--- a/examples/TestMasterSlave/TestMaster.c Mon May 22 09:46:29 2006 +0200
+++ b/examples/TestMasterSlave/TestMaster.c Tue May 23 01:15:22 2006 +0200
@@ -63,21 +63,21 @@
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
/* index 0x1000 : Device Type. */
- UNS32 TestMaster_obj1000 = 0x12D;
+ UNS32 TestMaster_obj1000 = 0x12D; // 301
subindex TestMaster_Index1000[] =
{
{ RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1000 }
};
/* index 0x1001 : Error Register. */
- UNS8 TestMaster_obj1001 = 0x0;
+ UNS8 TestMaster_obj1001 = 0x0; // 0
subindex TestMaster_Index1001[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestMaster_obj1001 }
};
/* index 0x1005 : SYNC COB ID. */
- UNS32 TestMaster_obj1005 = 0x40000080;
+ UNS32 TestMaster_obj1005 = 0x40000080; // 1073741952
ODCallback_t TestMaster_Index1005_callbacks[] =
{
NULL,
@@ -88,7 +88,7 @@
};
/* index 0x1006 : Communication / Cycle Period. */
- UNS32 TestMaster_obj1006 = 0xC350;
+ UNS32 TestMaster_obj1006 = 0xC350; // 50000
ODCallback_t TestMaster_Index1006_callbacks[] =
{
NULL,
@@ -98,11 +98,57 @@
{ RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1006 }
};
+/* index 0x1010 : Store parameters. */
+ UNS8 TestMaster_highestSubIndex_obj1010 = 4; // number of subindex - 1
+ UNS32 TestMaster_obj1010_Save_All_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1010_Save_Communication_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1010_Save_Application_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1010_Save_Manufacturer_Parameters = 0x0; // 0
+ ODCallback_t TestMaster_Index1010_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestMaster_Index1010[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1010 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_All_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Communication_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Application_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Manufacturer_Parameters }
+ };
+
+/* index 0x1011 : Restore Default Parameters. */
+ UNS8 TestMaster_highestSubIndex_obj1011 = 4; // number of subindex - 1
+ UNS32 TestMaster_obj1011_Restore_All_Default_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1011_Restore_Communication_Default_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1011_Restore_Application_Default_Parameters = 0x0; // 0
+ UNS32 TestMaster_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; // 0
+ ODCallback_t TestMaster_Index1011_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestMaster_Index1011[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1011 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_All_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Communication_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Application_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Manufacturer_Default_Parameters }
+ };
+
/* index 0x1016 : Consumer Heartbeat Time. */
UNS8 TestMaster_highestSubIndex_obj1016 = 1; // number of subindex - 1
UNS32 TestMaster_obj1016[] =
{
- 133122
+ 0x20802 // 133122
};
subindex TestMaster_Index1016[] =
{
@@ -111,14 +157,14 @@
};
/* index 0x1017 : Producer Heartbeat Time */
- UNS16 TestMaster_obj1017 = 0;
+ UNS16 TestMaster_obj1017 = 0x0; // 0
/* index 0x1018 : Identity. */
UNS8 TestMaster_highestSubIndex_obj1018 = 4; // number of subindex - 1
- UNS32 TestMaster_obj1018_Vendor_ID = 0x0;
- UNS32 TestMaster_obj1018_Product_Code = 0x0;
- UNS32 TestMaster_obj1018_Revision_Number = 0x0;
- UNS32 TestMaster_obj1018_Serial_Number = 0x0;
+ UNS32 TestMaster_obj1018_Vendor_ID = 0x0; // 0
+ UNS32 TestMaster_obj1018_Product_Code = 0x0; // 0
+ UNS32 TestMaster_obj1018_Revision_Number = 0x0; // 0
+ UNS32 TestMaster_obj1018_Serial_Number = 0x0; // 0
subindex TestMaster_Index1018[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1018 },
@@ -130,9 +176,9 @@
/* index 0x1280 : Client SDO 1 Parameter. */
UNS8 TestMaster_highestSubIndex_obj1280 = 3; // number of subindex - 1
- UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x602;
- UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x582;
- UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2;
+ UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x602; // 1538
+ UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x582; // 1410
+ UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2; // 2
subindex TestMaster_Index1280[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1280 },
@@ -143,11 +189,11 @@
/* index 0x1400 : Receive PDO 1 Parameter. */
UNS8 TestMaster_highestSubIndex_obj1400 = 5; // number of subindex - 1
- UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182;
- UNS8 TestMaster_obj1400_Transmission_Type = 0x1;
- UNS16 TestMaster_obj1400_Inhibit_Time = 0x0;
- UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0;
- UNS16 TestMaster_obj1400_Event_Timer = 0x0;
+ UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182; // 386
+ UNS8 TestMaster_obj1400_Transmission_Type = 0x1; // 1
+ UNS16 TestMaster_obj1400_Inhibit_Time = 0x0; // 0
+ UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0; // 0
+ UNS16 TestMaster_obj1400_Event_Timer = 0x0; // 0
subindex TestMaster_Index1400[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1400 },
@@ -160,11 +206,11 @@
/* index 0x1401 : Receive PDO 2 Parameter. */
UNS8 TestMaster_highestSubIndex_obj1401 = 5; // number of subindex - 1
- UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x282;
- UNS8 TestMaster_obj1401_Transmission_Type = 0x1;
- UNS16 TestMaster_obj1401_Inhibit_Time = 0x0;
- UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0;
- UNS16 TestMaster_obj1401_Event_Timer = 0x0;
+ UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x282; // 642
+ UNS8 TestMaster_obj1401_Transmission_Type = 0x1; // 1
+ UNS16 TestMaster_obj1401_Inhibit_Time = 0x0; // 0
+ UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0; // 0
+ UNS16 TestMaster_obj1401_Event_Timer = 0x0; // 0
subindex TestMaster_Index1401[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1401 },
@@ -179,8 +225,8 @@
UNS8 TestMaster_highestSubIndex_obj1600 = 2; // number of subindex - 1
UNS32 TestMaster_obj1600[] =
{
- 536870920,
- 536936456
+ 0x20000008, // 536870920
+ 0x20010008 // 536936456
};
subindex TestMaster_Index1600[] =
{
@@ -193,8 +239,8 @@
UNS8 TestMaster_highestSubIndex_obj1601 = 2; // number of subindex - 1
UNS32 TestMaster_obj1601[] =
{
- 537001992,
- 537067528
+ 0x20020008, // 537001992
+ 0x20030008 // 537067528
};
subindex TestMaster_Index1601[] =
{
@@ -237,6 +283,8 @@
{ (subindex*)TestMaster_Index1001,sizeof(TestMaster_Index1001)/sizeof(TestMaster_Index1001[0]), 0x1001},
{ (subindex*)TestMaster_Index1005,sizeof(TestMaster_Index1005)/sizeof(TestMaster_Index1005[0]), 0x1005},
{ (subindex*)TestMaster_Index1006,sizeof(TestMaster_Index1006)/sizeof(TestMaster_Index1006[0]), 0x1006},
+ { (subindex*)TestMaster_Index1010,sizeof(TestMaster_Index1010)/sizeof(TestMaster_Index1010[0]), 0x1010},
+ { (subindex*)TestMaster_Index1011,sizeof(TestMaster_Index1011)/sizeof(TestMaster_Index1011[0]), 0x1011},
{ (subindex*)TestMaster_Index1016,sizeof(TestMaster_Index1016)/sizeof(TestMaster_Index1016[0]), 0x1016},
{ (subindex*)TestMaster_Index1018,sizeof(TestMaster_Index1018)/sizeof(TestMaster_Index1018[0]), 0x1018},
{ (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280},
@@ -253,22 +301,25 @@
const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
{
int i;
+ *callbacks = NULL;
switch(wIndex){
- case 0x1000: i = 0; *callbacks = NULL; break;
- case 0x1001: i = 1; *callbacks = NULL; break;
- case 0x1005: i = 2; *callbacks = TestMaster_Index1005_callbacks; break;
- case 0x1006: i = 3; *callbacks = TestMaster_Index1006_callbacks; break;
- case 0x1016: i = 4; *callbacks = NULL; break;
- case 0x1018: i = 5; *callbacks = NULL; break;
- case 0x1280: i = 6; *callbacks = NULL; break;
- case 0x1400: i = 7; *callbacks = NULL; break;
- case 0x1401: i = 8; *callbacks = NULL; break;
- case 0x1600: i = 9; *callbacks = NULL; break;
- case 0x1601: i = 10; *callbacks = NULL; break;
- case 0x2000: i = 11; *callbacks = MasterMap1_callbacks; break;
- case 0x2001: i = 12; *callbacks = NULL; break;
- case 0x2002: i = 13; *callbacks = NULL; break;
- case 0x2003: i = 14; *callbacks = NULL; break;
+ case 0x1000: i = 0;break;
+ case 0x1001: i = 1;break;
+ case 0x1005: i = 2;*callbacks = TestMaster_Index1005_callbacks; break;
+ case 0x1006: i = 3;*callbacks = TestMaster_Index1006_callbacks; break;
+ case 0x1010: i = 4;*callbacks = TestMaster_Index1010_callbacks; break;
+ case 0x1011: i = 5;*callbacks = TestMaster_Index1011_callbacks; break;
+ case 0x1016: i = 6;break;
+ case 0x1018: i = 7;break;
+ case 0x1280: i = 8;break;
+ case 0x1400: i = 9;break;
+ case 0x1401: i = 10;break;
+ case 0x1600: i = 11;break;
+ case 0x1601: i = 12;break;
+ case 0x2000: i = 13;*callbacks = MasterMap1_callbacks; break;
+ case 0x2001: i = 14;break;
+ case 0x2002: i = 15;break;
+ case 0x2003: i = 16;break;
default:
*errorCode = OD_NO_SUCH_OBJECT;
return NULL;
@@ -284,18 +335,18 @@
quick_index TestMaster_firstIndex = {
SDO_SVR : 0,
- SDO_CLT : 6,
- PDO_RCV : 7,
- PDO_RCV_MAP : 9,
+ SDO_CLT : 8,
+ PDO_RCV : 9,
+ PDO_RCV_MAP : 11,
PDO_TRS : 0,
PDO_TRS_MAP : 0
};
quick_index TestMaster_lastIndex = {
SDO_SVR : 0,
- SDO_CLT : 6,
- PDO_RCV : 8,
- PDO_RCV_MAP : 10,
+ SDO_CLT : 8,
+ PDO_RCV : 10,
+ PDO_RCV_MAP : 12,
PDO_TRS : 0,
PDO_TRS_MAP : 0
};