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Support UNSIGNED48 and friends #32

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Support UNSIGNED48 and friends #32

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9c73a28
Convert object access function to take 64-bit values
Nov 23, 2020
0db3d15
Support access to integers of size not a power of two
Dec 3, 2020
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2 changes: 1 addition & 1 deletion include/co_api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -236,7 +236,7 @@ typedef uint32_t (*co_access_fn) (
const struct co_obj * obj, /**< object descriptor */
const struct co_entry * entry, /**< entry descriptor */
uint8_t subindex, /**< subindex */
uint32_t * value /**< value to set or get */
uint64_t * value /**< value to set or get */
);

/** Entry descriptor. Describes a subindex, or a series of subindexes
Expand Down
42 changes: 21 additions & 21 deletions include/co_obj.h
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Expand Up @@ -109,7 +109,7 @@ CO_EXPORT uint32_t co_od1001_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Pre-defined error field object (1003h)
Expand All @@ -129,7 +129,7 @@ CO_EXPORT uint32_t co_od1003_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for COB-ID SYNC message object (1005h)
Expand All @@ -149,7 +149,7 @@ CO_EXPORT uint32_t co_od1005_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Commmunication cycle object (1006h)
Expand All @@ -169,7 +169,7 @@ CO_EXPORT uint32_t co_od1006_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Synchronous window length object (1007h)
Expand All @@ -189,7 +189,7 @@ CO_EXPORT uint32_t co_od1007_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Guard time object (100Ch)
Expand All @@ -209,7 +209,7 @@ CO_EXPORT uint32_t co_od100C_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Life time factor object (100Dh)
Expand All @@ -229,7 +229,7 @@ CO_EXPORT uint32_t co_od100D_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Store Parameters object (1010h)
Expand All @@ -249,7 +249,7 @@ CO_EXPORT uint32_t co_od1010_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Restore Default Parameters object (1011h)
Expand All @@ -269,7 +269,7 @@ CO_EXPORT uint32_t co_od1011_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for COB-ID EMCY object (1014h)
Expand All @@ -289,7 +289,7 @@ CO_EXPORT uint32_t co_od1014_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Inhibit time EMCY object (1015h)
Expand All @@ -309,7 +309,7 @@ CO_EXPORT uint32_t co_od1015_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Consumer heartbeat time object (1016h)
Expand All @@ -329,7 +329,7 @@ CO_EXPORT uint32_t co_od1016_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Producer heartbeat time object (1017h)
Expand All @@ -349,7 +349,7 @@ CO_EXPORT uint32_t co_od1017_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Synchronous counter overflow value object (1019h)
Expand All @@ -369,7 +369,7 @@ CO_EXPORT uint32_t co_od1019_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Verify Configuration object (1020h)
Expand All @@ -389,7 +389,7 @@ CO_EXPORT uint32_t co_od1020_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Emergency consumer object (1028h)
Expand All @@ -409,7 +409,7 @@ CO_EXPORT uint32_t co_od1028_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for Error behavior object (1029h)
Expand All @@ -429,7 +429,7 @@ CO_EXPORT uint32_t co_od1029_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for RPDO communication parameter object (1400h - 15FFh)
Expand All @@ -449,7 +449,7 @@ CO_EXPORT uint32_t co_od1400_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for RPDO mapping parameter object (1600h - 17FFh)
Expand All @@ -469,7 +469,7 @@ CO_EXPORT uint32_t co_od1600_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for TPDO communication parameter object (1800h - 19FFh)
Expand All @@ -489,7 +489,7 @@ CO_EXPORT uint32_t co_od1800_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

/**
* Access function for RPDO mapping parameter object (1A00h - 1BFFh)
Expand All @@ -509,7 +509,7 @@ CO_EXPORT uint32_t co_od1A00_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value);
uint64_t * value);

#ifdef __cplusplus
}
Expand Down
23 changes: 15 additions & 8 deletions src/co_emcy.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include "co_nmt.h"
#include "co_sdo.h"
#include "co_util.h"
#include "co_obj.h"

#include <string.h>

Expand Down Expand Up @@ -84,7 +85,7 @@ uint32_t co_od1001_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
if (event == OD_EVENT_READ)
*value = co_emcy_error_register_get (net);
Expand All @@ -97,14 +98,20 @@ uint32_t co_od1003_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
uint32_t retval;
uint32_t v;
switch (event)
{
case OD_EVENT_READ:
return co_emcy_error_get (net, subindex, value);
retval = co_emcy_error_get (net, subindex, &v);
if (retval == 0)
*value = v;
return retval;
case OD_EVENT_WRITE:
return co_emcy_error_set (net, subindex, value);
v = *value;
return co_emcy_error_set (net, subindex, &v);
case OD_EVENT_RESTORE:
net->number_of_errors = 0;
return 0;
Expand All @@ -119,7 +126,7 @@ uint32_t co_od1014_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand All @@ -145,7 +152,7 @@ uint32_t co_od1015_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand All @@ -169,7 +176,7 @@ uint32_t co_od1028_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
uint32_t cobid;

Expand Down Expand Up @@ -204,7 +211,7 @@ uint32_t co_od1029_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand Down
5 changes: 3 additions & 2 deletions src/co_heartbeat.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include "co_sdo.h"
#include "co_emcy.h"
#include "co_util.h"
#include "co_obj.h"

#include <string.h>

Expand All @@ -32,7 +33,7 @@ uint32_t co_od1017_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand All @@ -56,7 +57,7 @@ uint32_t co_od1016_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
co_heartbeat_t * heartbeat = &net->heartbeat[subindex - 1];

Expand Down
5 changes: 3 additions & 2 deletions src/co_node_guard.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,14 +23,15 @@
#include "co_sdo.h"
#include "co_emcy.h"
#include "co_util.h"
#include "co_obj.h"

uint32_t co_od100C_fn (
co_net_t * net,
od_event_t event,
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand All @@ -54,7 +55,7 @@ uint32_t co_od100D_fn (
const co_obj_t * obj,
const co_entry_t * entry,
uint8_t subindex,
uint32_t * value)
uint64_t * value)
{
switch (event)
{
Expand Down
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