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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 /* File generated by gen_cfile.py. Should not be modified. */ |
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24 |
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25 #include "TestSlave.h" |
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26 |
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27 /**************************************************************************/ |
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28 /* Declaration of the mapped variables */ |
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29 /**************************************************************************/ |
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30 UNS8 SlaveMap1 = 0x0; // Mapped at index 0x2000, subindex 0x00 |
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31 UNS8 SlaveMap2 = 0x0; // Mapped at index 0x2001, subindex 0x00 |
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32 UNS8 SlaveMap3 = 0x0; // Mapped at index 0x2002, subindex 0x00 |
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33 UNS8 SlaveMap4 = 0x0; // Mapped at index 0x2003, subindex 0x00 |
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34 |
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35 /**************************************************************************/ |
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36 /* Declaration of the value range types */ |
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37 /**************************************************************************/ |
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38 |
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39 UNS32 TestSlave_valueRangeTest (UNS8 typeValue, void * value) |
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40 { |
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41 switch (typeValue) { |
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42 } |
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43 return 0; |
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44 } |
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45 |
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46 /**************************************************************************/ |
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47 /* The node id */ |
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48 /**************************************************************************/ |
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49 /* node_id default value.*/ |
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50 UNS8 TestSlave_bDeviceNodeId = 0x00; |
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51 |
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52 //*****************************************************************************/ |
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53 /* Array of message processing information */ |
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54 |
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55 const UNS8 TestSlave_iam_a_slave = 1; |
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56 |
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57 TIMER_HANDLE TestSlave_heartBeatTimers[0]; |
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58 |
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59 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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60 // |
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61 // OBJECT DICTIONARY |
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62 // |
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63 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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64 |
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65 /* index 0x1000 : Device Type. */ |
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66 UNS32 TestSlave_obj1000 = 0x12D; |
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67 subindex TestSlave_Index1000[] = |
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68 { |
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69 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1000 } |
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70 }; |
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71 |
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72 /* index 0x1001 : Error Register. */ |
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73 UNS8 TestSlave_obj1001 = 0x0; |
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74 subindex TestSlave_Index1001[] = |
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75 { |
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76 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_obj1001 } |
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77 }; |
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78 |
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79 /* index 0x1005 : SYNC COB ID. */ |
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80 UNS32 TestSlave_obj1005 = 0x80; |
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81 ODCallback_t TestSlave_Index1005_callbacks[] = |
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82 { |
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83 NULL, |
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84 }; |
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85 subindex TestSlave_Index1005[] = |
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86 { |
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87 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1005 } |
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88 }; |
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89 |
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90 /* index 0x1006 : Communication / Cycle Period. */ |
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91 UNS32 TestSlave_obj1006 = 0x0; |
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92 ODCallback_t TestSlave_Index1006_callbacks[] = |
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93 { |
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94 NULL, |
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95 }; |
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96 subindex TestSlave_Index1006[] = |
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97 { |
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98 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1006 } |
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99 }; |
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100 |
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101 /* index 0x1016 : Consumer Heartbeat Time */ |
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102 UNS8 TestSlave_highestSubIndex_obj1016 = 0; |
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103 UNS32 TestSlave_obj1016[0]; |
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104 subindex TestSlave_Index1016[0]; |
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105 |
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106 /* index 0x1017 : Producer Heartbeat Time. */ |
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107 UNS16 TestSlave_obj1017 = 0x3E8; |
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108 subindex TestSlave_Index1017[] = |
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109 { |
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110 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 } |
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111 }; |
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112 |
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113 /* index 0x1018 : Identity. */ |
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114 UNS8 TestSlave_highestSubIndex_obj1018 = 4; // number of subindex - 1 |
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115 UNS32 TestSlave_obj1018_Vendor_ID = 0x0; |
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116 UNS32 TestSlave_obj1018_Product_Code = 0x0; |
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117 UNS32 TestSlave_obj1018_Revision_Number = 0x0; |
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118 UNS32 TestSlave_obj1018_Serial_Number = 0x0; |
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119 subindex TestSlave_Index1018[] = |
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120 { |
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121 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 }, |
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122 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Vendor_ID }, |
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123 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Product_Code }, |
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124 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Revision_Number }, |
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125 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Serial_Number } |
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126 }; |
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127 |
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128 /* index 0x1200 : Server SDO Parameter. */ |
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129 UNS8 TestSlave_highestSubIndex_obj1200 = 2; // number of subindex - 1 |
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130 UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601; |
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131 UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581; |
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132 subindex TestSlave_Index1200[] = |
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133 { |
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134 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1200 }, |
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135 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO }, |
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136 { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO } |
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137 }; |
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138 |
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139 /* index 0x1800 : Transmit PDO 1 Parameter. */ |
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140 UNS8 TestSlave_highestSubIndex_obj1800 = 5; // number of subindex - 1 |
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141 UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; |
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142 UNS8 TestSlave_obj1800_Transmission_Type = 0x1; |
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143 UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; |
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144 UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; |
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145 UNS16 TestSlave_obj1800_Event_Timer = 0x0; |
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146 subindex TestSlave_Index1800[] = |
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147 { |
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148 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 }, |
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149 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1800_COB_ID_used_by_PDO }, |
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150 { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Transmission_Type }, |
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151 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Inhibit_Time }, |
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152 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Compatibility_Entry }, |
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153 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Event_Timer } |
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154 }; |
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155 |
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156 /* index 0x1801 : Transmit PDO 2 Parameter. */ |
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157 UNS8 TestSlave_highestSubIndex_obj1801 = 5; // number of subindex - 1 |
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158 UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; |
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159 UNS8 TestSlave_obj1801_Transmission_Type = 0x1; |
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160 UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; |
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161 UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; |
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162 UNS16 TestSlave_obj1801_Event_Timer = 0x0; |
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163 subindex TestSlave_Index1801[] = |
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164 { |
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165 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 }, |
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166 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1801_COB_ID_used_by_PDO }, |
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167 { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Transmission_Type }, |
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168 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Inhibit_Time }, |
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169 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Compatibility_Entry }, |
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170 { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Event_Timer } |
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171 }; |
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172 |
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173 /* index 0x1A00 : Transmit PDO 1 Mapping. */ |
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174 UNS8 TestSlave_highestSubIndex_obj1A00 = 2; // number of subindex - 1 |
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175 UNS32 TestSlave_obj1A00[] = |
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176 { |
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177 536870920, |
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178 536936456 |
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179 }; |
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180 subindex TestSlave_Index1A00[] = |
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181 { |
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182 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 }, |
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183 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] }, |
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184 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] } |
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185 }; |
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186 |
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187 /* index 0x1A01 : Transmit PDO 2 Mapping. */ |
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188 UNS8 TestSlave_highestSubIndex_obj1A01 = 2; // number of subindex - 1 |
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189 UNS32 TestSlave_obj1A01[] = |
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190 { |
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191 537001992, |
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192 537067528 |
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193 }; |
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194 subindex TestSlave_Index1A01[] = |
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195 { |
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196 { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 }, |
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197 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] }, |
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198 { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] } |
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199 }; |
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200 |
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201 /* index 0x2000 : Mapped variable SlaveMap1 */ |
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202 subindex TestSlave_Index2000[] = |
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203 { |
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204 { RW, uint8, sizeof (UNS8), (void*)&SlaveMap1 } |
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205 }; |
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206 |
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207 /* index 0x2001 : Mapped variable SlaveMap2 */ |
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208 subindex TestSlave_Index2001[] = |
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209 { |
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210 { RW, uint8, sizeof (UNS8), (void*)&SlaveMap2 } |
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211 }; |
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212 |
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213 /* index 0x2002 : Mapped variable SlaveMap3 */ |
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214 subindex TestSlave_Index2002[] = |
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215 { |
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216 { RW, uint8, sizeof (UNS8), (void*)&SlaveMap3 } |
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217 }; |
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218 |
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219 /* index 0x2003 : Mapped variable SlaveMap4 */ |
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220 subindex TestSlave_Index2003[] = |
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221 { |
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222 { RW, uint8, sizeof (UNS8), (void*)&SlaveMap4 } |
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223 }; |
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224 |
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225 const indextable TestSlave_objdict[] = |
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226 { |
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227 { (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000}, |
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228 { (subindex*)TestSlave_Index1001,sizeof(TestSlave_Index1001)/sizeof(TestSlave_Index1001[0]), 0x1001}, |
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229 { (subindex*)TestSlave_Index1005,sizeof(TestSlave_Index1005)/sizeof(TestSlave_Index1005[0]), 0x1005}, |
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230 { (subindex*)TestSlave_Index1006,sizeof(TestSlave_Index1006)/sizeof(TestSlave_Index1006[0]), 0x1006}, |
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231 { (subindex*)TestSlave_Index1017,sizeof(TestSlave_Index1017)/sizeof(TestSlave_Index1017[0]), 0x1017}, |
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232 { (subindex*)TestSlave_Index1018,sizeof(TestSlave_Index1018)/sizeof(TestSlave_Index1018[0]), 0x1018}, |
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233 { (subindex*)TestSlave_Index1200,sizeof(TestSlave_Index1200)/sizeof(TestSlave_Index1200[0]), 0x1200}, |
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234 { (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800}, |
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235 { (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801}, |
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236 { (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00}, |
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237 { (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01}, |
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238 { (subindex*)TestSlave_Index2000,sizeof(TestSlave_Index2000)/sizeof(TestSlave_Index2000[0]), 0x2000}, |
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239 { (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001}, |
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240 { (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002}, |
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241 { (subindex*)TestSlave_Index2003,sizeof(TestSlave_Index2003)/sizeof(TestSlave_Index2003[0]), 0x2003}, |
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242 }; |
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243 |
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244 const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) |
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245 { |
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246 int i; |
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247 switch(wIndex){ |
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248 case 0x1000: i = 0; *callbacks = NULL; break; |
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249 case 0x1001: i = 1; *callbacks = NULL; break; |
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250 case 0x1005: i = 2; *callbacks = TestSlave_Index1005_callbacks; break; |
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251 case 0x1006: i = 3; *callbacks = TestSlave_Index1006_callbacks; break; |
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252 case 0x1017: i = 4; *callbacks = NULL; break; |
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253 case 0x1018: i = 5; *callbacks = NULL; break; |
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254 case 0x1200: i = 6; *callbacks = NULL; break; |
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255 case 0x1800: i = 7; *callbacks = NULL; break; |
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256 case 0x1801: i = 8; *callbacks = NULL; break; |
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257 case 0x1A00: i = 9; *callbacks = NULL; break; |
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258 case 0x1A01: i = 10; *callbacks = NULL; break; |
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259 case 0x2000: i = 11; *callbacks = NULL; break; |
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260 case 0x2001: i = 12; *callbacks = NULL; break; |
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261 case 0x2002: i = 13; *callbacks = NULL; break; |
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262 case 0x2003: i = 14; *callbacks = NULL; break; |
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263 default: |
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264 *errorCode = OD_NO_SUCH_OBJECT; |
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265 return NULL; |
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266 } |
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267 *errorCode = OD_SUCCESSFUL; |
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268 return &TestSlave_objdict[i]; |
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269 } |
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270 |
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271 // To count at which received SYNC a PDO must be sent. |
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272 // Even if no pdoTransmit are defined, at least one entry is computed |
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273 // for compilations issues. |
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274 UNS8 TestSlave_count_sync[2] = {0,}; |
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275 |
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276 quick_index TestSlave_firstIndex = { |
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277 SDO_SVR : 6, |
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278 SDO_CLT : 0, |
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279 PDO_RCV : 0, |
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280 PDO_RCV_MAP : 0, |
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281 PDO_TRS : 7, |
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282 PDO_TRS_MAP : 9 |
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283 }; |
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284 |
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285 quick_index TestSlave_lastIndex = { |
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286 SDO_SVR : 6, |
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287 SDO_CLT : 0, |
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288 PDO_RCV : 0, |
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289 PDO_RCV_MAP : 0, |
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290 PDO_TRS : 8, |
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291 PDO_TRS_MAP : 10 |
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292 }; |
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293 |
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294 UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]); |
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295 |
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296 CO_Data TestSlave_Data = CANOPEN_NODE_DATA_INITIALIZER(TestSlave); |
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297 |