1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #include <stddef.h> |
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24 |
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25 #include <applicfg.h> |
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26 #include "def.h" |
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27 #include "can.h" |
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28 #include "objdictdef.h" |
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29 #include "pdo.h" |
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30 #include "sdo.h" |
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31 #include "sync.h" |
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32 #include "lifegrd.h" |
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33 #include "nmtSlave.h" |
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34 |
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35 /**************************************************************************/ |
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36 /* Declaration of the mapped variables */ |
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37 /**************************************************************************/ |
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38 |
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39 |
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40 |
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41 /*// Copy and uncomment this code to your main file |
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42 extern UNS8 seconds; // Mapped at index 0x2000, subindex 0x01 |
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43 extern UNS32 minutes; // Mapped at index 0x2000, subindex 0x02 |
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44 extern UNS8 hours; // Mapped at index 0x2000, subindex 0x03 |
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45 extern UNS8 day; // Mapped at index 0x2000, subindex 0x04 |
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46 extern UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x00 |
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47 extern UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x00 |
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48 extern UNS8 strTest[10]; // Mapped at index 0x6002, subindex 0x00 |
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49 |
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50 // END copy to main file |
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51 */ |
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52 |
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53 UNS8 seconds; // Mapped at index 0x2000, subindex 0x01 |
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54 UNS32 minutes; // Mapped at index 0x2000, subindex 0x02 |
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55 UNS8 hours; // Mapped at index 0x2000, subindex 0x03 |
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56 UNS8 day; // Mapped at index 0x2000, subindex 0x04 |
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57 UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x00 |
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58 UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x00 |
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59 UNS8 strTest[10]; // Mapped at index 0x6002, subindex 0x00 |
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60 |
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61 /**************************************************************************/ |
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62 /* Declaration of the value range types */ |
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63 /**************************************************************************/ |
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64 |
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65 |
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66 |
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67 UNS32 valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue) |
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68 { |
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69 return 0; |
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70 } |
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71 |
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72 |
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73 /**************************************************************************/ |
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74 /* The node id */ |
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75 /**************************************************************************/ |
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76 /* Computed by strNode */ |
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77 /* node_id default value. |
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78 This default value is deprecated. |
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79 You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code. |
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80 */ |
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81 #define NODE_ID 0x01 |
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82 UNS8 bDeviceNodeId = NODE_ID; |
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83 |
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84 |
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85 //*****************************************************************************/ |
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86 /* Computed by strStartDico */ |
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87 |
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88 /* Array of message processing information */ |
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89 /* Should not be modified */ |
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90 volatile const proceed_info proceed_infos[] = { |
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91 {NMT, "NMT", proceedNMTstateChange}, |
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92 {SYNC, "SYNC", proceedSYNC}, |
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93 {TIME_STAMP, "TStmp", NULL}, |
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94 {PDO1tx, "PDO1t", proceedPDO}, |
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95 {PDO1rx, "PDO1r", proceedPDO}, |
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96 {PDO2tx, "PDO2t", proceedPDO}, |
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97 {PDO2rx, "PDO2r", proceedPDO}, |
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98 {PDO3tx, "PDO3t", proceedPDO}, |
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99 {PDO3rx, "PDO3r", proceedPDO}, |
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100 {PDO4tx, "PDO4t", proceedPDO}, |
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101 {PDO4rx, "PDO4r", proceedPDO}, |
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102 {SDOtx, "SDOt", proceedSDO}, |
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103 {SDOrx, "SDOr", proceedSDO}, |
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104 {0xD, "Unkw", NULL}, |
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105 {NODE_GUARD, "NGrd", proceedNMTerror}, |
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106 {0xF, "Unkw", NULL} |
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107 }; |
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108 |
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109 // Macros definition |
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110 |
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111 /* Beware : |
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112 index *must* be writen 4 numbers in hexa |
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113 sub_index *must* be writen 2 numbers in hexa |
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114 size_variable_in_UNS8 *must* be writen 2 numbers in hexa |
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115 */ |
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116 #define PDO_MAP(index, sub_index, size_variable_in_bits)\ |
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117 0x ## index ## sub_index ## size_variable_in_bits |
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118 |
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119 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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120 // |
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121 // OBJECT DICTIONARY |
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122 // |
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123 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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124 // Make your change, depending of your application |
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125 |
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126 |
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127 /* index 0x1000 : Device type. |
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128 You have to change the value below, so |
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129 it fits your canopen-slave-module */ |
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130 |
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131 /* Not used, so, should not be modified */ |
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132 |
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133 UNS32 obj1000 = 0; |
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134 subindex Index1000[] = |
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135 { |
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136 { RO, uint32, sizeof(UNS32), (void*)&obj1000 } |
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137 }; |
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138 |
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139 /* index 0x1001 : Error register. |
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140 Change the entries to fit your application |
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141 Not used, so, should not be modified */ |
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142 /*const*/ UNS8 obj1001 = 0x0; |
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143 /*const*/ subindex Index1001[] = |
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144 { |
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145 { RO, uint8, sizeof(UNS8), (void*)&obj1001 } |
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146 }; |
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147 |
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148 /* index 0x1005 : COB_ID SYNC */ |
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149 /* Should not be modified */ |
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150 UNS32 obj1005 = 0x00000080; // bit 30 = 1 : device can generate a SYNC message |
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151 // Beware, it is over written when the node |
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152 // enters in reset mode |
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153 // See initResetMode() in init.c |
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154 /*const*/ subindex Index1005[] = |
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155 { |
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156 { RW, uint32, sizeof(UNS32), (void*)&obj1005 } |
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157 }; |
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158 |
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159 /* index 0x1006 : SYNC period */ |
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160 // For producing the SYNC signal every n micro-seconds. |
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161 // Put O to not producing SYNC |
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162 /*const*/ UNS32 obj1006 = 0x0; |
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163 // Default 0 to not produce SYNC // |
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164 // Beware, it is over written when the |
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165 // node enters in reset mode. |
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166 // See initResetMode() in init.c |
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167 /*const*/ subindex Index1006[] = |
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168 { |
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169 { RW, uint32, sizeof(UNS32), (void*)&obj1006 } |
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170 }; |
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171 |
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172 /* index 0x1007 : Synchronous Window Length |
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173 Seems to be needed by DS401 to generate the SYNC signal ! */ |
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174 /*const*/ UNS32 obj1007 = 0x0; /* Default 0 */ |
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175 /*const*/ subindex Index1007[] = |
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176 { |
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177 { RW, uint32, sizeof(UNS32), (void*)&obj1007 } |
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178 }; |
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179 |
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180 /* index 0x1008 : Manufacturer device name */ |
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181 UNS8 obj1008[] = "Appli_Slave_Linux"; /* Default 0 */ |
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182 subindex Index1008[] = |
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183 { |
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184 { RO, uint32, sizeof(obj1008), (void*)&obj1008 } |
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185 }; |
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186 |
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187 /* index 0x1009 : Manufacturer hardware version */ |
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188 UNS8 obj1009[] = __DATE__; /* Default 0 */ |
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189 subindex Index1009[] = |
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190 { |
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191 { RO, uint32, sizeof(obj1009), (void*)&obj1009 } |
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192 }; |
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193 |
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194 /* index 0x100A : Manufacturer software version */ |
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195 UNS8 obj100A[] = __TIME__; /* Default 0 */ |
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196 subindex Index100A[] = |
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197 { |
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198 { RO, uint32, sizeof(obj100A), (void*)&obj100A} |
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199 }; |
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200 |
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201 /* index 0x1016 : HeartBeat consumers |
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202 The nodes which can send a heartbeat */ |
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203 static UNS32 obj1016[] = {// Consumer time for each node |
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204 0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms) |
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205 |
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206 static UNS8 obj1016_cnt = 1; // 1 nodes could send me |
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207 // their heartbeat. |
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208 subindex Index1016[] = |
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209 { |
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210 { RO, uint8, sizeof(UNS8), (void*)&obj1016_cnt }, |
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211 { RW, uint32, sizeof(UNS32), (void*)&obj1016[0] } |
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212 }; |
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213 |
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214 /* index 0x1017 : Heartbeat producer |
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215 Every HBProducerTime, the node sends its heartbeat */ |
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216 static UNS16 obj1017 = 0; //HBProducerTime in ms. If 0 : not activated |
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217 // Beware, it is over written when the |
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218 // node enters in reset mode. |
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219 // See initResetMode() in init.c |
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220 subindex Index1017[] = |
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221 { |
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222 { RW, uint16, sizeof(UNS16), &obj1017 } |
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223 }; |
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224 |
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225 /* index 0x1018 : Identity object */ |
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226 /** index 1018: identify object. Adjust the entries for your node/company |
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227 */ |
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228 /* Values can be modified */ |
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229 |
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230 s_identity obj1018 = |
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231 { |
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232 4, // number of supported entries |
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233 0, // Vendor-ID (given by the can-cia) |
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234 0, // Product Code |
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235 0, // Revision number |
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236 0 // serial number |
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237 }; |
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238 |
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239 subindex Index1018[] = |
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240 { |
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241 { RO, uint8, sizeof(UNS8), (void*)&obj1018.count }, |
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242 { RO, uint32, sizeof(UNS32), (void*)&obj1018.vendor_id}, |
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243 { RO, uint32, sizeof(UNS32), (void*)&obj1018.product_code}, |
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244 { RO, uint32, sizeof(UNS32), (void*)&obj1018.revision_number}, |
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245 { RO, uint32, sizeof(UNS32), (void*)&obj1018.serial_number} |
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246 }; |
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247 |
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248 /* index 0x1200 : The SDO Server parameters */ |
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249 /* BEWARE You cannot define more than one SDO server */ |
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250 /* The values should not be modified here, |
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251 but can be changed at runtime */ |
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252 // Beware that the default values that you could put here |
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253 // will be over written at the initialisation of the node. |
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254 // See setNodeId() in init.c |
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255 static s_sdo_parameter obj1200 = |
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256 { 3, // Number of entries. Always 3 for the SDO |
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257 0x600 + NODE_ID, // The cob_id transmited in CAN msg to the server |
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258 0x580 + NODE_ID, // The cob_id received in CAN msg from the server |
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259 NODE_ID // The node id of the client. Should not be modified |
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260 }; |
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261 static subindex Index1200[] = |
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262 { |
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263 { RO, uint8, sizeof( UNS8 ), (void*)&obj1200.count }, |
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264 { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_client }, |
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265 { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_server }, |
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266 { RW, uint8, sizeof( UNS8), (void*)&obj1200.node_id } |
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267 }; |
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268 |
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269 /* index 0x1280 : SDO client parameter */ |
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270 static s_sdo_parameter obj1280 = |
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271 { 3, // Nb of entries |
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272 0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId |
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273 0x580, // cobid received from the server. The good value should be 0x580 + server nodeId |
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274 0x0 // server NodeId |
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275 }; |
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276 static subindex Index1280[] = |
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277 { |
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278 { RO, uint8, sizeof( UNS8 ), (void*)&obj1280.count }, |
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279 { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_client }, |
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280 { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_server }, |
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281 { RW, uint8, sizeof( UNS8 ), (void*)&obj1280.node_id } |
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282 }; |
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283 |
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284 /* index 0x1400 : PDO receive communication parameter */ |
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285 static s_pdo_communication_parameter obj1400 = |
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286 { 2, // Largest subindex supported |
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287 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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288 253 // Transmission type. See objdictdef.h |
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289 }; |
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290 static subindex Index1400[] = |
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291 { |
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292 { RO, uint8, sizeof( UNS8 ), (void*)&obj1400.count }, |
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293 { RW, uint8, sizeof( UNS32 ), (void*)&obj1400.cob_id }, |
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294 { RW, uint8, sizeof( UNS8 ), (void*)&obj1400.type }, |
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295 }; |
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296 |
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297 /* index 0x1401 : PDO receive communication parameter */ |
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298 static s_pdo_communication_parameter obj1401 = |
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299 { 2, // Largest subindex supported |
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300 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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301 253 // Transmission type. See objdictdef.h |
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302 }; |
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303 static subindex Index1401[] = |
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304 { |
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305 { RO, uint8, sizeof( UNS8 ), (void*)&obj1401.count }, |
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306 { RW, uint8, sizeof( UNS32 ), (void*)&obj1401.cob_id }, |
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307 { RW, uint8, sizeof( UNS8 ), (void*)&obj1401.type }, |
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308 }; |
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309 |
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310 /* index 0x1402 : PDO receive communication parameter */ |
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311 static s_pdo_communication_parameter obj1402 = |
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312 { 2, // Largest subindex supported |
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313 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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314 253 // Transmission type. See objdictdef.h |
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315 }; |
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316 static subindex Index1402[] = |
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317 { |
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318 { RO, uint8, sizeof( UNS8 ), (void*)&obj1402.count }, |
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319 { RW, uint8, sizeof( UNS32 ), (void*)&obj1402.cob_id }, |
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320 { RW, uint8, sizeof( UNS8 ), (void*)&obj1402.type }, |
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321 }; |
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322 |
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323 /* index 0x1600 : PDO receive mapping parameter of PDO communication index 0x1400 */ |
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324 static UNS8 obj1600_cnt = 0; // Number of mapped variables |
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325 static UNS32 obj1600_mappedVar[] = { |
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326 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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327 // PDO_MAP(6035,12,16) |
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328 PDO_MAP(0000, 00, 00), |
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329 PDO_MAP(0000, 00, 00), |
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330 PDO_MAP(0000, 00, 00), |
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331 PDO_MAP(0000, 00, 00), |
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332 PDO_MAP(0000, 00, 00), |
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333 PDO_MAP(0000, 00, 00), |
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334 PDO_MAP(0000, 00, 00), |
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335 PDO_MAP(0000, 00, 00) |
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336 }; |
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337 subindex Index1600[] = |
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338 { |
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339 { RW, uint8, sizeof( UNS8 ), (void*)&obj1600_cnt }, |
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340 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[0]}, |
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341 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[1]}, |
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342 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[2]}, |
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343 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[3]}, |
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344 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[4]}, |
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345 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[5]}, |
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346 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[6]}, |
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347 { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[7]} |
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348 }; |
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349 |
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350 /* index 0x1601 : PDO receive mapping parameter of PDO communication index 0x1401 */ |
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351 static UNS8 obj1601_cnt = 0; // Number of mapped variables |
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352 static UNS32 obj1601_mappedVar[] = { |
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353 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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354 // PDO_MAP(6035,12,16) |
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355 PDO_MAP(0000, 00, 00), |
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356 PDO_MAP(0000, 00, 00), |
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357 PDO_MAP(0000, 00, 00), |
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358 PDO_MAP(0000, 00, 00), |
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359 PDO_MAP(0000, 00, 00), |
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360 PDO_MAP(0000, 00, 00), |
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361 PDO_MAP(0000, 00, 00), |
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362 PDO_MAP(0000, 00, 00) |
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363 }; |
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364 subindex Index1601[] = |
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365 { |
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366 { RW, uint8, sizeof( UNS8 ), (void*)&obj1601_cnt }, |
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367 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[0]}, |
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368 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[1]}, |
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369 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[2]}, |
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370 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[3]}, |
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371 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[4]}, |
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372 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[5]}, |
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373 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[6]}, |
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374 { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[7]} |
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375 }; |
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376 |
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377 /* index 0x1602 : PDO receive mapping parameter of PDO communication index 0x1402 */ |
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378 static UNS8 obj1602_cnt = 0; // Number of mapped variables |
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379 static UNS32 obj1602_mappedVar[] = { |
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380 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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381 // PDO_MAP(6035,12,16) |
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382 PDO_MAP(0000, 00, 00), |
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383 PDO_MAP(0000, 00, 00), |
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384 PDO_MAP(0000, 00, 00), |
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385 PDO_MAP(0000, 00, 00), |
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386 PDO_MAP(0000, 00, 00), |
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387 PDO_MAP(0000, 00, 00), |
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388 PDO_MAP(0000, 00, 00), |
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389 PDO_MAP(0000, 00, 00) |
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390 }; |
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391 subindex Index1602[] = |
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392 { |
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393 { RW, uint8, sizeof( UNS8 ), (void*)&obj1602_cnt }, |
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394 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[0]}, |
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395 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[1]}, |
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396 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[2]}, |
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397 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[3]}, |
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398 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[4]}, |
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399 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[5]}, |
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400 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[6]}, |
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401 { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[7]} |
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402 }; |
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403 |
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404 /* index 0x1800 : PDO transmit communication parameter */ |
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405 static s_pdo_communication_parameter obj1800 = |
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406 { 2, // Largest subindex supported |
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407 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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408 253 // Transmission type. See objdictdef.h |
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409 }; |
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410 static subindex Index1800[] = |
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411 { |
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412 { RO, uint8, sizeof( UNS8 ), (void*)&obj1800.count }, |
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413 { RW, uint8, sizeof( UNS32 ), (void*)&obj1800.cob_id }, |
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414 { RW, uint8, sizeof( UNS8 ), (void*)&obj1800.type }, |
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415 }; |
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416 |
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417 /* index 0x1801 : PDO transmit communication parameter */ |
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418 static s_pdo_communication_parameter obj1801 = |
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419 { 2, // Largest subindex supported |
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420 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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421 253 // Transmission type. See objdictdef.h |
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422 }; |
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423 static subindex Index1801[] = |
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424 { |
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425 { RO, uint8, sizeof( UNS8 ), (void*)&obj1801.count }, |
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426 { RW, uint8, sizeof( UNS32 ), (void*)&obj1801.cob_id }, |
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427 { RW, uint8, sizeof( UNS8 ), (void*)&obj1801.type }, |
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428 }; |
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429 |
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430 /* index 0x1802 : PDO transmit communication parameter */ |
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431 static s_pdo_communication_parameter obj1802 = |
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432 { 2, // Largest subindex supported |
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433 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403) |
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434 253 // Transmission type. See objdictdef.h |
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435 }; |
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436 static subindex Index1802[] = |
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437 { |
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438 { RO, uint8, sizeof( UNS8 ), (void*)&obj1802.count }, |
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439 { RW, uint8, sizeof( UNS32 ), (void*)&obj1802.cob_id }, |
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440 { RW, uint8, sizeof( UNS8 ), (void*)&obj1802.type }, |
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441 }; |
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442 |
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443 /* index 0x1A00 : PDO transmit mapping parameter of PDO communication index 0x1800 */ |
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444 static UNS8 obj1A00_cnt = 0; // Number of mapped variables |
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445 static UNS32 obj1A00_mappedVar[] = { |
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446 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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447 // PDO_MAP(6035,12,16) |
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448 PDO_MAP(0000, 00, 00), |
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449 PDO_MAP(0000, 00, 00), |
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450 PDO_MAP(0000, 00, 00), |
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451 PDO_MAP(0000, 00, 00), |
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452 PDO_MAP(0000, 00, 00), |
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453 PDO_MAP(0000, 00, 00), |
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454 PDO_MAP(0000, 00, 00), |
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455 PDO_MAP(0000, 00, 00) |
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456 }; |
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457 subindex Index1A00[] = |
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458 { |
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459 { RW, uint8, sizeof( UNS8 ), (void*)&obj1A00_cnt }, |
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460 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[0]}, |
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461 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[1]}, |
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462 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[2]}, |
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463 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[3]}, |
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464 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[4]}, |
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465 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[5]}, |
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466 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[6]}, |
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467 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[7]} |
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468 }; |
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469 |
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470 /* index 0x1A01 : PDO transmit mapping parameter of PDO communication index 0x1801 */ |
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471 static UNS8 obj1A01_cnt = 0; // Number of mapped variables |
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472 static UNS32 obj1A01_mappedVar[] = { |
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473 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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474 // PDO_MAP(6035,12,16) |
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475 PDO_MAP(0000, 00, 00), |
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476 PDO_MAP(0000, 00, 00), |
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477 PDO_MAP(0000, 00, 00), |
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478 PDO_MAP(0000, 00, 00), |
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479 PDO_MAP(0000, 00, 00), |
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480 PDO_MAP(0000, 00, 00), |
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481 PDO_MAP(0000, 00, 00), |
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482 PDO_MAP(0000, 00, 00) |
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483 }; |
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484 subindex Index1A01[] = |
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485 { |
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486 { RW, uint8, sizeof( UNS8 ), (void*)&obj1A01_cnt }, |
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487 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[0]}, |
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488 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[1]}, |
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489 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[2]}, |
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490 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[3]}, |
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491 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[4]}, |
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492 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[5]}, |
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493 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[6]}, |
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494 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[7]} |
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495 }; |
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496 |
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497 /* index 0x1A02 : PDO transmit mapping parameter of PDO communication index 0x1802 */ |
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498 static UNS8 obj1A02_cnt = 0; // Number of mapped variables |
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499 static UNS32 obj1A02_mappedVar[] = { |
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500 // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 : |
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501 // PDO_MAP(6035,12,16) |
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502 PDO_MAP(0000, 00, 00), |
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503 PDO_MAP(0000, 00, 00), |
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504 PDO_MAP(0000, 00, 00), |
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505 PDO_MAP(0000, 00, 00), |
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506 PDO_MAP(0000, 00, 00), |
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507 PDO_MAP(0000, 00, 00), |
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508 PDO_MAP(0000, 00, 00), |
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509 PDO_MAP(0000, 00, 00) |
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510 }; |
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511 subindex Index1A02[] = |
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512 { |
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513 { RW, uint8, sizeof( UNS8 ), (void*)&obj1A02_cnt }, |
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514 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[0]}, |
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515 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[1]}, |
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516 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[2]}, |
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517 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[3]}, |
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518 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[4]}, |
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519 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[5]}, |
|
520 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[6]}, |
|
521 { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[7]} |
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522 }; |
|
523 |
|
524 |
|
525 /* index 0x2000 : Mapped variable */ |
|
526 static UNS8 highestSubIndex_2000 = 4; // number of subindex - 1 |
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527 subindex Index2000[] = |
|
528 { |
|
529 { RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_2000 }, |
|
530 { RW, uint8, sizeof (UNS8), (void*)&seconds }, |
|
531 { RW, uint32, sizeof (UNS32), (void*)&minutes }, |
|
532 { RW, uint8, sizeof (UNS8), (void*)&hours }, |
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533 { RW, uint8, sizeof (UNS8), (void*)&day } |
|
534 }; |
|
535 |
|
536 /* index 0x6000 : Mapped variable */ |
|
537 subindex Index6000[] = |
|
538 { |
|
539 { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB } |
|
540 }; |
|
541 |
|
542 /* index 0x6001 : Mapped variable */ |
|
543 subindex Index6001[] = |
|
544 { |
|
545 { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL } |
|
546 }; |
|
547 |
|
548 /* index 0x6002 : Mapped variable */ |
|
549 subindex Index6002[] = |
|
550 { |
|
551 { RW, visible_string, sizeof (strTest), (void*)&strTest } |
|
552 }; |
|
553 |
|
554 const indextable objdict[] = |
|
555 { |
|
556 DeclareIndexTableEntry(Index1000, 0x1000), |
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557 DeclareIndexTableEntry(Index1001, 0x1001), |
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558 DeclareIndexTableEntry(Index1005, 0x1005), |
|
559 DeclareIndexTableEntry(Index1006, 0x1006), |
|
560 DeclareIndexTableEntry(Index1007, 0x1007), |
|
561 DeclareIndexTableEntry(Index1008, 0x1008), |
|
562 DeclareIndexTableEntry(Index1009, 0x1009), |
|
563 DeclareIndexTableEntry(Index100A, 0x100A), |
|
564 DeclareIndexTableEntry(Index1016, 0x1016), |
|
565 DeclareIndexTableEntry(Index1017, 0x1017), |
|
566 DeclareIndexTableEntry(Index1018, 0x1018), |
|
567 DeclareIndexTableEntry(Index1200, 0x1200), |
|
568 DeclareIndexTableEntry(Index1280, 0x1280), |
|
569 DeclareIndexTableEntry(Index1400, 0x1400), |
|
570 DeclareIndexTableEntry(Index1401, 0x1401), |
|
571 DeclareIndexTableEntry(Index1402, 0x1402), |
|
572 DeclareIndexTableEntry(Index1600, 0x1600), |
|
573 DeclareIndexTableEntry(Index1601, 0x1601), |
|
574 DeclareIndexTableEntry(Index1602, 0x1602), |
|
575 DeclareIndexTableEntry(Index1800, 0x1800), |
|
576 DeclareIndexTableEntry(Index1801, 0x1801), |
|
577 DeclareIndexTableEntry(Index1802, 0x1802), |
|
578 DeclareIndexTableEntry(Index1A00, 0x1A00), |
|
579 DeclareIndexTableEntry(Index1A01, 0x1A01), |
|
580 DeclareIndexTableEntry(Index1A02, 0x1A02), |
|
581 DeclareIndexTableEntry(Index2000, 0x2000), |
|
582 DeclareIndexTableEntry(Index6000, 0x6000), |
|
583 DeclareIndexTableEntry(Index6001, 0x6001), |
|
584 DeclareIndexTableEntry(Index6002, 0x6002), |
|
585 }; |
|
586 |
|
587 // To count at which received SYNC a PDO must be sent. |
|
588 // Even if no pdoTransmit are defined, at least one entry is computed |
|
589 // for compilations issues. |
|
590 UNS8 count_sync[1] = {0, }; |
|
591 |
|
592 UNS16 firstIndex (enum e_first_object object, UNS16 *lastIndex) |
|
593 { |
|
594 switch (object) { |
|
595 case FIRST_SDO_SERVER : |
|
596 *lastIndex = 11; |
|
597 return 11; |
|
598 case FIRST_SDO_CLIENT : |
|
599 *lastIndex = 12; |
|
600 return 12; |
|
601 case FIRST_PDO_RCV : |
|
602 *lastIndex = 15; |
|
603 return 13; |
|
604 case FIRST_PDO_RCV_MAP : |
|
605 *lastIndex = 18; |
|
606 return 16; |
|
607 case FIRST_PDO_TRS : |
|
608 *lastIndex = 21; |
|
609 return 19; |
|
610 case FIRST_PDO_TRS_MAP : |
|
611 *lastIndex = 24; |
|
612 return 22; |
|
613 } |
|
614 *lastIndex = 0; |
|
615 return 0; |
|
616 } |
|
617 |
|
618 UNS16 getObjdictSize (void) |
|
619 { |
|
620 return sizeof(objdict)/sizeof(objdict[0]); |
|
621 } |
|