etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stddef.h>
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include "def.h"
etisserant@0: #include "can.h"
etisserant@0: #include "objdictdef.h"
etisserant@0: #include "pdo.h"
etisserant@0: #include "sdo.h"
etisserant@0: #include "sync.h"
etisserant@0: #include "lifegrd.h"
etisserant@0: #include "nmtSlave.h"
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: /* Declaration of the mapped variables                                    */
etisserant@0: /**************************************************************************/
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: /*// Copy and uncomment this code to your main file
etisserant@0: extern UNS8 seconds;		// Mapped at index 0x2000, subindex 0x01
etisserant@0: extern UNS32 minutes;		// Mapped at index 0x2000, subindex 0x02
etisserant@0: extern UNS8 hours;		// Mapped at index 0x2000, subindex 0x03
etisserant@0: extern UNS8 day;		// Mapped at index 0x2000, subindex 0x04
etisserant@0: extern UNS32 canopenErrNB;		// Mapped at index 0x6000, subindex 0x00
etisserant@0: extern UNS32 canopenErrVAL;		// Mapped at index 0x6001, subindex 0x00
etisserant@0: extern UNS8 strTest[10];		// Mapped at index 0x6002, subindex 0x00
etisserant@0: 
etisserant@0: // END copy to main file
etisserant@0: */
etisserant@0: 
etisserant@0: UNS8 seconds;		// Mapped at index 0x2000, subindex 0x01
etisserant@0: UNS32 minutes;		// Mapped at index 0x2000, subindex 0x02
etisserant@0: UNS8 hours;		// Mapped at index 0x2000, subindex 0x03
etisserant@0: UNS8 day;		// Mapped at index 0x2000, subindex 0x04
etisserant@0: UNS32 canopenErrNB;		// Mapped at index 0x6000, subindex 0x00
etisserant@0: UNS32 canopenErrVAL;		// Mapped at index 0x6001, subindex 0x00
etisserant@0: UNS8 strTest[10];		// Mapped at index 0x6002, subindex 0x00
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: /* Declaration of the value range types                                   */
etisserant@0: /**************************************************************************/
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: UNS32 valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
etisserant@0: {
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: /* The node id                                                            */
etisserant@0: /**************************************************************************/
etisserant@0: /* Computed by strNode */
etisserant@0: /* node_id default value. 
etisserant@0:    This default value is deprecated.
etisserant@0:    You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code.
etisserant@0: */
etisserant@0: #define NODE_ID 0x01
etisserant@0: UNS8 bDeviceNodeId = NODE_ID;
etisserant@0: 
etisserant@0: 
etisserant@0: //*****************************************************************************/
etisserant@0: /* Computed by strStartDico */
etisserant@0: 
etisserant@0: /* Array of message processing information */
etisserant@0: /* Should not be modified */
etisserant@0: volatile const proceed_info proceed_infos[] = {
etisserant@0:   {NMT,		"NMT",	        proceedNMTstateChange},
etisserant@0:   {SYNC,        "SYNC",         proceedSYNC},
etisserant@0:   {TIME_STAMP,	"TStmp",	NULL},
etisserant@0:   {PDO1tx,	"PDO1t",        proceedPDO},
etisserant@0:   {PDO1rx,	"PDO1r",	proceedPDO},
etisserant@0:   {PDO2tx,	"PDO2t",	proceedPDO},
etisserant@0:   {PDO2rx,	"PDO2r",	proceedPDO},
etisserant@0:   {PDO3tx,	"PDO3t",	proceedPDO},
etisserant@0:   {PDO3rx,	"PDO3r",	proceedPDO},
etisserant@0:   {PDO4tx,	"PDO4t",	proceedPDO},
etisserant@0:   {PDO4rx,	"PDO4r",	proceedPDO},
etisserant@0:   {SDOtx,	"SDOt",	        proceedSDO},
etisserant@0:   {SDOrx,	"SDOr",         proceedSDO},
etisserant@0:   {0xD,		"Unkw",	        NULL},
etisserant@0:   {NODE_GUARD,	"NGrd",         proceedNMTerror},
etisserant@0:   {0xF,		"Unkw",	        NULL}
etisserant@0: };
etisserant@0: 
etisserant@0:   // Macros definition
etisserant@0: 
etisserant@0: /* Beware : 
etisserant@0: index                 *must* be writen 4 numbers in hexa
etisserant@0: sub_index             *must* be writen 2 numbers in hexa
etisserant@0: size_variable_in_UNS8 *must* be writen 2 numbers in hexa
etisserant@0: */
etisserant@0: #define PDO_MAP(index, sub_index, size_variable_in_bits)\
etisserant@0: 0x ## index ## sub_index ## size_variable_in_bits
etisserant@0: 
etisserant@0: //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
etisserant@0: //
etisserant@0: //                       OBJECT DICTIONARY
etisserant@0: //                   
etisserant@0: //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
etisserant@0: // Make your change, depending of your application
etisserant@0:  
etisserant@0: 
etisserant@0: /* index 0x1000 :   Device type. 
etisserant@0:                     You have to change the value below, so
etisserant@0:                     it fits your canopen-slave-module */
etisserant@0:  
etisserant@0:                     /* Not used, so, should not be modified */
etisserant@0:                     
etisserant@0:                     UNS32 obj1000 = 0;
etisserant@0:                     subindex Index1000[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint32, sizeof(UNS32), (void*)&obj1000 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1001 :   Error register. 
etisserant@0:                     Change the entries to fit your application 
etisserant@0:                     Not used, so, should not be modified */
etisserant@0:                     /*const*/ UNS8 obj1001 = 0x0;
etisserant@0:                     /*const*/ subindex Index1001[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint8, sizeof(UNS8), (void*)&obj1001 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1005 :   COB_ID SYNC */
etisserant@0:                     /* Should not be modified */
etisserant@0:                     UNS32 obj1005 = 0x00000080; // bit 30 = 1 : device can generate a SYNC message
etisserant@0:                                                 // Beware, it is over written when the node 
etisserant@0:                                                 // enters in reset mode
etisserant@0:                                                 // See initResetMode() in init.c
etisserant@0:                     /*const*/ subindex Index1005[] =
etisserant@0:                     {
etisserant@0:                       { RW, uint32, sizeof(UNS32), (void*)&obj1005 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1006 :   SYNC period */
etisserant@0:                     // For producing the SYNC signal every n micro-seconds.
etisserant@0:                     // Put O to not producing SYNC
etisserant@0:                     /*const*/ UNS32 obj1006 = 0x0; 
etisserant@0:                                          // Default 0 to not produce SYNC //
etisserant@0:                                          // Beware, it is over written when the 
etisserant@0:                                          // node enters in reset mode.
etisserant@0:                                          // See initResetMode() in init.c
etisserant@0:                     /*const*/ subindex Index1006[] =
etisserant@0:                     {
etisserant@0:                       { RW, uint32, sizeof(UNS32), (void*)&obj1006 }
etisserant@0:                     };
etisserant@0:  
etisserant@0: /* index 0x1007 :   Synchronous Window Length
etisserant@0:                     Seems to be needed by DS401 to generate the SYNC signal ! */
etisserant@0:                     /*const*/ UNS32 obj1007 = 0x0; /* Default 0 */
etisserant@0:                     /*const*/ subindex Index1007[] =
etisserant@0:                     {
etisserant@0:                       { RW, uint32, sizeof(UNS32), (void*)&obj1007 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1008 :   Manufacturer device name */
etisserant@0:                     UNS8 obj1008[] = "Appli_Slave_Linux"; /* Default 0 */
etisserant@0:                     subindex Index1008[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint32, sizeof(obj1008), (void*)&obj1008 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1009 :   Manufacturer hardware version */
etisserant@0:                     UNS8 obj1009[] = __DATE__; /* Default 0 */
etisserant@0:                     subindex Index1009[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint32, sizeof(obj1009), (void*)&obj1009 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x100A :   Manufacturer software version */
etisserant@0:                     UNS8 obj100A[] = __TIME__; /* Default 0 */
etisserant@0:                     subindex Index100A[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint32, sizeof(obj100A), (void*)&obj100A}
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1016 :   HeartBeat consumers 
etisserant@0:                     The nodes which can send a heartbeat */ 
etisserant@0:                     static  UNS32 obj1016[] = {// Consumer time for each node 
etisserant@0:                     0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
etisserant@0: 
etisserant@0:                     static  UNS8 obj1016_cnt = 1; // 1 nodes could send me
etisserant@0:                                                   // their heartbeat.
etisserant@0:                     subindex Index1016[] = 
etisserant@0:                     {
etisserant@0:                       { RO, uint8, sizeof(UNS8), (void*)&obj1016_cnt },
etisserant@0:                       { RW, uint32, sizeof(UNS32), (void*)&obj1016[0] }
etisserant@0:                     }; 
etisserant@0: 
etisserant@0: /* index 0x1017 :   Heartbeat producer                    
etisserant@0:                     Every HBProducerTime, the node sends its heartbeat */
etisserant@0:                     static UNS16 obj1017 = 0; //HBProducerTime in ms. If 0 : not activated 
etisserant@0:                                                      // Beware, it is over written when the 
etisserant@0:                                                      // node enters in reset mode.
etisserant@0:                                                      // See initResetMode() in init.c
etisserant@0:                     subindex Index1017[] =
etisserant@0:                     {
etisserant@0: 	              { RW, uint16, sizeof(UNS16), &obj1017 }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1018 :   Identity object */
etisserant@0:                     /** index 1018: identify object. Adjust the entries for your node/company
etisserant@0:                     */
etisserant@0:                     /* Values can be modified */
etisserant@0: 
etisserant@0:                     s_identity obj1018 =
etisserant@0:                     {
etisserant@0:                       4,       // number of supported entries
etisserant@0:                       0,  // Vendor-ID (given by the can-cia)
etisserant@0:                       0,  // Product Code
etisserant@0:                       0,  // Revision number
etisserant@0:                       0  // serial number
etisserant@0:                     };
etisserant@0: 
etisserant@0:                     subindex Index1018[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint8,  sizeof(UNS8),  (void*)&obj1018.count },
etisserant@0:                       { RO, uint32, sizeof(UNS32), (void*)&obj1018.vendor_id},
etisserant@0:                       { RO, uint32, sizeof(UNS32), (void*)&obj1018.product_code},
etisserant@0:                       { RO, uint32, sizeof(UNS32), (void*)&obj1018.revision_number},
etisserant@0:                       { RO, uint32, sizeof(UNS32), (void*)&obj1018.serial_number}
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1200 :   The SDO Server parameters */
etisserant@0:                     /* BEWARE You cannot define more than one SDO server */
etisserant@0:                     /* The values should not be modified here, 
etisserant@0:                     but can be changed at runtime */
etisserant@0:                     // Beware that the default values that you could put here
etisserant@0:                     // will be over written at the initialisation of the node. 
etisserant@0:                     // See setNodeId() in init.c
etisserant@0:                     static s_sdo_parameter obj1200  = 
etisserant@0:                       { 3,                   // Number of entries. Always 3 for the SDO	       
etisserant@0:                         0x600 + NODE_ID,     // The cob_id transmited in CAN msg to the server     
etisserant@0:                         0x580 + NODE_ID,     // The cob_id received in CAN msg from the server  
etisserant@0:                         NODE_ID              // The node id of the client. Should not be modified 
etisserant@0:                       };
etisserant@0:                     static subindex Index1200[] =
etisserant@0:                     {
etisserant@0:                       { RO, uint8,  sizeof( UNS8 ), (void*)&obj1200.count },
etisserant@0:                       { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_client },
etisserant@0:                       { RO, uint32, sizeof( UNS32), (void*)&obj1200.cob_id_server },
etisserant@0:                       { RW, uint8,  sizeof( UNS8),  (void*)&obj1200.node_id }
etisserant@0:                     };
etisserant@0: 
etisserant@0: /* index 0x1280 :   SDO client parameter */
etisserant@0:                     static s_sdo_parameter obj1280 = 
etisserant@0:                       { 3,     // Nb of entries 
etisserant@0:                         0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
etisserant@0:                         0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
etisserant@0:                         0x0    // server NodeId
etisserant@0:                       };
etisserant@0:                     static subindex Index1280[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1280.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_client },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1280.cob_id_server },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1280.node_id }
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1400 :   PDO receive communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1400 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1400[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1400.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1400.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1400.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1401 :   PDO receive communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1401 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1401[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1401.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1401.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1401.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1402 :   PDO receive communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1402 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1402[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1402.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1402.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1402.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1600 :   PDO receive mapping parameter of PDO communication index 0x1400 */
etisserant@0:                     static UNS8 obj1600_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1600_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1600[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1600_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1600_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1601 :   PDO receive mapping parameter of PDO communication index 0x1401 */
etisserant@0:                     static UNS8 obj1601_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1601_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1601[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1601_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1601_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1602 :   PDO receive mapping parameter of PDO communication index 0x1402 */
etisserant@0:                     static UNS8 obj1602_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1602_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1602[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1602_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1602_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1800 :   PDO transmit communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1800 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1800[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1800.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1800.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1800.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1801 :   PDO transmit communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1801 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1801[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1801.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1801.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1801.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1802 :   PDO transmit communication parameter */
etisserant@0:                     static s_pdo_communication_parameter obj1802 = 
etisserant@0:                       { 2, // Largest subindex supported 
etisserant@0:                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
etisserant@0:                         253 // Transmission type. See objdictdef.h 
etisserant@0:                       };
etisserant@0:                     static subindex Index1802[] = 
etisserant@0:                       { 
etisserant@0:                         { RO, uint8, sizeof( UNS8  ), (void*)&obj1802.count },
etisserant@0:                         { RW, uint8, sizeof( UNS32 ), (void*)&obj1802.cob_id },
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1802.type },
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1A00 :   PDO transmit mapping parameter of PDO communication index 0x1800 */
etisserant@0:                     static UNS8 obj1A00_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1A00_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1A00[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1A00_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A00_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1A01 :   PDO transmit mapping parameter of PDO communication index 0x1801 */
etisserant@0:                     static UNS8 obj1A01_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1A01_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1A01[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1A01_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A01_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: /* index 0x1A02 :   PDO transmit mapping parameter of PDO communication index 0x1802 */
etisserant@0:                     static UNS8 obj1A02_cnt = 0; // Number of mapped variables
etisserant@0:                     static UNS32 obj1A02_mappedVar[] = { 
etisserant@0:                         // Example to map a variable of 16 bits defined at index 0x6035, subindex 0x12 :
etisserant@0:                         // PDO_MAP(6035,12,16)
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00),
etisserant@0:                         PDO_MAP(0000, 00, 00)
etisserant@0:                       };
etisserant@0:                     subindex Index1A02[] = 
etisserant@0:                       { 
etisserant@0:                         { RW, uint8, sizeof( UNS8  ), (void*)&obj1A02_cnt },
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[0]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[1]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[2]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[3]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[4]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[5]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[6]},
etisserant@0:                         { RW, uint32, sizeof( UNS32 ), (void*)&obj1A02_mappedVar[7]}
etisserant@0:                       }; 
etisserant@0: 
etisserant@0: 
etisserant@0: /* index 0x2000 :   Mapped variable */
etisserant@0:                     static UNS8 highestSubIndex_2000 = 4; // number of subindex - 1
etisserant@0:                     subindex Index2000[] = 
etisserant@0:                      {
etisserant@0:                        { RO, uint8, sizeof (UNS8), (void*)&highestSubIndex_2000 },
etisserant@0:                        { RW, uint8, sizeof (UNS8), (void*)&seconds },
etisserant@0:                        { RW, uint32, sizeof (UNS32), (void*)&minutes },
etisserant@0:                        { RW, uint8, sizeof (UNS8), (void*)&hours },
etisserant@0:                        { RW, uint8, sizeof (UNS8), (void*)&day }
etisserant@0:                      };
etisserant@0: 
etisserant@0: /* index 0x6000 :   Mapped variable */
etisserant@0:                     subindex Index6000[] = 
etisserant@0:                      {
etisserant@0:                        { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
etisserant@0:                      };
etisserant@0: 
etisserant@0: /* index 0x6001 :   Mapped variable */
etisserant@0:                     subindex Index6001[] = 
etisserant@0:                      {
etisserant@0:                        { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
etisserant@0:                      };
etisserant@0: 
etisserant@0: /* index 0x6002 :   Mapped variable */
etisserant@0:                     subindex Index6002[] = 
etisserant@0:                      {
etisserant@0:                        { RW, visible_string, sizeof (strTest), (void*)&strTest }
etisserant@0:                      };
etisserant@0: 
etisserant@0: const indextable objdict[] = 
etisserant@0: {
etisserant@0:   DeclareIndexTableEntry(Index1000, 0x1000),
etisserant@0:   DeclareIndexTableEntry(Index1001, 0x1001),
etisserant@0:   DeclareIndexTableEntry(Index1005, 0x1005),
etisserant@0:   DeclareIndexTableEntry(Index1006, 0x1006),
etisserant@0:   DeclareIndexTableEntry(Index1007, 0x1007),
etisserant@0:   DeclareIndexTableEntry(Index1008, 0x1008),
etisserant@0:   DeclareIndexTableEntry(Index1009, 0x1009),
etisserant@0:   DeclareIndexTableEntry(Index100A, 0x100A),
etisserant@0:   DeclareIndexTableEntry(Index1016, 0x1016),
etisserant@0:   DeclareIndexTableEntry(Index1017, 0x1017),
etisserant@0:   DeclareIndexTableEntry(Index1018, 0x1018),
etisserant@0:   DeclareIndexTableEntry(Index1200, 0x1200),
etisserant@0:   DeclareIndexTableEntry(Index1280, 0x1280),
etisserant@0:   DeclareIndexTableEntry(Index1400, 0x1400),
etisserant@0:   DeclareIndexTableEntry(Index1401, 0x1401),
etisserant@0:   DeclareIndexTableEntry(Index1402, 0x1402),
etisserant@0:   DeclareIndexTableEntry(Index1600, 0x1600),
etisserant@0:   DeclareIndexTableEntry(Index1601, 0x1601),
etisserant@0:   DeclareIndexTableEntry(Index1602, 0x1602),
etisserant@0:   DeclareIndexTableEntry(Index1800, 0x1800),
etisserant@0:   DeclareIndexTableEntry(Index1801, 0x1801),
etisserant@0:   DeclareIndexTableEntry(Index1802, 0x1802),
etisserant@0:   DeclareIndexTableEntry(Index1A00, 0x1A00),
etisserant@0:   DeclareIndexTableEntry(Index1A01, 0x1A01),
etisserant@0:   DeclareIndexTableEntry(Index1A02, 0x1A02),
etisserant@0:   DeclareIndexTableEntry(Index2000, 0x2000),
etisserant@0:   DeclareIndexTableEntry(Index6000, 0x6000),
etisserant@0:   DeclareIndexTableEntry(Index6001, 0x6001),
etisserant@0:   DeclareIndexTableEntry(Index6002, 0x6002),
etisserant@0: };
etisserant@0: 
etisserant@0: // To count at which received SYNC a PDO must be sent.
etisserant@0: // Even if no pdoTransmit are defined, at least one entry is computed
etisserant@0: // for compilations issues.
etisserant@0: UNS8 count_sync[1] = {0, };
etisserant@0:   
etisserant@0: UNS16 firstIndex (enum e_first_object object, UNS16 *lastIndex)
etisserant@0: {
etisserant@0:   switch (object) {
etisserant@0:     case FIRST_SDO_SERVER :
etisserant@0:       *lastIndex = 11;
etisserant@0:       return 11;
etisserant@0:     case FIRST_SDO_CLIENT :
etisserant@0:       *lastIndex = 12;
etisserant@0:       return 12;
etisserant@0:     case FIRST_PDO_RCV :
etisserant@0:       *lastIndex = 15;
etisserant@0:       return 13;
etisserant@0:     case FIRST_PDO_RCV_MAP :
etisserant@0:       *lastIndex = 18;
etisserant@0:       return 16;
etisserant@0:     case FIRST_PDO_TRS :
etisserant@0:       *lastIndex = 21;
etisserant@0:       return 19;
etisserant@0:     case FIRST_PDO_TRS_MAP :
etisserant@0:       *lastIndex = 24;
etisserant@0:       return 22;
etisserant@0:   }
etisserant@0:   *lastIndex = 0;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: UNS16 getObjdictSize (void) 
etisserant@0: {
etisserant@0:   return sizeof(objdict)/sizeof(objdict[0]);
etisserant@0: }