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examples/DS401_Slave_Gui/ObjDict.c
changeset 302 7ba4302a9999
parent 295 25ff2fadff89
child 314 68e83c3ffbb5
equal deleted inserted replaced
301:f4b64aa848e1 302:7ba4302a9999 
    82 #define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */
 
    82 #define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */
 
    83 UNS32 ObjDict_valueRangeTest (UNS8 typeValue, void * value)
 
    83 UNS32 ObjDict_valueRangeTest (UNS8 typeValue, void * value)
 
    84 {
 
    84 {
 
    85   switch (typeValue) {
 
    85   switch (typeValue) {
 
    86     case valueRange_EMC:
 
    86     case valueRange_EMC:
 
    87       if (*(UNS8*)value > (UNS8)0) return OD_VALUE_TOO_HIGH;
 
    87       if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
 
    88       break;
 
    88       break;
 
    89   }
 
    89   }
 
    90   return 0;
 
    90   return 0;
 
    91 }
 
    91 }
 
    92 
    92 
    93 /**************************************************************************/
 
    93 /**************************************************************************/
 
    94 /* The node id                                                            */
 
    94 /* The node id                                                            */
 
    95 /**************************************************************************/
 
    95 /**************************************************************************/
 
    96 /* node_id default value.*/
 
    96 /* node_id default value.*/
 
    97 UNS8 ObjDict_bDeviceNodeId = 0x40;
 
    97 UNS8 ObjDict_bDeviceNodeId = 0x00;
 
    98 
    98 
    99 /**************************************************************************/
 
    99 /**************************************************************************/
 
   100 /* Array of message processing information */
 
   100 /* Array of message processing information */
 
   101 
   101 
   102 const UNS8 ObjDict_iam_a_slave = 1;
 
   102 const UNS8 ObjDict_iam_a_slave = 1;
 
   267                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1020_Configuration_Time }
 
   267                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1020_Configuration_Time }
 
   268                      };
 
   268                      };
 
   269 
   269 
   270 /* index 0x1200 :   Server SDO Parameter. */
 
   270 /* index 0x1200 :   Server SDO Parameter. */
 
   271                     UNS8 ObjDict_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
 
   271                     UNS8 ObjDict_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
 
   272                     UNS32 ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x640;	/* 1600 */
 
   272                     UNS32 ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x600;	/* 1536 */
 
   273                     UNS32 ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x5C0;	/* 1472 */
 
   273                     UNS32 ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x580;	/* 1408 */
 
   274                     subindex ObjDict_Index1200[] = 
   274                     subindex ObjDict_Index1200[] = 
   275                      {
 
   275                      {
 
   276                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1200 },
 
   276                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1200 },
 
   277                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO },
 
   277                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO },
 
   278                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
 
   278                        { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
 
   279                      };
 
   279                      };
 
   280 
   280 
   281 /* index 0x1400 :   Receive PDO 1 Parameter. */
 
   281 /* index 0x1400 :   Receive PDO 1 Parameter. */
 
   282                     UNS8 ObjDict_highestSubIndex_obj1400 = 2; /* number of subindex - 1*/
 
   282                     UNS8 ObjDict_highestSubIndex_obj1400 = 2; /* number of subindex - 1*/
 
   283                     UNS32 ObjDict_obj1400_COB_ID_used_by_PDO = 0x240;	/* 576 */
 
   283                     UNS32 ObjDict_obj1400_COB_ID_used_by_PDO = 0x200;	/* 512 */
 
   284                     UNS8 ObjDict_obj1400_Transmission_Type = 0x1;	/* 1 */
 
   284                     UNS8 ObjDict_obj1400_Transmission_Type = 0x1;	/* 1 */
 
   285                     subindex ObjDict_Index1400[] = 
   285                     subindex ObjDict_Index1400[] = 
   286                      {
 
   286                      {
 
   287                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1400 },
 
   287                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1400 },
 
   288                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1400_COB_ID_used_by_PDO },
 
   288                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1400_COB_ID_used_by_PDO },
 
   289                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Transmission_Type }
 
   289                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Transmission_Type }
 
   290                      };
 
   290                      };
 
   291 
   291 
   292 /* index 0x1401 :   Receive PDO 2 Parameter. */
 
   292 /* index 0x1401 :   Receive PDO 2 Parameter. */
 
   293                     UNS8 ObjDict_highestSubIndex_obj1401 = 2; /* number of subindex - 1*/
 
   293                     UNS8 ObjDict_highestSubIndex_obj1401 = 2; /* number of subindex - 1*/
 
   294                     UNS32 ObjDict_obj1401_COB_ID_used_by_PDO = 0x340;	/* 832 */
 
   294                     UNS32 ObjDict_obj1401_COB_ID_used_by_PDO = 0x300;	/* 768 */
 
   295                     UNS8 ObjDict_obj1401_Transmission_Type = 0x1;	/* 1 */
 
   295                     UNS8 ObjDict_obj1401_Transmission_Type = 0x1;	/* 1 */
 
   296                     subindex ObjDict_Index1401[] = 
   296                     subindex ObjDict_Index1401[] = 
   297                      {
 
   297                      {
 
   298                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1401 },
 
   298                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1401 },
 
   299                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1401_COB_ID_used_by_PDO },
 
   299                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1401_COB_ID_used_by_PDO },
 
   300                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1401_Transmission_Type }
 
   300                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1401_Transmission_Type }
 
   301                      };
 
       
   302 
       
   303 /* index 0x1402 :   Receive PDO 3 Parameter. */
 
       
   304                     UNS8 ObjDict_highestSubIndex_obj1402 = 2; /* number of subindex - 1*/
 
       
   305                     UNS32 ObjDict_obj1402_COB_ID_used_by_PDO = 0x80000440;	/* 2147484736 */
 
       
   306                     UNS8 ObjDict_obj1402_Transmission_Type = 0x1;	/* 1 */
 
       
   307                     subindex ObjDict_Index1402[] = 
       
   308                      {
 
       
   309                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1402 },
 
       
   310                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1402_COB_ID_used_by_PDO },
 
       
   311                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1402_Transmission_Type }
 
       
   312                      };
 
       
   313 
       
   314 /* index 0x1403 :   Receive PDO 4 Parameter. */
 
       
   315                     UNS8 ObjDict_highestSubIndex_obj1403 = 2; /* number of subindex - 1*/
 
       
   316                     UNS32 ObjDict_obj1403_COB_ID_used_by_PDO = 0x80000540;	/* 2147484992 */
 
       
   317                     UNS8 ObjDict_obj1403_Transmission_Type = 0x1;	/* 1 */
 
       
   318                     subindex ObjDict_Index1403[] = 
       
   319                      {
 
       
   320                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1403 },
 
       
   321                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1403_COB_ID_used_by_PDO },
 
       
   322                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1403_Transmission_Type }
 
       
   323                      };
 
   301                      };
 
   324 
   302 
   325 /* index 0x1600 :   Receive PDO 1 Mapping. */
 
   303 /* index 0x1600 :   Receive PDO 1 Mapping. */
 
   326                     UNS8 ObjDict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
 
   304                     UNS8 ObjDict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
 
   327                     UNS32 ObjDict_obj1600[] = 
   305                     UNS32 ObjDict_obj1600[] = 
   352                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1601[3] }
 
   330                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1601[3] }
 
   353                      };
 
   331                      };
 
   354 
   332 
   355 /* index 0x1800 :   Transmit PDO 1 Parameter. */
 
   333 /* index 0x1800 :   Transmit PDO 1 Parameter. */
 
   356                     UNS8 ObjDict_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
 
   334                     UNS8 ObjDict_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
 
   357                     UNS32 ObjDict_obj1800_COB_ID_used_by_PDO = 0x1C0;	/* 448 */
 
   335                     UNS32 ObjDict_obj1800_COB_ID_used_by_PDO = 0x180;	/* 384 */
 
   358                     UNS8 ObjDict_obj1800_Transmission_Type = 0x1;	/* 1 */
 
   336                     UNS8 ObjDict_obj1800_Transmission_Type = 0x1;	/* 1 */
 
   359                     UNS16 ObjDict_obj1800_Inhibit_Time = 0x0;	/* 0 */
 
   337                     UNS16 ObjDict_obj1800_Inhibit_Time = 0x0;	/* 0 */
 
   360                     UNS8 ObjDict_obj1800_Compatibility_Entry = 0x0;	/* 0 */
 
   338                     UNS8 ObjDict_obj1800_Compatibility_Entry = 0x0;	/* 0 */
 
   361                     UNS16 ObjDict_obj1800_Event_Timer = 0x0;	/* 0 */
 
   339                     UNS16 ObjDict_obj1800_Event_Timer = 0x0;	/* 0 */
 
   362                     ODCallback_t ObjDict_Index1800_callbacks[] = 
   340                     ODCallback_t ObjDict_Index1800_callbacks[] = 
   378                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Event_Timer }
 
   356                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Event_Timer }
 
   379                      };
 
   357                      };
 
   380 
   358 
   381 /* index 0x1801 :   Transmit PDO 2 Parameter. */
 
   359 /* index 0x1801 :   Transmit PDO 2 Parameter. */
 
   382                     UNS8 ObjDict_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
 
   360                     UNS8 ObjDict_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
 
   383                     UNS32 ObjDict_obj1801_COB_ID_used_by_PDO = 0x2C0;	/* 704 */
 
   361                     UNS32 ObjDict_obj1801_COB_ID_used_by_PDO = 0x280;	/* 640 */
 
   384                     UNS8 ObjDict_obj1801_Transmission_Type = 0x1;	/* 1 */
 
   362                     UNS8 ObjDict_obj1801_Transmission_Type = 0x1;	/* 1 */
 
   385                     UNS16 ObjDict_obj1801_Inhibit_Time = 0x0;	/* 0 */
 
   363                     UNS16 ObjDict_obj1801_Inhibit_Time = 0x0;	/* 0 */
 
   386                     UNS8 ObjDict_obj1801_Compatibility_Entry = 0x0;	/* 0 */
 
   364                     UNS8 ObjDict_obj1801_Compatibility_Entry = 0x0;	/* 0 */
 
   387                     UNS16 ObjDict_obj1801_Event_Timer = 0x0;	/* 0 */
 
   365                     UNS16 ObjDict_obj1801_Event_Timer = 0x0;	/* 0 */
 
   388                     ODCallback_t ObjDict_Index1801_callbacks[] = 
   366                     ODCallback_t ObjDict_Index1801_callbacks[] = 
   404                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1801_Event_Timer }
 
   382                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1801_Event_Timer }
 
   405                      };
 
   383                      };
 
   406 
   384 
   407 /* index 0x1802 :   Transmit PDO 3 Parameter. */
 
   385 /* index 0x1802 :   Transmit PDO 3 Parameter. */
 
   408                     UNS8 ObjDict_highestSubIndex_obj1802 = 5; /* number of subindex - 1*/
 
   386                     UNS8 ObjDict_highestSubIndex_obj1802 = 5; /* number of subindex - 1*/
 
   409                     UNS32 ObjDict_obj1802_COB_ID_used_by_PDO = 0x3C0;	/* 960 */
 
   387                     UNS32 ObjDict_obj1802_COB_ID_used_by_PDO = 0x380;	/* 896 */
 
   410                     UNS8 ObjDict_obj1802_Transmission_Type = 0x1;	/* 1 */
 
   388                     UNS8 ObjDict_obj1802_Transmission_Type = 0x1;	/* 1 */
 
   411                     UNS16 ObjDict_obj1802_Inhibit_Time = 0x0;	/* 0 */
 
   389                     UNS16 ObjDict_obj1802_Inhibit_Time = 0x0;	/* 0 */
 
   412                     UNS8 ObjDict_obj1802_Compatibility_Entry = 0x0;	/* 0 */
 
   390                     UNS8 ObjDict_obj1802_Compatibility_Entry = 0x0;	/* 0 */
 
   413                     UNS16 ObjDict_obj1802_Event_Timer = 0x0;	/* 0 */
 
   391                     UNS16 ObjDict_obj1802_Event_Timer = 0x0;	/* 0 */
 
   414                     ODCallback_t ObjDict_Index1802_callbacks[] = 
   392                     ODCallback_t ObjDict_Index1802_callbacks[] = 
   426                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1802_COB_ID_used_by_PDO },
 
   404                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1802_COB_ID_used_by_PDO },
 
   427                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1802_Transmission_Type },
 
   405                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1802_Transmission_Type },
 
   428                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1802_Inhibit_Time },
 
   406                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1802_Inhibit_Time },
 
   429                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1802_Compatibility_Entry },
 
   407                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1802_Compatibility_Entry },
 
   430                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1802_Event_Timer }
 
   408                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1802_Event_Timer }
 
   431                      };
 
       
   432 
       
   433 /* index 0x1803 :   Transmit PDO 4 Parameter. */
 
       
   434                     UNS8 ObjDict_highestSubIndex_obj1803 = 5; /* number of subindex - 1*/
 
       
   435                     UNS32 ObjDict_obj1803_COB_ID_used_by_PDO = 0x800004C0;	/* 2147484864 */
 
       
   436                     UNS8 ObjDict_obj1803_Transmission_Type = 0x1;	/* 1 */
 
       
   437                     UNS16 ObjDict_obj1803_Inhibit_Time = 0x0;	/* 0 */
 
       
   438                     UNS8 ObjDict_obj1803_Compatibility_Entry = 0x0;	/* 0 */
 
       
   439                     UNS16 ObjDict_obj1803_Event_Timer = 0x0;	/* 0 */
 
       
   440                     ODCallback_t ObjDict_Index1803_callbacks[] = 
       
   441                      {
 
       
   442                        NULL,
 
       
   443                        NULL,
 
       
   444                        NULL,
 
       
   445                        NULL,
 
       
   446                        NULL,
 
       
   447                        NULL,
 
       
   448                      };
 
       
   449                     subindex ObjDict_Index1803[] = 
       
   450                      {
 
       
   451                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1803 },
 
       
   452                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1803_COB_ID_used_by_PDO },
 
       
   453                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1803_Transmission_Type },
 
       
   454                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1803_Inhibit_Time },
 
       
   455                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1803_Compatibility_Entry },
 
       
   456                        { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1803_Event_Timer }
 
       
   457                      };
 
   409                      };
 
   458 
   410 
   459 /* index 0x1A00 :   Transmit PDO 1 Mapping. */
 
   411 /* index 0x1A00 :   Transmit PDO 1 Mapping. */
 
   460                     UNS8 ObjDict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
 
   412                     UNS8 ObjDict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
 
   461                     UNS32 ObjDict_obj1A00[] = 
   413                     UNS32 ObjDict_obj1A00[] = 
   500                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1A02 },
 
   452                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1A02 },
 
   501                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[0] },
 
   453                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[0] },
 
   502                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[1] },
 
   454                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[1] },
 
   503                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[2] },
 
   455                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[2] },
 
   504                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[3] }
 
   456                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A02[3] }
 
   505                      };
 
       
   506 
       
   507 /* index 0x1F50 :   Download Program Data. */
 
       
   508                     UNS8 ObjDict_highestSubIndex_obj1F50 = 3; /* number of subindex - 1*/
 
       
   509                     UNS8 ObjDict_obj1F50_Compatibility_Entry = 0x0;	/* 0 */
 
       
   510                     UNS8 ObjDict_obj1F50_Compatibility = 0x0;	/* 0 */
 
       
   511                     UNS8* ObjDict_obj1F50_Download_Program_Data_HW_Settings = "";
 
       
   512                     subindex ObjDict_Index1F50[] = 
       
   513                      {
 
       
   514                        { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1F50 },
 
       
   515                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1F50_Compatibility_Entry },
 
       
   516                        { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1F50_Compatibility },
 
       
   517                        { RW, domain, 0, (void*)&ObjDict_obj1F50_Download_Program_Data_HW_Settings }
 
       
   518                      };
 
   457                      };
 
   519 
   458 
   520 /* index 0x6000 :   Mapped variable Read Inputs 8 Bit */
 
   459 /* index 0x6000 :   Mapped variable Read Inputs 8 Bit */
 
   521                     UNS8 ObjDict_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/
 
   460                     UNS8 ObjDict_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/
 
   522                     subindex ObjDict_Index6000[] = 
   461                     subindex ObjDict_Index6000[] = 
   652   { (subindex*)ObjDict_Index1018,sizeof(ObjDict_Index1018)/sizeof(ObjDict_Index1018[0]), 0x1018},
 
   591   { (subindex*)ObjDict_Index1018,sizeof(ObjDict_Index1018)/sizeof(ObjDict_Index1018[0]), 0x1018},
 
   653   { (subindex*)ObjDict_Index1020,sizeof(ObjDict_Index1020)/sizeof(ObjDict_Index1020[0]), 0x1020},
 
   592   { (subindex*)ObjDict_Index1020,sizeof(ObjDict_Index1020)/sizeof(ObjDict_Index1020[0]), 0x1020},
 
   654   { (subindex*)ObjDict_Index1200,sizeof(ObjDict_Index1200)/sizeof(ObjDict_Index1200[0]), 0x1200},
 
   593   { (subindex*)ObjDict_Index1200,sizeof(ObjDict_Index1200)/sizeof(ObjDict_Index1200[0]), 0x1200},
 
   655   { (subindex*)ObjDict_Index1400,sizeof(ObjDict_Index1400)/sizeof(ObjDict_Index1400[0]), 0x1400},
 
   594   { (subindex*)ObjDict_Index1400,sizeof(ObjDict_Index1400)/sizeof(ObjDict_Index1400[0]), 0x1400},
 
   656   { (subindex*)ObjDict_Index1401,sizeof(ObjDict_Index1401)/sizeof(ObjDict_Index1401[0]), 0x1401},
 
   595   { (subindex*)ObjDict_Index1401,sizeof(ObjDict_Index1401)/sizeof(ObjDict_Index1401[0]), 0x1401},
 
   657   { (subindex*)ObjDict_Index1402,sizeof(ObjDict_Index1402)/sizeof(ObjDict_Index1402[0]), 0x1402},
 
       
   658   { (subindex*)ObjDict_Index1403,sizeof(ObjDict_Index1403)/sizeof(ObjDict_Index1403[0]), 0x1403},
 
       
   659   { (subindex*)ObjDict_Index1600,sizeof(ObjDict_Index1600)/sizeof(ObjDict_Index1600[0]), 0x1600},
 
   596   { (subindex*)ObjDict_Index1600,sizeof(ObjDict_Index1600)/sizeof(ObjDict_Index1600[0]), 0x1600},
 
   660   { (subindex*)ObjDict_Index1601,sizeof(ObjDict_Index1601)/sizeof(ObjDict_Index1601[0]), 0x1601},
 
   597   { (subindex*)ObjDict_Index1601,sizeof(ObjDict_Index1601)/sizeof(ObjDict_Index1601[0]), 0x1601},
 
   661   { (subindex*)ObjDict_Index1800,sizeof(ObjDict_Index1800)/sizeof(ObjDict_Index1800[0]), 0x1800},
 
   598   { (subindex*)ObjDict_Index1800,sizeof(ObjDict_Index1800)/sizeof(ObjDict_Index1800[0]), 0x1800},
 
   662   { (subindex*)ObjDict_Index1801,sizeof(ObjDict_Index1801)/sizeof(ObjDict_Index1801[0]), 0x1801},
 
   599   { (subindex*)ObjDict_Index1801,sizeof(ObjDict_Index1801)/sizeof(ObjDict_Index1801[0]), 0x1801},
 
   663   { (subindex*)ObjDict_Index1802,sizeof(ObjDict_Index1802)/sizeof(ObjDict_Index1802[0]), 0x1802},
 
   600   { (subindex*)ObjDict_Index1802,sizeof(ObjDict_Index1802)/sizeof(ObjDict_Index1802[0]), 0x1802},
 
   664   { (subindex*)ObjDict_Index1803,sizeof(ObjDict_Index1803)/sizeof(ObjDict_Index1803[0]), 0x1803},
 
       
   665   { (subindex*)ObjDict_Index1A00,sizeof(ObjDict_Index1A00)/sizeof(ObjDict_Index1A00[0]), 0x1A00},
 
   601   { (subindex*)ObjDict_Index1A00,sizeof(ObjDict_Index1A00)/sizeof(ObjDict_Index1A00[0]), 0x1A00},
 
   666   { (subindex*)ObjDict_Index1A01,sizeof(ObjDict_Index1A01)/sizeof(ObjDict_Index1A01[0]), 0x1A01},
 
   602   { (subindex*)ObjDict_Index1A01,sizeof(ObjDict_Index1A01)/sizeof(ObjDict_Index1A01[0]), 0x1A01},
 
   667   { (subindex*)ObjDict_Index1A02,sizeof(ObjDict_Index1A02)/sizeof(ObjDict_Index1A02[0]), 0x1A02},
 
   603   { (subindex*)ObjDict_Index1A02,sizeof(ObjDict_Index1A02)/sizeof(ObjDict_Index1A02[0]), 0x1A02},
 
   668   { (subindex*)ObjDict_Index1F50,sizeof(ObjDict_Index1F50)/sizeof(ObjDict_Index1F50[0]), 0x1F50},
 
       
   669   { (subindex*)ObjDict_Index6000,sizeof(ObjDict_Index6000)/sizeof(ObjDict_Index6000[0]), 0x6000},
 
   604   { (subindex*)ObjDict_Index6000,sizeof(ObjDict_Index6000)/sizeof(ObjDict_Index6000[0]), 0x6000},
 
   670   { (subindex*)ObjDict_Index6002,sizeof(ObjDict_Index6002)/sizeof(ObjDict_Index6002[0]), 0x6002},
 
   605   { (subindex*)ObjDict_Index6002,sizeof(ObjDict_Index6002)/sizeof(ObjDict_Index6002[0]), 0x6002},
 
   671   { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200},
 
   606   { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200},
 
   672   { (subindex*)ObjDict_Index6202,sizeof(ObjDict_Index6202)/sizeof(ObjDict_Index6202[0]), 0x6202},
 
   607   { (subindex*)ObjDict_Index6202,sizeof(ObjDict_Index6202)/sizeof(ObjDict_Index6202[0]), 0x6202},
 
   673   { (subindex*)ObjDict_Index6206,sizeof(ObjDict_Index6206)/sizeof(ObjDict_Index6206[0]), 0x6206},
 
   608   { (subindex*)ObjDict_Index6206,sizeof(ObjDict_Index6206)/sizeof(ObjDict_Index6206[0]), 0x6206},
 
   701 		case 0x1018: i = 13;break;
 
   636 		case 0x1018: i = 13;break;
 
   702 		case 0x1020: i = 14;break;
 
   637 		case 0x1020: i = 14;break;
 
   703 		case 0x1200: i = 15;break;
 
   638 		case 0x1200: i = 15;break;
 
   704 		case 0x1400: i = 16;break;
 
   639 		case 0x1400: i = 16;break;
 
   705 		case 0x1401: i = 17;break;
 
   640 		case 0x1401: i = 17;break;
 
   706 		case 0x1402: i = 18;break;
 
   641 		case 0x1600: i = 18;break;
 
   707 		case 0x1403: i = 19;break;
 
   642 		case 0x1601: i = 19;break;
 
   708 		case 0x1600: i = 20;break;
 
   643 		case 0x1800: i = 20;*callbacks = ObjDict_Index1800_callbacks; break;
 
   709 		case 0x1601: i = 21;break;
 
   644 		case 0x1801: i = 21;*callbacks = ObjDict_Index1801_callbacks; break;
 
   710 		case 0x1800: i = 22;*callbacks = ObjDict_Index1800_callbacks; break;
 
   645 		case 0x1802: i = 22;*callbacks = ObjDict_Index1802_callbacks; break;
 
   711 		case 0x1801: i = 23;*callbacks = ObjDict_Index1801_callbacks; break;
 
   646 		case 0x1A00: i = 23;break;
 
   712 		case 0x1802: i = 24;*callbacks = ObjDict_Index1802_callbacks; break;
 
   647 		case 0x1A01: i = 24;break;
 
   713 		case 0x1803: i = 25;*callbacks = ObjDict_Index1803_callbacks; break;
 
   648 		case 0x1A02: i = 25;break;
 
   714 		case 0x1A00: i = 26;break;
 
   649 		case 0x6000: i = 26;break;
 
   715 		case 0x1A01: i = 27;break;
 
   650 		case 0x6002: i = 27;break;
 
   716 		case 0x1A02: i = 28;break;
 
   651 		case 0x6200: i = 28;break;
 
   717 		case 0x1F50: i = 29;break;
 
   652 		case 0x6202: i = 29;break;
 
   718 		case 0x6000: i = 30;break;
 
   653 		case 0x6206: i = 30;break;
 
   719 		case 0x6002: i = 31;break;
 
   654 		case 0x6207: i = 31;break;
 
   720 		case 0x6200: i = 32;break;
 
   655 		case 0x6401: i = 32;break;
 
   721 		case 0x6202: i = 33;break;
 
   656 		case 0x6411: i = 33;break;
 
   722 		case 0x6206: i = 34;break;
 
   657 		case 0x6423: i = 34;break;
 
   723 		case 0x6207: i = 35;break;
 
   658 		case 0x6426: i = 35;break;
 
   724 		case 0x6401: i = 36;break;
 
   659 		case 0x6443: i = 36;break;
 
   725 		case 0x6411: i = 37;break;
 
   660 		case 0x6444: i = 37;break;
 
   726 		case 0x6423: i = 38;break;
 
       
   727 		case 0x6426: i = 39;break;
 
       
   728 		case 0x6443: i = 40;break;
 
       
   729 		case 0x6444: i = 41;break;
 
       
   730 		default:
 
   661 		default:
 
   731 			*errorCode = OD_NO_SUCH_OBJECT;
 
   662 			*errorCode = OD_NO_SUCH_OBJECT;
 
   732 			return NULL;
 
   663 			return NULL;
 
   733 	}
 
   664 	}
 
   734 	*errorCode = OD_SUCCESSFUL;
 
   665 	*errorCode = OD_SUCCESSFUL;
 
   738 /* 
   669 /* 
   739  * To count at which received SYNC a PDO must be sent.
 
   670  * To count at which received SYNC a PDO must be sent.
 
   740  * Even if no pdoTransmit are defined, at least one entry is computed
 
   671  * Even if no pdoTransmit are defined, at least one entry is computed
 
   741  * for compilations issues.
 
   672  * for compilations issues.
 
   742  */
 
   673  */
 
   743 s_PDO_status ObjDict_PDO_status[4] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer};
 
   674 s_PDO_status ObjDict_PDO_status[3] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer};
 
   744 
   675 
   745 quick_index ObjDict_firstIndex = {
 
   676 quick_index ObjDict_firstIndex = {
 
   746   15, /* SDO_SVR */
 
   677   15, /* SDO_SVR */
 
   747   0, /* SDO_CLT */
 
   678   0, /* SDO_CLT */
 
   748   16, /* PDO_RCV */
 
   679   16, /* PDO_RCV */
 
   749   20, /* PDO_RCV_MAP */
 
   680   18, /* PDO_RCV_MAP */
 
   750   22, /* PDO_TRS */
 
   681   20, /* PDO_TRS */
 
   751   26 /* PDO_TRS_MAP */
 
   682   23 /* PDO_TRS_MAP */
 
   752 };
 
   683 };
 
   753 
   684 
   754 quick_index ObjDict_lastIndex = {
 
   685 quick_index ObjDict_lastIndex = {
 
   755   15, /* SDO_SVR */
 
   686   15, /* SDO_SVR */
 
   756   0, /* SDO_CLT */
 
   687   0, /* SDO_CLT */
 
   757   19, /* PDO_RCV */
 
   688   17, /* PDO_RCV */
 
   758   21, /* PDO_RCV_MAP */
 
   689   19, /* PDO_RCV_MAP */
 
   759   25, /* PDO_TRS */
 
   690   22, /* PDO_TRS */
 
   760   28 /* PDO_TRS_MAP */
 
   691   25 /* PDO_TRS_MAP */
 
   761 };
 
   692 };
 
   762 
   693 
   763 UNS16 ObjDict_ObjdictSize = sizeof(ObjDict_objdict)/sizeof(ObjDict_objdict[0]); 
   694 UNS16 ObjDict_ObjdictSize = sizeof(ObjDict_objdict)/sizeof(ObjDict_objdict[0]); 
   764 
   695 
   765 CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict);
 
   696 CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict);
canfestival