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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 "objdict.h"
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/**************************************************************************/
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/* Declaration of the mapped variables */
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/**************************************************************************/
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/**************************************************************************/
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/* Declaration of the value range types */
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/**************************************************************************/
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UNS32 gene_SYNC_valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
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{
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switch (typeValue) {
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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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/* 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 0x03
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UNS8 gene_SYNC_bDeviceNodeId = NODE_ID;
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//*****************************************************************************/
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/* Array of message processing information */
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/* Should not be modified */
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const UNS8 gene_SYNC_iam_a_slave = 1;
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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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/** This macro helps creating the object dictionary entries.
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* by calling this macro
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* it creates an entry in form of: 7 of entries, pointer to the entry.
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*/
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#define DeclareIndexTableEntry(entryname, index) { (subindex*)entryname,sizeof(entryname)/sizeof(entryname[0]), index}
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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 gene_SYNC_obj1000 = 0;
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subindex gene_SYNC_Index1000[] =
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{
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{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_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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UNS8 gene_SYNC_obj1001 = 0x00000000;
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subindex gene_SYNC_Index1001[] =
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{
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{ RO, uint8, sizeof(UNS8), (void*)&gene_SYNC_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 gene_SYNC_obj1005 = 0x40000080; // 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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subindex gene_SYNC_Index1005[] =
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{
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{ RW, uint32, sizeof(UNS32), (void*)&gene_SYNC_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 0 to not producing SYNC
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UNS32 gene_SYNC_obj1006 = 0x000186A0;
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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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subindex gene_SYNC_Index1006[] =
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{
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{ RW, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1006 }
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};
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TIMER_HANDLE gene_SYNC_heartBeatTimers[0];
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UNS32 gene_SYNC_obj1016[0];
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UNS8 gene_SYNC_obj1016_cnt = 0;
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subindex gene_SYNC_Index1016[0];
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UNS16 gene_SYNC_obj1017 = 0x0000;
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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 gene_SYNC_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 gene_SYNC_Index1018[] =
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{
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{ RO, uint8, sizeof(UNS8), (void*)&gene_SYNC_obj1018.count },
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{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.vendor_id},
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{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.product_code},
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{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.revision_number},
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{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_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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s_sdo_parameter gene_SYNC_obj1200 =
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{ 3, // Number of entries. Always 3 for the SDO
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0x000, // The cob_id transmited in CAN msg to the server
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0x000, // The cob_id received in CAN msg from the server
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0x03 // The node id of the client. Should not be modified
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};
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subindex gene_SYNC_Index1200[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1200.count },
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{ RO, uint32, sizeof( UNS32), (void*)&gene_SYNC_obj1200.cob_id_client },
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{ RO, uint32, sizeof( UNS32), (void*)&gene_SYNC_obj1200.cob_id_server },
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{ RW, uint8, sizeof( UNS8), (void*)&gene_SYNC_obj1200.node_id }
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};
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/* index 0x1280 : SDO client parameter */
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s_sdo_parameter gene_SYNC_obj1280 =
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{ 3, // Nb of entries
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0x000, // cobid transmited to the server. The good value should be 0x600 + server nodeId
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0x000, // cobid received from the server. The good value should be 0x580 + server nodeId
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0x00 // server NodeId
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};
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subindex gene_SYNC_Index1280[] =
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{
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{ RO, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1280.count },
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{ RW, uint8, sizeof( UNS32 ), (void*)&gene_SYNC_obj1280.cob_id_client },
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{ RW, uint8, sizeof( UNS32 ), (void*)&gene_SYNC_obj1280.cob_id_server },
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{ RW, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1280.node_id }
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};
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const indextable gene_SYNC_objdict[] =
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{
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DeclareIndexTableEntry(gene_SYNC_Index1000, 0x1000),
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DeclareIndexTableEntry(gene_SYNC_Index1001, 0x1001),
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DeclareIndexTableEntry(gene_SYNC_Index1005, 0x1005),
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DeclareIndexTableEntry(gene_SYNC_Index1006, 0x1006),
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DeclareIndexTableEntry(gene_SYNC_Index1018, 0x1018),
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DeclareIndexTableEntry(gene_SYNC_Index1200, 0x1200),
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DeclareIndexTableEntry(gene_SYNC_Index1280, 0x1280),
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};
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// To count at which received SYNC a PDO must be sent.
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// Even if no pdoTransmit are defined, at least one entry is computed
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// for compilations issues.
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UNS8 gene_SYNC_count_sync[1] = {0, };
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quick_index gene_SYNC_firstIndex = {
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SDO_SVR : 5,
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SDO_CLT : 6,
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PDO_RCV : 0,
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PDO_RCV_MAP : 0,
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PDO_TRS : 0,
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PDO_TRS_MAP : 0
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};
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quick_index gene_SYNC_lastIndex = {
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SDO_SVR : 5,
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SDO_CLT : 6,
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PDO_RCV : 0,
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PDO_RCV_MAP : 0,
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PDO_TRS : 0,
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PDO_TRS_MAP : 0
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};
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UNS16 gene_SYNC_ObjdictSize = sizeof(gene_SYNC_objdict)/sizeof(gene_SYNC_objdict[0]);
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CO_Data gene_SYNC_Data = CANOPEN_NODE_DATA_INITIALIZER(gene_SYNC);
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