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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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|
321 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[6]},
|
|
|
322 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[7]}
|
|
|
323 |
};
|
|
|
324 |
|
|
|
325 |
/* index 0x1601 : PDO receive mapping parameter of PDO communication index 0x1401 */
|
|
|
326 |
UNS8 Linux_slave_obj1601_cnt = 0; // Number of mapped variables
|
|
|
327 |
UNS32 Linux_slave_obj1601_mappedVar[] = {
|
|
|
328 |
0x00000000,
|
|
|
329 |
0x00000000,
|
|
|
330 |
0x00000000,
|
|
|
331 |
0x00000000,
|
|
|
332 |
0x00000000,
|
|
|
333 |
0x00000000,
|
|
|
334 |
0x00000000,
|
|
|
335 |
0x00000000
|
|
|
336 |
};
|
|
|
337 |
subindex Linux_slave_Index1601[] =
|
|
|
338 |
{
|
|
|
339 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1601_cnt },
|
|
|
340 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[0]},
|
|
|
341 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[1]},
|
|
|
342 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[2]},
|
|
|
343 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[3]},
|
|
|
344 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[4]},
|
|
|
345 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[5]},
|
|
|
346 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[6]},
|
|
|
347 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[7]}
|
|
|
348 |
};
|
|
|
349 |
|
|
|
350 |
/* index 0x1602 : PDO receive mapping parameter of PDO communication index 0x1402 */
|
|
|
351 |
UNS8 Linux_slave_obj1602_cnt = 0; // Number of mapped variables
|
|
|
352 |
UNS32 Linux_slave_obj1602_mappedVar[] = {
|
|
|
353 |
0x00000000,
|
|
|
354 |
0x00000000,
|
|
|
355 |
0x00000000,
|
|
|
356 |
0x00000000,
|
|
|
357 |
0x00000000,
|
|
|
358 |
0x00000000,
|
|
|
359 |
0x00000000,
|
|
|
360 |
0x00000000
|
|
|
361 |
};
|
|
|
362 |
subindex Linux_slave_Index1602[] =
|
|
|
363 |
{
|
|
|
364 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1602_cnt },
|
|
|
365 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[0]},
|
|
|
366 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[1]},
|
|
|
367 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[2]},
|
|
|
368 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[3]},
|
|
|
369 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[4]},
|
|
|
370 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[5]},
|
|
|
371 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[6]},
|
|
|
372 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[7]}
|
|
|
373 |
};
|
|
|
374 |
|
|
|
375 |
/* index 0x1800 : PDO transmit communication parameter */
|
|
|
376 |
s_pdo_communication_parameter Linux_slave_obj1800 =
|
|
|
377 |
{ 2, // Largest subindex supported
|
|
|
378 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
379 |
253 // Transmission type. See objdictdef.h
|
|
|
380 |
};
|
|
|
381 |
subindex Linux_slave_Index1800[] =
|
|
|
382 |
{
|
|
|
383 |
{ RO, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1800.count },
|
|
|
384 |
{ RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1800.cob_id },
|
|
|
385 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1800.type },
|
|
|
386 |
};
|
|
|
387 |
|
|
|
388 |
/* index 0x1801 : PDO transmit communication parameter */
|
|
|
389 |
s_pdo_communication_parameter Linux_slave_obj1801 =
|
|
|
390 |
{ 2, // Largest subindex supported
|
|
|
391 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
392 |
253 // Transmission type. See objdictdef.h
|
|
|
393 |
};
|
|
|
394 |
subindex Linux_slave_Index1801[] =
|
|
|
395 |
{
|
|
|
396 |
{ RO, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1801.count },
|
|
|
397 |
{ RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1801.cob_id },
|
|
|
398 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1801.type },
|
|
|
399 |
};
|
|
|
400 |
|
|
|
401 |
/* index 0x1802 : PDO transmit communication parameter */
|
|
|
402 |
s_pdo_communication_parameter Linux_slave_obj1802 =
|
|
|
403 |
{ 2, // Largest subindex supported
|
|
|
404 |
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
|
|
|
405 |
253 // Transmission type. See objdictdef.h
|
|
|
406 |
};
|
|
|
407 |
subindex Linux_slave_Index1802[] =
|
|
|
408 |
{
|
|
|
409 |
{ RO, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1802.count },
|
|
|
410 |
{ RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1802.cob_id },
|
|
|
411 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1802.type },
|
|
|
412 |
};
|
|
|
413 |
|
|
|
414 |
/* index 0x1A00 : PDO transmit mapping parameter of PDO communication index 0x1800 */
|
|
|
415 |
UNS8 Linux_slave_obj1A00_cnt = 0; // Number of mapped variables
|
|
|
416 |
UNS32 Linux_slave_obj1A00_mappedVar[] = {
|
|
|
417 |
0x00000000,
|
|
|
418 |
0x00000000,
|
|
|
419 |
0x00000000,
|
|
|
420 |
0x00000000,
|
|
|
421 |
0x00000000,
|
|
|
422 |
0x00000000,
|
|
|
423 |
0x00000000,
|
|
|
424 |
0x00000000
|
|
|
425 |
};
|
|
|
426 |
subindex Linux_slave_Index1A00[] =
|
|
|
427 |
{
|
|
|
428 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1A00_cnt },
|
|
|
429 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[0]},
|
|
|
430 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[1]},
|
|
|
431 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[2]},
|
|
|
432 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[3]},
|
|
|
433 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[4]},
|
|
|
434 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[5]},
|
|
|
435 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[6]},
|
|
|
436 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[7]}
|
|
|
437 |
};
|
|
|
438 |
|
|
|
439 |
/* index 0x1A01 : PDO transmit mapping parameter of PDO communication index 0x1801 */
|
|
|
440 |
UNS8 Linux_slave_obj1A01_cnt = 0; // Number of mapped variables
|
|
|
441 |
UNS32 Linux_slave_obj1A01_mappedVar[] = {
|
|
|
442 |
0x00000000,
|
|
|
443 |
0x00000000,
|
|
|
444 |
0x00000000,
|
|
|
445 |
0x00000000,
|
|
|
446 |
0x00000000,
|
|
|
447 |
0x00000000,
|
|
|
448 |
0x00000000,
|
|
|
449 |
0x00000000
|
|
|
450 |
};
|
|
|
451 |
subindex Linux_slave_Index1A01[] =
|
|
|
452 |
{
|
|
|
453 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1A01_cnt },
|
|
|
454 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[0]},
|
|
|
455 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[1]},
|
|
|
456 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[2]},
|
|
|
457 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[3]},
|
|
|
458 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[4]},
|
|
|
459 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[5]},
|
|
|
460 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[6]},
|
|
|
461 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[7]}
|
|
|
462 |
};
|
|
|
463 |
|
|
|
464 |
/* index 0x1A02 : PDO transmit mapping parameter of PDO communication index 0x1802 */
|
|
|
465 |
UNS8 Linux_slave_obj1A02_cnt = 0; // Number of mapped variables
|
|
|
466 |
UNS32 Linux_slave_obj1A02_mappedVar[] = {
|
|
|
467 |
0x00000000,
|
|
|
468 |
0x00000000,
|
|
|
469 |
0x00000000,
|
|
|
470 |
0x00000000,
|
|
|
471 |
0x00000000,
|
|
|
472 |
0x00000000,
|
|
|
473 |
0x00000000,
|
|
|
474 |
0x00000000
|
|
|
475 |
};
|
|
|
476 |
subindex Linux_slave_Index1A02[] =
|
|
|
477 |
{
|
|
|
478 |
{ RW, uint8, sizeof( UNS8 ), (void*)&Linux_slave_obj1A02_cnt },
|
|
|
479 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[0]},
|
|
|
480 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[1]},
|
|
|
481 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[2]},
|
|
|
482 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[3]},
|
|
|
483 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[4]},
|
|
|
484 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[5]},
|
|
|
485 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[6]},
|
|
|
486 |
{ RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[7]}
|
|
|
487 |
};
|
|
|
488 |
|
|
|
489 |
|
|
|
490 |
/* index 0x2000 : Mapped variable */
|
|
|
491 |
UNS8 Linux_slave_highestSubIndex_2000 = 4; // number of subindex - 1
|
|
|
492 |
subindex Linux_slave_Index2000[] =
|
|
|
493 |
{
|
|
|
494 |
{ RO, uint8, sizeof (UNS8), (void*)&Linux_slave_highestSubIndex_2000 },
|
|
|
495 |
{ RW, uint8, sizeof (UNS8), (void*)&seconds },
|
|
|
496 |
{ RW, uint8, sizeof (UNS8), (void*)&minutes },
|
|
|
497 |
{ RW, uint8, sizeof (UNS8), (void*)&hours },
|
|
|
498 |
{ RW, uint8, sizeof (UNS8), (void*)&day }
|
|
|
499 |
};
|
|
|
500 |
|
|
|
501 |
/* index 0x6000 : Mapped variable */
|
|
|
502 |
UNS8 Linux_slave_highestSubIndex_6000 = 0; // number of subindex - 1
|
|
|
503 |
subindex Linux_slave_Index6000[] =
|
|
|
504 |
{
|
|
|
505 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
|
|
|
506 |
};
|
|
|
507 |
|
|
|
508 |
/* index 0x6001 : Mapped variable */
|
|
|
509 |
UNS8 Linux_slave_highestSubIndex_6001 = 0; // number of subindex - 1
|
|
|
510 |
subindex Linux_slave_Index6001[] =
|
|
|
511 |
{
|
|
|
512 |
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
|
|
|
513 |
};
|
|
|
514 |
|
|
|
515 |
/* index 0x6002 : Mapped variable */
|
|
|
516 |
UNS8 Linux_slave_highestSubIndex_6002 = 0; // number of subindex - 1
|
|
|
517 |
subindex Linux_slave_Index6002[] =
|
|
|
518 |
{
|
|
|
519 |
{ RW, visible_string, sizeof (strTest), (void*)&strTest }
|
|
|
520 |
};
|
|
|
521 |
|
|
|
522 |
const indextable Linux_slave_objdict[] =
|
|
|
523 |
{
|
|
|
524 |
DeclareIndexTableEntry(Linux_slave_Index1000, 0x1000),
|
|
|
525 |
DeclareIndexTableEntry(Linux_slave_Index1001, 0x1001),
|
|
|
526 |
DeclareIndexTableEntry(Linux_slave_Index1005, 0x1005),
|
|
|
527 |
DeclareIndexTableEntry(Linux_slave_Index1006, 0x1006),
|
|
|
528 |
DeclareIndexTableEntry(Linux_slave_Index1007, 0x1007),
|
|
|
529 |
DeclareIndexTableEntry(Linux_slave_Index1008, 0x1008),
|
|
|
530 |
DeclareIndexTableEntry(Linux_slave_Index1009, 0x1009),
|
|
|
531 |
DeclareIndexTableEntry(Linux_slave_Index100A, 0x100A),
|
|
|
532 |
DeclareIndexTableEntry(Linux_slave_Index1016, 0x1016),
|
|
|
533 |
DeclareIndexTableEntry(Linux_slave_Index1017, 0x1017),
|
|
|
534 |
DeclareIndexTableEntry(Linux_slave_Index1018, 0x1018),
|
|
|
535 |
DeclareIndexTableEntry(Linux_slave_Index1200, 0x1200),
|
|
|
536 |
DeclareIndexTableEntry(Linux_slave_Index1280, 0x1280),
|
|
|
537 |
DeclareIndexTableEntry(Linux_slave_Index1400, 0x1400),
|
|
|
538 |
DeclareIndexTableEntry(Linux_slave_Index1401, 0x1401),
|
|
|
539 |
DeclareIndexTableEntry(Linux_slave_Index1402, 0x1402),
|
|
|
540 |
DeclareIndexTableEntry(Linux_slave_Index1600, 0x1600),
|
|
|
541 |
DeclareIndexTableEntry(Linux_slave_Index1601, 0x1601),
|
|
|
542 |
DeclareIndexTableEntry(Linux_slave_Index1602, 0x1602),
|
|
|
543 |
DeclareIndexTableEntry(Linux_slave_Index1800, 0x1800),
|
|
|
544 |
DeclareIndexTableEntry(Linux_slave_Index1801, 0x1801),
|
|
|
545 |
DeclareIndexTableEntry(Linux_slave_Index1802, 0x1802),
|
|
|
546 |
DeclareIndexTableEntry(Linux_slave_Index1A00, 0x1A00),
|
|
|
547 |
DeclareIndexTableEntry(Linux_slave_Index1A01, 0x1A01),
|
|
|
548 |
DeclareIndexTableEntry(Linux_slave_Index1A02, 0x1A02),
|
|
|
549 |
DeclareIndexTableEntry(Linux_slave_Index2000, 0x2000),
|
|
|
550 |
DeclareIndexTableEntry(Linux_slave_Index6000, 0x6000),
|
|
|
551 |
DeclareIndexTableEntry(Linux_slave_Index6001, 0x6001),
|
|
|
552 |
DeclareIndexTableEntry(Linux_slave_Index6002, 0x6002),
|
|
|
553 |
};
|
|
|
554 |
|
|
|
555 |
// To count at which received SYNC a PDO must be sent.
|
|
|
556 |
// Even if no pdoTransmit are defined, at least one entry is computed
|
|
|
557 |
// for compilations issues.
|
|
|
558 |
UNS8 Linux_slave_count_sync[1] = {0, };
|
|
|
559 |
|
|
|
560 |
quick_index Linux_slave_firstIndex = {
|
|
|
561 |
SDO_SVR : 11,
|
|
|
562 |
SDO_CLT : 12,
|
|
|
563 |
PDO_RCV : 13,
|
|
|
564 |
PDO_RCV_MAP : 16,
|
|
|
565 |
PDO_TRS : 19,
|
|
|
566 |
PDO_TRS_MAP : 22
|
|
|
567 |
}
|
|
|
568 |
|
|
|
569 |
quick_index Linux_slave_lastIndex{
|
|
|
570 |
SDO_SVR : 11,
|
|
|
571 |
SDO_CLT : 12,
|
|
|
572 |
PDO_RCV : 15,
|
|
|
573 |
PDO_RCV_MAP : 18,
|
|
|
574 |
PDO_TRS : 21,
|
|
|
575 |
PDO_TRS_MAP : 24
|
|
|
576 |
}
|
|
|
577 |
|
|
|
578 |
UNS16 Linux_slave_ObjdictSize = sizeof(Linux_slave_objdict)/sizeof(Linux_slave_objdict[0]);
|
|
|
579 |
|