/*
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 <stddef.h>
#include <applicfg.h>
#include "def.h"
#include "can.h"
#include "objdictdef.h"
#include "pdo.h"
#include "sdo.h"
#include "sync.h"
#include "lifegrd.h"
#include "nmtSlave.h"
/**************************************************************************/
/* Declaration of the mapped variables */
/**************************************************************************/
/*// Copy and uncomment this code to your main file
extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x00
extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x00
extern UNS8 second; // Mapped at index 0x6002, subindex 0x01
extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x02
extern UNS8 hour; // Mapped at index 0x6002, subindex 0x03
extern UNS8 day; // Mapped at index 0x6002, subindex 0x04
extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x01
extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x02
// END copy to main file
*/
UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x00
UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x00
UNS8 second; // Mapped at index 0x6002, subindex 0x01
UNS8 minutes; // Mapped at index 0x6002, subindex 0x02
UNS8 hour; // Mapped at index 0x6002, subindex 0x03
UNS8 day; // Mapped at index 0x6002, subindex 0x04
UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x01
UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x02
/**************************************************************************/
/* Declaration of the value range types */
/**************************************************************************/
UNS32 valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
{
return 0;
}
/**************************************************************************/
/* The node id */
/**************************************************************************/
/* Computed by strNode */
/* 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 0x01
UNS8 bDeviceNodeId = NODE_ID;
//*****************************************************************************/
/* Computed by strStartDico */
/* Array of message processing information */
/* Should not be modified */
volatile const proceed_info proceed_infos[] = {
{NMT, "NMT", NULL},
{SYNC, "SYNC", proceedSYNC},
{TIME_STAMP, "TStmp", NULL},
{PDO1tx, "PDO1t", proceedPDO},
{PDO1rx, "PDO1r", proceedPDO},
{PDO2tx, "PDO2t", proceedPDO},
{PDO2rx, "PDO2r", proceedPDO},
{PDO3tx, "PDO3t", proceedPDO},
{PDO3rx, "PDO3r", proceedPDO},
{PDO4tx, "PDO4t", proceedPDO},
{PDO4rx, "PDO4r", proceedPDO},
{SDOtx, "SDOt", proceedSDO},
{SDOrx, "SDOr", proceedSDO},
{0xD, "Unkw", NULL},
{NODE_GUARD, "NGrd", proceedNMTerror},
{0xF, "Unkw", NULL}
};
// 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
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
//
// OBJECT DICTIONARY
//
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
// 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 obj1000 = 0;
subindex Index1000[] =
{
{ RO, uint32, sizeof(UNS32), (void*)&obj1000 }
};
/* index 0x1001 : Error register.
Change the entries to fit your application
Not used, so, should not be modified */
/*const*/ UNS8 obj1001 = 0x0;
/*const*/ subindex Index1001[] =
{
{ RO, uint8, sizeof(UNS8), (void*)&obj1001 }
};
/* index 0x1005 : COB_ID SYNC */
/* Should not be modified */
UNS32 obj1005 = 0x00000080; // 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
/*const*/ subindex Index1005[] =
{
{ RW, uint32, sizeof(UNS32), (void*)&obj1005 }
};
/* index 0x1006 : SYNC period */
// For producing the SYNC signal every n micro-seconds.
// Put O to not producing SYNC
/*const*/ UNS32 obj1006 = 0x0;
// Default 0 to not produce SYNC //
// Beware, it is over written when the
// node enters in reset mode.
// See initResetMode() in init.c
/*const*/ subindex Index1006[] =
{
{ RW, uint32, sizeof(UNS32), (void*)&obj1006 }
};
/* index 0x1007 : Synchronous Window Length
Seems to be needed by DS401 to generate the SYNC signal ! */
/*const*/ UNS32 obj1007 = 0x0; /* Default 0 */
/*const*/ subindex Index1007[] =
{
{ RW, uint32, sizeof(UNS32), (void*)&obj1007 }
};
/* index 0x1008 : Manufacturer device name */
UNS8 obj1008[] = "Appli_Master_Linux"; /* Default 0 */
subindex Index1008[] =
{
{ RO, uint32, sizeof(obj1008), (void*)&obj1008 }
};
/* index 0x1009 : Manufacturer hardware version */
UNS8 obj1009[] = __DATE__; /* Default 0 */
subindex Index1009[] =
{
{ RO, uint32, sizeof(obj1009), (void*)&obj1009 }
};
/* index 0x100A : Manufacturer software version */
UNS8 obj100A[] = __TIME__; /* Default 0 */
subindex Index100A[] =
{
{ RO, uint32, sizeof(obj100A), (void*)&obj100A}
};
/* index 0x1016 : HeartBeat consumers
The nodes which can send a heartbeat */
static UNS32 obj1016[] = {// Consumer time for each node
0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
static UNS8 obj1016_cnt = 1; // 1 nodes could send me
// their heartbeat.
subindex Index1016[] =
{
{ RO, uint8, sizeof(UNS8), (void*)&obj1016_cnt },
{ RW, uint32, sizeof(UNS32), (void*)&obj1016[0] }
};
/* index 0x1017 : Heartbeat producer
Every HBProducerTime, the node sends its heartbeat */
static UNS16 obj1017 = 0; //HBProducerTime in ms. If 0 : not activated
// Beware, it is over written when the
// node enters in reset mode.
// See initResetMode() in init.c
subindex Index1017[] =
{
{ RW, uint16, sizeof(UNS16), &obj1017 }
};
/* index 0x1018 : Identity object */
/** index 1018: identify object. Adjust the entries for your node/company
*/
/* Values can be modified */
s_identity obj1018 =
{
4, // number of supported entries
0, // Vendor-ID (given by the can-cia)
0, // Product Code
0, // Revision number
0 // serial number
};
subindex Index1018[] =
{
{ RO, uint8, sizeof(UNS8), (void*)&obj1018.count },
{ RO, uint32, sizeof(UNS32), (void*)&obj1018.vendor_id},
{ RO, uint32, sizeof(UNS32), (void*)&obj1018.product_code},
{ RO, uint32, sizeof(UNS32), (void*)&obj1018.revision_number},
{ RO, uint32, sizeof(UNS32), (void*)&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
static s_sdo_parameter obj1200 =
{ 3, // Number of entries. Always 3 for the SDO
0x600 + NODE_ID, // The cob_id transmited in CAN msg to the server
0x580 + NODE_ID, // The cob_id received in CAN msg from the server
NODE_ID // The node id of the client. Should not be modified
};
static subindex Index1200[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1200.count },
{ RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_client },
{ RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_server },
{ RW, uint8, sizeof( UNS8), (void*)&obj1200.node_id }
};
/* index 0x1280 : SDO client parameter */
static s_sdo_parameter obj1280 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1280[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1280.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1280.node_id }
};
/* index 0x1281 : SDO client parameter */
static s_sdo_parameter obj1281 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1281[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1281.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1281.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1281.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1281.node_id }
};
/* index 0x1282 : SDO client parameter */
static s_sdo_parameter obj1282 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1282[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1282.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1282.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1282.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1282.node_id }
};
/* index 0x1283 : SDO client parameter */
static s_sdo_parameter obj1283 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1283[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1283.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1283.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1283.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1283.node_id }
};
/* index 0x1284 : SDO client parameter */
static s_sdo_parameter obj1284 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1284[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1284.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1284.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1284.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1284.node_id }
};
/* index 0x1285 : SDO client parameter */
static s_sdo_parameter obj1285 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1285[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1285.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1285.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1285.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1285.node_id }
};
/* index 0x1286 : SDO client parameter */
static s_sdo_parameter obj1286 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1286[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1286.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1286.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1286.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1286.node_id }
};
/* index 0x1287 : SDO client parameter */
static s_sdo_parameter obj1287 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1287[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1287.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1287.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1287.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1287.node_id }
};
/* index 0x1288 : SDO client parameter */
static s_sdo_parameter obj1288 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1288[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1288.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1288.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1288.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1288.node_id }
};
/* index 0x1289 : SDO client parameter */
static s_sdo_parameter obj1289 =
{ 3, // Nb of entries
0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
0x0 // server NodeId
};
static subindex Index1289[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1289.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1289.cob_id_client },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1289.cob_id_server },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1289.node_id }
};
/* index 0x1400 : PDO receive communication parameter */
static s_pdo_communication_parameter obj1400 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1400[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1400.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1400.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1400.type },
};
/* index 0x1401 : PDO receive communication parameter */
static s_pdo_communication_parameter obj1401 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1401[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1401.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1401.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1401.type },
};
/* index 0x1402 : PDO receive communication parameter */
static s_pdo_communication_parameter obj1402 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1402[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1402.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1402.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1402.type },
};
/* index 0x1600 : PDO receive mapping parameter of PDO communication index 0x1400 */
static UNS8 obj1600_cnt = 0; // Number of mapped variables
static UNS32 obj1600_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1600[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1600_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[7]}
};
/* index 0x1601 : PDO receive mapping parameter of PDO communication index 0x1401 */
static UNS8 obj1601_cnt = 0; // Number of mapped variables
static UNS32 obj1601_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1601[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1601_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[7]}
};
/* index 0x1602 : PDO receive mapping parameter of PDO communication index 0x1402 */
static UNS8 obj1602_cnt = 0; // Number of mapped variables
static UNS32 obj1602_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1602[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1602_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[7]}
};
/* index 0x1800 : PDO transmit communication parameter */
static s_pdo_communication_parameter obj1800 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1800[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1800.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1800.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1800.type },
};
/* index 0x1801 : PDO transmit communication parameter */
static s_pdo_communication_parameter obj1801 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1801[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1801.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1801.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1801.type },
};
/* index 0x1802 : PDO transmit communication parameter */
static s_pdo_communication_parameter obj1802 =
{ 2, // Largest subindex supported
0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
253 // Transmission type. See objdictdef.h
};
static subindex Index1802[] =
{
{ RO, uint8, sizeof( UNS8 ), (void*)&obj1802.count },
{ RW, uint8, sizeof( UNS32 ), (void*)&obj1802.cob_id },
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1802.type },
};
/* index 0x1A00 : PDO transmit mapping parameter of PDO communication index 0x1800 */
static UNS8 obj1A00_cnt = 0; // Number of mapped variables
static UNS32 obj1A00_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1A00[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A00_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[7]}
};
/* index 0x1A01 : PDO transmit mapping parameter of PDO communication index 0x1801 */
static UNS8 obj1A01_cnt = 0; // Number of mapped variables
static UNS32 obj1A01_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1A01[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A01_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[7]}
};
/* index 0x1A02 : PDO transmit mapping parameter of PDO communication index 0x1802 */
static UNS8 obj1A02_cnt = 0; // Number of mapped variables
static UNS32 obj1A02_mappedVar[] = {
// Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
// PDO_MAP(6035,12,16)
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00),
PDO_MAP(0000, 00, 00)
};
subindex Index1A02[] =
{
{ RW, uint8, sizeof( UNS8 ), (void*)&obj1A02_cnt },
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[0]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[1]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[2]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[3]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[4]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[5]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[6]},
{ RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[7]}
};
/* index 0x6000 : Mapped variable */
subindex Index6000[] =
{
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrNB_node5 }
};
/* index 0x6001 : Mapped variable */
subindex Index6001[] =
{
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL_node5 }
};
/* index 0x6002 : Mapped variable */
static UNS8 highestSubIndex_6002 = 4; // number of subindex - 1
subindex Index6002[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_6002 },
{ RW, uint8, sizeof (UNS8), (void*)&second },
{ RW, uint8, sizeof (UNS8), (void*)&minutes },
{ RW, uint8, sizeof (UNS8), (void*)&hour },
{ RW, uint8, sizeof (UNS8), (void*)&day }
};
/* index 0x6003 : Mapped variable */
static UNS8 highestSubIndex_6003 = 2; // number of subindex - 1
subindex Index6003[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_6003 },
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrNB },
{ RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
};
const indextable objdict[] =
{
DeclareIndexTableEntry(Index1000, 0x1000),
DeclareIndexTableEntry(Index1001, 0x1001),
DeclareIndexTableEntry(Index1005, 0x1005),
DeclareIndexTableEntry(Index1006, 0x1006),
DeclareIndexTableEntry(Index1007, 0x1007),
DeclareIndexTableEntry(Index1008, 0x1008),
DeclareIndexTableEntry(Index1009, 0x1009),
DeclareIndexTableEntry(Index100A, 0x100A),
DeclareIndexTableEntry(Index1016, 0x1016),
DeclareIndexTableEntry(Index1017, 0x1017),
DeclareIndexTableEntry(Index1018, 0x1018),
DeclareIndexTableEntry(Index1200, 0x1200),
DeclareIndexTableEntry(Index1280, 0x1280),
DeclareIndexTableEntry(Index1281, 0x1281),
DeclareIndexTableEntry(Index1282, 0x1282),
DeclareIndexTableEntry(Index1283, 0x1283),
DeclareIndexTableEntry(Index1284, 0x1284),
DeclareIndexTableEntry(Index1285, 0x1285),
DeclareIndexTableEntry(Index1286, 0x1286),
DeclareIndexTableEntry(Index1287, 0x1287),
DeclareIndexTableEntry(Index1288, 0x1288),
DeclareIndexTableEntry(Index1289, 0x1289),
DeclareIndexTableEntry(Index1400, 0x1400),
DeclareIndexTableEntry(Index1401, 0x1401),
DeclareIndexTableEntry(Index1402, 0x1402),
DeclareIndexTableEntry(Index1600, 0x1600),
DeclareIndexTableEntry(Index1601, 0x1601),
DeclareIndexTableEntry(Index1602, 0x1602),
DeclareIndexTableEntry(Index1800, 0x1800),
DeclareIndexTableEntry(Index1801, 0x1801),
DeclareIndexTableEntry(Index1802, 0x1802),
DeclareIndexTableEntry(Index1A00, 0x1A00),
DeclareIndexTableEntry(Index1A01, 0x1A01),
DeclareIndexTableEntry(Index1A02, 0x1A02),
DeclareIndexTableEntry(Index6000, 0x6000),
DeclareIndexTableEntry(Index6001, 0x6001),
DeclareIndexTableEntry(Index6002, 0x6002),
DeclareIndexTableEntry(Index6003, 0x6003),
};
// 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 count_sync[1] = {0, };
UNS16 firstIndex (enum e_first_object object, UNS16 *lastIndex)
{
switch (object) {
case FIRST_SDO_SERVER :
*lastIndex = 11;
return 11;
case FIRST_SDO_CLIENT :
*lastIndex = 21;
return 12;
case FIRST_PDO_RCV :
*lastIndex = 24;
return 22;
case FIRST_PDO_RCV_MAP :
*lastIndex = 27;
return 25;
case FIRST_PDO_TRS :
*lastIndex = 30;
return 28;
case FIRST_PDO_TRS_MAP :
*lastIndex = 33;
return 31;
}
*lastIndex = 0;
return 0;
}
UNS16 getObjdictSize (void)
{
return sizeof(objdict)/sizeof(objdict[0]);
}