/*
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 "objdict.h"
/**************************************************************************/
/* Declaration of the mapped variables */
/**************************************************************************/
/**************************************************************************/
/* Declaration of the value range types */
/**************************************************************************/
UNS32 gene_SYNC_valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
{
switch (typeValue) {
}
return 0;
}
/**************************************************************************/
/* The node id */
/**************************************************************************/
/* 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 0x03
UNS8 gene_SYNC_bDeviceNodeId = NODE_ID;
//*****************************************************************************/
/* Array of message processing information */
/* Should not be modified */
const UNS8 gene_SYNC_iam_a_slave = 1;
// 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
/** This macro helps creating the object dictionary entries.
* by calling this macro
* it creates an entry in form of: 7 of entries, pointer to the entry.
*/
#define DeclareIndexTableEntry(entryname, index) { (subindex*)entryname,sizeof(entryname)/sizeof(entryname[0]), index}
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
//
// OBJECT DICTIONARY
//
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
// 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 gene_SYNC_obj1000 = 0;
subindex gene_SYNC_Index1000[] =
{
{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1000 }
};
/* index 0x1001 : Error register.
Change the entries to fit your application
Not used, so, should not be modified */
UNS8 gene_SYNC_obj1001 = 0x00000000;
subindex gene_SYNC_Index1001[] =
{
{ RO, uint8, sizeof(UNS8), (void*)&gene_SYNC_obj1001 }
};
/* index 0x1005 : COB_ID SYNC */
/* Should not be modified */
UNS32 gene_SYNC_obj1005 = 0x40000080; // 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
subindex gene_SYNC_Index1005[] =
{
{ RW, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1005 }
};
/* index 0x1006 : SYNC period */
// For producing the SYNC signal every n micro-seconds.
// Put 0 to not producing SYNC
UNS32 gene_SYNC_obj1006 = 0x000186A0;
// Default 0 to not produce SYNC //
// Beware, it is over written when the
// node enters in reset mode.
// See initResetMode() in init.c
subindex gene_SYNC_Index1006[] =
{
{ RW, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1006 }
};
TIMER_HANDLE gene_SYNC_heartBeatTimers[0];
UNS32 gene_SYNC_obj1016[0];
UNS8 gene_SYNC_obj1016_cnt = 0;
subindex gene_SYNC_Index1016[0];
UNS16 gene_SYNC_obj1017 = 0x0000;
/* index 0x1018 : Identity object */
/** index 1018: identify object. Adjust the entries for your node/company
*/
/* Values can be modified */
s_identity gene_SYNC_obj1018 =
{
4, // number of supported entries
0, // Vendor-ID (given by the can-cia)
0, // Product Code
0, // Revision number
0 // serial number
};
subindex gene_SYNC_Index1018[] =
{
{ RO, uint8, sizeof(UNS8), (void*)&gene_SYNC_obj1018.count },
{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.vendor_id},
{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.product_code},
{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_obj1018.revision_number},
{ RO, uint32, sizeof(UNS32), (void*)&gene_SYNC_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
s_sdo_parameter gene_SYNC_obj1200 =
{ 3, // Number of entries. Always 3 for the SDO
0x000, // The cob_id transmited in CAN msg to the server
0x000, // The cob_id received in CAN msg from the server
0x03 // The node id of the client. Should not be modified
};
subindex gene_SYNC_Index1200[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1200.count },
{ RO, uint32, sizeof( UNS32), (void*)&gene_SYNC_obj1200.cob_id_client },
{ RO, uint32, sizeof( UNS32), (void*)&gene_SYNC_obj1200.cob_id_server },
{ RW, uint8, sizeof( UNS8), (void*)&gene_SYNC_obj1200.node_id }
};
/* index 0x1280 : SDO client parameter */
s_sdo_parameter gene_SYNC_obj1280 =
{ 3, // Nb of entries
0x000, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x000, // cobid received from the server. The good value should be 0x580 + server nodeId
0x00 // server NodeId
};
subindex gene_SYNC_Index1280[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1280.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&gene_SYNC_obj1280.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&gene_SYNC_obj1280.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&gene_SYNC_obj1280.node_id }
};
const indextable gene_SYNC_objdict[] =
{
DeclareIndexTableEntry(gene_SYNC_Index1000, 0x1000),
DeclareIndexTableEntry(gene_SYNC_Index1001, 0x1001),
DeclareIndexTableEntry(gene_SYNC_Index1005, 0x1005),
DeclareIndexTableEntry(gene_SYNC_Index1006, 0x1006),
DeclareIndexTableEntry(gene_SYNC_Index1018, 0x1018),
DeclareIndexTableEntry(gene_SYNC_Index1200, 0x1200),
DeclareIndexTableEntry(gene_SYNC_Index1280, 0x1280),
};
// 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 gene_SYNC_count_sync[1] = {0, };
quick_index gene_SYNC_firstIndex = {
SDO_SVR : 5,
SDO_CLT : 6,
PDO_RCV : 0,
PDO_RCV_MAP : 0,
PDO_TRS : 0,
PDO_TRS_MAP : 0
};
quick_index gene_SYNC_lastIndex = {
SDO_SVR : 5,
SDO_CLT : 6,
PDO_RCV : 0,
PDO_RCV_MAP : 0,
PDO_TRS : 0,
PDO_TRS_MAP : 0
};
UNS16 gene_SYNC_ObjdictSize = sizeof(gene_SYNC_objdict)/sizeof(gene_SYNC_objdict[0]);
CO_Data gene_SYNC_Data = CANOPEN_NODE_DATA_INITIALIZER(gene_SYNC);