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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <stddef.h>
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#include <applicfg.h>
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#include "def.h"
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#include "can.h"
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#include "objdictdef.h"
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#include "pdo.h"
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#include "sdo.h"
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#include "sync.h"
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#include "lifegrd.h"
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#include "nmtSlave.h"
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/**************************************************************************/
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/* Declaration of the mapped variables */
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/**************************************************************************/
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/*// Copy and uncomment this code to your main file
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extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x00
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extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x00
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extern UNS8 second; // Mapped at index 0x6002, subindex 0x01
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extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x02
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extern UNS8 hour; // Mapped at index 0x6002, subindex 0x03
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extern UNS8 day; // Mapped at index 0x6002, subindex 0x04
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extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x01
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extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x02
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// END copy to main file
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*/
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UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x00
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UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x00
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UNS8 second; // Mapped at index 0x6002, subindex 0x01
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UNS8 minutes; // Mapped at index 0x6002, subindex 0x02
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UNS8 hour; // Mapped at index 0x6002, subindex 0x03
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UNS8 day; // Mapped at index 0x6002, subindex 0x04
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UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x01
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UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x02
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/**************************************************************************/
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/* Declaration of the value range types */
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/**************************************************************************/
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UNS32 valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
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{
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return 0;
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}
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/**************************************************************************/
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/* The node id */
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/**************************************************************************/
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/* Computed by strNode */
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/* node_id default value.
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This default value is deprecated.
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You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code.
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*/
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#define NODE_ID 0x01
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UNS8 bDeviceNodeId = NODE_ID;
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//*****************************************************************************/
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/* Computed by strStartDico */
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/* Array of message processing information */
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/* Should not be modified */
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volatile const proceed_info proceed_infos[] = {
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{NMT, "NMT", NULL},
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{SYNC, "SYNC", proceedSYNC},
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{TIME_STAMP, "TStmp", NULL},
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{PDO1tx, "PDO1t", proceedPDO},
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{PDO1rx, "PDO1r", proceedPDO},
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{PDO2tx, "PDO2t", proceedPDO},
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{PDO2rx, "PDO2r", proceedPDO},
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{PDO3tx, "PDO3t", proceedPDO},
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{PDO3rx, "PDO3r", proceedPDO},
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{PDO4tx, "PDO4t", proceedPDO},
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{PDO4rx, "PDO4r", proceedPDO},
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{SDOtx, "SDOt", proceedSDO},
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{SDOrx, "SDOr", proceedSDO},
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{0xD, "Unkw", NULL},
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{NODE_GUARD, "NGrd", proceedNMTerror},
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{0xF, "Unkw", NULL}
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};
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// Macros definition
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/* Beware :
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index *must* be writen 4 numbers in hexa
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sub_index *must* be writen 2 numbers in hexa
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size_variable_in_UNS8 *must* be writen 2 numbers in hexa
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*/
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#define PDO_MAP(index, sub_index, size_variable_in_bits)\
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0x ## index ## sub_index ## size_variable_in_bits
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//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
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//
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// OBJECT DICTIONARY
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//
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//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
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// Make your change, depending of your application
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/* index 0x1000 : Device type.
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You have to change the value below, so
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it fits your canopen-slave-module */
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/* Not used, so, should not be modified */
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UNS32 obj1000 = 0;
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subindex Index1000[] =
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{
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{ RO, uint32, sizeof(UNS32), (void*)&obj1000 }
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};
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/* index 0x1001 : Error register.
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Change the entries to fit your application
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Not used, so, should not be modified */
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/*const*/ UNS8 obj1001 = 0x0;
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/*const*/ subindex Index1001[] =
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{
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{ RO, uint8, sizeof(UNS8), (void*)&obj1001 }
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};
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/* index 0x1005 : COB_ID SYNC */
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/* Should not be modified */
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UNS32 obj1005 = 0x00000080; // bit 30 = 1 : device can generate a SYNC message
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// Beware, it is over written when the node
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// enters in reset mode
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// See initResetMode() in init.c
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/*const*/ subindex Index1005[] =
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{
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{ RW, uint32, sizeof(UNS32), (void*)&obj1005 }
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};
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/* index 0x1006 : SYNC period */
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// For producing the SYNC signal every n micro-seconds.
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// Put O to not producing SYNC
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/*const*/ UNS32 obj1006 = 0x0;
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// Default 0 to not produce SYNC //
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// Beware, it is over written when the
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// node enters in reset mode.
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// See initResetMode() in init.c
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/*const*/ subindex Index1006[] =
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{
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{ RW, uint32, sizeof(UNS32), (void*)&obj1006 }
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};
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/* index 0x1007 : Synchronous Window Length
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Seems to be needed by DS401 to generate the SYNC signal ! */
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/*const*/ UNS32 obj1007 = 0x0; /* Default 0 */
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/*const*/ subindex Index1007[] =
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{
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{ RW, uint32, sizeof(UNS32), (void*)&obj1007 }
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};
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/* index 0x1008 : Manufacturer device name */
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UNS8 obj1008[] = "Appli_Master_HC12"; /* Default 0 */
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subindex Index1008[] =
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{
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{ RO, uint32, sizeof(obj1008), (void*)&obj1008 }
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};
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/* index 0x1009 : Manufacturer hardware version */
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UNS8 obj1009[] = __DATE__; /* Default 0 */
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subindex Index1009[] =
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{
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{ RO, uint32, sizeof(obj1009), (void*)&obj1009 }
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};
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/* index 0x100A : Manufacturer software version */
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UNS8 obj100A[] = __TIME__; /* Default 0 */
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subindex Index100A[] =
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{
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{ RO, uint32, sizeof(obj100A), (void*)&obj100A}
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};
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/* index 0x1016 : HeartBeat consumers
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The nodes which can send a heartbeat */
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static UNS32 obj1016[] = {// Consumer time for each node
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0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
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static UNS8 obj1016_cnt = 1; // 1 nodes could send me
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// their heartbeat.
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subindex Index1016[] =
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{
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{ RO, uint8, sizeof(UNS8), (void*)&obj1016_cnt },
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{ RW, uint32, sizeof(UNS32), (void*)&obj1016[0] }
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};
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/* index 0x1017 : Heartbeat producer
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Every HBProducerTime, the node sends its heartbeat */
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static UNS16 obj1017 = 0; //HBProducerTime in ms. If 0 : not activated
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// Beware, it is over written when the
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// node enters in reset mode.
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// See initResetMode() in init.c
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subindex Index1017[] =
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{
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{ RW, uint16, sizeof(UNS16), &obj1017 }
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};
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/* index 0x1018 : Identity object */
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/** index 1018: identify object. Adjust the entries for your node/company
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*/
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/* Values can be modified */
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s_identity obj1018 =
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{
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4, // number of supported entries
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0, // Vendor-ID (given by the can-cia)
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0, // Product Code
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0, // Revision number
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0 // serial number
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};
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subindex Index1018[] =
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{
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{ RO, uint8, sizeof(UNS8), (void*)&obj1018.count },
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{ RO, uint32, sizeof(UNS32), (void*)&obj1018.vendor_id},
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{ RO, uint32, sizeof(UNS32), (void*)&obj1018.product_code},
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{ RO, uint32, sizeof(UNS32), (void*)&obj1018.revision_number},
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{ RO, uint32, sizeof(UNS32), (void*)&obj1018.serial_number}
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};
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/* index 0x1200 : The SDO Server parameters */
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/* BEWARE You cannot define more than one SDO server */
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/* The values should not be modified here,
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but can be changed at runtime */
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// Beware that the default values that you could put here
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// will be over written at the initialisation of the node.
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// See setNodeId() in init.c
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static s_sdo_parameter obj1200 =
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{ 3, // Number of entries. Always 3 for the SDO
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0x600 + NODE_ID, // The cob_id transmited in CAN msg to the server
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0x580 + NODE_ID, // The cob_id received in CAN msg from the server
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NODE_ID // The node id of the client. Should not be modified
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};
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static subindex Index1200[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&obj1200.count },
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{ RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_client },
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{ RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_server },
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{ RW, uint8, sizeof( UNS8), (void*)&obj1200.node_id }
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};
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/* index 0x1280 : SDO client parameter */
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static s_sdo_parameter obj1280 =
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{ 3, // Nb of entries
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0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
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0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
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0x0 // server NodeId
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};
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static subindex Index1280[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&obj1280.count },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_client },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_server },
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{ RW, uint8, sizeof( UNS8 ), (void*)&obj1280.node_id }
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};
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/* index 0x1281 : SDO client parameter */
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static s_sdo_parameter obj1281 =
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{ 3, // Nb of entries
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0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
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0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
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0x0 // server NodeId
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};
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static subindex Index1281[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&obj1281.count },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1281.cob_id_client },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1281.cob_id_server },
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{ RW, uint8, sizeof( UNS8 ), (void*)&obj1281.node_id }
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};
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/* index 0x1400 : PDO receive communication parameter */
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static s_pdo_communication_parameter obj1400 =
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{ 2, // Largest subindex supported
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0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
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253 // Transmission type. See objdictdef.h
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};
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static subindex Index1400[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&obj1400.count },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1400.cob_id },
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{ RW, uint8, sizeof( UNS8 ), (void*)&obj1400.type },
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};
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/* index 0x1401 : PDO receive communication parameter */
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static s_pdo_communication_parameter obj1401 =
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{ 2, // Largest subindex supported
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0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
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253 // Transmission type. See objdictdef.h
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};
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static subindex Index1401[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&obj1401.count },
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{ RW, uint8, sizeof( UNS32 ), (void*)&obj1401.cob_id },
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{ RW, uint8, sizeof( UNS8 ), (void*)&obj1401.type },
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};
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/* index 0x1402 : PDO receive communication parameter */
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static s_pdo_communication_parameter obj1402 =
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{ 2, // Largest subindex supported
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0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
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|
331 |
253 // Transmission type. See objdictdef.h
|
|
|
332 |
};
|
|
|
333 |
static subindex Index1402[] =
|
|
|
334 |
{
|
|
|
335 |
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1402.count },
|
|
|
336 |
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1402.cob_id },
|
|
|
337 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1402.type },
|
|
|
338 |
};
|
|
|
339 |
|
|
|
340 |
/* index 0x1600 : PDO receive mapping parameter of PDO communication index 0x1400 */
|
|
|
341 |
static UNS8 obj1600_cnt = 0; // Number of mapped variables
|
|
|
342 |
static UNS32 obj1600_mappedVar[] = {
|
|
|
343 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
344 |
// PDO_MAP(6035,12,16)
|
|
|
345 |
PDO_MAP(0000, 00, 00),
|
|
|
346 |
PDO_MAP(0000, 00, 00),
|
|
|
347 |
PDO_MAP(0000, 00, 00),
|
|
|
348 |
PDO_MAP(0000, 00, 00),
|
|
|
349 |
PDO_MAP(0000, 00, 00),
|
|
|
350 |
PDO_MAP(0000, 00, 00),
|
|
|
351 |
PDO_MAP(0000, 00, 00),
|
|
|
352 |
PDO_MAP(0000, 00, 00)
|
|
|
353 |
};
|
|
|
354 |
subindex Index1600[] =
|
|
|
355 |
{
|
|
|
356 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1600_cnt },
|
|
|
357 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[0]},
|
|
|
358 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[1]},
|
|
|
359 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[2]},
|
|
|
360 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[3]},
|
|
|
361 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[4]},
|
|
|
362 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[5]},
|
|
|
363 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[6]},
|
|
|
364 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[7]}
|
|
|
365 |
};
|
|
|
366 |
|
|
|
367 |
/* index 0x1601 : PDO receive mapping parameter of PDO communication index 0x1401 */
|
|
|
368 |
static UNS8 obj1601_cnt = 0; // Number of mapped variables
|
|
|
369 |
static UNS32 obj1601_mappedVar[] = {
|
|
|
370 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
371 |
// PDO_MAP(6035,12,16)
|
|
|
372 |
PDO_MAP(0000, 00, 00),
|
|
|
373 |
PDO_MAP(0000, 00, 00),
|
|
|
374 |
PDO_MAP(0000, 00, 00),
|
|
|
375 |
PDO_MAP(0000, 00, 00),
|
|
|
376 |
PDO_MAP(0000, 00, 00),
|
|
|
377 |
PDO_MAP(0000, 00, 00),
|
|
|
378 |
PDO_MAP(0000, 00, 00),
|
|
|
379 |
PDO_MAP(0000, 00, 00)
|
|
|
380 |
};
|
|
|
381 |
subindex Index1601[] =
|
|
|
382 |
{
|
|
|
383 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1601_cnt },
|
|
|
384 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[0]},
|
|
|
385 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[1]},
|
|
|
386 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[2]},
|
|
|
387 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[3]},
|
|
|
388 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[4]},
|
|
|
389 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[5]},
|
|
|
390 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[6]},
|
|
|
391 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[7]}
|
|
|
392 |
};
|
|
|
393 |
|
|
|
394 |
/* index 0x1602 : PDO receive mapping parameter of PDO communication index 0x1402 */
|
|
|
395 |
static UNS8 obj1602_cnt = 0; // Number of mapped variables
|
|
|
396 |
static UNS32 obj1602_mappedVar[] = {
|
|
|
397 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
398 |
// PDO_MAP(6035,12,16)
|
|
|
399 |
PDO_MAP(0000, 00, 00),
|
|
|
400 |
PDO_MAP(0000, 00, 00),
|
|
|
401 |
PDO_MAP(0000, 00, 00),
|
|
|
402 |
PDO_MAP(0000, 00, 00),
|
|
|
403 |
PDO_MAP(0000, 00, 00),
|
|
|
404 |
PDO_MAP(0000, 00, 00),
|
|
|
405 |
PDO_MAP(0000, 00, 00),
|
|
|
406 |
PDO_MAP(0000, 00, 00)
|
|
|
407 |
};
|
|
|
408 |
subindex Index1602[] =
|
|
|
409 |
{
|
|
|
410 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1602_cnt },
|
|
|
411 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[0]},
|
|
|
412 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[1]},
|
|
|
413 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[2]},
|
|
|
414 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[3]},
|
|
|
415 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[4]},
|
|
|
416 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[5]},
|
|
|
417 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[6]},
|
|
|
418 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[7]}
|
|
|
419 |
};
|
|
|
420 |
|
|
|
421 |
/* index 0x1800 : PDO transmit communication parameter */
|
|
|
422 |
static s_pdo_communication_parameter obj1800 =
|
|
|
423 |
{ 2, // Largest subindex supported
|
|
|
424 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
425 |
253 // Transmission type. See objdictdef.h
|
|
|
426 |
};
|
|
|
427 |
static subindex Index1800[] =
|
|
|
428 |
{
|
|
|
429 |
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1800.count },
|
|
|
430 |
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1800.cob_id },
|
|
|
431 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1800.type },
|
|
|
432 |
};
|
|
|
433 |
|
|
|
434 |
/* index 0x1801 : PDO transmit communication parameter */
|
|
|
435 |
static s_pdo_communication_parameter obj1801 =
|
|
|
436 |
{ 2, // Largest subindex supported
|
|
|
437 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
438 |
253 // Transmission type. See objdictdef.h
|
|
|
439 |
};
|
|
|
440 |
static subindex Index1801[] =
|
|
|
441 |
{
|
|
|
442 |
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1801.count },
|
|
|
443 |
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1801.cob_id },
|
|
|
444 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1801.type },
|
|
|
445 |
};
|
|
|
446 |
|
|
|
447 |
/* index 0x1802 : PDO transmit communication parameter */
|
|
|
448 |
static s_pdo_communication_parameter obj1802 =
|
|
|
449 |
{ 2, // Largest subindex supported
|
|
|
450 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
451 |
253 // Transmission type. See objdictdef.h
|
|
|
452 |
};
|
|
|
453 |
static subindex Index1802[] =
|
|
|
454 |
{
|
|
|
455 |
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1802.count },
|
|
|
456 |
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1802.cob_id },
|
|
|
457 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1802.type },
|
|
|
458 |
};
|
|
|
459 |
|
|
|
460 |
/* index 0x1A00 : PDO transmit mapping parameter of PDO communication index 0x1800 */
|
|
|
461 |
static UNS8 obj1A00_cnt = 0; // Number of mapped variables
|
|
|
462 |
static UNS32 obj1A00_mappedVar[] = {
|
|
|
463 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
464 |
// PDO_MAP(6035,12,16)
|
|
|
465 |
PDO_MAP(0000, 00, 00),
|
|
|
466 |
PDO_MAP(0000, 00, 00),
|
|
|
467 |
PDO_MAP(0000, 00, 00),
|
|
|
468 |
PDO_MAP(0000, 00, 00),
|
|
|
469 |
PDO_MAP(0000, 00, 00),
|
|
|
470 |
PDO_MAP(0000, 00, 00),
|
|
|
471 |
PDO_MAP(0000, 00, 00),
|
|
|
472 |
PDO_MAP(0000, 00, 00)
|
|
|
473 |
};
|
|
|
474 |
subindex Index1A00[] =
|
|
|
475 |
{
|
|
|
476 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A00_cnt },
|
|
|
477 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[0]},
|
|
|
478 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[1]},
|
|
|
479 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[2]},
|
|
|
480 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[3]},
|
|
|
481 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[4]},
|
|
|
482 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[5]},
|
|
|
483 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[6]},
|
|
|
484 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[7]}
|
|
|
485 |
};
|
|
|
486 |
|
|
|
487 |
/* index 0x1A01 : PDO transmit mapping parameter of PDO communication index 0x1801 */
|
|
|
488 |
static UNS8 obj1A01_cnt = 0; // Number of mapped variables
|
|
|
489 |
static UNS32 obj1A01_mappedVar[] = {
|
|
|
490 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
491 |
// PDO_MAP(6035,12,16)
|
|
|
492 |
PDO_MAP(0000, 00, 00),
|
|
|
493 |
PDO_MAP(0000, 00, 00),
|
|
|
494 |
PDO_MAP(0000, 00, 00),
|
|
|
495 |
PDO_MAP(0000, 00, 00),
|
|
|
496 |
PDO_MAP(0000, 00, 00),
|
|
|
497 |
PDO_MAP(0000, 00, 00),
|
|
|
498 |
PDO_MAP(0000, 00, 00),
|
|
|
499 |
PDO_MAP(0000, 00, 00)
|
|
|
500 |
};
|
|
|
501 |
subindex Index1A01[] =
|
|
|
502 |
{
|
|
|
503 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A01_cnt },
|
|
|
504 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[0]},
|
|
|
505 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[1]},
|
|
|
506 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[2]},
|
|
|
507 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[3]},
|
|
|
508 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[4]},
|
|
|
509 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[5]},
|
|
|
510 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[6]},
|
|
|
511 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[7]}
|
|
|
512 |
};
|
|
|
513 |
|
|
|
514 |
/* index 0x1A02 : PDO transmit mapping parameter of PDO communication index 0x1802 */
|
|
|
515 |
static UNS8 obj1A02_cnt = 0; // Number of mapped variables
|
|
|
516 |
static UNS32 obj1A02_mappedVar[] = {
|
|
|
517 |
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
|
|
|
518 |
// PDO_MAP(6035,12,16)
|
|
|
519 |
PDO_MAP(0000, 00, 00),
|
|
|
520 |
PDO_MAP(0000, 00, 00),
|
|
|
521 |
PDO_MAP(0000, 00, 00),
|
|
|
522 |
PDO_MAP(0000, 00, 00),
|
|
|
523 |
PDO_MAP(0000, 00, 00),
|
|
|
524 |
PDO_MAP(0000, 00, 00),
|
|
|
525 |
PDO_MAP(0000, 00, 00),
|
|
|
526 |
PDO_MAP(0000, 00, 00)
|
|
|
527 |
};
|
|
|
528 |
subindex Index1A02[] =
|
|
|
529 |
{
|
|
|
530 |
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A02_cnt },
|
|
|
531 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[0]},
|
|
|
532 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[1]},
|
|
|
533 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[2]},
|
|
|
534 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[3]},
|
|
|
535 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[4]},
|
|
|
536 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[5]},
|
|
|
537 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[6]},
|
|
|
538 |
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[7]}
|
|
|
539 |
};
|
|
|
540 |
|
|
|
541 |
|
|
|
542 |
/* index 0x6000 : Mapped variable */
|
|
|
543 |
subindex Index6000[] =
|
|
|
544 |
{
|
|
|
545 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrNB_node5 }
|
|
|
546 |
};
|
|
|
547 |
|
|
|
548 |
/* index 0x6001 : Mapped variable */
|
|
|
549 |
subindex Index6001[] =
|
|
|
550 |
{
|
|
|
551 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL_node5 }
|
|
|
552 |
};
|
|
|
553 |
|
|
|
554 |
/* index 0x6002 : Mapped variable */
|
|
|
555 |
static UNS8 highestSubIndex_6002 = 4; // number of subindex - 1
|
|
|
556 |
subindex Index6002[] =
|
|
|
557 |
{
|
|
|
558 |
{ RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_6002 },
|
|
|
559 |
{ RW, uint8, sizeof (UNS8), (void*)&second },
|
|
|
560 |
{ RW, uint8, sizeof (UNS8), (void*)&minutes },
|
|
|
561 |
{ RW, uint8, sizeof (UNS8), (void*)&hour },
|
|
|
562 |
{ RW, uint8, sizeof (UNS8), (void*)&day }
|
|
|
563 |
};
|
|
|
564 |
|
|
|
565 |
/* index 0x6003 : Mapped variable */
|
|
|
566 |
static UNS8 highestSubIndex_6003 = 2; // number of subindex - 1
|
|
|
567 |
subindex Index6003[] =
|
|
|
568 |
{
|
|
|
569 |
{ RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_6003 },
|
|
|
570 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrNB },
|
|
|
571 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
|
|
|
572 |
};
|
|
|
573 |
|
|
|
574 |
const indextable objdict[] =
|
|
|
575 |
{
|
|
|
576 |
DeclareIndexTableEntry(Index1000, 0x1000),
|
|
|
577 |
DeclareIndexTableEntry(Index1001, 0x1001),
|
|
|
578 |
DeclareIndexTableEntry(Index1005, 0x1005),
|
|
|
579 |
DeclareIndexTableEntry(Index1006, 0x1006),
|
|
|
580 |
DeclareIndexTableEntry(Index1007, 0x1007),
|
|
|
581 |
DeclareIndexTableEntry(Index1008, 0x1008),
|
|
|
582 |
DeclareIndexTableEntry(Index1009, 0x1009),
|
|
|
583 |
DeclareIndexTableEntry(Index100A, 0x100A),
|
|
|
584 |
DeclareIndexTableEntry(Index1016, 0x1016),
|
|
|
585 |
DeclareIndexTableEntry(Index1017, 0x1017),
|
|
|
586 |
DeclareIndexTableEntry(Index1018, 0x1018),
|
|
|
587 |
DeclareIndexTableEntry(Index1200, 0x1200),
|
|
|
588 |
DeclareIndexTableEntry(Index1280, 0x1280),
|
|
|
589 |
DeclareIndexTableEntry(Index1281, 0x1281),
|
|
|
590 |
DeclareIndexTableEntry(Index1400, 0x1400),
|
|
|
591 |
DeclareIndexTableEntry(Index1401, 0x1401),
|
|
|
592 |
DeclareIndexTableEntry(Index1402, 0x1402),
|
|
|
593 |
DeclareIndexTableEntry(Index1600, 0x1600),
|
|
|
594 |
DeclareIndexTableEntry(Index1601, 0x1601),
|
|
|
595 |
DeclareIndexTableEntry(Index1602, 0x1602),
|
|
|
596 |
DeclareIndexTableEntry(Index1800, 0x1800),
|
|
|
597 |
DeclareIndexTableEntry(Index1801, 0x1801),
|
|
|
598 |
DeclareIndexTableEntry(Index1802, 0x1802),
|
|
|
599 |
DeclareIndexTableEntry(Index1A00, 0x1A00),
|
|
|
600 |
DeclareIndexTableEntry(Index1A01, 0x1A01),
|
|
|
601 |
DeclareIndexTableEntry(Index1A02, 0x1A02),
|
|
|
602 |
DeclareIndexTableEntry(Index6000, 0x6000),
|
|
|
603 |
DeclareIndexTableEntry(Index6001, 0x6001),
|
|
|
604 |
DeclareIndexTableEntry(Index6002, 0x6002),
|
|
|
605 |
DeclareIndexTableEntry(Index6003, 0x6003),
|
|
|
606 |
};
|
|
|
607 |
|
|
|
608 |
// To count at which received SYNC a PDO must be sent.
|
|
|
609 |
// Even if no pdoTransmit are defined, at least one entry is computed
|
|
|
610 |
// for compilations issues.
|
|
|
611 |
UNS8 count_sync[1] = {0, };
|
|
|
612 |
|
|
|
613 |
UNS16 firstIndex (enum e_first_object object, UNS16 *lastIndex)
|
|
|
614 |
{
|
|
|
615 |
switch (object) {
|
|
|
616 |
case FIRST_SDO_SERVER :
|
|
|
617 |
*lastIndex = 11;
|
|
|
618 |
return 11;
|
|
|
619 |
case FIRST_SDO_CLIENT :
|
|
|
620 |
*lastIndex = 13;
|
|
|
621 |
return 12;
|
|
|
622 |
case FIRST_PDO_RCV :
|
|
|
623 |
*lastIndex = 16;
|
|
|
624 |
return 14;
|
|
|
625 |
case FIRST_PDO_RCV_MAP :
|
|
|
626 |
*lastIndex = 19;
|
|
|
627 |
return 17;
|
|
|
628 |
case FIRST_PDO_TRS :
|
|
|
629 |
*lastIndex = 22;
|
|
|
630 |
return 20;
|
|
|
631 |
case FIRST_PDO_TRS_MAP :
|
|
|
632 |
*lastIndex = 25;
|
|
|
633 |
return 23;
|
|
|
634 |
}
|
|
|
635 |
*lastIndex = 0;
|
|
|
636 |
return 0;
|
|
|
637 |
}
|
|
|
638 |
|
|
|
639 |
UNS16 getObjdictSize (void)
|
|
|
640 |
{
|
|
|
641 |
return sizeof(objdict)/sizeof(objdict[0]);
|
|
|
642 |
}
|