objdictgen/examples/example_objdict.c
author lbessard
Thu, 23 Aug 2007 17:07:02 +0200
changeset 258 8f7725451453
parent 0 4472ee7c6c3e
child 281 685d9a26e4f9
permissions -rw-r--r--
Some bugs fixed:
- Using __file__ instead of sys.path[0] for extracting CWD
- EDS generation errors (reported by Robert McCullough)
0
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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 <canfestival/applicfg.h>
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#include "canfestival/def.h"
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#include "canfestival/can.h"
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#include "canfestival/objdictdef.h"
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#include "canfestival/pdo.h"
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#include "canfestival/sdo.h"
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#include "canfestival/sync.h"
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#include "canfestival/lifegrd.h"
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#include "canfestival/nmtSlave.h"
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/**************************************************************************/
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/* Declaration of the mapped variables                                    */
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/**************************************************************************/
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UNS8 seconds = 0;		// Mapped at index 0x2000, subindex 0x01
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UNS8 minutes = 0;		// Mapped at index 0x2000, subindex 0x02
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UNS8 hours = 0;		// Mapped at index 0x2000, subindex 0x03
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UNS8 day = 0;		// Mapped at index 0x2000, subindex 0x04
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UNS32 canopenErrNB = 0;		// Mapped at index 0x6000, subindex 0x00
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UNS32 canopenErrVAL = 0;		// Mapped at index 0x6001, subindex 0x00
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UNS8 strTest[10] = 0;		// Mapped at index 0x6002, subindex 0x00
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/**************************************************************************/
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/* Declaration of the value range types                                   */
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/**************************************************************************/
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UNS32 Linux_slave_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 0x01
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UNS8 Linux_slave_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 Linux_slave_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 Linux_slave_obj1000 = 0;
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                    subindex Linux_slave_Index1000[] =
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                    {
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                      { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_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 Linux_slave_obj1001 = 0x0;
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                    /*const*/ subindex Linux_slave_Index1001[] =
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                    {
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                      { RO, uint8, sizeof(UNS8), (void*)&Linux_slave_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 Linux_slave_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 Linux_slave_Index1005[] =
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                    {
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                      { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_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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                    /*const*/ UNS32 Linux_slave_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 Linux_slave_Index1006[] =
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                    {
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                      { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_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 Linux_slave_obj1007 = 0x0; /* Default 0 */
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                    /*const*/ subindex Linux_slave_Index1007[] =
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                    {
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                      { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1007 }
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                    };
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/* index 0x1008 :   Manufacturer device name */
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                    UNS8 Linux_slave_obj1008[] = "Appli_Slave_HC12"; /* Default 0 */
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                    subindex Linux_slave_Index1008[] =
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                    {
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                      { RO, uint32, sizeof(Linux_slave_obj1008), (void*)&Linux_slave_obj1008 }
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                    };
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/* index 0x1009 :   Manufacturer hardware version */
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                    UNS8 Linux_slave_obj1009[] = "__DATE__"; /* Default 0 */
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                    subindex Linux_slave_Index1009[] =
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                    {
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                      { RO, uint32, sizeof(Linux_slave_obj1009), (void*)&Linux_slave_obj1009 }
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                    };
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/* index 0x100A :   Manufacturer software version */
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                    UNS8 Linux_slave_obj100A[] = __TIME__; /* Default 0 */
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                    subindex Linux_slave_Index100A[] =
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                    {
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                      { RO, uint32, Linux_slave_sizeof(obj100A), (void*)&Linux_slave_obj100A}
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                    };
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                    TIMER_HANDLE Linux_slave_heartBeatTimers[1] = {TIMER_NONE,};
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/* index 0x1016 :   HeartBeat consumers 
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                    The nodes which can send a heartbeat */ 
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                    UNS32 Linux_slave_obj1016[] = {// Consumer time for each node 
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                    0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
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                    UNS8 Linux_slave_obj1016_cnt = 1; // 1 nodes could send me
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                                                  // their heartbeat.
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                    subindex Linux_slave_Index1016[] = 
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                    {
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                      { RO, uint8, sizeof(UNS8), (void*)&Linux_slave_obj1016_cnt },
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                      { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_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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                    UNS16 Linux_slave_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 Linux_slave_Index1017[] =
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                    {
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	              { RW, uint16, sizeof(UNS16), &Linux_slave_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 Linux_slave_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 Linux_slave_Index1018[] =
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                    {
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                      { RO, uint8,  sizeof(UNS8),  (void*)&Linux_slave_obj1018.count },
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                      { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.vendor_id},
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                      { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.product_code},
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                      { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.revision_number},
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                      { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_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 Linux_slave_obj1200  = 
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                      { 3,                   // Number of entries. Always 3 for the SDO	       
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                        0x601,     // The cob_id transmited in CAN msg to the server     
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                        0x581,     // The cob_id received in CAN msg from the server  
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                        0x01      // The node id of the client. Should not be modified
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                      };
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                    subindex Linux_slave_Index1200[] =
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                    {
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                      { RO, uint8,  sizeof( UNS8 ), (void*)&Linux_slave_obj1200.count },
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                      { RO, uint32, sizeof( UNS32), (void*)&Linux_slave_obj1200.cob_id_client },
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                      { RO, uint32, sizeof( UNS32), (void*)&Linux_slave_obj1200.cob_id_server },
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                      { RW, uint8,  sizeof( UNS8),  (void*)&Linux_slave_obj1200.node_id }
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                    };
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/* index 0x1280 :   SDO client parameter */
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                    s_sdo_parameter Linux_slave_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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                        0x01  // server NodeId
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                      };
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                    subindex Linux_slave_Index1280[] = 
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                      { 
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                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1280.count },
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                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1280.cob_id_client },
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                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1280.cob_id_server },
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                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1280.node_id }
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                      }; 
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/* index 0x1400 :   PDO receive communication parameter */
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                    s_pdo_communication_parameter Linux_slave_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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                    subindex Linux_slave_Index1400[] = 
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                      { 
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                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1400.count },
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                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1400.cob_id },
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                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1400.type },
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                      }; 
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/* index 0x1401 :   PDO receive communication parameter */
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                    s_pdo_communication_parameter Linux_slave_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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                    subindex Linux_slave_Index1401[] = 
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                      { 
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                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1401.count },
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                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1401.cob_id },
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                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1401.type },
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                      }; 
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/* index 0x1402 :   PDO receive communication parameter */
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                    s_pdo_communication_parameter Linux_slave_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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                        253 // Transmission type. See objdictdef.h 
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                      };
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                    subindex Linux_slave_Index1402[] = 
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                      { 
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                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1402.count },
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                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1402.cob_id },
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                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1402.type },
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                      }; 
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/* index 0x1600 :   PDO receive mapping parameter of PDO communication index 0x1400 */
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                    UNS8 Linux_slave_obj1600_cnt = 0; // Number of mapped variables
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                    UNS32 Linux_slave_obj1600_mappedVar[] = { 
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                        0x00000000,
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                        0x00000000,
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                        0x00000000,
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                        0x00000000,
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                        0x00000000,
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                        0x00000000,
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                        0x00000000,
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                        0x00000000
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                      };
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                    subindex Linux_slave_Index1600[] = 
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                      { 
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                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1600_cnt },
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[0]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[1]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[2]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[3]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[4]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[5]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[6]},
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                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[7]}
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                      }; 
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/* index 0x1601 :   PDO receive mapping parameter of PDO communication index 0x1401 */
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                    UNS8 Linux_slave_obj1601_cnt = 0; // Number of mapped variables
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                    UNS32 Linux_slave_obj1601_mappedVar[] = { 
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diff changeset
   328
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   329
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   330
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   331
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   332
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   333
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   334
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   335
                        0x00000000
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   336
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   337
                    subindex Linux_slave_Index1601[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   338
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   339
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1601_cnt },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   340
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[0]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   341
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[1]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   342
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[2]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   343
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[3]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   344
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[4]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   345
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[5]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   346
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[6]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   347
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[7]}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   348
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   349
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   350
/* index 0x1602 :   PDO receive mapping parameter of PDO communication index 0x1402 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   351
                    UNS8 Linux_slave_obj1602_cnt = 0; // Number of mapped variables
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   352
                    UNS32 Linux_slave_obj1602_mappedVar[] = { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   353
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   354
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   355
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   356
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   357
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   358
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   359
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   360
                        0x00000000
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   361
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   362
                    subindex Linux_slave_Index1602[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   363
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   364
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1602_cnt },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   365
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[0]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   366
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[1]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   367
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[2]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   368
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[3]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   369
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[4]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   370
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[5]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   371
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[6]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   372
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[7]}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   373
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   374
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   375
/* index 0x1800 :   PDO transmit communication parameter */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   376
                    s_pdo_communication_parameter Linux_slave_obj1800 = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   377
                      { 2, // Largest subindex supported 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   378
                        0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   379
                        253 // Transmission type. See objdictdef.h 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   380
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   381
                    subindex Linux_slave_Index1800[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   382
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   383
                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1800.count },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   384
                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1800.cob_id },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   385
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1800.type },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   386
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   387
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   388
/* index 0x1801 :   PDO transmit communication parameter */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   389
                    s_pdo_communication_parameter Linux_slave_obj1801 = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   390
                      { 2, // Largest subindex supported 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   391
                        0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   392
                        253 // Transmission type. See objdictdef.h 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   393
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   394
                    subindex Linux_slave_Index1801[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   395
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   396
                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1801.count },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   397
                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1801.cob_id },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   398
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1801.type },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   399
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   400
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   401
/* index 0x1802 :   PDO transmit communication parameter */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   402
                    s_pdo_communication_parameter Linux_slave_obj1802 = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   403
                      { 2, // Largest subindex supported 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   404
                        0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   405
                        253 // Transmission type. See objdictdef.h 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   406
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   407
                    subindex Linux_slave_Index1802[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   408
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   409
                        { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1802.count },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   410
                        { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1802.cob_id },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   411
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1802.type },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   412
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   413
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   414
/* index 0x1A00 :   PDO transmit mapping parameter of PDO communication index 0x1800 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   415
                    UNS8 Linux_slave_obj1A00_cnt = 0; // Number of mapped variables
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   416
                    UNS32 Linux_slave_obj1A00_mappedVar[] = { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   417
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   420
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   421
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   422
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   423
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   424
                        0x00000000
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   425
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   426
                    subindex Linux_slave_Index1A00[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   427
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   428
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A00_cnt },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   429
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[0]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   430
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[1]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   431
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[2]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   432
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[3]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   433
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[4]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   434
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[5]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   435
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[6]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   436
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[7]}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   437
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   438
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   439
/* index 0x1A01 :   PDO transmit mapping parameter of PDO communication index 0x1801 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   440
                    UNS8 Linux_slave_obj1A01_cnt = 0; // Number of mapped variables
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   441
                    UNS32 Linux_slave_obj1A01_mappedVar[] = { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   442
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   443
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   444
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   445
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   446
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   447
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   448
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   449
                        0x00000000
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   450
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   451
                    subindex Linux_slave_Index1A01[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   452
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   453
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A01_cnt },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   454
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[0]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   455
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[1]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   456
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[2]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   457
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[3]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   458
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[4]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   459
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[5]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   460
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[6]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   461
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[7]}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   462
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   463
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   464
/* index 0x1A02 :   PDO transmit mapping parameter of PDO communication index 0x1802 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   465
                    UNS8 Linux_slave_obj1A02_cnt = 0; // Number of mapped variables
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   466
                    UNS32 Linux_slave_obj1A02_mappedVar[] = { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   467
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   468
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   469
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   470
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   471
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   472
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   473
                        0x00000000,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   474
                        0x00000000
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   475
                      };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   476
                    subindex Linux_slave_Index1A02[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   477
                      { 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   478
                        { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A02_cnt },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   479
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[0]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   480
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[1]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   481
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[2]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   482
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[3]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   483
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[4]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   484
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[5]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   485
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[6]},
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   486
                        { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[7]}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   487
                      }; 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   488
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   489
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   490
/* index 0x2000 :   Mapped variable */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   491
                    UNS8 Linux_slave_highestSubIndex_2000 = 4; // number of subindex - 1
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   492
                    subindex Linux_slave_Index2000[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   493
                     {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   494
                       { RO, uint8, sizeof (UNS8), (void*)&Linux_slave_highestSubIndex_2000 },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   495
                       { RW, uint8, sizeof (UNS8), (void*)&seconds },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   496
                       { RW, uint8, sizeof (UNS8), (void*)&minutes },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   497
                       { RW, uint8, sizeof (UNS8), (void*)&hours },
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   498
                       { RW, uint8, sizeof (UNS8), (void*)&day }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   499
                     };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   500
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   501
/* index 0x6000 :   Mapped variable */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   502
                    UNS8 Linux_slave_highestSubIndex_6000 = 0; // number of subindex - 1
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   503
                    subindex Linux_slave_Index6000[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   504
                     {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   505
                       { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   506
                     };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   507
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   508
/* index 0x6001 :   Mapped variable */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   509
                    UNS8 Linux_slave_highestSubIndex_6001 = 0; // number of subindex - 1
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   510
                    subindex Linux_slave_Index6001[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   511
                     {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   512
                       { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   513
                     };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   514
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   515
/* index 0x6002 :   Mapped variable */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   516
                    UNS8 Linux_slave_highestSubIndex_6002 = 0; // number of subindex - 1
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   517
                    subindex Linux_slave_Index6002[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   518
                     {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   519
                       { RW, visible_string, sizeof (strTest), (void*)&strTest }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   520
                     };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   521
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   522
const indextable Linux_slave_objdict[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   523
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   524
  DeclareIndexTableEntry(Linux_slave_Index1000, 0x1000),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   525
  DeclareIndexTableEntry(Linux_slave_Index1001, 0x1001),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   526
  DeclareIndexTableEntry(Linux_slave_Index1005, 0x1005),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   527
  DeclareIndexTableEntry(Linux_slave_Index1006, 0x1006),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   528
  DeclareIndexTableEntry(Linux_slave_Index1007, 0x1007),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   529
  DeclareIndexTableEntry(Linux_slave_Index1008, 0x1008),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   530
  DeclareIndexTableEntry(Linux_slave_Index1009, 0x1009),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   531
  DeclareIndexTableEntry(Linux_slave_Index100A, 0x100A),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   532
  DeclareIndexTableEntry(Linux_slave_Index1016, 0x1016),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   533
  DeclareIndexTableEntry(Linux_slave_Index1017, 0x1017),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   534
  DeclareIndexTableEntry(Linux_slave_Index1018, 0x1018),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   535
  DeclareIndexTableEntry(Linux_slave_Index1200, 0x1200),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   536
  DeclareIndexTableEntry(Linux_slave_Index1280, 0x1280),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   537
  DeclareIndexTableEntry(Linux_slave_Index1400, 0x1400),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   538
  DeclareIndexTableEntry(Linux_slave_Index1401, 0x1401),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   539
  DeclareIndexTableEntry(Linux_slave_Index1402, 0x1402),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   540
  DeclareIndexTableEntry(Linux_slave_Index1600, 0x1600),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   541
  DeclareIndexTableEntry(Linux_slave_Index1601, 0x1601),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   542
  DeclareIndexTableEntry(Linux_slave_Index1602, 0x1602),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   543
  DeclareIndexTableEntry(Linux_slave_Index1800, 0x1800),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   544
  DeclareIndexTableEntry(Linux_slave_Index1801, 0x1801),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   545
  DeclareIndexTableEntry(Linux_slave_Index1802, 0x1802),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   546
  DeclareIndexTableEntry(Linux_slave_Index1A00, 0x1A00),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   547
  DeclareIndexTableEntry(Linux_slave_Index1A01, 0x1A01),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   548
  DeclareIndexTableEntry(Linux_slave_Index1A02, 0x1A02),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   549
  DeclareIndexTableEntry(Linux_slave_Index2000, 0x2000),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   550
  DeclareIndexTableEntry(Linux_slave_Index6000, 0x6000),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   551
  DeclareIndexTableEntry(Linux_slave_Index6001, 0x6001),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   552
  DeclareIndexTableEntry(Linux_slave_Index6002, 0x6002),
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   553
};
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   554
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   555
// To count at which received SYNC a PDO must be sent.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   556
// Even if no pdoTransmit are defined, at least one entry is computed
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   557
// for compilations issues.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   558
UNS8 Linux_slave_count_sync[1] = {0, };
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   559
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   560
quick_index Linux_slave_firstIndex = {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   561
    SDO_SVR : 11,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   562
    SDO_CLT : 12,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   563
    PDO_RCV : 13,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   564
    PDO_RCV_MAP : 16,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   565
    PDO_TRS : 19,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   566
    PDO_TRS_MAP : 22
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   567
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   568
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   569
quick_index Linux_slave_lastIndex{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   570
    SDO_SVR : 11,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   571
    SDO_CLT : 12,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   572
    PDO_RCV : 15,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   573
    PDO_RCV_MAP : 18,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   574
    PDO_TRS : 21,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   575
    PDO_TRS_MAP : 24
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   576
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   577
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   578
UNS16 Linux_slave_ObjdictSize = sizeof(Linux_slave_objdict)/sizeof(Linux_slave_objdict[0]); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   579