Function OD_read_1014

301/CO_Emergency.c:52–69

* Custom functions for read/write OD object "COB-ID EMCY" * * For more information see file CO_ODinterface.h, OD_IO_t. */

 * For more information see file CO_ODinterface.h, OD_IO_t.
 */
static ODR_t
OD_read_1014(OD_stream_t* stream, void* buf, OD_size_t count, OD_size_t* countRead) {
    if ((stream == NULL) || (stream->subIndex != 0U) || (buf == NULL) || (count < sizeof(uint32_t))
        || (countRead == NULL)) {
        return ODR_DEV_INCOMPAT;
    }

    CO_EM_t* em = (CO_EM_t*)stream->object;

    uint16_t canId = (em->producerCanId == CO_CAN_ID_EMERGENCY) ? (CO_CAN_ID_EMERGENCY + em->nodeId)
                                                                : em->producerCanId;
    uint32_t COB_IDEmergency32 = em->producerEnabled ? 0U : 0x80000000U;
    COB_IDEmergency32 |= canId;
    (void)CO_setUint32(buf, COB_IDEmergency32);

    *countRead = sizeof(uint32_t);
    return ODR_OK;
}

static ODR_t
OD_write_1014(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {