--- a/examples/AppliSlave_HCS12/objdict.c Tue Feb 13 17:21:19 2007 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,621 +0,0 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
-Copyright (C): Edouard TISSERANT and Francis DUPIN
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*/
-
-#include <stddef.h>
-
-#include <applicfg.h>
-#include "def.h"
-#include "can.h"
-#include "objdictdef.h"
-#include "pdo.h"
-#include "sdo.h"
-#include "sync.h"
-#include "lifegrd.h"
-#include "nmtSlave.h"
-
-/**************************************************************************/
-/* Declaration of the mapped variables */
-/**************************************************************************/
-
-
-
-/*// Copy and uncomment this code to your main file
-extern UNS8 seconds; // Mapped at index 0x2000, subindex 0x01
-extern UNS8 minutes; // Mapped at index 0x2000, subindex 0x02
-extern UNS8 hours; // Mapped at index 0x2000, subindex 0x03
-extern UNS8 day; // Mapped at index 0x2000, subindex 0x04
-extern UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x00
-extern UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x00
-extern UNS8 strTest[10]; // Mapped at index 0x6002, subindex 0x00
-
-// END copy to main file
-*/
-
-UNS8 seconds; // Mapped at index 0x2000, subindex 0x01
-UNS8 minutes; // Mapped at index 0x2000, subindex 0x02
-UNS8 hours; // Mapped at index 0x2000, subindex 0x03
-UNS8 day; // Mapped at index 0x2000, subindex 0x04
-UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x00
-UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x00
-UNS8 strTest[10]; // Mapped at index 0x6002, subindex 0x00
-
-/**************************************************************************/
-/* Declaration of the value range types */
-/**************************************************************************/
-
-
-
-UNS32 valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
-{
- return 0;
-}
-
-
-/**************************************************************************/
-/* The node id */
-/**************************************************************************/
-/* Computed by strNode */
-/* node_id default value.
- This default value is deprecated.
- You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code.
-*/
-#define NODE_ID 0x01
-UNS8 bDeviceNodeId = NODE_ID;
-
-
-//*****************************************************************************/
-/* Computed by strStartDico */
-
-/* Array of message processing information */
-/* Should not be modified */
-volatile const proceed_info proceed_infos[] = {
- {NMT, "NMT", proceedNMTstateChange},
- {SYNC, "SYNC", proceedSYNC},
- {TIME_STAMP, "TStmp", NULL},
- {PDO1tx, "PDO1t", proceedPDO},
- {PDO1rx, "PDO1r", proceedPDO},
- {PDO2tx, "PDO2t", proceedPDO},
- {PDO2rx, "PDO2r", proceedPDO},
- {PDO3tx, "PDO3t", proceedPDO},
- {PDO3rx, "PDO3r", proceedPDO},
- {PDO4tx, "PDO4t", proceedPDO},
- {PDO4rx, "PDO4r", proceedPDO},
- {SDOtx, "SDOt", proceedSDO},
- {SDOrx, "SDOr", proceedSDO},
- {0xD, "Unkw", NULL},
- {NODE_GUARD, "NGrd", proceedNMTerror},
- {0xF, "Unkw", NULL}
-};
-
- // Macros definition
-
-/* Beware :
-index *must* be writen 4 numbers in hexa
-sub_index *must* be writen 2 numbers in hexa
-size_variable_in_UNS8 *must* be writen 2 numbers in hexa
-*/
-#define PDO_MAP(index, sub_index, size_variable_in_bits)\
-0x ## index ## sub_index ## size_variable_in_bits
-
-//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
-//
-// OBJECT DICTIONARY
-//
-//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
-// Make your change, depending of your application
-
-
-/* index 0x1000 : Device type.
- You have to change the value below, so
- it fits your canopen-slave-module */
-
- /* Not used, so, should not be modified */
-
- UNS32 obj1000 = 0;
- subindex Index1000[] =
- {
- { RO, uint32, sizeof(UNS32), (void*)&obj1000 }
- };
-
-/* index 0x1001 : Error register.
- Change the entries to fit your application
- Not used, so, should not be modified */
- /*const*/ UNS8 obj1001 = 0x0;
- /*const*/ subindex Index1001[] =
- {
- { RO, uint8, sizeof(UNS8), (void*)&obj1001 }
- };
-
-/* index 0x1005 : COB_ID SYNC */
- /* Should not be modified */
- UNS32 obj1005 = 0x00000080; // bit 30 = 1 : device can generate a SYNC message
- // Beware, it is over written when the node
- // enters in reset mode
- // See initResetMode() in init.c
- /*const*/ subindex Index1005[] =
- {
- { RW, uint32, sizeof(UNS32), (void*)&obj1005 }
- };
-
-/* index 0x1006 : SYNC period */
- // For producing the SYNC signal every n micro-seconds.
- // Put O to not producing SYNC
- /*const*/ UNS32 obj1006 = 0x0;
- // Default 0 to not produce SYNC //
- // Beware, it is over written when the
- // node enters in reset mode.
- // See initResetMode() in init.c
- /*const*/ subindex Index1006[] =
- {
- { RW, uint32, sizeof(UNS32), (void*)&obj1006 }
- };
-
-/* index 0x1007 : Synchronous Window Length
- Seems to be needed by DS401 to generate the SYNC signal ! */
- /*const*/ UNS32 obj1007 = 0x0; /* Default 0 */
- /*const*/ subindex Index1007[] =
- {
- { RW, uint32, sizeof(UNS32), (void*)&obj1007 }
- };
-
-/* index 0x1008 : Manufacturer device name */
- UNS8 obj1008[] = "Appli_Slave_HC12"; /* Default 0 */
- subindex Index1008[] =
- {
- { RO, uint32, sizeof(obj1008), (void*)&obj1008 }
- };
-
-/* index 0x1009 : Manufacturer hardware version */
- UNS8 obj1009[] = __DATE__; /* Default 0 */
- subindex Index1009[] =
- {
- { RO, uint32, sizeof(obj1009), (void*)&obj1009 }
- };
-
-/* index 0x100A : Manufacturer software version */
- UNS8 obj100A[] = __TIME__; /* Default 0 */
- subindex Index100A[] =
- {
- { RO, uint32, sizeof(obj100A), (void*)&obj100A}
- };
-
-/* index 0x1016 : HeartBeat consumers
- The nodes which can send a heartbeat */
- static UNS32 obj1016[] = {// Consumer time for each node
- 0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
-
- static UNS8 obj1016_cnt = 1; // 1 nodes could send me
- // their heartbeat.
- subindex Index1016[] =
- {
- { RO, uint8, sizeof(UNS8), (void*)&obj1016_cnt },
- { RW, uint32, sizeof(UNS32), (void*)&obj1016[0] }
- };
-
-/* index 0x1017 : Heartbeat producer
- Every HBProducerTime, the node sends its heartbeat */
- static UNS16 obj1017 = 0; //HBProducerTime in ms. If 0 : not activated
- // Beware, it is over written when the
- // node enters in reset mode.
- // See initResetMode() in init.c
- subindex Index1017[] =
- {
- { RW, uint16, sizeof(UNS16), &obj1017 }
- };
-
-/* index 0x1018 : Identity object */
- /** index 1018: identify object. Adjust the entries for your node/company
- */
- /* Values can be modified */
-
- s_identity obj1018 =
- {
- 4, // number of supported entries
- 0, // Vendor-ID (given by the can-cia)
- 0, // Product Code
- 0, // Revision number
- 0 // serial number
- };
-
- subindex Index1018[] =
- {
- { RO, uint8, sizeof(UNS8), (void*)&obj1018.count },
- { RO, uint32, sizeof(UNS32), (void*)&obj1018.vendor_id},
- { RO, uint32, sizeof(UNS32), (void*)&obj1018.product_code},
- { RO, uint32, sizeof(UNS32), (void*)&obj1018.revision_number},
- { RO, uint32, sizeof(UNS32), (void*)&obj1018.serial_number}
- };
-
-/* index 0x1200 : The SDO Server parameters */
- /* BEWARE You cannot define more than one SDO server */
- /* The values should not be modified here,
- but can be changed at runtime */
- // Beware that the default values that you could put here
- // will be over written at the initialisation of the node.
- // See setNodeId() in init.c
- static s_sdo_parameter obj1200 =
- { 3, // Number of entries. Always 3 for the SDO
- 0x600 + NODE_ID, // The cob_id transmited in CAN msg to the server
- 0x580 + NODE_ID, // The cob_id received in CAN msg from the server
- NODE_ID // The node id of the client. Should not be modified
- };
- static subindex Index1200[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1200.count },
- { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_client },
- { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_server },
- { RW, uint8, sizeof( UNS8), (void*)&obj1200.node_id }
- };
-
-/* index 0x1280 : SDO client parameter */
- static s_sdo_parameter obj1280 =
- { 3, // Nb of entries
- 0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
- 0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
- 0x0 // server NodeId
- };
- static subindex Index1280[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1280.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_client },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_server },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1280.node_id }
- };
-
-/* index 0x1400 : PDO receive communication parameter */
- static s_pdo_communication_parameter obj1400 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1400[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1400.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1400.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1400.type },
- };
-
-/* index 0x1401 : PDO receive communication parameter */
- static s_pdo_communication_parameter obj1401 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1401[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1401.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1401.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1401.type },
- };
-
-/* index 0x1402 : PDO receive communication parameter */
- static s_pdo_communication_parameter obj1402 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1402[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1402.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1402.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1402.type },
- };
-
-/* index 0x1600 : PDO receive mapping parameter of PDO communication index 0x1400 */
- static UNS8 obj1600_cnt = 0; // Number of mapped variables
- static UNS32 obj1600_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1600[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1600_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[7]}
- };
-
-/* index 0x1601 : PDO receive mapping parameter of PDO communication index 0x1401 */
- static UNS8 obj1601_cnt = 0; // Number of mapped variables
- static UNS32 obj1601_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1601[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1601_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[7]}
- };
-
-/* index 0x1602 : PDO receive mapping parameter of PDO communication index 0x1402 */
- static UNS8 obj1602_cnt = 0; // Number of mapped variables
- static UNS32 obj1602_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1602[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1602_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[7]}
- };
-
-/* index 0x1800 : PDO transmit communication parameter */
- static s_pdo_communication_parameter obj1800 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1800[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1800.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1800.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1800.type },
- };
-
-/* index 0x1801 : PDO transmit communication parameter */
- static s_pdo_communication_parameter obj1801 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1801[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1801.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1801.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1801.type },
- };
-
-/* index 0x1802 : PDO transmit communication parameter */
- static s_pdo_communication_parameter obj1802 =
- { 2, // Largest subindex supported
- 0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
- 253 // Transmission type. See objdictdef.h
- };
- static subindex Index1802[] =
- {
- { RO, uint8, sizeof( UNS8 ), (void*)&obj1802.count },
- { RW, uint8, sizeof( UNS32 ), (void*)&obj1802.cob_id },
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1802.type },
- };
-
-/* index 0x1A00 : PDO transmit mapping parameter of PDO communication index 0x1800 */
- static UNS8 obj1A00_cnt = 0; // Number of mapped variables
- static UNS32 obj1A00_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1A00[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1A00_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[7]}
- };
-
-/* index 0x1A01 : PDO transmit mapping parameter of PDO communication index 0x1801 */
- static UNS8 obj1A01_cnt = 0; // Number of mapped variables
- static UNS32 obj1A01_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1A01[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1A01_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[7]}
- };
-
-/* index 0x1A02 : PDO transmit mapping parameter of PDO communication index 0x1802 */
- static UNS8 obj1A02_cnt = 0; // Number of mapped variables
- static UNS32 obj1A02_mappedVar[] = {
- // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
- // PDO_MAP(6035,12,16)
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00),
- PDO_MAP(0000, 00, 00)
- };
- subindex Index1A02[] =
- {
- { RW, uint8, sizeof( UNS8 ), (void*)&obj1A02_cnt },
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[0]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[1]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[2]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[3]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[4]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[5]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[6]},
- { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[7]}
- };
-
-
-/* index 0x2000 : Mapped variable */
- static UNS8 highestSubIndex_2000 = 4; // number of subindex - 1
- subindex Index2000[] =
- {
- { RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_2000 },
- { RW, uint8, sizeof (UNS8), (void*)&seconds },
- { RW, uint8, sizeof (UNS8), (void*)&minutes },
- { RW, uint8, sizeof (UNS8), (void*)&hours },
- { RW, uint8, sizeof (UNS8), (void*)&day }
- };
-
-/* index 0x6000 : Mapped variable */
- subindex Index6000[] =
- {
- { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
- };
-
-/* index 0x6001 : Mapped variable */
- subindex Index6001[] =
- {
- { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
- };
-
-/* index 0x6002 : Mapped variable */
- subindex Index6002[] =
- {
- { RW, visible_string, sizeof (strTest), (void*)&strTest }
- };
-
-const indextable objdict[] =
-{
- DeclareIndexTableEntry(Index1000, 0x1000),
- DeclareIndexTableEntry(Index1001, 0x1001),
- DeclareIndexTableEntry(Index1005, 0x1005),
- DeclareIndexTableEntry(Index1006, 0x1006),
- DeclareIndexTableEntry(Index1007, 0x1007),
- DeclareIndexTableEntry(Index1008, 0x1008),
- DeclareIndexTableEntry(Index1009, 0x1009),
- DeclareIndexTableEntry(Index100A, 0x100A),
- DeclareIndexTableEntry(Index1016, 0x1016),
- DeclareIndexTableEntry(Index1017, 0x1017),
- DeclareIndexTableEntry(Index1018, 0x1018),
- DeclareIndexTableEntry(Index1200, 0x1200),
- DeclareIndexTableEntry(Index1280, 0x1280),
- DeclareIndexTableEntry(Index1400, 0x1400),
- DeclareIndexTableEntry(Index1401, 0x1401),
- DeclareIndexTableEntry(Index1402, 0x1402),
- DeclareIndexTableEntry(Index1600, 0x1600),
- DeclareIndexTableEntry(Index1601, 0x1601),
- DeclareIndexTableEntry(Index1602, 0x1602),
- DeclareIndexTableEntry(Index1800, 0x1800),
- DeclareIndexTableEntry(Index1801, 0x1801),
- DeclareIndexTableEntry(Index1802, 0x1802),
- DeclareIndexTableEntry(Index1A00, 0x1A00),
- DeclareIndexTableEntry(Index1A01, 0x1A01),
- DeclareIndexTableEntry(Index1A02, 0x1A02),
- DeclareIndexTableEntry(Index2000, 0x2000),
- DeclareIndexTableEntry(Index6000, 0x6000),
- DeclareIndexTableEntry(Index6001, 0x6001),
- DeclareIndexTableEntry(Index6002, 0x6002),
-};
-
-// To count at which received SYNC a PDO must be sent.
-// Even if no pdoTransmit are defined, at least one entry is computed
-// for compilations issues.
-UNS8 count_sync[1] = {0, };
-
-UNS16 firstIndex (enum e_first_object object, UNS16 *lastIndex)
-{
- switch (object) {
- case FIRST_SDO_SERVER :
- *lastIndex = 11;
- return 11;
- case FIRST_SDO_CLIENT :
- *lastIndex = 12;
- return 12;
- case FIRST_PDO_RCV :
- *lastIndex = 15;
- return 13;
- case FIRST_PDO_RCV_MAP :
- *lastIndex = 18;
- return 16;
- case FIRST_PDO_TRS :
- *lastIndex = 21;
- return 19;
- case FIRST_PDO_TRS_MAP :
- *lastIndex = 24;
- return 22;
- }
- *lastIndex = 0;
- return 0;
-}
-
-UNS16 getObjdictSize (void)
-{
- return sizeof(objdict)/sizeof(objdict[0]);
-}