--- a/examples/TestMasterSlave/TestSlave.c Fri Jun 29 19:51:39 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.c Mon Jul 02 18:22:58 2007 +0200
@@ -18,6 +18,7 @@
UNS32 SlaveMap10 = 0x0; /* Mapped at index 0x2009, subindex 0x00 */
UNS16 SlaveMap11 = 0x0; /* Mapped at index 0x200A, subindex 0x00 */
INTEGER16 SlaveMap12 = 0x0; /* Mapped at index 0x200B, subindex 0x00 */
+INTEGER16 SlaveMap13 = 0x4D2; /* Mapped at index 0x200C, subindex 0x00 */
/**************************************************************************/
/* Declaration of the value range types */
@@ -34,7 +35,7 @@
/* The node id */
/**************************************************************************/
/* node_id default value.*/
-UNS8 TestSlave_bDeviceNodeId = 0x00;
+UNS8 TestSlave_bDeviceNodeId = 0x02;
/**************************************************************************/
/* Array of message processing information */
@@ -181,6 +182,15 @@
UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */
UNS8 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1800_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
subindex TestSlave_Index1800[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 },
@@ -193,11 +203,20 @@
/* index 0x1801 : Transmit PDO 2 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
- UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x0; /* 0 */
+ UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */
UNS8 TestSlave_obj1801_Transmission_Type = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */
UNS8 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1801_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
subindex TestSlave_Index1801[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 },
@@ -210,11 +229,20 @@
/* index 0x1802 : Transmit PDO 3 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1802 = 5; /* number of subindex - 1*/
- UNS32 TestSlave_obj1802_COB_ID_used_by_PDO = 0x380; /* 896 */
+ UNS32 TestSlave_obj1802_COB_ID_used_by_PDO = 0x382; /* 898 */
UNS8 TestSlave_obj1802_Transmission_Type = 0xFF; /* 255 */
UNS16 TestSlave_obj1802_Inhibit_Time = 0x1388; /* 5000 */
UNS8 TestSlave_obj1802_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1802_Event_Timer = 0x3E8; /* 1000 */
+ ODCallback_t TestSlave_Index1802_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
subindex TestSlave_Index1802[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1802 },
@@ -225,6 +253,58 @@
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1802_Event_Timer }
};
+/* index 0x1803 : Transmit PDO 4 Parameter. */
+ UNS8 TestSlave_highestSubIndex_obj1803 = 5; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1803_COB_ID_used_by_PDO = 0x482; /* 1154 */
+ UNS8 TestSlave_obj1803_Transmission_Type = 0xFC; /* 252 */
+ UNS16 TestSlave_obj1803_Inhibit_Time = 0x0; /* 0 */
+ UNS8 TestSlave_obj1803_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestSlave_obj1803_Event_Timer = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1803_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestSlave_Index1803[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1803 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1803_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1803_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1803_Inhibit_Time },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1803_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1803_Event_Timer }
+ };
+
+/* index 0x1804 : Transmit PDO 5 Parameter. */
+ UNS8 TestSlave_highestSubIndex_obj1804 = 5; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1804_COB_ID_used_by_PDO = 0x401; /* 1025 */
+ UNS8 TestSlave_obj1804_Transmission_Type = 0xFD; /* 253 */
+ UNS16 TestSlave_obj1804_Inhibit_Time = 0x0; /* 0 */
+ UNS8 TestSlave_obj1804_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestSlave_obj1804_Event_Timer = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1804_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestSlave_Index1804[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1804 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1804_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1804_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1804_Inhibit_Time },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1804_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1804_Event_Timer }
+ };
+
/* index 0x1A00 : Transmit PDO 1 Mapping. */
UNS8 TestSlave_highestSubIndex_obj1A00 = 10; /* number of subindex - 1*/
UNS32 TestSlave_obj1A00[] =
@@ -279,6 +359,30 @@
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A02[0] }
};
+/* index 0x1A03 : Transmit PDO 4 Mapping. */
+ UNS8 TestSlave_highestSubIndex_obj1A03 = 1; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1A03[] =
+ {
+ 0x200C0010 /* 537657360 */
+ };
+ subindex TestSlave_Index1A03[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A03 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A03[0] }
+ };
+
+/* index 0x1A04 : Transmit PDO 5 Mapping. */
+ UNS8 TestSlave_highestSubIndex_obj1A04 = 1; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1A04[] =
+ {
+ 0x200C0010 /* 537657360 */
+ };
+ subindex TestSlave_Index1A04[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A04 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A04[0] }
+ };
+
/* index 0x2000 : Mapped variable SlaveMap1 */
subindex TestSlave_Index2000[] =
{
@@ -351,6 +455,12 @@
{ RW, int16, sizeof (INTEGER16), (void*)&SlaveMap12 }
};
+/* index 0x200C : Mapped variable SlaveMap13 */
+ subindex TestSlave_Index200C[] =
+ {
+ { RW, int16, sizeof (INTEGER16), (void*)&SlaveMap13 }
+ };
+
const indextable TestSlave_objdict[] =
{
{ (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000},
@@ -365,9 +475,13 @@
{ (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800},
{ (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801},
{ (subindex*)TestSlave_Index1802,sizeof(TestSlave_Index1802)/sizeof(TestSlave_Index1802[0]), 0x1802},
+ { (subindex*)TestSlave_Index1803,sizeof(TestSlave_Index1803)/sizeof(TestSlave_Index1803[0]), 0x1803},
+ { (subindex*)TestSlave_Index1804,sizeof(TestSlave_Index1804)/sizeof(TestSlave_Index1804[0]), 0x1804},
{ (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00},
{ (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01},
{ (subindex*)TestSlave_Index1A02,sizeof(TestSlave_Index1A02)/sizeof(TestSlave_Index1A02[0]), 0x1A02},
+ { (subindex*)TestSlave_Index1A03,sizeof(TestSlave_Index1A03)/sizeof(TestSlave_Index1A03[0]), 0x1A03},
+ { (subindex*)TestSlave_Index1A04,sizeof(TestSlave_Index1A04)/sizeof(TestSlave_Index1A04[0]), 0x1A04},
{ (subindex*)TestSlave_Index2000,sizeof(TestSlave_Index2000)/sizeof(TestSlave_Index2000[0]), 0x2000},
{ (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001},
{ (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002},
@@ -380,6 +494,7 @@
{ (subindex*)TestSlave_Index2009,sizeof(TestSlave_Index2009)/sizeof(TestSlave_Index2009[0]), 0x2009},
{ (subindex*)TestSlave_Index200A,sizeof(TestSlave_Index200A)/sizeof(TestSlave_Index200A[0]), 0x200A},
{ (subindex*)TestSlave_Index200B,sizeof(TestSlave_Index200B)/sizeof(TestSlave_Index200B[0]), 0x200B},
+ { (subindex*)TestSlave_Index200C,sizeof(TestSlave_Index200C)/sizeof(TestSlave_Index200C[0]), 0x200C},
};
const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
@@ -396,24 +511,29 @@
case 0x1017: i = 6;*callbacks = TestSlave_Index1017_callbacks; break;
case 0x1018: i = 7;break;
case 0x1200: i = 8;break;
- case 0x1800: i = 9;break;
- case 0x1801: i = 10;break;
- case 0x1802: i = 11;break;
- case 0x1A00: i = 12;break;
- case 0x1A01: i = 13;break;
- case 0x1A02: i = 14;break;
- case 0x2000: i = 15;break;
- case 0x2001: i = 16;break;
- case 0x2002: i = 17;break;
- case 0x2003: i = 18;break;
- case 0x2004: i = 19;break;
- case 0x2005: i = 20;break;
- case 0x2006: i = 21;break;
- case 0x2007: i = 22;break;
- case 0x2008: i = 23;break;
- case 0x2009: i = 24;break;
- case 0x200A: i = 25;break;
- case 0x200B: i = 26;break;
+ case 0x1800: i = 9;*callbacks = TestSlave_Index1800_callbacks; break;
+ case 0x1801: i = 10;*callbacks = TestSlave_Index1801_callbacks; break;
+ case 0x1802: i = 11;*callbacks = TestSlave_Index1802_callbacks; break;
+ case 0x1803: i = 12;*callbacks = TestSlave_Index1803_callbacks; break;
+ case 0x1804: i = 13;*callbacks = TestSlave_Index1804_callbacks; break;
+ case 0x1A00: i = 14;break;
+ case 0x1A01: i = 15;break;
+ case 0x1A02: i = 16;break;
+ case 0x1A03: i = 17;break;
+ case 0x1A04: i = 18;break;
+ case 0x2000: i = 19;break;
+ case 0x2001: i = 20;break;
+ case 0x2002: i = 21;break;
+ case 0x2003: i = 22;break;
+ case 0x2004: i = 23;break;
+ case 0x2005: i = 24;break;
+ case 0x2006: i = 25;break;
+ case 0x2007: i = 26;break;
+ case 0x2008: i = 27;break;
+ case 0x2009: i = 28;break;
+ case 0x200A: i = 29;break;
+ case 0x200B: i = 30;break;
+ case 0x200C: i = 31;break;
default:
*errorCode = OD_NO_SUCH_OBJECT;
return NULL;
@@ -427,7 +547,7 @@
* Even if no pdoTransmit are defined, at least one entry is computed
* for compilations issues.
*/
-s_PDO_status TestSlave_PDO_status[3] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer};
+s_PDO_status TestSlave_PDO_status[5] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer};
quick_index TestSlave_firstIndex = {
8, /* SDO_SVR */
@@ -435,7 +555,7 @@
0, /* PDO_RCV */
0, /* PDO_RCV_MAP */
9, /* PDO_TRS */
- 12 /* PDO_TRS_MAP */
+ 14 /* PDO_TRS_MAP */
};
quick_index TestSlave_lastIndex = {
@@ -443,8 +563,8 @@
0, /* SDO_CLT */
0, /* PDO_RCV */
0, /* PDO_RCV_MAP */
- 11, /* PDO_TRS */
- 14 /* PDO_TRS_MAP */
+ 13, /* PDO_TRS */
+ 18 /* PDO_TRS_MAP */
};
UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]);