63 <a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span> |
63 <a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span> |
64 <a name="l00043"></a>00043 |
64 <a name="l00043"></a>00043 |
65 <a name="l00044"></a>00044 <span class="comment">/* This structurs contains all necessary information for a CanOpen node */</span> |
65 <a name="l00044"></a>00044 <span class="comment">/* This structurs contains all necessary information for a CanOpen node */</span> |
66 <a name="l00045"></a><a class="code" href="structstruct__CO__Data.html">00045</a> <span class="keyword">struct </span><a class="code" href="structstruct__CO__Data.html">struct_CO_Data</a> { |
66 <a name="l00045"></a><a class="code" href="structstruct__CO__Data.html">00045</a> <span class="keyword">struct </span><a class="code" href="structstruct__CO__Data.html">struct_CO_Data</a> { |
67 <a name="l00046"></a>00046 <span class="comment">/* Object dictionary */</span> |
67 <a name="l00046"></a>00046 <span class="comment">/* Object dictionary */</span> |
68 <a name="l00047"></a><a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">00047</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a>; |
68 <a name="l00047"></a><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">00047</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a>; |
69 <a name="l00048"></a><a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">00048</a> <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> *<a class="code" href="structstruct__CO__Data.html#a766a4db603786bffdd609817048ef04">objdict</a>; |
69 <a name="l00048"></a><a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">00048</a> <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> *<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>; |
70 <a name="l00049"></a><a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">00049</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#83ae82d4401e78e3fd3a1ed5d457ade7">count_sync</a>; |
70 <a name="l00049"></a><a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">00049</a> <a class="code" href="structstruct__s__PDO__status.html">s_PDO_status</a> *<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>; |
71 <a name="l00050"></a><a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">00050</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#f26b0fce2ed684c5983aa658efd6c52e">firstIndex</a>; |
71 <a name="l00050"></a><a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">00050</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>; |
72 <a name="l00051"></a><a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">00051</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#96d334a4fc8c304826b053681ccbf0d1">lastIndex</a>; |
72 <a name="l00051"></a><a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">00051</a> <a class="code" href="structs__quick__index.html">quick_index</a> *<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>; |
73 <a name="l00052"></a><a class="code" href="structstruct__CO__Data.html#6c3f14328d7662f0adc1da9964327a2e">00052</a> <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#6c3f14328d7662f0adc1da9964327a2e">ObjdictSize</a>; |
73 <a name="l00052"></a><a class="code" href="structstruct__CO__Data.html#4c5de4f6e066d742521a311737cc08df">00052</a> <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#4c5de4f6e066d742521a311737cc08df">ObjdictSize</a>; |
74 <a name="l00053"></a><a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">00053</a> <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#cfe2baf2887f190ca8deebaf462e62fe">iam_a_slave</a>; |
74 <a name="l00053"></a><a class="code" href="structstruct__CO__Data.html#eddc777e83810b94d0dd1e6538a19e1e">00053</a> <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#eddc777e83810b94d0dd1e6538a19e1e">iam_a_slave</a>; |
75 <a name="l00054"></a><a class="code" href="structstruct__CO__Data.html#a8e71f9e9e67d0a594bad7dbbe99a35a">00054</a> <a class="code" href="objacces_8h.html#270e94e9acf61da8b2f36b3ebdbf2fdd">valueRangeTest_t</a> <a class="code" href="structstruct__CO__Data.html#a8e71f9e9e67d0a594bad7dbbe99a35a">valueRangeTest</a>; |
75 <a name="l00054"></a><a class="code" href="structstruct__CO__Data.html#aa2bf36a38fd3bac98904741ae25d8b8">00054</a> <a class="code" href="objacces_8h.html#0c04a935735f5dbc8466f6e0a981723b">valueRangeTest_t</a> <a class="code" href="structstruct__CO__Data.html#aa2bf36a38fd3bac98904741ae25d8b8">valueRangeTest</a>; |
76 <a name="l00055"></a>00055 |
76 <a name="l00055"></a>00055 |
77 <a name="l00056"></a>00056 <span class="comment">/* SDO */</span> |
77 <a name="l00056"></a>00056 <span class="comment">/* SDO */</span> |
78 <a name="l00057"></a><a class="code" href="structstruct__CO__Data.html#a7fda2c6f5815323c3d79efb4641c465">00057</a> <a class="code" href="structstruct__s__transfer.html">s_transfer</a> <a class="code" href="structstruct__CO__Data.html#a7fda2c6f5815323c3d79efb4641c465">transfers</a>[<a class="code" href="config_8h.html#b410d06e4fefdbea0d0093a489f54786">SDO_MAX_SIMULTANEOUS_TRANSFERTS</a>]; |
78 <a name="l00057"></a><a class="code" href="structstruct__CO__Data.html#57436603d120d11ae499105ec6451361">00057</a> <a class="code" href="structstruct__s__transfer.html">s_transfer</a> <a class="code" href="structstruct__CO__Data.html#57436603d120d11ae499105ec6451361">transfers</a>[<a class="code" href="config_8h.html#4e9504f5e7dd7dd246a2dcdfe4aca66d">SDO_MAX_SIMULTANEOUS_TRANSFERTS</a>]; |
79 <a name="l00058"></a>00058 <span class="comment">/* s_sdo_parameter *sdo_parameters; */</span> |
79 <a name="l00058"></a>00058 <span class="comment">/* s_sdo_parameter *sdo_parameters; */</span> |
80 <a name="l00059"></a>00059 |
80 <a name="l00059"></a>00059 |
81 <a name="l00060"></a>00060 <span class="comment">/* State machine */</span> |
81 <a name="l00060"></a>00060 <span class="comment">/* State machine */</span> |
82 <a name="l00061"></a><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">00061</a> <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a>; |
82 <a name="l00061"></a><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">00061</a> <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a>; |
83 <a name="l00062"></a><a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">00062</a> <a class="code" href="structs__state__communication.html">s_state_communication</a> <a class="code" href="structstruct__CO__Data.html#ab01aa22a1af1044224220cd45e5796d">CurrentCommunicationState</a>; |
83 <a name="l00062"></a><a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">00062</a> <a class="code" href="structs__state__communication.html">s_state_communication</a> <a class="code" href="structstruct__CO__Data.html#ac7e1610f30cb4035d51532db75738e6">CurrentCommunicationState</a>; |
84 <a name="l00063"></a><a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">00063</a> <a class="code" href="states_8h.html#d0cd6d1eb89085da7cb9f32ce386e8bc">initialisation_t</a> <a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a>; |
84 <a name="l00063"></a><a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">00063</a> <a class="code" href="states_8h.html#efba19e5dc10d03a17287af29c71567f">initialisation_t</a> <a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">initialisation</a>; |
85 <a name="l00064"></a><a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">00064</a> <a class="code" href="states_8h.html#f4a6da4fe018afbe20eaf716c248e02a">preOperational_t</a> <a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a>; |
85 <a name="l00064"></a><a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">00064</a> <a class="code" href="states_8h.html#779b4753c62da1e5441c3787a823938a">preOperational_t</a> <a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a>; |
86 <a name="l00065"></a><a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">00065</a> <a class="code" href="states_8h.html#8aed99e590473f26db47a9c2dc5b73fc">operational_t</a> <a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a>; |
86 <a name="l00065"></a><a class="code" href="structstruct__CO__Data.html#78f4481967d34a40cf253a19170234b2">00065</a> <a class="code" href="states_8h.html#c7a996649d7ce811f510e86586b863fd">operational_t</a> <a class="code" href="structstruct__CO__Data.html#78f4481967d34a40cf253a19170234b2">operational</a>; |
87 <a name="l00066"></a><a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">00066</a> <a class="code" href="states_8h.html#c99397ce6341b6b5128104aee4c27ec5">stopped_t</a> <a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a>; |
87 <a name="l00066"></a><a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">00066</a> <a class="code" href="states_8h.html#b557e6fbf097b1c7fd5c22f867069aa1">stopped_t</a> <a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">stopped</a>; |
88 <a name="l00067"></a>00067 |
88 <a name="l00067"></a>00067 |
89 <a name="l00068"></a>00068 <span class="comment">/* NMT-heartbeat */</span> |
89 <a name="l00068"></a>00068 <span class="comment">/* NMT-heartbeat */</span> |
90 <a name="l00069"></a><a class="code" href="structstruct__CO__Data.html#51a0927cdf730eca5661d2d1a26b9e43">00069</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#51a0927cdf730eca5661d2d1a26b9e43">ConsumerHeartbeatCount</a>; |
90 <a name="l00069"></a><a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">00069</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *<a class="code" href="structstruct__CO__Data.html#8dca1c6a4df9474e82632b4ae21dc9c4">ConsumerHeartbeatCount</a>; |
91 <a name="l00070"></a><a class="code" href="structstruct__CO__Data.html#928052654c25135aab556909845fa8ea">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#928052654c25135aab556909845fa8ea">ConsumerHeartbeatEntries</a>; |
91 <a name="l00070"></a><a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#bff77d2e95507970d757b6e64a0adb26">ConsumerHeartbeatEntries</a>; |
92 <a name="l00071"></a><a class="code" href="structstruct__CO__Data.html#e0b1fd1bec517c2bc12c5a4fd72adca6">00071</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> *<a class="code" href="structstruct__CO__Data.html#e0b1fd1bec517c2bc12c5a4fd72adca6">ConsumerHeartBeatTimers</a>; |
92 <a name="l00071"></a><a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">00071</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> *<a class="code" href="structstruct__CO__Data.html#febc80dd5ed389c2720ea379a9e1d83b">ConsumerHeartBeatTimers</a>; |
93 <a name="l00072"></a><a class="code" href="structstruct__CO__Data.html#61d5500b982867b523baf6668a2c377d">00072</a> <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#61d5500b982867b523baf6668a2c377d">ProducerHeartBeatTime</a>; |
93 <a name="l00072"></a><a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">00072</a> <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> *<a class="code" href="structstruct__CO__Data.html#35e70fa46f83e16d91da234bcab877cc">ProducerHeartBeatTime</a>; |
94 <a name="l00073"></a><a class="code" href="structstruct__CO__Data.html#914dd3ff14e15217fe67c0804200a200">00073</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#914dd3ff14e15217fe67c0804200a200">ProducerHeartBeatTimer</a>; |
94 <a name="l00073"></a><a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">00073</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#4f4d94992217998b4d0dd744f86a01d9">ProducerHeartBeatTimer</a>; |
95 <a name="l00074"></a><a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">00074</a> <a class="code" href="lifegrd_8h.html#eca3959d33fceb33487363a0493d3b7d">heartbeatError_t</a> <a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a>; |
95 <a name="l00074"></a><a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">00074</a> <a class="code" href="lifegrd_8h.html#be9b176eba3a70d52f86faf32db79f30">heartbeatError_t</a> <a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a>; |
96 <a name="l00075"></a><a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">00075</a> <a class="code" href="states_8h.html#5891f63a4c9243179838389a93d084e2">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[<a class="code" href="config_8h.html#89f774dfdb67cc1f78c7e7d457a16fdc">NMT_MAX_NODE_ID</a>]; |
96 <a name="l00075"></a><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">00075</a> <a class="code" href="states_8h.html#424131de4b91e21fa281d2c8913d9282">e_nodeState</a> <a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[<a class="code" href="config_8h.html#2ee1e815b40aa4cbd0acdc341d9214bd">NMT_MAX_NODE_ID</a>]; |
97 <a name="l00076"></a>00076 |
97 <a name="l00076"></a>00076 |
98 <a name="l00077"></a>00077 <span class="comment">/* SYNC */</span> |
98 <a name="l00077"></a>00077 <span class="comment">/* SYNC */</span> |
99 <a name="l00078"></a><a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">00078</a> <a class="code" href="timer_8h.html#146f546340de2a44ab2f63681d40de95">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#b8e7a429eb6e0bca2429685725516fe8">syncTimer</a>; |
99 <a name="l00078"></a><a class="code" href="structstruct__CO__Data.html#4e7917821f265cb833634a613da2442a">00078</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#4e7917821f265cb833634a613da2442a">syncTimer</a>; |
100 <a name="l00079"></a><a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">00079</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#eb1479220ec68407a35635bfbffa3386">COB_ID_Sync</a>; |
100 <a name="l00079"></a><a class="code" href="structstruct__CO__Data.html#c72942f41becf1ee80b9e65b05a2ac1b">00079</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#c72942f41becf1ee80b9e65b05a2ac1b">COB_ID_Sync</a>; |
101 <a name="l00080"></a><a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">00080</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#2dddbef6ce165dca7ff916e2e1409142">Sync_Cycle_Period</a>; |
101 <a name="l00080"></a><a class="code" href="structstruct__CO__Data.html#bc2d265828e65a81b1e5429c9ba2a498">00080</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *<a class="code" href="structstruct__CO__Data.html#bc2d265828e65a81b1e5429c9ba2a498">Sync_Cycle_Period</a>; |
102 <a name="l00081"></a>00081 <span class="comment">/*UNS32 *Sync_window_length;;*/</span> |
102 <a name="l00081"></a>00081 <span class="comment">/*UNS32 *Sync_window_length;;*/</span> |
103 <a name="l00082"></a><a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">00082</a> <a class="code" href="sync_8h.html#8a0b5b8c19b375ef1c985caa120f3274">post_sync_t</a> <a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a>; |
103 <a name="l00082"></a><a class="code" href="structstruct__CO__Data.html#f51d3f1c7af9ab07bed3a8c28e3e2162">00082</a> <a class="code" href="sync_8h.html#d1f283a688067376cc96b22f2d106a2e">post_sync_t</a> <a class="code" href="structstruct__CO__Data.html#f51d3f1c7af9ab07bed3a8c28e3e2162">post_sync</a>; |
104 <a name="l00083"></a><a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">00083</a> <a class="code" href="sync_8h.html#b9bc4632750ad12f918aa22a1eb7756b">post_TPDO_t</a> <a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a>; |
104 <a name="l00083"></a><a class="code" href="structstruct__CO__Data.html#ebb8649e117348c6cc94cd6f86684747">00083</a> <a class="code" href="sync_8h.html#7b223c31d7930e0d899991b613251155">post_TPDO_t</a> <a class="code" href="structstruct__CO__Data.html#ebb8649e117348c6cc94cd6f86684747">post_TPDO</a>; |
105 <a name="l00084"></a>00084 |
105 <a name="l00084"></a>00084 |
106 <a name="l00085"></a>00085 <span class="comment">/* PDO */</span> |
106 <a name="l00085"></a>00085 <span class="comment">/* General */</span> |
107 <a name="l00086"></a><a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">00086</a> <a class="code" href="structstruct__s__process__var.html">s_process_var</a> <a class="code" href="structstruct__CO__Data.html#26f4d508a9e409f2ace9c8c55d92d826">process_var</a>; |
107 <a name="l00086"></a><a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">00086</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="structstruct__CO__Data.html#6938b58479da6ae2ef2c22adb4d42125">toggle</a>; |
108 <a name="l00087"></a>00087 |
108 <a name="l00087"></a><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">00087</a> <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>; |
109 <a name="l00088"></a>00088 <span class="comment">/* General */</span> |
109 <a name="l00088"></a><a class="code" href="structstruct__CO__Data.html#dc25b41e66d58a87475fb1d9fa467ec2">00088</a> <a class="code" href="objdictdef_8h.html#e57fa11a3fd463f55ce79a23e4ddc6e2">scanIndexOD_t</a> <a class="code" href="structstruct__CO__Data.html#dc25b41e66d58a87475fb1d9fa467ec2">scanIndexOD</a>; |
110 <a name="l00089"></a><a class="code" href="structstruct__CO__Data.html#01f012ef56b614a9519530433b01054f">00089</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="structstruct__CO__Data.html#01f012ef56b614a9519530433b01054f">toggle</a>; |
110 <a name="l00089"></a><a class="code" href="structstruct__CO__Data.html#4683b8a458fce00699b14b3448f61bf8">00089</a> <a class="code" href="objacces_8h.html#0fffa15168046a1e8231be4c80aa4ac4">storeODSubIndex_t</a> <a class="code" href="structstruct__CO__Data.html#4683b8a458fce00699b14b3448f61bf8">storeODSubIndex</a>; |
111 <a name="l00090"></a><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">00090</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>; |
111 <a name="l00090"></a>00090 |
112 <a name="l00091"></a><a class="code" href="structstruct__CO__Data.html#1863bd74fef91ec89b4c1ff0bee2dfbf">00091</a> <a class="code" href="objdictdef_8h.html#a844575e4d9c9870137121bf0fb241fb">scanIndexOD_t</a> <a class="code" href="structstruct__CO__Data.html#1863bd74fef91ec89b4c1ff0bee2dfbf">scanIndexOD</a>; |
112 <a name="l00091"></a>00091 <span class="comment">/* DCF concise */</span> |
113 <a name="l00092"></a><a class="code" href="structstruct__CO__Data.html#d6cd6ffa658b1ed35d887b6bacb990cf">00092</a> <a class="code" href="objacces_8h.html#7b55b55a3f5ed8e4b2991cb85c7be7ce">storeODSubIndex_t</a> <a class="code" href="structstruct__CO__Data.html#d6cd6ffa658b1ed35d887b6bacb990cf">storeODSubIndex</a>; |
113 <a name="l00092"></a><a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">00092</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* <a class="code" href="structstruct__CO__Data.html#5f949136e4e329e4e4741efce0c2baf5">dcf_cursor</a>; |
114 <a name="l00093"></a>00093 |
114 <a name="l00093"></a><a class="code" href="structstruct__CO__Data.html#935c8435102cc8f77cfbcfb310df0870">00093</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="structstruct__CO__Data.html#935c8435102cc8f77cfbcfb310df0870">dcf_count_targets</a>; |
115 <a name="l00094"></a>00094 <span class="comment">/* DCF concise */</span> |
115 <a name="l00094"></a>00094 |
116 <a name="l00095"></a><a class="code" href="structstruct__CO__Data.html#de0a65bcf0cb16fd4dafe4d866655aab">00095</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* <a class="code" href="structstruct__CO__Data.html#de0a65bcf0cb16fd4dafe4d866655aab">dcf_cursor</a>; |
116 <a name="l00095"></a>00095 }; |
117 <a name="l00096"></a><a class="code" href="structstruct__CO__Data.html#0a588710c53092b75cfe284ca7d9ccff">00096</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="structstruct__CO__Data.html#0a588710c53092b75cfe284ca7d9ccff">dcf_count_targets</a>; |
117 <a name="l00096"></a>00096 |
118 <a name="l00097"></a>00097 |
118 <a name="l00097"></a>00097 <span class="preprocessor">#define NMTable_Initializer Unknown_state,</span> |
119 <a name="l00098"></a>00098 }; |
119 <a name="l00098"></a>00098 <span class="preprocessor"></span> |
120 <a name="l00099"></a>00099 |
120 <a name="l00099"></a>00099 <span class="preprocessor">#define s_transfer_Initializer {\</span> |
121 <a name="l00100"></a>00100 <span class="preprocessor">#define NMTable_Initializer Unknown_state,</span> |
121 <a name="l00100"></a>00100 <span class="preprocessor"> 0, </span><span class="comment">/* nodeId */</span>\ |
122 <a name="l00101"></a>00101 <span class="preprocessor"></span> |
122 <a name="l00101"></a>00101 0, <span class="comment">/* wohami */</span>\ |
123 <a name="l00102"></a>00102 <span class="preprocessor">#define s_transfer_Initializer {\</span> |
123 <a name="l00102"></a>00102 SDO_RESET, <span class="comment">/* state */</span>\ |
124 <a name="l00103"></a>00103 <span class="preprocessor"> 0, </span><span class="comment">/* nodeId */</span>\ |
124 <a name="l00103"></a>00103 0, <span class="comment">/* toggle */</span>\ |
125 <a name="l00104"></a>00104 0, <span class="comment">/* wohami */</span>\ |
125 <a name="l00104"></a>00104 0, <span class="comment">/* abortCode */</span>\ |
126 <a name="l00105"></a>00105 SDO_RESET, <span class="comment">/* state */</span>\ |
126 <a name="l00105"></a>00105 0, <span class="comment">/* index */</span>\ |
127 <a name="l00106"></a>00106 0, <span class="comment">/* toggle */</span>\ |
127 <a name="l00106"></a>00106 0, <span class="comment">/* subIndex */</span>\ |
128 <a name="l00107"></a>00107 0, <span class="comment">/* abortCode */</span>\ |
128 <a name="l00107"></a>00107 0, <span class="comment">/* count */</span>\ |
129 <a name="l00108"></a>00108 0, <span class="comment">/* index */</span>\ |
129 <a name="l00108"></a>00108 0, <span class="comment">/* offset */</span>\ |
130 <a name="l00109"></a>00109 0, <span class="comment">/* subIndex */</span>\ |
130 <a name="l00109"></a>00109 {0}, <span class="comment">/* data (static use, so that all the table is initialize at 0)*/</span>\ |
131 <a name="l00110"></a>00110 0, <span class="comment">/* count */</span>\ |
131 <a name="l00110"></a>00110 0, <span class="comment">/* dataType */</span>\ |
132 <a name="l00111"></a>00111 0, <span class="comment">/* offset */</span>\ |
132 <a name="l00111"></a>00111 -1, <span class="comment">/* timer */</span>\ |
133 <a name="l00112"></a>00112 {0}, <span class="comment">/* data (static use, so that all the table is initialize at 0)*/</span>\ |
133 <a name="l00112"></a>00112 NULL <span class="comment">/* Callback */</span>\ |
134 <a name="l00113"></a>00113 0, <span class="comment">/* dataType */</span>\ |
134 <a name="l00113"></a>00113 }, |
135 <a name="l00114"></a>00114 -1, <span class="comment">/* timer */</span>\ |
135 <a name="l00114"></a>00114 |
136 <a name="l00115"></a>00115 NULL <span class="comment">/* Callback */</span>\ |
136 <a name="l00115"></a>00115 <span class="comment">/* A macro to initialize the data in client app.*/</span> |
137 <a name="l00116"></a>00116 }, |
137 <a name="l00116"></a>00116 <span class="comment">/* CO_Data structure */</span> |
138 <a name="l00117"></a>00117 |
138 <a name="l00117"></a>00117 <span class="preprocessor">#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\</span> |
139 <a name="l00118"></a>00118 <span class="comment">/* A macro to initialize the data in client app.*/</span> |
139 <a name="l00118"></a>00118 <span class="preprocessor"> </span><span class="comment">/* Object dictionary*/</span>\ |
140 <a name="l00119"></a>00119 <span class="comment">/* CO_Data structure */</span> |
140 <a name="l00119"></a>00119 & NODE_PREFIX ## _bDeviceNodeId, <span class="comment">/* bDeviceNodeId */</span>\ |
141 <a name="l00120"></a>00120 <span class="preprocessor">#define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\</span> |
141 <a name="l00120"></a>00120 NODE_PREFIX ## _objdict, <span class="comment">/* objdict */</span>\ |
142 <a name="l00121"></a>00121 <span class="preprocessor"> </span><span class="comment">/* Object dictionary*/</span>\ |
142 <a name="l00121"></a>00121 NODE_PREFIX ## _PDO_status, <span class="comment">/* PDO_status */</span>\ |
143 <a name="l00122"></a>00122 & NODE_PREFIX ## _bDeviceNodeId, <span class="comment">/* bDeviceNodeId */</span>\ |
143 <a name="l00122"></a>00122 & NODE_PREFIX ## _firstIndex, <span class="comment">/* firstIndex */</span>\ |
144 <a name="l00123"></a>00123 NODE_PREFIX ## _objdict, <span class="comment">/* objdict */</span>\ |
144 <a name="l00123"></a>00123 & NODE_PREFIX ## _lastIndex, <span class="comment">/* lastIndex */</span>\ |
145 <a name="l00124"></a>00124 NODE_PREFIX ## _count_sync, <span class="comment">/* count_sync */</span>\ |
145 <a name="l00124"></a>00124 & NODE_PREFIX ## _ObjdictSize, <span class="comment">/* ObjdictSize */</span>\ |
146 <a name="l00125"></a>00125 & NODE_PREFIX ## _firstIndex, <span class="comment">/* firstIndex */</span>\ |
146 <a name="l00125"></a>00125 & NODE_PREFIX ## _iam_a_slave, <span class="comment">/* iam_a_slave */</span>\ |
147 <a name="l00126"></a>00126 & NODE_PREFIX ## _lastIndex, <span class="comment">/* lastIndex */</span>\ |
147 <a name="l00126"></a>00126 NODE_PREFIX ## _valueRangeTest, <span class="comment">/* valueRangeTest */</span>\ |
148 <a name="l00127"></a>00127 & NODE_PREFIX ## _ObjdictSize, <span class="comment">/* ObjdictSize */</span>\ |
148 <a name="l00127"></a>00127 \ |
149 <a name="l00128"></a>00128 & NODE_PREFIX ## _iam_a_slave, <span class="comment">/* iam_a_slave */</span>\ |
149 <a name="l00128"></a>00128 <span class="comment">/* SDO, structure s_transfer */</span>\ |
150 <a name="l00129"></a>00129 NODE_PREFIX ## _valueRangeTest, <span class="comment">/* valueRangeTest */</span>\ |
150 <a name="l00129"></a>00129 {\ |
151 <a name="l00130"></a>00130 \ |
151 <a name="l00130"></a>00130 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\ |
152 <a name="l00131"></a>00131 <span class="comment">/* SDO, structure s_transfer */</span>\ |
152 <a name="l00131"></a>00131 },\ |
153 <a name="l00132"></a>00132 {\ |
153 <a name="l00132"></a>00132 \ |
154 <a name="l00133"></a>00133 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\ |
154 <a name="l00133"></a>00133 <span class="comment">/* State machine*/</span>\ |
155 <a name="l00134"></a>00134 },\ |
155 <a name="l00134"></a>00134 Unknown_state, <span class="comment">/* nodeState */</span>\ |
156 <a name="l00135"></a>00135 \ |
156 <a name="l00135"></a>00135 <span class="comment">/* structure s_state_communication */</span>\ |
157 <a name="l00136"></a>00136 <span class="comment">/* State machine*/</span>\ |
157 <a name="l00136"></a>00136 {\ |
158 <a name="l00137"></a>00137 Unknown_state, <span class="comment">/* nodeState */</span>\ |
158 <a name="l00137"></a>00137 0, <span class="comment">/* csBoot_Up */</span>\ |
159 <a name="l00138"></a>00138 <span class="comment">/* structure s_state_communication */</span>\ |
159 <a name="l00138"></a>00138 0, <span class="comment">/* csSDO */</span>\ |
160 <a name="l00139"></a>00139 {\ |
160 <a name="l00139"></a>00139 0, <span class="comment">/* csEmergency */</span>\ |
161 <a name="l00140"></a>00140 0, <span class="comment">/* csBoot_Up */</span>\ |
161 <a name="l00140"></a>00140 0, <span class="comment">/* csSYNC */</span>\ |
162 <a name="l00141"></a>00141 0, <span class="comment">/* csSDO */</span>\ |
162 <a name="l00141"></a>00141 0, <span class="comment">/* csHeartbeat */</span>\ |
163 <a name="l00142"></a>00142 0, <span class="comment">/* csEmergency */</span>\ |
163 <a name="l00142"></a>00142 0 <span class="comment">/* csPDO */</span>\ |
164 <a name="l00143"></a>00143 0, <span class="comment">/* csSYNC */</span>\ |
164 <a name="l00143"></a>00143 },\ |
165 <a name="l00144"></a>00144 0, <span class="comment">/* csHeartbeat */</span>\ |
165 <a name="l00144"></a>00144 _initialisation, <span class="comment">/* initialisation */</span>\ |
166 <a name="l00145"></a>00145 0 <span class="comment">/* csPDO */</span>\ |
166 <a name="l00145"></a>00145 _preOperational, <span class="comment">/* preOperational */</span>\ |
167 <a name="l00146"></a>00146 },\ |
167 <a name="l00146"></a>00146 _operational, <span class="comment">/* operational */</span>\ |
168 <a name="l00147"></a>00147 _initialisation, <span class="comment">/* initialisation */</span>\ |
168 <a name="l00147"></a>00147 _stopped, <span class="comment">/* stopped */</span>\ |
169 <a name="l00148"></a>00148 _preOperational, <span class="comment">/* preOperational */</span>\ |
169 <a name="l00148"></a>00148 \ |
170 <a name="l00149"></a>00149 _operational, <span class="comment">/* operational */</span>\ |
170 <a name="l00149"></a>00149 <span class="comment">/* NMT-heartbeat */</span>\ |
171 <a name="l00150"></a>00150 _stopped, <span class="comment">/* stopped */</span>\ |
171 <a name="l00150"></a>00150 & NODE_PREFIX ## _highestSubIndex_obj1016, <span class="comment">/* ConsumerHeartbeatCount */</span>\ |
172 <a name="l00151"></a>00151 \ |
172 <a name="l00151"></a>00151 NODE_PREFIX ## _obj1016, <span class="comment">/* ConsumerHeartbeatEntries */</span>\ |
173 <a name="l00152"></a>00152 <span class="comment">/* NMT-heartbeat */</span>\ |
173 <a name="l00152"></a>00152 NODE_PREFIX ## _heartBeatTimers, <span class="comment">/* ConsumerHeartBeatTimers */</span>\ |
174 <a name="l00153"></a>00153 & NODE_PREFIX ## _highestSubIndex_obj1016, <span class="comment">/* ConsumerHeartbeatCount */</span>\ |
174 <a name="l00153"></a>00153 & NODE_PREFIX ## _obj1017, <span class="comment">/* ProducerHeartBeatTime */</span>\ |
175 <a name="l00154"></a>00154 NODE_PREFIX ## _obj1016, <span class="comment">/* ConsumerHeartbeatEntries */</span>\ |
175 <a name="l00154"></a>00154 TIMER_NONE, <span class="comment">/* ProducerHeartBeatTimer */</span>\ |
176 <a name="l00155"></a>00155 NODE_PREFIX ## _heartBeatTimers, <span class="comment">/* ConsumerHeartBeatTimers */</span>\ |
176 <a name="l00155"></a>00155 _heartbeatError, <span class="comment">/* heartbeatError */</span>\ |
177 <a name="l00156"></a>00156 & NODE_PREFIX ## _obj1017, <span class="comment">/* ProducerHeartBeatTime */</span>\ |
177 <a name="l00156"></a>00156 \ |
178 <a name="l00157"></a>00157 TIMER_NONE, <span class="comment">/* ProducerHeartBeatTimer */</span>\ |
178 <a name="l00157"></a>00157 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ |
179 <a name="l00158"></a>00158 _heartbeatError, <span class="comment">/* heartbeatError */</span>\ |
179 <a name="l00158"></a>00158 <span class="comment">/* is well initialized at "Unknown_state". Is it ok ? (FD)*/</span>\ |
180 <a name="l00159"></a>00159 \ |
180 <a name="l00159"></a>00159 \ |
181 <a name="l00160"></a>00160 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ |
181 <a name="l00160"></a>00160 <span class="comment">/* SYNC */</span>\ |
182 <a name="l00161"></a>00161 <span class="comment">/* is well initialized at "Unknown_state". Is it ok ? (FD)*/</span>\ |
182 <a name="l00161"></a>00161 TIMER_NONE, <span class="comment">/* syncTimer */</span>\ |
183 <a name="l00162"></a>00162 \ |
183 <a name="l00162"></a>00162 & NODE_PREFIX ## _obj1005, <span class="comment">/* COB_ID_Sync */</span>\ |
184 <a name="l00163"></a>00163 <span class="comment">/* SYNC */</span>\ |
184 <a name="l00163"></a>00163 & NODE_PREFIX ## _obj1006, <span class="comment">/* Sync_Cycle_Period */</span>\ |
185 <a name="l00164"></a>00164 TIMER_NONE, <span class="comment">/* syncTimer */</span>\ |
185 <a name="l00164"></a>00164 <span class="comment">/*& NODE_PREFIX ## _obj1007, */</span> <span class="comment">/* Sync_window_length */</span>\ |
186 <a name="l00165"></a>00165 & NODE_PREFIX ## _obj1005, <span class="comment">/* COB_ID_Sync */</span>\ |
186 <a name="l00165"></a>00165 _post_sync, <span class="comment">/* post_sync */</span>\ |
187 <a name="l00166"></a>00166 & NODE_PREFIX ## _obj1006, <span class="comment">/* Sync_Cycle_Period */</span>\ |
187 <a name="l00166"></a>00166 _post_TPDO, <span class="comment">/* post_TPDO */</span>\ |
188 <a name="l00167"></a>00167 <span class="comment">/*& NODE_PREFIX ## _obj1007, */</span> <span class="comment">/* Sync_window_length */</span>\ |
188 <a name="l00167"></a>00167 \ |
189 <a name="l00168"></a>00168 _post_sync, <span class="comment">/* post_sync */</span>\ |
189 <a name="l00168"></a>00168 <span class="comment">/* General */</span>\ |
190 <a name="l00169"></a>00169 _post_TPDO, <span class="comment">/* post_TPDO */</span>\ |
190 <a name="l00169"></a>00169 0, <span class="comment">/* toggle */</span>\ |
191 <a name="l00170"></a>00170 \ |
191 <a name="l00170"></a>00170 NULL, <span class="comment">/* canSend */</span>\ |
192 <a name="l00171"></a>00171 <span class="comment">/* PDO, structure s_process_var */</span>\ |
192 <a name="l00171"></a>00171 NODE_PREFIX ## _scanIndexOD, <span class="comment">/* scanIndexOD */</span>\ |
193 <a name="l00172"></a>00172 {\ |
193 <a name="l00172"></a>00172 _storeODSubIndex, <span class="comment">/* storeODSubIndex */</span>\ |
194 <a name="l00173"></a>00173 0, <span class="comment">/* count */</span>\ |
194 <a name="l00173"></a>00173 NULL, <span class="comment">/*dcf_cursor*/</span>\ |
195 <a name="l00174"></a>00174 {0} <span class="comment">/* data (static use, so that all the table is initialize at 0)*/</span>\ |
195 <a name="l00174"></a>00174 1 <span class="comment">/*dcf_count_targets*/</span>\ |
196 <a name="l00175"></a>00175 },\ |
196 <a name="l00175"></a>00175 } |
197 <a name="l00176"></a>00176 \ |
197 <a name="l00176"></a>00176 |
198 <a name="l00177"></a>00177 <span class="comment">/* General */</span>\ |
198 <a name="l00177"></a>00177 <span class="preprocessor">#endif </span><span class="comment">/* __data_h__ */</span> |
199 <a name="l00178"></a>00178 0, <span class="comment">/* toggle */</span>\ |
199 <a name="l00178"></a>00178 |
200 <a name="l00179"></a>00179 NULL, <span class="comment">/* canSend */</span>\ |
200 <a name="l00179"></a>00179 |
201 <a name="l00180"></a>00180 NODE_PREFIX ## _scanIndexOD, <span class="comment">/* scanIndexOD */</span>\ |
201 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
202 <a name="l00181"></a>00181 _storeODSubIndex, <span class="comment">/* storeODSubIndex */</span>\ |
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203 <a name="l00182"></a>00182 NULL, <span class="comment">/*dcf_cursor*/</span>\ |
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204 <a name="l00183"></a>00183 1 <span class="comment">/*dcf_count_targets*/</span>\ |
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205 <a name="l00184"></a>00184 } |
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206 <a name="l00185"></a>00185 |
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207 <a name="l00186"></a>00186 <span class="preprocessor">#endif </span><span class="comment">/* __data_h__ */</span> |
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208 <a name="l00187"></a>00187 |
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209 <a name="l00188"></a>00188 |
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210 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by |
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211 <a href="http://www.doxygen.org/index.html"> |
202 <a href="http://www.doxygen.org/index.html"> |
212 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
203 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
213 </body> |
204 </body> |
214 </html> |
205 </html> |