equal
deleted
inserted
replaced
90 UNS8 toggle; |
90 UNS8 toggle; |
91 canSend_t canSend; |
91 canSend_t canSend; |
92 scanIndexOD_t scanIndexOD; |
92 scanIndexOD_t scanIndexOD; |
93 }; |
93 }; |
94 |
94 |
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95 #define NMTable_Initializer Unknown_state, |
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96 |
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97 #define s_transfer_Initializer {\ |
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98 0, /* nodeId */\ |
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99 0, /* wohami */\ |
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100 SDO_RESET, /* state */\ |
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101 0, /* toggle */\ |
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102 0, /* abortCode */\ |
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103 0, /* index */\ |
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104 0, /* subIndex */\ |
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105 0, /* count */\ |
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106 0, /* offset */\ |
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107 {0}, /* data (static use, so that all the table is initialize at 0)*/\ |
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108 0, /* dataType */\ |
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109 -1, /* timer */\ |
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110 NULL /* Callback */\ |
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111 }, |
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112 |
95 /* A macro to initialize the data in client app.*/ |
113 /* A macro to initialize the data in client app.*/ |
96 /* CO_Data structure */ |
114 /* CO_Data structure */ |
97 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\ |
115 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\ |
98 /* Object dictionary*/\ |
116 /* Object dictionary*/\ |
99 & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\ |
117 & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\ |
104 & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\ |
122 & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\ |
105 & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\ |
123 & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\ |
106 NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\ |
124 NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\ |
107 \ |
125 \ |
108 /* SDO, structure s_transfer */\ |
126 /* SDO, structure s_transfer */\ |
109 { /* WARNING. Only the first element of the table is well initialized. */\ |
127 {\ |
110 /* May be problems for "timer". Is it ok ? (FD) */\ |
128 REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\ |
111 {\ |
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112 0, /* nodeId */\ |
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113 0, /* wohami */\ |
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114 SDO_RESET, /* state */\ |
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115 0, /* toggle */\ |
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116 0, /* abortCode */\ |
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117 0, /* index */\ |
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118 0, /* subIndex */\ |
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119 0, /* count */\ |
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120 0, /* offset */\ |
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121 {0}, /* data (static use, so that all the table is initialize at 0)*/\ |
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122 0, /* dataType */\ |
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123 -1, /* timer */\ |
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124 NULL /* Callback */\ |
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125 }\ |
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126 },\ |
129 },\ |
127 &NODE_PREFIX ## _SDOtimeoutError, /* SDOtimeoutError */\ |
130 &NODE_PREFIX ## _SDOtimeoutError, /* SDOtimeoutError */\ |
128 \ |
131 \ |
129 /* State machine*/\ |
132 /* State machine*/\ |
130 Unknown_state, /* nodeState */\ |
133 Unknown_state, /* nodeState */\ |
148 NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\ |
151 NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\ |
149 & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\ |
152 & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\ |
150 TIMER_NONE, /* ProducerHeartBeatTimer */\ |
153 TIMER_NONE, /* ProducerHeartBeatTimer */\ |
151 NODE_PREFIX ## _heartbeatError, /* heartbeatError */\ |
154 NODE_PREFIX ## _heartbeatError, /* heartbeatError */\ |
152 \ |
155 \ |
153 {Unknown_state}, /* NMTable WARNING : Only the first value */\ |
156 {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ |
154 /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ |
157 /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ |
155 \ |
158 \ |
156 /* SYNC */\ |
159 /* SYNC */\ |
157 TIMER_NONE, /* syncTimer */\ |
160 TIMER_NONE, /* syncTimer */\ |
158 & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\ |
161 & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\ |