_pDefault;
1596
1597 // jump to called object type
1598 switch ((tEplObdType) pSubindexEntry_p->m_Type) {
1599 // -----------------------------------------------------------------
1600 // ObdType kEplObdTypBool will not be checked because there are only
1601 // two possible values 0 or 1.
1602
1603 // -----------------------------------------------------------------
1604 // ObdTypes which has to be check up because numerical values
1605 case kEplObdTypInt8:
1606
1607 // switch to lower limit
1608 pRangeData = ((tEplObdInteger8 *) pRangeData) + 1;
1609
1610 // check if value is to low
1611 if (*((tEplObdInteger8 *) pData_p) <
1612 *((tEplObdInteger8 *) pRangeData)) {
1613 Ret = kEplObdValueTooLow;
1614 break;
1615 }
1616 // switch to higher limit
1617 pRangeData = ((tEplObdInteger8 *) pRangeData) + 1;
1618
1619 // check if value is to high
1620 if (*((tEplObdInteger8 *) pData_p) >
1621 *((tEplObdInteger8 *) pRangeData)) {
1622 Ret = kEplObdValueTooHigh;
1623 }
1624
1625 break;
1626
1627 case kEplObdTypUInt8:
1628
1629 // switch to lower limit
1630 pRangeData = ((tEplObdUnsigned8 *) pRangeData) + 1;
1631
1632 // check if value is to low
1633 if (*((tEplObdUnsigned8 *) pData_p) <
1634 *((tEplObdUnsigned8 *) pRangeData)) {
1635 Ret = kEplObdValueTooLow;
1636 break;
1637 }
1638 // switch to higher limit
1639 pRangeData = ((tEplObdUnsigned8 *) pRangeData) + 1;
1640
1641 // check if value is to high
1642 if (*((tEplObdUnsigned8 *) pData_p) >
1643 *((tEplObdUnsigned8 *) pRangeData)) {
1644 Ret = kEplObdValueTooHigh;
1645 }
1646
1647 break;
1648
1649 case kEplObdTypInt16:
1650
1651 // switch to lower limit
1652 pRangeData = ((tEplObdInteger16 *) pRangeData) + 1;
1653
1654 // check if value is to low
1655 if (*((tEplObdInteger16 *) pData_p) <
1656 *((tEplObdInteger16 *) pRangeData)) {
1657 Ret = kEplObdValueTooLow;
1658 break;
1659 }
1660 // switch to higher limit
1661 pRangeData = ((tEplObdInteger16 *) pRangeData) + 1;
1662
1663 // check if value is to high
1664 if (*((tEplObdInteger16 *) pData_p) >
1665 *((tEplObdInteger16 *) pRangeData)) {
1666 Ret = kEplObdValueTooHigh;
1667 }
1668
1669 break;
1670
1671 case kEplObdTypUInt16:
1672
1673 // switch to lower limit
1674 pRangeData = ((tEplObdUnsigned16 *) pRangeData) + 1;
1675
1676 // check if value is to low
1677 if (*((tEplObdUnsigned16 *) pData_p) <
1678 *((tEplObdUnsigned16 *) pRangeData)) {
1679 Ret = kEplObdValueTooLow;
1680 break;
1681 }
1682 // switch to higher limit
1683 pRangeData = ((tEplObdUnsigned16 *) pRangeData) + 1;
1684
1685 // check if value is to high
1686 if (*((tEplObdUnsigned16 *) pData_p) >
1687 *((tEplObdUnsigned16 *) pRangeData)) {
1688 Ret = kEplObdValueTooHigh;
1689 }
1690
1691 break;
1692
1693 case kEplObdTypInt32:
1694
1695 // switch to lower limit
1696 pRangeData = ((tEplObdInteger32 *) pRangeData) + 1;
1697
1698 // check if value is to low
1699 if (*((tEplObdInteger32 *) pData_p) <
1700 *((tEplObdInteger32 *) pRangeData)) {
1701 Ret = kEplObdValueTooLow;
1702 break;
1703 }
1704 // switch to higher limit
1705 pRangeData = ((tEplObdInteger32 *) pRangeData) + 1;
1706
1707 // check if value is to high
1708 if (*((tEplObdInteger32 *) pData_p) >
1709 *((tEplObdInteger32 *) pRangeData)) {
1710 Ret = kEplObdValueTooHigh;
1711 }
1712
1713 break;
1714
1715 case kEplObdTypUInt32:
1716
1717 // switch to lower limit
1718 pRangeData = ((tEplObdUnsigned32 *) pRangeData) + 1;
1719
1720 // check if value is to low
1721 if (*((tEplObdUnsigned32 *) pData_p) <
1722 *((tEplObdUnsigned32 *) pRangeData)) {
1723 Ret = kEplObdValueTooLow;
1724 break;
1725 }
1726 // switch to higher limit
1727 pRangeData = ((tEplObdUnsigned32 *) pRangeData) + 1;
1728
1729 // check if value is to high
1730 if (*((tEplObdUnsigned32 *) pData_p) >
1731 *((tEplObdUnsigned32 *) pRangeData)) {
1732 Ret = kEplObdValueTooHigh;
1733 }
1734
1735 break;
1736
1737 case kEplObdTypReal32:
1738
1739 // switch to lower limit
1740 pRangeData = ((tEplObdReal32 *) pRangeData) + 1;
1741
1742 // check if value is to low
1743 if (*((tEplObdReal32 *) pData_p) <
1744 *((tEplObdReal32 *) pRangeData)) {
1745 Ret = kEplObdValueTooLow;
1746 break;
1747 }
1748 // switch to higher limit
1749 pRangeData = ((tEplObdReal32 *) pRangeData) + 1;
1750
1751 // check if value is to high
1752 if (*((tEplObdReal32 *) pData_p) >
1753 *((tEplObdReal32 *) pRangeData)) {
1754 Ret = kEplObdValueTooHigh;
1755 }
1756
1757 break;
1758
1759 // -----------------------------------------------------------------
1760 case kEplObdTypInt40:
1761 case kEplObdTypInt48:
1762 case kEplObdTypInt56:
1763 case kEplObdTypInt64:
1764
1765 // switch to lower limit
1766 pRangeData = ((signed QWORD *)pRangeData) + 1;
1767
1768 // check if value is to low
1769 if (*((signed QWORD *)pData_p) < *((signed QWORD *)pRangeData)) {
1770 Ret = kEplObdValueTooLow;
1771 break;
1772 }
1773 // switch to higher limit
1774 pRangeData = ((signed QWORD *)pRangeData) + 1;
1775
1776 // check if value is to high
1777 if (*((signed QWORD *)pData_p) > *((signed QWORD *)pRangeData)) {
1778 Ret = kEplObdValueTooHigh;
1779 }
1780
1781 break;
1782
1783 // -----------------------------------------------------------------
1784 case kEplObdTypUInt40:
1785 case kEplObdTypUInt48:
1786 case kEplObdTypUInt56:
1787 case kEplObdTypUInt64:
1788
1789 // switch to lower limit
1790 pRangeData = ((unsigned QWORD *)pRangeData) + 1;
1791
1792 // check if value is to low
1793 if (*((unsigned QWORD *)pData_p) <
1794 *((unsigned QWORD *)pRangeData)) {
1795 Ret = kEplObdValueTooLow;
1796 break;
1797 }
1798 // switch to higher limit
1799 pRangeData = ((unsigned QWORD *)pRangeData) + 1;
1800
1801 // check if value is to high
1802 if (*((unsigned QWORD *)pData_p) >
1803 *((unsigned QWORD *)pRangeData)) {
1804 Ret = kEplObdValueTooHigh;
1805 }
1806
1807 break;
1808
1809 // -----------------------------------------------------------------
1810 case kEplObdTypReal64:
1811
1812 // switch to lower limit
1813 pRangeData = ((tEplObdReal64 *) pRangeData) + 1;
1814
1815 // check if value is to low
1816 if (*((tEplObdReal64 *) pData_p) <
1817 *((tEplObdReal64 *) pRangeData)) {
1818 Ret = kEplObdValueTooLow;
1819 break;
1820 }
1821 // switch to higher limit
1822 pRangeData = ((tEplObdReal64 *) pRangeData) + 1;
1823
1824 // check if value is to high
1825 if (*((tEplObdReal64 *) pData_p) >
1826 *((tEplObdReal64 *) pRangeData)) {
1827 Ret = kEplObdValueTooHigh;
1828 }
1829
1830 break;
1831
1832 // -----------------------------------------------------------------
1833 case kEplObdTypTimeOfDay:
1834 case kEplObdTypTimeDiff:
1835 break;
1836
1837 // -----------------------------------------------------------------
1838 // ObdTypes kEplObdTypXString and kEplObdTypDomain can not be checkt because
1839 // they have no numerical value.
1840 default:
1841
1842 Ret = kEplObdUnknownObjectType;
1843 break;
1844 }
1845
1846 Exit:
1847
1848 return Ret;
1849
1850 }
1851 #endif // (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
1852
1853 //---------------------------------------------------------------------------
1854 //
1855 // Function: EplObdWriteEntryPre()
1856 //
1857 // Description: Function prepares write of data to an OBD entry. Strings
1858 // are stored with added '\0' character.
1859 //
1860 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
1861 // uiIndex_p = Index of the OD entry
1862 // uiSubIndex_p = Subindex of the OD Entry
1863 // pSrcData_p = Pointer to the data to write
1864 // Size_p = Size of the data in Byte
1865 //
1866 // Return: tEplKernel = Errorcode
1867 //
1868 //
1869 // State:
1870 //
1871 //---------------------------------------------------------------------------
1872
1873 static tEplKernel PUBLIC EplObdWriteEntryPre(EPL_MCO_DECL_INSTANCE_PTR_
1874 unsigned int uiIndex_p,
1875 unsigned int uiSubIndex_p,
1876 void *pSrcData_p,
1877 void **ppDstData_p,
1878 tEplObdSize Size_p,
1879 tEplObdEntryPtr * ppObdEntry_p,
1880 tEplObdSubEntryPtr * ppSubEntry_p,
1881 tEplObdCbParam MEM * pCbParam_p,
1882 tEplObdSize * pObdSize_p)
1883 {
1884
1885 tEplKernel Ret;
1886 tEplObdEntryPtr pObdEntry;
1887 tEplObdSubEntryPtr pSubEntry;
1888 tEplObdAccess Access;
1889 void MEM *pDstData;
1890 tEplObdSize ObdSize;
1891 BOOL fEntryNumerical;
1892
1893 #if (EPL_OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
1894 tEplObdVStringDomain MEM MemVStringDomain;
1895 void MEM *pCurrData;
1896 #endif
1897
1898 // check for all API function if instance is valid
1899 EPL_MCO_CHECK_INSTANCE_STATE();
1900
1901 ASSERT(pSrcData_p != NULL); // should never be NULL
1902
1903 //------------------------------------------------------------------------
1904 // get address of index and subindex entry
1905 Ret = EplObdGetEntry(EPL_MCO_INSTANCE_PTR_
1906 uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
1907 if (Ret != kEplSuccessful) {
1908 goto Exit;
1909 }
1910 // get pointer to object data
1911 pDstData = (void MEM *)EplObdGetObjectDataPtrIntern(pSubEntry);
1912
1913 Access = (tEplObdAccess) pSubEntry->m_Access;
1914
1915 // check access for write
1916 // access violation if adress to current value is NULL
1917 if (((Access & kEplObdAccConst) != 0) || (pDstData == NULL)) {
1918 Ret = kEplObdAccessViolation;
1919 goto Exit;
1920 }
1921 //------------------------------------------------------------------------
1922 // get size of object
1923 // -as ObdSize = ObdGetObjectSize (pSubEntry);
1924
1925 //------------------------------------------------------------------------
1926 // To use the same callback function for ObdWriteEntry as well as for
1927 // an SDO download call at first (kEplObdEvPre...) the callback function
1928 // with the argument pointer to object size.
1929 pCbParam_p->m_uiIndex = uiIndex_p;
1930 pCbParam_p->m_uiSubIndex = uiSubIndex_p;
1931
1932 // Because object size and object pointer are
1933 // adapted by user callback function, re-read
1934 // this values.
1935 ObdSize = EplObdGetObjectSize(pSubEntry);
1936 pDstData = (void MEM *)EplObdGetObjectDataPtrIntern(pSubEntry);
1937
1938 // 09-dec-2004 r.d.:
1939 // Function EplObdWriteEntry() calls new event kEplObdEvWrStringDomain
1940 // for String or Domain which lets called module directly change
1941 // the data pointer or size. This prevents a recursive call to
1942 // the callback function if it calls EplObdGetEntry().
1943 #if (EPL_OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
1944 if ((pSubEntry->m_Type == kEplObdTypVString) ||
1945 (pSubEntry->m_Type == kEplObdTypDomain) ||
1946 (pSubEntry->m_Type == kEplObdTypOString)) {
1947 if (pSubEntry->m_Type == kEplObdTypVString) {
1948 // reserve one byte for 0-termination
1949 // -as ObdSize -= 1;
1950 Size_p += 1;
1951 }
1952 // fill out new arg-struct
1953 MemVStringDomain.m_DownloadSize = Size_p;
1954 MemVStringDomain.m_ObjSize = ObdSize;
1955 MemVStringDomain.m_pData = pDstData;
1956
1957 pCbParam_p->m_ObdEvent = kEplObdEvWrStringDomain;
1958 pCbParam_p->m_pArg = &MemVStringDomain;
1959 // call user callback
1960 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
1961 pObdEntry->m_fpCallback,
1962 pCbParam_p);
1963 if (Ret != kEplSuccessful) {
1964 goto Exit;
1965 }
1966 // write back new settings
1967 pCurrData = pSubEntry->m_pCurrent;
1968 if ((pSubEntry->m_Type == kEplObdTypVString)
1969 || (pSubEntry->m_Type == kEplObdTypOString)) {
1970 ((tEplObdVString MEM *) pCurrData)->m_Size =
1971 MemVStringDomain.m_ObjSize;
1972 ((tEplObdVString MEM *) pCurrData)->m_pString =
1973 MemVStringDomain.m_pData;
1974 } else // if (pSdosTableEntry_p->m_bObjType == kEplObdTypDomain)
1975 {
1976 ((tEplObdVarEntry MEM *) pCurrData)->m_Size =
1977 MemVStringDomain.m_ObjSize;
1978 ((tEplObdVarEntry MEM *) pCurrData)->m_pData =
1979 (void MEM *)MemVStringDomain.m_pData;
1980 }
1981
1982 // Because object size and object pointer are
1983 // adapted by user callback function, re-read
1984 // this values.
1985 ObdSize = MemVStringDomain.m_ObjSize;
1986 pDstData = (void MEM *)MemVStringDomain.m_pData;
1987 }
1988 #endif //#if (OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
1989
1990 // 07-dec-2004 r.d.: size from application is needed because callback function can change the object size
1991 // -as 16.11.04 CbParam.m_pArg = &ObdSize;
1992 // 09-dec-2004 r.d.: CbParam.m_pArg = &Size_p;
1993 pCbParam_p->m_pArg = &ObdSize;
1994 pCbParam_p->m_ObdEvent = kEplObdEvInitWrite;
1995 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
1996 pObdEntry->m_fpCallback, pCbParam_p);
1997 if (Ret != kEplSuccessful) {
1998 goto Exit;
1999 }
2000
2001 if (Size_p > ObdSize) {
2002 Ret = kEplObdValueLengthError;
2003 goto Exit;
2004 }
2005
2006 if (pSubEntry->m_Type == kEplObdTypVString) {
2007 if (((char MEM *)pSrcData_p)[Size_p - 1] == '\0') { // last byte of source string contains null character
2008
2009 // reserve one byte in destination for 0-termination
2010 Size_p -= 1;
2011 } else if (Size_p >= ObdSize) { // source string is not 0-terminated
2012 // and destination buffer is too short
2013 Ret = kEplObdValueLengthError;
2014 goto Exit;
2015 }
2016 }
2017
2018 Ret = EplObdIsNumericalIntern(pSubEntry, &fEntryNumerical);
2019 if (Ret != kEplSuccessful) {
2020 goto Exit;
2021 }
2022
2023 if ((fEntryNumerical != FALSE)
2024 && (Size_p != ObdSize)) {
2025 // type is numerical, therefor size has to fit, but it does not.
2026 Ret = kEplObdValueLengthError;
2027 goto Exit;
2028 }
2029 // use given size, because non-numerical objects can be written with shorter values
2030 ObdSize = Size_p;
2031
2032 // set output parameters
2033 *pObdSize_p = ObdSize;
2034 *ppObdEntry_p = pObdEntry;
2035 *ppSubEntry_p = pSubEntry;
2036 *ppDstData_p = pDstData;
2037
2038 // all checks are done
2039 // the caller may now convert the numerial source value to platform byte order in a temporary buffer
2040
2041 Exit:
2042
2043 return Ret;
2044
2045 }
2046
2047 //---------------------------------------------------------------------------
2048 //
2049 // Function: EplObdWriteEntryPost()
2050 //
2051 // Description: Function finishes write of data to an OBD entry. Strings
2052 // are stored with added '\0' character.
2053 //
2054 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_
2055 // uiIndex_p = Index of the OD entry
2056 // uiSubIndex_p = Subindex of the OD Entry
2057 // pSrcData_p = Pointer to the data to write
2058 // Size_p = Size of the data in Byte
2059 //
2060 // Return: tEplKernel = Errorcode
2061 //
2062 //
2063 // State:
2064 //
2065 //---------------------------------------------------------------------------
2066
2067 static tEplKernel PUBLIC EplObdWriteEntryPost(EPL_MCO_DECL_INSTANCE_PTR_
2068 tEplObdEntryPtr pObdEntry_p,
2069 tEplObdSubEntryPtr pSubEntry_p,
2070 tEplObdCbParam MEM * pCbParam_p,
2071 void *pSrcData_p,
2072 void *pDstData_p,
2073 tEplObdSize ObdSize_p)
2074 {
2075
2076 tEplKernel Ret;
2077
2078 // caller converted the source value to platform byte order
2079 // now the range of the value may be checked
2080
2081 #if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
2082 {
2083 // check data range
2084 Ret = EplObdCheckObjectRange(pSubEntry_p, pSrcData_p);
2085 if (Ret != kEplSuccessful) {
2086 goto Exit;
2087 }
2088 }
2089 #endif
2090
2091 // now call user callback function to check value
2092 // write address of source data to structure of callback parameters
2093 // so callback function can check this data
2094 pCbParam_p->m_pArg = pSrcData_p;
2095 pCbParam_p->m_ObdEvent = kEplObdEvPreWrite;
2096 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
2097 pObdEntry_p->m_fpCallback, pCbParam_p);
2098 if (Ret != kEplSuccessful) {
2099 goto Exit;
2100 }
2101 // copy object data to OBD
2102 EPL_MEMCPY(pDstData_p, pSrcData_p, ObdSize_p);
2103
2104 // terminate string with 0
2105 if (pSubEntry_p->m_Type == kEplObdTypVString) {
2106 ((char MEM *)pDstData_p)[ObdSize_p] = '\0';
2107 }
2108 // write address of destination to structure of callback parameters
2109 // so callback function can change data subsequently
2110 pCbParam_p->m_pArg = pDstData_p;
2111 pCbParam_p->m_ObdEvent = kEplObdEvPostWrite;
2112 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
2113 pObdEntry_p->m_fpCallback, pCbParam_p);
2114
2115 Exit:
2116
2117 return Ret;
2118
2119 }
2120
2121 //---------------------------------------------------------------------------
2122 //
2123 // Function: EplObdGetObjectSize()
2124 //
2125 // Description: function to get size of object
2126 // The function determines if an object type an fixed data type (BYTE, WORD, ...)
2127 // or non fixed object (string, domain). This information is used to decide
2128 // if download data are stored temporary or not. For objects with fixed data length
2129 // and types a value range checking can process.
2130 // For strings the function returns the whole object size not the
2131 // length of string.
2132 //
2133 // Parameters: pSubIndexEntry_p
2134 //
2135 // Return: tEplObdSize
2136 //
2137 // State:
2138 //
2139 //---------------------------------------------------------------------------
2140
2141 static tEplObdSize EplObdGetObjectSize(tEplObdSubEntryPtr pSubIndexEntry_p)
2142 {
2143
2144 tEplObdSize DataSize = 0;
2145 void *pData;
2146
2147 switch (pSubIndexEntry_p->m_Type) {
2148 // -----------------------------------------------------------------
2149 case kEplObdTypBool:
2150
2151 DataSize = 1;
2152 break;
2153
2154 // -----------------------------------------------------------------
2155 // ObdTypes which has to be check because numerical values
2156 case kEplObdTypInt8:
2157 DataSize = sizeof(tEplObdInteger8);
2158 break;
2159
2160 // -----------------------------------------------------------------
2161 case kEplObdTypUInt8:
2162 DataSize = sizeof(tEplObdUnsigned8);
2163 break;
2164
2165 // -----------------------------------------------------------------
2166 case kEplObdTypInt16:
2167 DataSize = sizeof(tEplObdInteger16);
2168 break;
2169
2170 // -----------------------------------------------------------------
2171 case kEplObdTypUInt16:
2172 DataSize = sizeof(tEplObdUnsigned16);
2173 break;
2174
2175 // -----------------------------------------------------------------
2176 case kEplObdTypInt32:
2177 DataSize = sizeof(tEplObdInteger32);
2178 break;
2179
2180 // -----------------------------------------------------------------
2181 case kEplObdTypUInt32:
2182 DataSize = sizeof(tEplObdUnsigned32);
2183 break;
2184
2185 // -----------------------------------------------------------------
2186 case kEplObdTypReal32:
2187 DataSize = sizeof(tEplObdReal32);
2188 break;
2189
2190 // -----------------------------------------------------------------
2191 // ObdTypes which has to be not checked because not NUM values
2192 case kEplObdTypDomain:
2193
2194 pData = (void *)pSubIndexEntry_p->m_pCurrent;
2195 if ((void MEM *)pData != (void MEM *)NULL) {
2196 DataSize = ((tEplObdVarEntry MEM *) pData)->m_Size;
2197 }
2198 break;
2199
2200 // -----------------------------------------------------------------
2201 case kEplObdTypVString:
2202 //case kEplObdTypUString:
2203
2204 // If OD entry is defined by macro EPL_OBD_SUBINDEX_ROM_VSTRING
2205 // then the current pointer is always NULL. The function
2206 // returns the length of default string.
2207 pData = (void *)pSubIndexEntry_p->m_pCurrent;
2208 if ((void MEM *)pData != (void MEM *)NULL) {
2209 // The max. size of strings defined by STRING-Macro is stored in
2210 // tEplObdVString of current value.
2211 // (types tEplObdVString, tEplObdOString and tEplObdUString has the same members)
2212 DataSize = ((tEplObdVString MEM *) pData)->m_Size;
2213 } else {
2214 // The current position is not decleared. The string
2215 // is located in ROM, therefor use default pointer.
2216 pData = (void *)pSubIndexEntry_p->m_pDefault;
2217 if ((CONST void ROM *)pData != (CONST void ROM *)NULL) {
2218 // The max. size of strings defined by STRING-Macro is stored in
2219 // tEplObdVString of default value.
2220 DataSize =
2221 ((CONST tEplObdVString ROM *) pData)->
2222 m_Size;
2223 }
2224 }
2225
2226 break;
2227
2228 // -----------------------------------------------------------------
2229 case kEplObdTypOString:
2230
2231 pData = (void *)pSubIndexEntry_p->m_pCurrent;
2232 if ((void MEM *)pData != (void MEM *)NULL) {
2233 // The max. size of strings defined by STRING-Macro is stored in
2234 // tEplObdVString of current value.
2235 // (types tEplObdVString, tEplObdOString and tEplObdUString has the same members)
2236 DataSize = ((tEplObdOString MEM *) pData)->m_Size;
2237 } else {
2238 // The current position is not decleared. The string
2239 // is located in ROM, therefor use default pointer.
2240 pData = (void *)pSubIndexEntry_p->m_pDefault;
2241 if ((CONST void ROM *)pData != (CONST void ROM *)NULL) {
2242 // The max. size of strings defined by STRING-Macro is stored in
2243 // tEplObdVString of default value.
2244 DataSize =
2245 ((CONST tEplObdOString ROM *) pData)->
2246 m_Size;
2247 }
2248 }
2249 break;
2250
2251 // -----------------------------------------------------------------
2252 case kEplObdTypInt24:
2253 case kEplObdTypUInt24:
2254
2255 DataSize = 3;
2256 break;
2257
2258 // -----------------------------------------------------------------
2259 case kEplObdTypInt40:
2260 case kEplObdTypUInt40:
2261
2262 DataSize = 5;
2263 break;
2264
2265 // -----------------------------------------------------------------
2266 case kEplObdTypInt48:
2267 case kEplObdTypUInt48:
2268
2269 DataSize = 6;
2270 break;
2271
2272 // -----------------------------------------------------------------
2273 case kEplObdTypInt56:
2274 case kEplObdTypUInt56:
2275
2276 DataSize = 7;
2277 break;
2278
2279 // -----------------------------------------------------------------
2280 case kEplObdTypInt64:
2281 case kEplObdTypUInt64:
2282 case kEplObdTypReal64:
2283
2284 DataSize = 8;
2285 break;
2286
2287 // -----------------------------------------------------------------
2288 case kEplObdTypTimeOfDay:
2289 case kEplObdTypTimeDiff:
2290
2291 DataSize = 6;
2292 break;
2293
2294 // -----------------------------------------------------------------
2295 default:
2296 break;
2297 }
2298
2299 return DataSize;
2300 }
2301
2302 //---------------------------------------------------------------------------
2303 //
2304 // Function: EplObdGetObjectDefaultPtr()
2305 //
2306 // Description: function to get the default pointer (type specific)
2307 //
2308 // Parameters: pSubIndexEntry_p = pointer to subindex structure
2309 //
2310 // Returns: (void *) = pointer to default value
2311 //
2312 // State:
2313 //
2314 //---------------------------------------------------------------------------
2315
2316 static void *EplObdGetObjectDefaultPtr(tEplObdSubEntryPtr pSubIndexEntry_p)
2317 {
2318
2319 void *pDefault;
2320 tEplObdType Type;
2321
2322 ASSERTMSG(pSubIndexEntry_p != NULL,
2323 "EplObdGetObjectDefaultPtr(): pointer to SubEntry not valid!\n");
2324
2325 // get address to default data from default pointer
2326 pDefault = pSubIndexEntry_p->m_pDefault;
2327 if (pDefault != NULL) {
2328 // there are some special types, whose default pointer always is NULL or has to get from other structure
2329 // get type from subindex structure
2330 Type = pSubIndexEntry_p->m_Type;
2331
2332 // check if object type is a string value
2333 if ((Type == kEplObdTypVString) /* ||
2334 (Type == kEplObdTypUString) */ ) {
2335
2336 // EPL_OBD_SUBINDEX_RAM_VSTRING
2337 // tEplObdSize m_Size; --> size of default string
2338 // char * m_pDefString; --> pointer to default string
2339 // char * m_pString; --> pointer to string in RAM
2340 //
2341 pDefault =
2342 (void *)((tEplObdVString *) pDefault)->m_pString;
2343 } else if (Type == kEplObdTypOString) {
2344 pDefault =
2345 (void *)((tEplObdOString *) pDefault)->m_pString;
2346 }
2347 }
2348
2349 return pDefault;
2350
2351 }
2352
2353 //---------------------------------------------------------------------------
2354 //
2355 // Function: EplObdGetVarEntry()
2356 //
2357 // Description: gets a variable entry of an object
2358 //
2359 // Parameters: pSubindexEntry_p
2360 // ppVarEntry_p
2361 //
2362 // Return: tCopKernel
2363 //
2364 // State:
2365 //
2366 //---------------------------------------------------------------------------
2367
2368 static tEplKernel EplObdGetVarEntry(tEplObdSubEntryPtr pSubindexEntry_p,
2369 tEplObdVarEntry MEM ** ppVarEntry_p)
2370 {
2371
2372 tEplKernel Ret = kEplObdVarEntryNotExist;
2373
2374 ASSERT(ppVarEntry_p != NULL); // is not allowed to be NULL
2375 ASSERT(pSubindexEntry_p != NULL);
2376
2377 // check VAR-Flag - only this object points to variables
2378 if ((pSubindexEntry_p->m_Access & kEplObdAccVar) != 0) {
2379 // check if object is an array
2380 if ((pSubindexEntry_p->m_Access & kEplObdAccArray) != 0) {
2381 *ppVarEntry_p =
2382 &((tEplObdVarEntry MEM *) pSubindexEntry_p->
2383 m_pCurrent)[pSubindexEntry_p->m_uiSubIndex - 1];
2384 } else {
2385 *ppVarEntry_p =
2386 (tEplObdVarEntry MEM *) pSubindexEntry_p->
2387 m_pCurrent;
2388 }
2389
2390 Ret = kEplSuccessful;
2391 }
2392
2393 return Ret;
2394
2395 }
2396
2397 //---------------------------------------------------------------------------
2398 //
2399 // Function: EplObdGetEntry()
2400 //
2401 // Description: gets a index entry from OD
2402 //
2403 // Parameters: uiIndex_p = Index number
2404 // uiSubindex_p = Subindex number
2405 // ppObdEntry_p = pointer to the pointer to the entry
2406 // ppObdSubEntry_p = pointer to the pointer to the subentry
2407 //
2408 // Return: tEplKernel
2409
2410 //
2411 // State:
2412 //
2413 //---------------------------------------------------------------------------
2414
2415 static tEplKernel EplObdGetEntry(EPL_MCO_DECL_INSTANCE_PTR_
2416 unsigned int uiIndex_p,
2417 unsigned int uiSubindex_p,
2418 tEplObdEntryPtr * ppObdEntry_p,
2419 tEplObdSubEntryPtr * ppObdSubEntry_p)
2420 {
2421
2422 tEplObdEntryPtr pObdEntry;
2423 tEplObdCbParam MEM CbParam;
2424 tEplKernel Ret;
2425
2426 // check for all API function if instance is valid
2427 EPL_MCO_CHECK_INSTANCE_STATE();
2428
2429 //------------------------------------------------------------------------
2430 // get address of entry of index
2431 Ret =
2432 EplObdGetIndexIntern(&EPL_MCO_GLB_VAR(m_ObdInitParam), uiIndex_p,
2433 &pObdEntry);
2434 if (Ret != kEplSuccessful) {
2435 goto Exit;
2436 }
2437 //------------------------------------------------------------------------
2438 // get address of entry of subindex
2439 Ret = EplObdGetSubindexIntern(pObdEntry, uiSubindex_p, ppObdSubEntry_p);
2440 if (Ret != kEplSuccessful) {
2441 goto Exit;
2442 }
2443 //------------------------------------------------------------------------
2444 // call callback function to inform user/stack that an object will be searched
2445 // if the called module returnes an error then we abort the searching with kEplObdIndexNotExist
2446 CbParam.m_uiIndex = uiIndex_p;
2447 CbParam.m_uiSubIndex = uiSubindex_p;
2448 CbParam.m_pArg = NULL;
2449 CbParam.m_ObdEvent = kEplObdEvCheckExist;
2450 Ret = EplObdCallObjectCallback(EPL_MCO_INSTANCE_PTR_
2451 pObdEntry->m_fpCallback, &CbParam);
2452 if (Ret != kEplSuccessful) {
2453 Ret = kEplObdIndexNotExist;
2454 goto Exit;
2455 }
2456 //------------------------------------------------------------------------
2457 // it is allowed to set ppObdEntry_p to NULL
2458 // if so, no address will be written to calling function
2459 if (ppObdEntry_p != NULL) {
2460 *ppObdEntry_p = pObdEntry;
2461 }
2462
2463 Exit:
2464
2465 return Ret;
2466
2467 }
2468
2469 //---------------------------------------------------------------------------
2470 //
2471 // Function: EplObdGetObjectCurrentPtr()
2472 //
2473 // Description: function to get Current pointer (type specific)
2474 //
2475 // Parameters: pSubIndexEntry_p
2476 //
2477 // Return: void MEM*
2478 //
2479 // State:
2480 //
2481 //---------------------------------------------------------------------------
2482
2483 static void MEM *EplObdGetObjectCurrentPtr(tEplObdSubEntryPtr pSubIndexEntry_p)
2484 {
2485
2486 void MEM *pData;
2487 unsigned int uiArrayIndex;
2488 tEplObdSize Size;
2489
2490 pData = pSubIndexEntry_p->m_pCurrent;
2491
2492 // check if constant object
2493 if (pData != NULL) {
2494 // check if object is an array
2495 if ((pSubIndexEntry_p->m_Access & kEplObdAccArray) != 0) {
2496 // calculate correct data pointer
2497 uiArrayIndex = pSubIndexEntry_p->m_uiSubIndex - 1;
2498 if ((pSubIndexEntry_p->m_Access & kEplObdAccVar) != 0) {
2499 Size = sizeof(tEplObdVarEntry);
2500 } else {
2501 Size = EplObdGetObjectSize(pSubIndexEntry_p);
2502 }
2503 pData = ((BYTE MEM *) pData) + (Size * uiArrayIndex);
2504 }
2505 // check if VarEntry
2506 if ((pSubIndexEntry_p->m_Access & kEplObdAccVar) != 0) {
2507 // The data pointer is stored in VarEntry->pData
2508 pData = ((tEplObdVarEntry MEM *) pData)->m_pData;
2509 }
2510 // the default pointer is stored for strings in tEplObdVString
2511 else if ((pSubIndexEntry_p->m_Type == kEplObdTypVString) /* ||
2512 (pSubIndexEntry_p->m_Type == kEplObdTypUString) */
2513 ) {
2514 pData =
2515 (void MEM *)((tEplObdVString MEM *) pData)->
2516 m_pString;
2517 } else if (pSubIndexEntry_p->m_Type == kEplObdTypOString) {
2518 pData =
2519 (void MEM *)((tEplObdOString MEM *) pData)->
2520 m_pString;
2521 }
2522 }
2523
2524 return pData;
2525
2526 }
2527
2528 //---------------------------------------------------------------------------
2529 //
2530 // Function: EplObdGetIndexIntern()
2531 //
2532 // Description: gets a index entry from OD
2533 //
2534 // Parameters: pInitParam_p
2535 // uiIndex_p
2536 // ppObdEntry_p
2537 //
2538 // Return: tEplKernel
2539 //
2540 // State:
2541 //
2542 //---------------------------------------------------------------------------
2543
2544 static tEplKernel EplObdGetIndexIntern(tEplObdInitParam MEM * pInitParam_p,
2545 unsigned int uiIndex_p,
2546 tEplObdEntryPtr * ppObdEntry_p)
2547 {
2548
2549 tEplObdEntryPtr pObdEntry;
2550 tEplKernel Ret;
2551 unsigned int uiIndex;
2552
2553 #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
2554
2555 unsigned int nLoop;
2556
2557 // if user OD is used then objekts also has to be searched in user OD
2558 // there is less code need if we do this in a loop
2559 nLoop = 2;
2560
2561 #endif
2562
2563 ASSERTMSG(ppObdEntry_p != NULL,
2564 "EplObdGetIndexIntern(): pointer to index entry is NULL!\n");
2565
2566 Ret = kEplObdIndexNotExist;
2567
2568 // get start address of OD part
2569 // start address depends on object index because
2570 // object dictionary is divided in 3 parts
2571 if ((uiIndex_p >= 0x1000) && (uiIndex_p < 0x2000)) {
2572 pObdEntry = pInitParam_p->m_pPart;
2573 } else if ((uiIndex_p >= 0x2000) && (uiIndex_p < 0x6000)) {
2574 pObdEntry = pInitParam_p->m_pManufacturerPart;
2575 }
2576 // index range 0xA000 to 0xFFFF is reserved for DSP-405
2577 // DS-301 defines that range 0x6000 to 0x9FFF (!!!) is stored if "store" was written to 0x1010/3.
2578 // Therefore default configuration is OBD_INCLUDE_A000_TO_DEVICE_PART = FALSE.
2579 // But a CANopen Application which does not implement dynamic OD or user-OD but wants to use static objets 0xA000...
2580 // should set OBD_INCLUDE_A000_TO_DEVICE_PART to TRUE.
2581
2582 #if (EPL_OBD_INCLUDE_A000_TO_DEVICE_PART == FALSE)
2583 else if ((uiIndex_p >= 0x6000) && (uiIndex_p < 0x9FFF))
2584 #else
2585 else if ((uiIndex_p >= 0x6000) && (uiIndex_p < 0xFFFF))
2586 #endif
2587 {
2588 pObdEntry = pInitParam_p->m_pDevicePart;
2589 }
2590
2591 #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
2592
2593 // if index does not match in static OD then index only has to be searched in user OD
2594 else {
2595 // begin from first entry of user OD part
2596 pObdEntry = pInitParam_p->m_pUserPart;
2597
2598 // no user OD is available
2599 if (pObdEntry == NULL) {
2600 goto Exit;
2601 }
2602 // loop must only run once
2603 nLoop = 1;
2604 }
2605
2606 do {
2607
2608 #else
2609
2610 // no user OD is available
2611 // so other object can be found in OD
2612 else {
2613 Ret = kEplObdIllegalPart;
2614 goto Exit;
2615 }
2616
2617 #endif
2618
2619 // note:
2620 // The end of Index table is marked with m_uiIndex = 0xFFFF.
2621 // If this function will be called with wIndex_p = 0xFFFF, entry
2622 // should not be found. Therefor it is important to use
2623 // while{} instead of do{}while !!!
2624
2625 // get first index of index table
2626 uiIndex = pObdEntry->m_uiIndex;
2627
2628 // search Index in OD part
2629 while (uiIndex != EPL_OBD_TABLE_INDEX_END) {
2630 // go to the end of this function if index is found
2631 if (uiIndex_p == uiIndex) {
2632 // write address of OD entry to calling function
2633 *ppObdEntry_p = pObdEntry;
2634 Ret = kEplSuccessful;
2635 goto Exit;
2636 }
2637 // objects are sorted in OD
2638 // if the current index in OD is greater than the index which is to search then break loop
2639 // in this case user OD has to be search too
2640 if (uiIndex_p < uiIndex) {
2641 break;
2642 }
2643 // next entry in index table
2644 pObdEntry++;
2645
2646 // get next index of index table
2647 uiIndex = pObdEntry->m_uiIndex;
2648 }
2649
2650 #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
2651
2652 // begin from first entry of user OD part
2653 pObdEntry = pInitParam_p->m_pUserPart;
2654
2655 // no user OD is available
2656 if (pObdEntry == NULL) {
2657 goto Exit;
2658 }
2659 // switch next loop for user OD
2660 nLoop--;
2661
2662 }
2663
2664 while (nLoop > 0) ;
2665
2666 #endif
2667
2668 // in this line Index was not found
2669
2670 Exit:
2671
2672 return Ret;
2673
2674 }
2675
2676 //---------------------------------------------------------------------------
2677 //
2678 // Function: EplObdGetSubindexIntern()
2679 //
2680 // Description: gets a subindex entry from a index entry
2681 //
2682 // Parameters: pObdEntry_p
2683 // bSubIndex_p
2684 // ppObdSubEntry_p
2685 //
2686 // Return: tEplKernel
2687 //
2688 // State:
2689 //
2690 //---------------------------------------------------------------------------
2691
2692 static tEplKernel EplObdGetSubindexIntern(tEplObdEntryPtr pObdEntry_p,
2693 unsigned int uiSubIndex_p,
2694 tEplObdSubEntryPtr * ppObdSubEntry_p)
2695 {
2696
2697 tEplObdSubEntryPtr pSubEntry;
2698 unsigned int nSubIndexCount;
2699 tEplKernel Ret;
2700
2701 ASSERTMSG(pObdEntry_p != NULL,
2702 "EplObdGetSubindexIntern(): pointer to index is NULL!\n");
2703 ASSERTMSG(ppObdSubEntry_p != NULL,
2704 "EplObdGetSubindexIntern(): pointer to subindex is NULL!\n");
2705
2706 Ret = kEplObdSubindexNotExist;
2707
2708 // get start address of subindex table and count of subindices
2709 pSubEntry = pObdEntry_p->m_pSubIndex;
2710 nSubIndexCount = pObdEntry_p->m_uiCount;
2711 ASSERTMSG((pSubEntry != NULL) && (nSubIndexCount > 0), "ObdGetSubindexIntern(): invalid subindex table within index table!\n"); // should never be NULL
2712
2713 // search subindex in subindex table
2714 while (nSubIndexCount > 0) {
2715 // check if array is found
2716 if ((pSubEntry->m_Access & kEplObdAccArray) != 0) {
2717 // check if subindex is in range
2718 if (uiSubIndex_p < pObdEntry_p->m_uiCount) {
2719 // update subindex number (subindex entry of an array is always in RAM !!!)
2720 pSubEntry->m_uiSubIndex = uiSubIndex_p;
2721 *ppObdSubEntry_p = pSubEntry;
2722 Ret = kEplSuccessful;
2723 goto Exit;
2724 }
2725 }
2726 // go to the end of this function if subindex is found
2727 else if (uiSubIndex_p == pSubEntry->m_uiSubIndex) {
2728 *ppObdSubEntry_p = pSubEntry;
2729 Ret = kEplSuccessful;
2730 goto Exit;
2731 }
2732 // objects are sorted in OD
2733 // if the current subindex in OD is greater than the subindex which is to search then break loop
2734 // in this case user OD has to be search too
2735 if (uiSubIndex_p < pSubEntry->m_uiSubIndex) {
2736 break;
2737 }
2738
2739 pSubEntry++;
2740 nSubIndexCount--;
2741 }
2742
2743 // in this line SubIndex was not fount
2744
2745 Exit:
2746
2747 return Ret;
2748
2749 }
2750
2751 //---------------------------------------------------------------------------
2752 //
2753 // Function: EplObdSetStoreLoadObjCallback()
2754 //
2755 // Description: function set address to callbackfunction for command Store and Load
2756 //
2757 // Parameters: fpCallback_p
2758 //
2759 // Return: tEplKernel
2760 //
2761 // State:
2762 //
2763 //---------------------------------------------------------------------------
2764 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
2765 EPLDLLEXPORT tEplKernel PUBLIC
2766 EplObdSetStoreLoadObjCallback(EPL_MCO_DECL_INSTANCE_PTR_
2767 tEplObdStoreLoadObjCallback fpCallback_p)
2768 {
2769
2770 EPL_MCO_CHECK_INSTANCE_STATE();
2771
2772 // set new address of callback function
2773 EPL_MCO_GLB_VAR(m_fpStoreLoadObjCallback) = fpCallback_p;
2774
2775 return kEplSuccessful;
2776
2777 }
2778 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
2779
2780 //---------------------------------------------------------------------------
2781 //
2782 // Function: EplObdAccessOdPartIntern()
2783 //
2784 // Description: runs through OD and executes a job
2785 //
2786 // Parameters: CurrentOdPart_p
2787 // pObdEnty_p
2788 // Direction_p = what is to do (load values from flash or EEPROM, store, ...)
2789 //
2790 // Return: tEplKernel
2791 //
2792 // State:
2793 //
2794 //---------------------------------------------------------------------------
2795
2796 static tEplKernel EplObdAccessOdPartIntern(EPL_MCO_DECL_INSTANCE_PTR_
2797 tEplObdPart CurrentOdPart_p,
2798 tEplObdEntryPtr pObdEnty_p,
2799 tEplObdDir Direction_p)
2800 {
2801
2802 tEplObdSubEntryPtr pSubIndex;
2803 unsigned int nSubIndexCount;
2804 tEplObdAccess Access;
2805 void MEM *pDstData;
2806 void *pDefault;
2807 tEplObdSize ObjSize;
2808 tEplKernel Ret;
2809 tEplObdCbStoreParam MEM CbStore;
2810 tEplObdVarEntry MEM *pVarEntry;
2811
2812 ASSERT(pObdEnty_p != NULL);
2813
2814 Ret = kEplSuccessful;
2815
2816 // prepare structure for STORE RESTORE callback function
2817 CbStore.m_bCurrentOdPart = (BYTE) CurrentOdPart_p;
2818 CbStore.m_pData = NULL;
2819 CbStore.m_ObjSize = 0;
2820
2821 // command of first action depends on direction to access
2822 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
2823 if (Direction_p == kEplObdDirLoad) {
2824 CbStore.m_bCommand = (BYTE) kEplObdCommOpenRead;
2825
2826 // call callback function for previous command
2827 Ret = EplObdCallStoreCallback(EPL_MCO_INSTANCE_PTR_ & CbStore);
2828 if (Ret != kEplSuccessful) {
2829 goto Exit;
2830 }
2831 // set command for index and subindex loop
2832 CbStore.m_bCommand = (BYTE) kEplObdCommReadObj;
2833 } else if (Direction_p == kEplObdDirStore) {
2834 CbStore.m_bCommand = (BYTE) kEplObdCommOpenWrite;
2835
2836 // call callback function for previous command
2837 Ret = EplObdCallStoreCallback(EPL_MCO_INSTANCE_PTR_ & CbStore);
2838 if (Ret != kEplSuccessful) {
2839 goto Exit;
2840 }
2841 // set command for index and subindex loop
2842 CbStore.m_bCommand = (BYTE) kEplObdCommWriteObj;
2843 }
2844 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
2845
2846 // we should not restore the OD values here
2847 // the next NMT command "Reset Node" or "Reset Communication" resets the OD data
2848 if (Direction_p != kEplObdDirRestore) {
2849 // walk through OD part till end is found
2850 while (pObdEnty_p->m_uiIndex != EPL_OBD_TABLE_INDEX_END) {
2851 // get address to subindex table and count of subindices
2852 pSubIndex = pObdEnty_p->m_pSubIndex;
2853 nSubIndexCount = pObdEnty_p->m_uiCount;
2854 ASSERT((pSubIndex != NULL) && (nSubIndexCount > 0)); // should never be NULL
2855
2856 // walk through subindex table till all subinices were restored
2857 while (nSubIndexCount != 0) {
2858 Access = (tEplObdAccess) pSubIndex->m_Access;
2859
2860 // get pointer to current and default data
2861 pDefault = EplObdGetObjectDefaultPtr(pSubIndex);
2862 pDstData = EplObdGetObjectCurrentPtr(pSubIndex);
2863
2864 // NOTE (for kEplObdTypVString):
2865 // The function returnes the max. number of bytes for a
2866 // current string.
2867 // r.d.: For stings the default-size will be read in other lines following (kEplObdDirInit).
2868 ObjSize = EplObdGetObjectSize(pSubIndex);
2869
2870 // switch direction of OD access
2871 switch (Direction_p) {
2872 // --------------------------------------------------------------------------
2873 // VarEntry structures has to be initialized
2874 case kEplObdDirInit:
2875
2876 // If VAR-Flag is set, m_pCurrent means not address of data
2877 // but address of tEplObdVarEntry. Address of data has to be get from
2878 // this structure.
2879 if ((Access & kEplObdAccVar) != 0) {
2880 EplObdGetVarEntry(pSubIndex,
2881 &pVarEntry);
2882 EplObdInitVarEntry(pVarEntry,
2883 pSubIndex->
2884 m_Type,
2885 ObjSize);
2886 /*
2887 if ((Access & kEplObdAccArray) == 0)
2888 {
2889 EplObdInitVarEntry (pSubIndex->m_pCurrent, pSubIndex->m_Type, ObjSize);
2890 }
2891 else
2892 {
2893 EplObdInitVarEntry ((tEplObdVarEntry MEM*) (((BYTE MEM*) pSubIndex->m_pCurrent) + (sizeof (tEplObdVarEntry) * pSubIndex->m_uiSubIndex)),
2894 pSubIndex->m_Type, ObjSize);
2895 }
2896 */
2897 // at this time no application variable is defined !!!
2898 // therefore data can not be copied.
2899 break;
2900 } else if (pSubIndex->m_Type ==
2901 kEplObdTypVString) {
2902 // If pointer m_pCurrent is not equal to NULL then the
2903 // string was defined with EPL_OBD_SUBINDEX_RAM_VSTRING. The current
2904 // pointer points to struct tEplObdVString located in MEM.
2905 // The element size includes the max. number of
2906 // bytes. The element m_pString includes the pointer
2907 // to string in MEM. The memory location of default string
2908 // must be copied to memory location of current string.
2909
2910 pDstData =
2911 pSubIndex->m_pCurrent;
2912 if (pDstData != NULL) {
2913 // 08-dec-2004: code optimization !!!
2914 // entries ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_pString
2915 // and ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_Size were read
2916 // twice. thats not necessary!
2917
2918 // For copying data we have to set the destination pointer to the real RAM string. This
2919 // pointer to RAM string is located in default string info structure. (translated r.d.)
2920 pDstData =
2921 (void MEM
2922 *)((tEplObdVStringDef ROM *) pSubIndex->m_pDefault)->m_pString;
2923 ObjSize =
2924 ((tEplObdVStringDef
2925 ROM *) pSubIndex->
2926 m_pDefault)->
2927 m_Size;
2928
2929 ((tEplObdVString MEM *)
2930 pSubIndex->
2931 m_pCurrent)->
2932 m_pString = pDstData;
2933 ((tEplObdVString MEM *)
2934 pSubIndex->
2935 m_pCurrent)->m_Size =
2936 ObjSize;
2937 }
2938
2939 } else if (pSubIndex->m_Type ==
2940 kEplObdTypOString) {
2941 pDstData =
2942 pSubIndex->m_pCurrent;
2943 if (pDstData != NULL) {
2944 // 08-dec-2004: code optimization !!!
2945 // entries ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_pString
2946 // and ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_Size were read
2947 // twice. thats not necessary!
2948
2949 // For copying data we have to set the destination pointer to the real RAM string. This
2950 // pointer to RAM string is located in default string info structure. (translated r.d.)
2951 pDstData =
2952 (void MEM
2953 *)((tEplObdOStringDef ROM *) pSubIndex->m_pDefault)->m_pString;
2954 ObjSize =
2955 ((tEplObdOStringDef
2956 ROM *) pSubIndex->
2957 m_pDefault)->
2958 m_Size;
2959
2960 ((tEplObdOString MEM *)
2961 pSubIndex->
2962 m_pCurrent)->
2963 m_pString = pDstData;
2964 ((tEplObdOString MEM *)
2965 pSubIndex->
2966 m_pCurrent)->m_Size =
2967 ObjSize;
2968 }
2969
2970 }
2971
2972 // no break !! because copy of data has to done too.
2973
2974 // --------------------------------------------------------------------------
2975 // all objects has to be restored with default values
2976 case kEplObdDirRestore:
2977
2978 // 09-dec-2004 r.d.: optimization! the same code for kEplObdDirRestore and kEplObdDirLoad
2979 // is replaced to function ObdCopyObjectData() with a new parameter.
2980
2981 // restore object data for init phase
2982 EplObdCopyObjectData(pDstData, pDefault,
2983 ObjSize,
2984 pSubIndex->m_Type);
2985 break;
2986
2987 // --------------------------------------------------------------------------
2988 // objects with attribute kEplObdAccStore has to be load from EEPROM or from a file
2989 case kEplObdDirLoad:
2990
2991 // restore object data for init phase
2992 EplObdCopyObjectData(pDstData, pDefault,
2993 ObjSize,
2994 pSubIndex->m_Type);
2995
2996 // no break !! because callback function has to be called too.
2997
2998 // --------------------------------------------------------------------------
2999 // objects with attribute kEplObdAccStore has to be stored in EEPROM or in a file
3000 case kEplObdDirStore:
3001
3002 // when attribute kEplObdAccStore is set, then call callback function
3003 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
3004 if ((Access & kEplObdAccStore) != 0) {
3005 // fill out data pointer and size of data
3006 CbStore.m_pData = pDstData;
3007 CbStore.m_ObjSize = ObjSize;
3008
3009 // call callback function for read or write object
3010 Ret =
3011 ObdCallStoreCallback
3012 (EPL_MCO_INSTANCE_PTR_ &
3013 CbStore);
3014 if (Ret != kEplSuccessful) {
3015 goto Exit;
3016 }
3017 }
3018 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
3019 break;
3020
3021 // --------------------------------------------------------------------------
3022 // if OD Builder key has to be checked no access to subindex and data should be made
3023 case kEplObdDirOBKCheck:
3024
3025 // no break !! because we want to break the second loop too.
3026
3027 // --------------------------------------------------------------------------
3028 // unknown Direction
3029 default:
3030
3031 // so we can break the second loop earler
3032 nSubIndexCount = 1;
3033 break;
3034 }
3035
3036 nSubIndexCount--;
3037
3038 // next subindex entry
3039 if ((Access & kEplObdAccArray) == 0) {
3040 pSubIndex++;
3041 if ((nSubIndexCount > 0)
3042 &&
3043 ((pSubIndex->
3044 m_Access & kEplObdAccArray) !=
3045 0)) {
3046 // next subindex points to an array
3047 // reset subindex number
3048 pSubIndex->m_uiSubIndex = 1;
3049 }
3050 } else {
3051 if (nSubIndexCount > 0) {
3052 // next subindex points to an array
3053 // increment subindex number
3054 pSubIndex->m_uiSubIndex++;
3055 }
3056 }
3057 }
3058
3059 // next index entry
3060 pObdEnty_p++;
3061 }
3062 }
3063 // -----------------------------------------------------------------------------------------
3064 // command of last action depends on direction to access
3065 if (Direction_p == kEplObdDirOBKCheck) {
3066
3067 goto Exit;
3068 }
3069 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
3070 else {
3071 if (Direction_p == kEplObdDirLoad) {
3072 CbStore.m_bCommand = (BYTE) kEplObdCommCloseRead;
3073 } else if (Direction_p == kEplObdDirStore) {
3074 CbStore.m_bCommand = (BYTE) kEplObdCommCloseWrite;
3075 } else if (Direction_p == kEplObdDirRestore) {
3076 CbStore.m_bCommand = (BYTE) kEplObdCommClear;
3077 } else {
3078 goto Exit;
3079 }
3080
3081 // call callback function for last command
3082 Ret = EplObdCallStoreCallback(EPL_MCO_INSTANCE_PTR_ & CbStore);
3083 }
3084 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
3085
3086 // goto Exit;
3087
3088 Exit:
3089
3090 return Ret;
3091
3092 }
3093
3094 // ----------------------------------------------------------------------------
3095 // Function: EplObdCopyObjectData()
3096 //
3097 // Description: checks pointers to object data and copy them from source to destination
3098 //
3099 // Parameters: pDstData_p = destination pointer
3100 // pSrcData_p = source pointer
3101 // ObjSize_p = size of object
3102 // ObjType_p =
3103 //
3104 // Returns: tEplKernel = error code
3105 // ----------------------------------------------------------------------------
3106
3107 static void EplObdCopyObjectData(void MEM * pDstData_p,
3108 void *pSrcData_p,
3109 tEplObdSize ObjSize_p, tEplObdType ObjType_p)
3110 {
3111
3112 tEplObdSize StrSize = 0;
3113
3114 // it is allowed to set default and current address to NULL (nothing to copy)
3115 if (pDstData_p != NULL) {
3116
3117 if (ObjType_p == kEplObdTypVString) {
3118 // The function calculates the really number of characters of string. The
3119 // object entry size can be bigger as string size of default string.
3120 // The '\0'-termination is included. A string with no characters has a
3121 // size of 1.
3122 StrSize =
3123 EplObdGetStrLen((void *)pSrcData_p, ObjSize_p,
3124 kEplObdTypVString);
3125
3126 // If the string length is greater than or equal to the entry size in OD then only copy
3127 // entry size - 1 and always set the '\0'-termination.
3128 if (StrSize >= ObjSize_p) {
3129 StrSize = ObjSize_p - 1;
3130 }
3131 }
3132
3133 if (pSrcData_p != NULL) {
3134 // copy data
3135 EPL_MEMCPY(pDstData_p, pSrcData_p, ObjSize_p);
3136
3137 if (ObjType_p == kEplObdTypVString) {
3138 ((char MEM *)pDstData_p)[StrSize] = '\0';
3139 }
3140 }
3141 }
3142
3143 }
3144
3145 //---------------------------------------------------------------------------
3146 //
3147 // Function: EplObdIsNumericalIntern()
3148 //
3149 // Description: function checks if a entry is numerical or not
3150 //
3151 //
3152 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
3153 // uiIndex_p = Index
3154 // uiSubIndex_p = Subindex
3155 // pfEntryNumerical_p = pointer to BOOL for returnvalue
3156 // -> TRUE if entry a numerical value
3157 // -> FALSE if entry not a numerical value
3158 //
3159 // Return: tEplKernel = Errorcode
3160 //
3161 // State:
3162 //
3163 //---------------------------------------------------------------------------
3164 static tEplKernel EplObdIsNumericalIntern(tEplObdSubEntryPtr pObdSubEntry_p,
3165 BOOL * pfEntryNumerical_p)
3166 {
3167 tEplKernel Ret = kEplSuccessful;
3168
3169 // get Type
3170 if ((pObdSubEntry_p->m_Type == kEplObdTypVString)
3171 || (pObdSubEntry_p->m_Type == kEplObdTypOString)
3172 || (pObdSubEntry_p->m_Type == kEplObdTypDomain)) { // not numerical types
3173 *pfEntryNumerical_p = FALSE;
3174 } else { // numerical types
3175 *pfEntryNumerical_p = TRUE;
3176 }
3177
3178 return Ret;
3179
3180 }
3181
3182 // -------------------------------------------------------------------------
3183 // function to classify object type (fixed/non fixed)
3184 // -------------------------------------------------------------------------
3185
3186 // ----------------------------------------------------------------------------
3187 // Function: EplObdCallStoreCallback()
3188 //
3189 // Description: checks address to callback function and calles it when unequal
3190 // to NULL
3191 //
3192 // Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = (instance pointer)
3193 // pCbStoreParam_p = address to callback parameters
3194 //
3195 // Returns: tEplKernel = error code
3196 // ----------------------------------------------------------------------------
3197 #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
3198 static tEplKernel EplObdCallStoreCallback(EPL_MCO_DECL_INSTANCE_PTR_
3199 tEplObdCbStoreParam MEM *
3200 pCbStoreParam_p)
3201 {
3202
3203 tEplKernel Ret = kEplSuccessful;
3204
3205 ASSERT(pCbStoreParam_p != NULL);
3206
3207 // check if function pointer is NULL - if so, no callback should be called
3208 if (EPL_MCO_GLB_VAR(m_fpStoreLoadObjCallback) != NULL) {
3209 Ret =
3210 EPL_MCO_GLB_VAR(m_fpStoreLoadObjCallback)
3211 (EPL_MCO_INSTANCE_PARAM_IDX_()
3212 pCbStoreParam_p);
3213 }
3214
3215 return Ret;
3216
3217 }
3218 #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
3219 //---------------------------------------------------------------------------
3220 //
3221 // Function: EplObdGetObjectDataPtrIntern()
3222 //
3223 // Description: Function gets the data pointer of an object.
3224 // It returnes the current data pointer. But if object is an
3225 // constant object it returnes the default pointer.
3226 //
3227 // Parameters: pSubindexEntry_p = pointer to subindex entry
3228 //
3229 // Return: void * = pointer to object data
3230 //
3231 // State:
3232 //
3233 //---------------------------------------------------------------------------
3234
3235 void *EplObdGetObjectDataPtrIntern(tEplObdSubEntryPtr pSubindexEntry_p)
3236 {
3237
3238 void *pData;
3239 tEplObdAccess Access;
3240
3241 ASSERTMSG(pSubindexEntry_p != NULL,
3242 "EplObdGetObjectDataPtrIntern(): pointer to SubEntry not valid!\n");
3243
3244 // there are are some objects whose data pointer has to get from other structure
3245 // get access type for this object
3246 Access = pSubindexEntry_p->m_Access;
3247
3248 // If object has access type = const,
3249 // for data only exists default values.
3250 if ((Access & kEplObdAccConst) != 0) {
3251 // The pointer to defualt value can be received from ObdGetObjectDefaultPtr()
3252 pData = ((void *)EplObdGetObjectDefaultPtr(pSubindexEntry_p));
3253 } else {
3254 // The pointer to current value can be received from ObdGetObjectCurrentPtr()
3255 pData = ((void *)EplObdGetObjectCurrentPtr(pSubindexEntry_p));
3256 }
3257
3258 return pData;
3259
3260 }
3261 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
3262 // EOF
Nao low-level kernelspace/userspace library that runs on our robots, Nao-Team HTWK