Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
/* File generated by gen_cfile.py. Should not be modified. */
#include "TestSlave.h"
/**************************************************************************/
/* Declaration of the mapped variables */
/**************************************************************************/
UNS8 SlaveMap1 = 0x0; /* Mapped at index 0x2000, subindex 0x00 */
UNS8 SlaveMap2 = 0x0; /* Mapped at index 0x2001, subindex 0x00 */
UNS8 SlaveMap3 = 0x0; /* Mapped at index 0x2002, subindex 0x00 */
UNS8 SlaveMap4 = 0x0; /* Mapped at index 0x2003, subindex 0x00 */
/**************************************************************************/
/* Declaration of the value range types */
/**************************************************************************/
UNS32 TestSlave_valueRangeTest (UNS8 typeValue, void * value)
{
switch (typeValue) {
}
return 0;
}
/**************************************************************************/
/* The node id */
/**************************************************************************/
/* node_id default value.*/
UNS8 TestSlave_bDeviceNodeId = 0x00;
/**************************************************************************/
/* Array of message processing information */
const UNS8 TestSlave_iam_a_slave = 1;
TIMER_HANDLE TestSlave_heartBeatTimers[1];
/*
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
OBJECT DICTIONARY
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
*/
/* index 0x1000 : Device Type. */
UNS32 TestSlave_obj1000 = 0x12D; /* 301 */
subindex TestSlave_Index1000[] =
{
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1000 }
};
/* index 0x1001 : Error Register. */
UNS8 TestSlave_obj1001 = 0x0; /* 0 */
subindex TestSlave_Index1001[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_obj1001 }
};
/* index 0x1005 : SYNC COB ID. */
UNS32 TestSlave_obj1005 = 0x80; /* 128 */
ODCallback_t TestSlave_Index1005_callbacks[] =
{
NULL,
};
subindex TestSlave_Index1005[] =
{
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1005 }
};
/* index 0x1006 : Communication / Cycle Period. */
UNS32 TestSlave_obj1006 = 0x0; /* 0 */
ODCallback_t TestSlave_Index1006_callbacks[] =
{
NULL,
};
subindex TestSlave_Index1006[] =
{
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1006 }
};
/* index 0x1010 : Store parameters. */
UNS8 TestSlave_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/
UNS32 TestSlave_obj1010_Save_All_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1010_Save_Communication_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1010_Save_Application_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1010_Save_Manufacturer_Parameters = 0x0; /* 0 */
ODCallback_t TestSlave_Index1010_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex TestSlave_Index1010[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1010 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_All_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Communication_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Application_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Manufacturer_Parameters }
};
/* index 0x1011 : Restore Default Parameters. */
UNS8 TestSlave_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/
UNS32 TestSlave_obj1011_Restore_All_Default_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1011_Restore_Communication_Default_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1011_Restore_Application_Default_Parameters = 0x0; /* 0 */
UNS32 TestSlave_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; /* 0 */
ODCallback_t TestSlave_Index1011_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex TestSlave_Index1011[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1011 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_All_Default_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Communication_Default_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Application_Default_Parameters },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Manufacturer_Default_Parameters }
};
/* index 0x1016 : Consumer Heartbeat Time */
UNS8 TestSlave_highestSubIndex_obj1016 = 0;
UNS32 TestSlave_obj1016[]={0};
/* index 0x1017 : Producer Heartbeat Time. */
UNS16 TestSlave_obj1017 = 0x3E8; /* 1000 */
subindex TestSlave_Index1017[] =
{
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 }
};
/* index 0x1018 : Identity. */
UNS8 TestSlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
UNS32 TestSlave_obj1018_Vendor_ID = 0x0; /* 0 */
UNS32 TestSlave_obj1018_Product_Code = 0x0; /* 0 */
UNS32 TestSlave_obj1018_Revision_Number = 0x0; /* 0 */
UNS32 TestSlave_obj1018_Serial_Number = 0x0; /* 0 */
subindex TestSlave_Index1018[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Vendor_ID },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Product_Code },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Revision_Number },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Serial_Number }
};
/* index 0x1200 : Server SDO Parameter. */
UNS8 TestSlave_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601; /* 1537 */
UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581; /* 1409 */
subindex TestSlave_Index1200[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1200 },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO },
{ RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
};
/* index 0x1800 : Transmit PDO 1 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; /* 386 */
UNS8 TestSlave_obj1800_Transmission_Type = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */
subindex TestSlave_Index1800[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1800_COB_ID_used_by_PDO },
{ RW|TO_BE_SAVE, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Transmission_Type },
{ RW|TO_BE_SAVE, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Inhibit_Time },
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Event_Timer }
};
/* index 0x1801 : Transmit PDO 2 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */
UNS8 TestSlave_obj1801_Transmission_Type = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */
subindex TestSlave_Index1801[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1801_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Inhibit_Time },
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Event_Timer }
};
/* index 0x1A00 : Transmit PDO 1 Mapping. */
UNS8 TestSlave_highestSubIndex_obj1A00 = 2; /* number of subindex - 1*/
UNS32 TestSlave_obj1A00[] =
{
0x20000008, /* 536870920 */
0x20010008 /* 536936456 */
};
subindex TestSlave_Index1A00[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] }
};
/* index 0x1A01 : Transmit PDO 2 Mapping. */
UNS8 TestSlave_highestSubIndex_obj1A01 = 2; /* number of subindex - 1*/
UNS32 TestSlave_obj1A01[] =
{
0x20020008, /* 537001992 */
0x20030008 /* 537067528 */
};
subindex TestSlave_Index1A01[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] },
{ RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] }
};
/* index 0x2000 : Mapped variable SlaveMap1 */
subindex TestSlave_Index2000[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&SlaveMap1 }
};
/* index 0x2001 : Mapped variable SlaveMap2 */
subindex TestSlave_Index2001[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&SlaveMap2 }
};
/* index 0x2002 : Mapped variable SlaveMap3 */
subindex TestSlave_Index2002[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&SlaveMap3 }
};
/* index 0x2003 : Mapped variable SlaveMap4 */
subindex TestSlave_Index2003[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&SlaveMap4 }
};
const indextable TestSlave_objdict[] =
{
{ (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000},
{ (subindex*)TestSlave_Index1001,sizeof(TestSlave_Index1001)/sizeof(TestSlave_Index1001[0]), 0x1001},
{ (subindex*)TestSlave_Index1005,sizeof(TestSlave_Index1005)/sizeof(TestSlave_Index1005[0]), 0x1005},
{ (subindex*)TestSlave_Index1006,sizeof(TestSlave_Index1006)/sizeof(TestSlave_Index1006[0]), 0x1006},
{ (subindex*)TestSlave_Index1010,sizeof(TestSlave_Index1010)/sizeof(TestSlave_Index1010[0]), 0x1010},
{ (subindex*)TestSlave_Index1011,sizeof(TestSlave_Index1011)/sizeof(TestSlave_Index1011[0]), 0x1011},
{ (subindex*)TestSlave_Index1017,sizeof(TestSlave_Index1017)/sizeof(TestSlave_Index1017[0]), 0x1017},
{ (subindex*)TestSlave_Index1018,sizeof(TestSlave_Index1018)/sizeof(TestSlave_Index1018[0]), 0x1018},
{ (subindex*)TestSlave_Index1200,sizeof(TestSlave_Index1200)/sizeof(TestSlave_Index1200[0]), 0x1200},
{ (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800},
{ (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801},
{ (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00},
{ (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01},
{ (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},
{ (subindex*)TestSlave_Index2003,sizeof(TestSlave_Index2003)/sizeof(TestSlave_Index2003[0]), 0x2003},
};
const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
{
int i;
*callbacks = NULL;
switch(wIndex){
case 0x1000: i = 0;break;
case 0x1001: i = 1;break;
case 0x1005: i = 2;*callbacks = TestSlave_Index1005_callbacks; break;
case 0x1006: i = 3;*callbacks = TestSlave_Index1006_callbacks; break;
case 0x1010: i = 4;*callbacks = TestSlave_Index1010_callbacks; break;
case 0x1011: i = 5;*callbacks = TestSlave_Index1011_callbacks; break;
case 0x1017: i = 6;break;
case 0x1018: i = 7;break;
case 0x1200: i = 8;break;
case 0x1800: i = 9;break;
case 0x1801: i = 10;break;
case 0x1A00: i = 11;break;
case 0x1A01: i = 12;break;
case 0x2000: i = 13;break;
case 0x2001: i = 14;break;
case 0x2002: i = 15;break;
case 0x2003: i = 16;break;
default:
*errorCode = OD_NO_SUCH_OBJECT;
return NULL;
}
*errorCode = OD_SUCCESSFUL;
return &TestSlave_objdict[i];
}
/* 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 TestSlave_count_sync[2] = {0,};
quick_index TestSlave_firstIndex = {
8, /* SDO_SVR */
0, /* SDO_CLT */
0, /* PDO_RCV */
0, /* PDO_RCV_MAP */
9, /* PDO_TRS */
11 /* PDO_TRS_MAP */
};
quick_index TestSlave_lastIndex = {
8, /* SDO_SVR */
0, /* SDO_CLT */
0, /* PDO_RCV */
0, /* PDO_RCV_MAP */
10, /* PDO_TRS */
12 /* PDO_TRS_MAP */
};
UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]);
CO_Data TestSlave_Data = CANOPEN_NODE_DATA_INITIALIZER(TestSlave);