--- a/examples/TestMasterSlave/TestMaster.c Fri Jun 29 19:51:39 2007 +0200
+++ b/examples/TestMasterSlave/TestMaster.c Mon Jul 02 18:22:58 2007 +0200
@@ -17,6 +17,8 @@
UNS8 MasterMap9 = 0x0; /* Mapped at index 0x2008, subindex 0x00 */
UNS32 MasterMap10 = 0x0; /* Mapped at index 0x2009, subindex 0x00 */
UNS16 MasterMap11 = 0x0; /* Mapped at index 0x200A, subindex 0x00 */
+INTEGER16 MasterMap12 = 0x0; /* Mapped at index 0x200B, subindex 0x00 */
+INTEGER16 MasterMap13 = 0x0; /* Mapped at index 0x200C, subindex 0x00 */
/**************************************************************************/
/* Declaration of the value range types */
@@ -33,7 +35,7 @@
/* The node id */
/**************************************************************************/
/* node_id default value.*/
-UNS8 TestMaster_bDeviceNodeId = 0x01;
+UNS8 TestMaster_bDeviceNodeId = 0x00;
/**************************************************************************/
/* Array of message processing information */
@@ -161,7 +163,7 @@
/* index 0x1400 : Receive PDO 1 Parameter. */
UNS8 TestMaster_highestSubIndex_obj1400 = 5; /* number of subindex - 1*/
- UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182; /* 386 */
+ UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x200; /* 512 */
UNS8 TestMaster_obj1400_Transmission_Type = 0x1; /* 1 */
UNS16 TestMaster_obj1400_Inhibit_Time = 0x0; /* 0 */
UNS8 TestMaster_obj1400_Compatibility_Entry = 0x0; /* 0 */
@@ -178,7 +180,7 @@
/* index 0x1401 : Receive PDO 2 Parameter. */
UNS8 TestMaster_highestSubIndex_obj1401 = 5; /* number of subindex - 1*/
- UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x0; /* 0 */
+ UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x300; /* 768 */
UNS8 TestMaster_obj1401_Transmission_Type = 0x0; /* 0 */
UNS16 TestMaster_obj1401_Inhibit_Time = 0x0; /* 0 */
UNS8 TestMaster_obj1401_Compatibility_Entry = 0x0; /* 0 */
@@ -193,6 +195,40 @@
{ RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Event_Timer }
};
+/* index 0x1402 : Receive PDO 3 Parameter. */
+ UNS8 TestMaster_highestSubIndex_obj1402 = 5; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1402_COB_ID_used_by_PDO = 0x401; /* 1025 */
+ UNS8 TestMaster_obj1402_Transmission_Type = 0x0; /* 0 */
+ UNS16 TestMaster_obj1402_Inhibit_Time = 0x0; /* 0 */
+ UNS8 TestMaster_obj1402_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestMaster_obj1402_Event_Timer = 0x0; /* 0 */
+ subindex TestMaster_Index1402[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1402 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1402_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1402_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1402_Inhibit_Time },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1402_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1402_Event_Timer }
+ };
+
+/* index 0x1403 : Receive PDO 4 Parameter. */
+ UNS8 TestMaster_highestSubIndex_obj1403 = 5; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1403_COB_ID_used_by_PDO = 0x482; /* 1154 */
+ UNS8 TestMaster_obj1403_Transmission_Type = 0x0; /* 0 */
+ UNS16 TestMaster_obj1403_Inhibit_Time = 0x0; /* 0 */
+ UNS8 TestMaster_obj1403_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestMaster_obj1403_Event_Timer = 0x0; /* 0 */
+ subindex TestMaster_Index1403[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1403 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1403_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1403_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1403_Inhibit_Time },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1403_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1403_Event_Timer }
+ };
+
/* index 0x1600 : Receive PDO 1 Mapping. */
UNS8 TestMaster_highestSubIndex_obj1600 = 10; /* number of subindex - 1*/
UNS32 TestMaster_obj1600[] =
@@ -235,6 +271,30 @@
{ RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] }
};
+/* index 0x1602 : Receive PDO 3 Mapping. */
+ UNS8 TestMaster_highestSubIndex_obj1602 = 1; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1602[] =
+ {
+ 0x200B0010 /* 537591824 */
+ };
+ subindex TestMaster_Index1602[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1602 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1602[0] }
+ };
+
+/* index 0x1603 : Receive PDO 4 Mapping. */
+ UNS8 TestMaster_highestSubIndex_obj1603 = 1; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1603[] =
+ {
+ 0x200C0010 /* 537657360 */
+ };
+ subindex TestMaster_Index1603[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1603 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1603[0] }
+ };
+
/* index 0x1F22 : Concise DCF. */
UNS8 TestMaster_highestSubIndex_obj1F22 = 2; /* number of subindex - 1*/
UNS8* TestMaster_obj1F22[] =
@@ -315,6 +375,18 @@
{ RW, uint16, sizeof (UNS16), (void*)&MasterMap11 }
};
+/* index 0x200B : Mapped variable MasterMap12 */
+ subindex TestMaster_Index200B[] =
+ {
+ { RW, int16, sizeof (INTEGER16), (void*)&MasterMap12 }
+ };
+
+/* index 0x200C : Mapped variable MasterMap13 */
+ subindex TestMaster_Index200C[] =
+ {
+ { RW, int16, sizeof (INTEGER16), (void*)&MasterMap13 }
+ };
+
const indextable TestMaster_objdict[] =
{
{ (subindex*)TestMaster_Index1000,sizeof(TestMaster_Index1000)/sizeof(TestMaster_Index1000[0]), 0x1000},
@@ -328,8 +400,12 @@
{ (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280},
{ (subindex*)TestMaster_Index1400,sizeof(TestMaster_Index1400)/sizeof(TestMaster_Index1400[0]), 0x1400},
{ (subindex*)TestMaster_Index1401,sizeof(TestMaster_Index1401)/sizeof(TestMaster_Index1401[0]), 0x1401},
+ { (subindex*)TestMaster_Index1402,sizeof(TestMaster_Index1402)/sizeof(TestMaster_Index1402[0]), 0x1402},
+ { (subindex*)TestMaster_Index1403,sizeof(TestMaster_Index1403)/sizeof(TestMaster_Index1403[0]), 0x1403},
{ (subindex*)TestMaster_Index1600,sizeof(TestMaster_Index1600)/sizeof(TestMaster_Index1600[0]), 0x1600},
{ (subindex*)TestMaster_Index1601,sizeof(TestMaster_Index1601)/sizeof(TestMaster_Index1601[0]), 0x1601},
+ { (subindex*)TestMaster_Index1602,sizeof(TestMaster_Index1602)/sizeof(TestMaster_Index1602[0]), 0x1602},
+ { (subindex*)TestMaster_Index1603,sizeof(TestMaster_Index1603)/sizeof(TestMaster_Index1603[0]), 0x1603},
{ (subindex*)TestMaster_Index1F22,sizeof(TestMaster_Index1F22)/sizeof(TestMaster_Index1F22[0]), 0x1F22},
{ (subindex*)TestMaster_Index2000,sizeof(TestMaster_Index2000)/sizeof(TestMaster_Index2000[0]), 0x2000},
{ (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001},
@@ -342,6 +418,8 @@
{ (subindex*)TestMaster_Index2008,sizeof(TestMaster_Index2008)/sizeof(TestMaster_Index2008[0]), 0x2008},
{ (subindex*)TestMaster_Index2009,sizeof(TestMaster_Index2009)/sizeof(TestMaster_Index2009[0]), 0x2009},
{ (subindex*)TestMaster_Index200A,sizeof(TestMaster_Index200A)/sizeof(TestMaster_Index200A[0]), 0x200A},
+ { (subindex*)TestMaster_Index200B,sizeof(TestMaster_Index200B)/sizeof(TestMaster_Index200B[0]), 0x200B},
+ { (subindex*)TestMaster_Index200C,sizeof(TestMaster_Index200C)/sizeof(TestMaster_Index200C[0]), 0x200C},
};
const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
@@ -360,20 +438,26 @@
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 0x1F22: i = 13;break;
- case 0x2000: i = 14;break;
- case 0x2001: i = 15;break;
- case 0x2002: i = 16;break;
- case 0x2003: i = 17;break;
- case 0x2004: i = 18;break;
- case 0x2005: i = 19;break;
- case 0x2006: i = 20;break;
- case 0x2007: i = 21;break;
- case 0x2008: i = 22;break;
- case 0x2009: i = 23;break;
- case 0x200A: i = 24;break;
+ case 0x1402: i = 11;break;
+ case 0x1403: i = 12;break;
+ case 0x1600: i = 13;break;
+ case 0x1601: i = 14;break;
+ case 0x1602: i = 15;break;
+ case 0x1603: i = 16;break;
+ case 0x1F22: i = 17;break;
+ case 0x2000: i = 18;break;
+ case 0x2001: i = 19;break;
+ case 0x2002: i = 20;break;
+ case 0x2003: i = 21;break;
+ case 0x2004: i = 22;break;
+ case 0x2005: i = 23;break;
+ case 0x2006: i = 24;break;
+ case 0x2007: i = 25;break;
+ case 0x2008: i = 26;break;
+ case 0x2009: i = 27;break;
+ case 0x200A: i = 28;break;
+ case 0x200B: i = 29;break;
+ case 0x200C: i = 30;break;
default:
*errorCode = OD_NO_SUCH_OBJECT;
return NULL;
@@ -393,7 +477,7 @@
0, /* SDO_SVR */
8, /* SDO_CLT */
9, /* PDO_RCV */
- 11, /* PDO_RCV_MAP */
+ 13, /* PDO_RCV_MAP */
0, /* PDO_TRS */
0 /* PDO_TRS_MAP */
};
@@ -401,8 +485,8 @@
quick_index TestMaster_lastIndex = {
0, /* SDO_SVR */
8, /* SDO_CLT */
- 10, /* PDO_RCV */
- 12, /* PDO_RCV_MAP */
+ 12, /* PDO_RCV */
+ 16, /* PDO_RCV_MAP */
0, /* PDO_TRS */
0 /* PDO_TRS_MAP */
};