CanFestival: /home/epimerde/documents/tc11/CanFestival-3/objdictgen/examples/example

00001 /*
nico@207: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@207: 00003 
nico@207: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 00005 
nico@207: 00006 See COPYING file for copyrights details.
nico@207: 00007 
nico@207: 00008 This library is free software; you can redistribute it and/or
nico@207: 00009 modify it under the terms of the GNU Lesser General Public
nico@207: 00010 License as published by the Free Software Foundation; either
nico@207: 00011 version 2.1 of the License, or (at your option) any later version.
nico@207: 00012 
nico@207: 00013 This library is distributed in the hope that it will be useful,
nico@207: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207: 00016 Lesser General Public License for more details.
nico@207: 00017 
nico@207: 00018 You should have received a copy of the GNU Lesser General Public
nico@207: 00019 License along with this library; if not, write to the Free Software
nico@207: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@207: 00021 */
nico@207: 00022 
nico@207: 00023 
nico@207: 00024 #include <stddef.h>
nico@207: 00025 
nico@207: 00026 #include <canfestival/applicfg.h>
nico@207: 00027 #include "canfestival/def.h"
nico@207: 00028 #include "canfestival/can.h"
nico@207: 00029 #include "canfestival/objdictdef.h"
nico@207: 00030 #include "canfestival/pdo.h"
nico@207: 00031 #include "canfestival/sdo.h"
nico@207: 00032 #include "canfestival/sync.h"
nico@207: 00033 #include "canfestival/lifegrd.h"
nico@207: 00034 #include "canfestival/nmtSlave.h"
nico@207: 00035 
nico@207: 00036 /**************************************************************************/
nico@207: 00037 /* Declaration of the mapped variables                                    */
nico@207: 00038 /**************************************************************************/
nico@207: 00039 UNS8 seconds = 0;               // Mapped at index 0x2000, subindex 0x01
nico@207: 00040 UNS8 minutes = 0;               // Mapped at index 0x2000, subindex 0x02
nico@207: 00041 UNS8 hours = 0;         // Mapped at index 0x2000, subindex 0x03
nico@207: 00042 UNS8 day = 0;           // Mapped at index 0x2000, subindex 0x04
nico@207: 00043 UNS32 canopenErrNB = 0;         // Mapped at index 0x6000, subindex 0x00
nico@207: 00044 UNS32 canopenErrVAL = 0;                // Mapped at index 0x6001, subindex 0x00
nico@207: 00045 UNS8 strTest[10] = 0;           // Mapped at index 0x6002, subindex 0x00
nico@207: 00046 
nico@207: 00047 /**************************************************************************/
nico@207: 00048 /* Declaration of the value range types                                   */
nico@207: 00049 /**************************************************************************/
nico@207: 00050 
nico@207: 00051 
nico@207: 00052 
nico@207: 00053 UNS32 Linux_slave_valueRangeTest (UNS8 typeValue, UNS32 unsValue, REAL32 realValue)
nico@207: 00054 {
nico@207: 00055   switch (typeValue) {
nico@207: 00056   }
nico@207: 00057   return 0;
nico@207: 00058 }
nico@207: 00059 
nico@207: 00060 
nico@207: 00061 /**************************************************************************/
nico@207: 00062 /* The node id                                                            */
nico@207: 00063 /**************************************************************************/
nico@207: 00064 /* node_id default value. 
nico@207: 00065    This default value is deprecated.
nico@207: 00066    You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code.
nico@207: 00067 */
nico@207: 00068 #define NODE_ID 0x01
nico@207: 00069 UNS8 Linux_slave_bDeviceNodeId = NODE_ID;
nico@207: 00070 
nico@207: 00071 
nico@207: 00072 //*****************************************************************************/
nico@207: 00073 /* Array of message processing information */
nico@207: 00074 /* Should not be modified */
nico@207: 00075 
nico@207: 00076 const UNS8 Linux_slave_iam_a_slave = 1
nico@207: 00077 
nico@207: 00078   // Macros definition
nico@207: 00079 
nico@207: 00080 /* Beware : 
nico@207: 00081 index                 *must* be writen 4 numbers in hexa
nico@207: 00082 sub_index             *must* be writen 2 numbers in hexa
nico@207: 00083 size_variable_in_UNS8 *must* be writen 2 numbers in hexa
nico@207: 00084 */
nico@207: 00085 #define PDO_MAP(index, sub_index, size_variable_in_bits)\
nico@207: 00086 0x ## index ## sub_index ## size_variable_in_bits
nico@207: 00087 
nico@207: 00092 #define DeclareIndexTableEntry(entryname, index)    { (subindex*)entryname,sizeof(entryname)/sizeof(entryname[0]), index}
nico@207: 00093 
nico@207: 00094 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
nico@207: 00095 //
nico@207: 00096 //                       OBJECT DICTIONARY
nico@207: 00097 //                   
nico@207: 00098 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
nico@207: 00099 // Make your change, depending of your application
nico@207: 00100  
nico@207: 00101 
nico@207: 00102 /* index 0x1000 :   Device type. 
nico@207: 00103                     You have to change the value below, so
nico@207: 00104                     it fits your canopen-slave-module */
nico@207: 00105  
nico@207: 00106                     /* Not used, so, should not be modified */
nico@207: 00107                     
nico@207: 00108                     UNS32 Linux_slave_obj1000 = 0;
nico@207: 00109                     subindex Linux_slave_Index1000[] =
nico@207: 00110                     {
nico@207: 00111                       { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1000 }
nico@207: 00112                     };
nico@207: 00113 
nico@207: 00114 /* index 0x1001 :   Error register. 
nico@207: 00115                     Change the entries to fit your application 
nico@207: 00116                     Not used, so, should not be modified */
nico@207: 00117                     /*const*/ UNS8 Linux_slave_obj1001 = 0x0;
nico@207: 00118                     /*const*/ subindex Linux_slave_Index1001[] =
nico@207: 00119                     {
nico@207: 00120                       { RO, uint8, sizeof(UNS8), (void*)&Linux_slave_obj1001 }
nico@207: 00121                     };
nico@207: 00122 
nico@207: 00123 /* index 0x1005 :   COB_ID SYNC */
nico@207: 00124                     /* Should not be modified */
nico@207: 00125                     UNS32 Linux_slave_obj1005 = 0x00000080; // bit 30 = 1 : device can generate a SYNC message
nico@207: 00126                                                 // Beware, it is over written when the node 
nico@207: 00127                                                 // enters in reset mode
nico@207: 00128                                                 // See initResetMode() in init.c
nico@207: 00129                     /*const*/ subindex Linux_slave_Index1005[] =
nico@207: 00130                     {
nico@207: 00131                       { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1005 }
nico@207: 00132                     };
nico@207: 00133 
nico@207: 00134 /* index 0x1006 :   SYNC period */
nico@207: 00135                     // For producing the SYNC signal every n micro-seconds.
nico@207: 00136                     // Put 0 to not producing SYNC
nico@207: 00137                     /*const*/ UNS32 Linux_slave_obj1006 = 0x0; 
nico@207: 00138                                          // Default 0 to not produce SYNC //
nico@207: 00139                                          // Beware, it is over written when the 
nico@207: 00140                                          // node enters in reset mode.
nico@207: 00141                                          // See initResetMode() in init.c
nico@207: 00142                     /*const*/ subindex Linux_slave_Index1006[] =
nico@207: 00143                     {
nico@207: 00144                       { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1006 }
nico@207: 00145                     };
nico@207: 00146 
nico@207: 00147 /* index 0x1007 :   Synchronous Window Length
nico@207: 00148                     Seems to be needed by DS401 to generate the SYNC signal ! */
nico@207: 00149                     /*const*/ UNS32 Linux_slave_obj1007 = 0x0; /* Default 0 */
nico@207: 00150                     /*const*/ subindex Linux_slave_Index1007[] =
nico@207: 00151                     {
nico@207: 00152                       { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1007 }
nico@207: 00153                     };
nico@207: 00154 
nico@207: 00155 /* index 0x1008 :   Manufacturer device name */
nico@207: 00156                     UNS8 Linux_slave_obj1008[] = "Appli_Slave_HC12"; /* Default 0 */
nico@207: 00157                     subindex Linux_slave_Index1008[] =
nico@207: 00158                     {
nico@207: 00159                       { RO, uint32, sizeof(Linux_slave_obj1008), (void*)&Linux_slave_obj1008 }
nico@207: 00160                     };
nico@207: 00161 
nico@207: 00162 /* index 0x1009 :   Manufacturer hardware version */
nico@207: 00163                     UNS8 Linux_slave_obj1009[] = "__DATE__"; /* Default 0 */
nico@207: 00164                     subindex Linux_slave_Index1009[] =
nico@207: 00165                     {
nico@207: 00166                       { RO, uint32, sizeof(Linux_slave_obj1009), (void*)&Linux_slave_obj1009 }
nico@207: 00167                     };
nico@207: 00168 
nico@207: 00169 /* index 0x100A :   Manufacturer software version */
nico@207: 00170                     UNS8 Linux_slave_obj100A[] = __TIME__; /* Default 0 */
nico@207: 00171                     subindex Linux_slave_Index100A[] =
nico@207: 00172                     {
nico@207: 00173                       { RO, uint32, Linux_slave_sizeof(obj100A), (void*)&Linux_slave_obj100A}
nico@207: 00174                     };
nico@207: 00175 
nico@207: 00176 
nico@207: 00177                     TIMER_HANDLE Linux_slave_heartBeatTimers[1] = {TIMER_NONE,};
nico@207: 00178 /* index 0x1016 :   HeartBeat consumers 
nico@207: 00179                     The nodes which can send a heartbeat */ 
nico@207: 00180                     UNS32 Linux_slave_obj1016[] = {// Consumer time for each node 
nico@207: 00181                     0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)
nico@207: 00182 
nico@207: 00183                     UNS8 Linux_slave_obj1016_cnt = 1; // 1 nodes could send me
nico@207: 00184                                                   // their heartbeat.
nico@207: 00185                     subindex Linux_slave_Index1016[] = 
nico@207: 00186                     {
nico@207: 00187                       { RO, uint8, sizeof(UNS8), (void*)&Linux_slave_obj1016_cnt },
nico@207: 00188                       { RW, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1016[0] }
nico@207: 00189                     }; 
nico@207: 00190 
nico@207: 00191 /* index 0x1017 :   Heartbeat producer                    
nico@207: 00192                     Every HBProducerTime, the node sends its heartbeat */
nico@207: 00193                     UNS16 Linux_slave_obj1017 = 0; //HBProducerTime in ms. If 0 : not activated 
nico@207: 00194                                                      // Beware, it is over written when the 
nico@207: 00195                                                      // node enters in reset mode.
nico@207: 00196                                                      // See initResetMode() in init.c
nico@207: 00197                     subindex Linux_slave_Index1017[] =
nico@207: 00198                     {
nico@207: 00199                       { RW, uint16, sizeof(UNS16), &Linux_slave_obj1017 }
nico@207: 00200                     };
nico@207: 00201 
nico@207: 00202 /* index 0x1018 :   Identity object */
nico@207: 00205                     /* Values can be modified */
nico@207: 00206 
nico@207: 00207                     s_identity Linux_slave_obj1018 =
nico@207: 00208                     {
nico@207: 00209                       4,       // number of supported entries
nico@207: 00210                       0,  // Vendor-ID (given by the can-cia)
nico@207: 00211                       0,  // Product Code
nico@207: 00212                       0,  // Revision number
nico@207: 00213                       0  // serial number
nico@207: 00214                     };
nico@207: 00215 
nico@207: 00216                     subindex Linux_slave_Index1018[] =
nico@207: 00217                     {
nico@207: 00218                       { RO, uint8,  sizeof(UNS8),  (void*)&Linux_slave_obj1018.count },
nico@207: 00219                       { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.vendor_id},
nico@207: 00220                       { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.product_code},
nico@207: 00221                       { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.revision_number},
nico@207: 00222                       { RO, uint32, sizeof(UNS32), (void*)&Linux_slave_obj1018.serial_number}
nico@207: 00223                     };
nico@207: 00224 
nico@207: 00225 /* index 0x1200 :   The SDO Server parameters */
nico@207: 00226                     /* BEWARE You cannot define more than one SDO server */
nico@207: 00227                     /* The values should not be modified here, 
nico@207: 00228                     but can be changed at runtime */
nico@207: 00229                     // Beware that the default values that you could put here
nico@207: 00230                     // will be over written at the initialisation of the node. 
nico@207: 00231                     // See setNodeId() in init.c
nico@207: 00232                     s_sdo_parameter Linux_slave_obj1200  = 
nico@207: 00233                       { 3,                   // Number of entries. Always 3 for the SDO        
nico@207: 00234                         0x601,     // The cob_id transmited in CAN msg to the server     
nico@207: 00235                         0x581,     // The cob_id received in CAN msg from the server  
nico@207: 00236                         0x01      // The node id of the client. Should not be modified
nico@207: 00237                       };
nico@207: 00238                     subindex Linux_slave_Index1200[] =
nico@207: 00239                     {
nico@207: 00240                       { RO, uint8,  sizeof( UNS8 ), (void*)&Linux_slave_obj1200.count },
nico@207: 00241                       { RO, uint32, sizeof( UNS32), (void*)&Linux_slave_obj1200.cob_id_client },
nico@207: 00242                       { RO, uint32, sizeof( UNS32), (void*)&Linux_slave_obj1200.cob_id_server },
nico@207: 00243                       { RW, uint8,  sizeof( UNS8),  (void*)&Linux_slave_obj1200.node_id }
nico@207: 00244                     };
nico@207: 00245 
nico@207: 00246 /* index 0x1280 :   SDO client parameter */
nico@207: 00247                     s_sdo_parameter Linux_slave_obj1280 = 
nico@207: 00248                       { 3,     // Nb of entries 
nico@207: 00249                         0x600, // cobid transmited to the server. The good value should be 0x600 + server nodeId
nico@207: 00250                         0x580, // cobid received from the server. The good value should be 0x580 + server nodeId
nico@207: 00251                         0x01  // server NodeId
nico@207: 00252                       };
nico@207: 00253                     subindex Linux_slave_Index1280[] = 
nico@207: 00254                       { 
nico@207: 00255                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1280.count },
nico@207: 00256                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1280.cob_id_client },
nico@207: 00257                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1280.cob_id_server },
nico@207: 00258                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1280.node_id }
nico@207: 00259                       }; 
nico@207: 00260 
nico@207: 00261 /* index 0x1400 :   PDO receive communication parameter */
nico@207: 00262                     s_pdo_communication_parameter Linux_slave_obj1400 = 
nico@207: 00263                       { 2, // Largest subindex supported 
nico@207: 00264                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00265                         253 // Transmission type. See objdictdef.h 
nico@207: 00266                       };
nico@207: 00267                     subindex Linux_slave_Index1400[] = 
nico@207: 00268                       { 
nico@207: 00269                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1400.count },
nico@207: 00270                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1400.cob_id },
nico@207: 00271                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1400.type },
nico@207: 00272                       }; 
nico@207: 00273 
nico@207: 00274 /* index 0x1401 :   PDO receive communication parameter */
nico@207: 00275                     s_pdo_communication_parameter Linux_slave_obj1401 = 
nico@207: 00276                       { 2, // Largest subindex supported 
nico@207: 00277                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00278                         253 // Transmission type. See objdictdef.h 
nico@207: 00279                       };
nico@207: 00280                     subindex Linux_slave_Index1401[] = 
nico@207: 00281                       { 
nico@207: 00282                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1401.count },
nico@207: 00283                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1401.cob_id },
nico@207: 00284                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1401.type },
nico@207: 00285                       }; 
nico@207: 00286 
nico@207: 00287 /* index 0x1402 :   PDO receive communication parameter */
nico@207: 00288                     s_pdo_communication_parameter Linux_slave_obj1402 = 
nico@207: 00289                       { 2, // Largest subindex supported 
nico@207: 00290                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00291                         253 // Transmission type. See objdictdef.h 
nico@207: 00292                       };
nico@207: 00293                     subindex Linux_slave_Index1402[] = 
nico@207: 00294                       { 
nico@207: 00295                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1402.count },
nico@207: 00296                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1402.cob_id },
nico@207: 00297                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1402.type },
nico@207: 00298                       }; 
nico@207: 00299 
nico@207: 00300 /* index 0x1600 :   PDO receive mapping parameter of PDO communication index 0x1400 */
nico@207: 00301                     UNS8 Linux_slave_obj1600_cnt = 0; // Number of mapped variables
nico@207: 00302                     UNS32 Linux_slave_obj1600_mappedVar[] = { 
nico@207: 00303                         0x00000000,
nico@207: 00304                         0x00000000,
nico@207: 00305                         0x00000000,
nico@207: 00306                         0x00000000,
nico@207: 00307                         0x00000000,
nico@207: 00308                         0x00000000,
nico@207: 00309                         0x00000000,
nico@207: 00310                         0x00000000
nico@207: 00311                       };
nico@207: 00312                     subindex Linux_slave_Index1600[] = 
nico@207: 00313                       { 
nico@207: 00314                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1600_cnt },
nico@207: 00315                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[0]},
nico@207: 00316                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[1]},
nico@207: 00317                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[2]},
nico@207: 00318                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[3]},
nico@207: 00319                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[4]},
nico@207: 00320                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[5]},
nico@207: 00321                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[6]},
nico@207: 00322                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1600_mappedVar[7]}
nico@207: 00323                       }; 
nico@207: 00324 
nico@207: 00325 /* index 0x1601 :   PDO receive mapping parameter of PDO communication index 0x1401 */
nico@207: 00326                     UNS8 Linux_slave_obj1601_cnt = 0; // Number of mapped variables
nico@207: 00327                     UNS32 Linux_slave_obj1601_mappedVar[] = { 
nico@207: 00328                         0x00000000,
nico@207: 00329                         0x00000000,
nico@207: 00330                         0x00000000,
nico@207: 00331                         0x00000000,
nico@207: 00332                         0x00000000,
nico@207: 00333                         0x00000000,
nico@207: 00334                         0x00000000,
nico@207: 00335                         0x00000000
nico@207: 00336                       };
nico@207: 00337                     subindex Linux_slave_Index1601[] = 
nico@207: 00338                       { 
nico@207: 00339                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1601_cnt },
nico@207: 00340                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[0]},
nico@207: 00341                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[1]},
nico@207: 00342                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[2]},
nico@207: 00343                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[3]},
nico@207: 00344                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[4]},
nico@207: 00345                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[5]},
nico@207: 00346                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[6]},
nico@207: 00347                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1601_mappedVar[7]}
nico@207: 00348                       }; 
nico@207: 00349 
nico@207: 00350 /* index 0x1602 :   PDO receive mapping parameter of PDO communication index 0x1402 */
nico@207: 00351                     UNS8 Linux_slave_obj1602_cnt = 0; // Number of mapped variables
nico@207: 00352                     UNS32 Linux_slave_obj1602_mappedVar[] = { 
nico@207: 00353                         0x00000000,
nico@207: 00354                         0x00000000,
nico@207: 00355                         0x00000000,
nico@207: 00356                         0x00000000,
nico@207: 00357                         0x00000000,
nico@207: 00358                         0x00000000,
nico@207: 00359                         0x00000000,
nico@207: 00360                         0x00000000
nico@207: 00361                       };
nico@207: 00362                     subindex Linux_slave_Index1602[] = 
nico@207: 00363                       { 
nico@207: 00364                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1602_cnt },
nico@207: 00365                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[0]},
nico@207: 00366                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[1]},
nico@207: 00367                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[2]},
nico@207: 00368                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[3]},
nico@207: 00369                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[4]},
nico@207: 00370                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[5]},
nico@207: 00371                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[6]},
nico@207: 00372                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1602_mappedVar[7]}
nico@207: 00373                       }; 
nico@207: 00374 
nico@207: 00375 /* index 0x1800 :   PDO transmit communication parameter */
nico@207: 00376                     s_pdo_communication_parameter Linux_slave_obj1800 = 
nico@207: 00377                       { 2, // Largest subindex supported 
nico@207: 00378                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00379                         253 // Transmission type. See objdictdef.h 
nico@207: 00380                       };
nico@207: 00381                     subindex Linux_slave_Index1800[] = 
nico@207: 00382                       { 
nico@207: 00383                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1800.count },
nico@207: 00384                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1800.cob_id },
nico@207: 00385                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1800.type },
nico@207: 00386                       }; 
nico@207: 00387 
nico@207: 00388 /* index 0x1801 :   PDO transmit communication parameter */
nico@207: 00389                     s_pdo_communication_parameter Linux_slave_obj1801 = 
nico@207: 00390                       { 2, // Largest subindex supported 
nico@207: 00391                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00392                         253 // Transmission type. See objdictdef.h 
nico@207: 00393                       };
nico@207: 00394                     subindex Linux_slave_Index1801[] = 
nico@207: 00395                       { 
nico@207: 00396                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1801.count },
nico@207: 00397                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1801.cob_id },
nico@207: 00398                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1801.type },
nico@207: 00399                       }; 
nico@207: 00400 
nico@207: 00401 /* index 0x1802 :   PDO transmit communication parameter */
nico@207: 00402                     s_pdo_communication_parameter Linux_slave_obj1802 = 
nico@207: 00403                       { 2, // Largest subindex supported 
nico@207: 00404                         0x0, // Default COBID (overwritten at init for index 0x1400 to 0x1403)
nico@207: 00405                         253 // Transmission type. See objdictdef.h 
nico@207: 00406                       };
nico@207: 00407                     subindex Linux_slave_Index1802[] = 
nico@207: 00408                       { 
nico@207: 00409                         { RO, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1802.count },
nico@207: 00410                         { RW, uint8, sizeof( UNS32 ), (void*)&Linux_slave_obj1802.cob_id },
nico@207: 00411                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1802.type },
nico@207: 00412                       }; 
nico@207: 00413 
nico@207: 00414 /* index 0x1A00 :   PDO transmit mapping parameter of PDO communication index 0x1800 */
nico@207: 00415                     UNS8 Linux_slave_obj1A00_cnt = 0; // Number of mapped variables
nico@207: 00416                     UNS32 Linux_slave_obj1A00_mappedVar[] = { 
nico@207: 00417                         0x00000000,
nico@207: 00418                         0x00000000,
nico@207: 00419                         0x00000000,
nico@207: 00420                         0x00000000,
nico@207: 00421                         0x00000000,
nico@207: 00422                         0x00000000,
nico@207: 00423                         0x00000000,
nico@207: 00424                         0x00000000
nico@207: 00425                       };
nico@207: 00426                     subindex Linux_slave_Index1A00[] = 
nico@207: 00427                       { 
nico@207: 00428                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A00_cnt },
nico@207: 00429                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[0]},
nico@207: 00430                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[1]},
nico@207: 00431                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[2]},
nico@207: 00432                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[3]},
nico@207: 00433                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[4]},
nico@207: 00434                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[5]},
nico@207: 00435                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[6]},
nico@207: 00436                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A00_mappedVar[7]}
nico@207: 00437                       }; 
nico@207: 00438 
nico@207: 00439 /* index 0x1A01 :   PDO transmit mapping parameter of PDO communication index 0x1801 */
nico@207: 00440                     UNS8 Linux_slave_obj1A01_cnt = 0; // Number of mapped variables
nico@207: 00441                     UNS32 Linux_slave_obj1A01_mappedVar[] = { 
nico@207: 00442                         0x00000000,
nico@207: 00443                         0x00000000,
nico@207: 00444                         0x00000000,
nico@207: 00445                         0x00000000,
nico@207: 00446                         0x00000000,
nico@207: 00447                         0x00000000,
nico@207: 00448                         0x00000000,
nico@207: 00449                         0x00000000
nico@207: 00450                       };
nico@207: 00451                     subindex Linux_slave_Index1A01[] = 
nico@207: 00452                       { 
nico@207: 00453                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A01_cnt },
nico@207: 00454                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[0]},
nico@207: 00455                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[1]},
nico@207: 00456                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[2]},
nico@207: 00457                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[3]},
nico@207: 00458                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[4]},
nico@207: 00459                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[5]},
nico@207: 00460                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[6]},
nico@207: 00461                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A01_mappedVar[7]}
nico@207: 00462                       }; 
nico@207: 00463 
nico@207: 00464 /* index 0x1A02 :   PDO transmit mapping parameter of PDO communication index 0x1802 */
nico@207: 00465                     UNS8 Linux_slave_obj1A02_cnt = 0; // Number of mapped variables
nico@207: 00466                     UNS32 Linux_slave_obj1A02_mappedVar[] = { 
nico@207: 00467                         0x00000000,
nico@207: 00468                         0x00000000,
nico@207: 00469                         0x00000000,
nico@207: 00470                         0x00000000,
nico@207: 00471                         0x00000000,
nico@207: 00472                         0x00000000,
nico@207: 00473                         0x00000000,
nico@207: 00474                         0x00000000
nico@207: 00475                       };
nico@207: 00476                     subindex Linux_slave_Index1A02[] = 
nico@207: 00477                       { 
nico@207: 00478                         { RW, uint8, sizeof( UNS8  ), (void*)&Linux_slave_obj1A02_cnt },
nico@207: 00479                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[0]},
nico@207: 00480                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[1]},
nico@207: 00481                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[2]},
nico@207: 00482                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[3]},
nico@207: 00483                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[4]},
nico@207: 00484                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[5]},
nico@207: 00485                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[6]},
nico@207: 00486                         { RW, uint32, sizeof( UNS32 ), (void*)&Linux_slave_obj1A02_mappedVar[7]}
nico@207: 00487                       }; 
nico@207: 00488 
nico@207: 00489 
nico@207: 00490 /* index 0x2000 :   Mapped variable */
nico@207: 00491                     UNS8 Linux_slave_highestSubIndex_2000 = 4; // number of subindex - 1
nico@207: 00492                     subindex Linux_slave_Index2000[] = 
nico@207: 00493                      {
nico@207: 00494                        { RO, uint8, sizeof (UNS8), (void*)&Linux_slave_highestSubIndex_2000 },
nico@207: 00495                        { RW, uint8, sizeof (UNS8), (void*)&seconds },
nico@207: 00496                        { RW, uint8, sizeof (UNS8), (void*)&minutes },
nico@207: 00497                        { RW, uint8, sizeof (UNS8), (void*)&hours },
nico@207: 00498                        { RW, uint8, sizeof (UNS8), (void*)&day }
nico@207: 00499                      };
nico@207: 00500 
nico@207: 00501 /* index 0x6000 :   Mapped variable */
nico@207: 00502                     UNS8 Linux_slave_highestSubIndex_6000 = 0; // number of subindex - 1
nico@207: 00503                     subindex Linux_slave_Index6000[] = 
nico@207: 00504                      {
nico@207: 00505                        { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
nico@207: 00506                      };
nico@207: 00507 
nico@207: 00508 /* index 0x6001 :   Mapped variable */
nico@207: 00509                     UNS8 Linux_slave_highestSubIndex_6001 = 0; // number of subindex - 1
nico@207: 00510                     subindex Linux_slave_Index6001[] = 
nico@207: 00511                      {
nico@207: 00512                        { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
nico@207: 00513                      };
nico@207: 00514 
nico@207: 00515 /* index 0x6002 :   Mapped variable */
nico@207: 00516                     UNS8 Linux_slave_highestSubIndex_6002 = 0; // number of subindex - 1
nico@207: 00517                     subindex Linux_slave_Index6002[] = 
nico@207: 00518                      {
nico@207: 00519                        { RW, visible_string, sizeof (strTest), (void*)&strTest }
nico@207: 00520                      };
nico@207: 00521 
nico@207: 00522 const indextable Linux_slave_objdict[] = 
nico@207: 00523 {
nico@207: 00524   DeclareIndexTableEntry(Linux_slave_Index1000, 0x1000),
nico@207: 00525   DeclareIndexTableEntry(Linux_slave_Index1001, 0x1001),
nico@207: 00526   DeclareIndexTableEntry(Linux_slave_Index1005, 0x1005),
nico@207: 00527   DeclareIndexTableEntry(Linux_slave_Index1006, 0x1006),
nico@207: 00528   DeclareIndexTableEntry(Linux_slave_Index1007, 0x1007),
nico@207: 00529   DeclareIndexTableEntry(Linux_slave_Index1008, 0x1008),
nico@207: 00530   DeclareIndexTableEntry(Linux_slave_Index1009, 0x1009),
nico@207: 00531   DeclareIndexTableEntry(Linux_slave_Index100A, 0x100A),
nico@207: 00532   DeclareIndexTableEntry(Linux_slave_Index1016, 0x1016),
nico@207: 00533   DeclareIndexTableEntry(Linux_slave_Index1017, 0x1017),
nico@207: 00534   DeclareIndexTableEntry(Linux_slave_Index1018, 0x1018),
nico@207: 00535   DeclareIndexTableEntry(Linux_slave_Index1200, 0x1200),
nico@207: 00536   DeclareIndexTableEntry(Linux_slave_Index1280, 0x1280),
nico@207: 00537   DeclareIndexTableEntry(Linux_slave_Index1400, 0x1400),
nico@207: 00538   DeclareIndexTableEntry(Linux_slave_Index1401, 0x1401),
nico@207: 00539   DeclareIndexTableEntry(Linux_slave_Index1402, 0x1402),
nico@207: 00540   DeclareIndexTableEntry(Linux_slave_Index1600, 0x1600),
nico@207: 00541   DeclareIndexTableEntry(Linux_slave_Index1601, 0x1601),
nico@207: 00542   DeclareIndexTableEntry(Linux_slave_Index1602, 0x1602),
nico@207: 00543   DeclareIndexTableEntry(Linux_slave_Index1800, 0x1800),
nico@207: 00544   DeclareIndexTableEntry(Linux_slave_Index1801, 0x1801),
nico@207: 00545   DeclareIndexTableEntry(Linux_slave_Index1802, 0x1802),
nico@207: 00546   DeclareIndexTableEntry(Linux_slave_Index1A00, 0x1A00),
nico@207: 00547   DeclareIndexTableEntry(Linux_slave_Index1A01, 0x1A01),
nico@207: 00548   DeclareIndexTableEntry(Linux_slave_Index1A02, 0x1A02),
nico@207: 00549   DeclareIndexTableEntry(Linux_slave_Index2000, 0x2000),
nico@207: 00550   DeclareIndexTableEntry(Linux_slave_Index6000, 0x6000),
nico@207: 00551   DeclareIndexTableEntry(Linux_slave_Index6001, 0x6001),
nico@207: 00552   DeclareIndexTableEntry(Linux_slave_Index6002, 0x6002),
nico@207: 00553 };
nico@207: 00554 
nico@207: 00555 // To count at which received SYNC a PDO must be sent.
nico@207: 00556 // Even if no pdoTransmit are defined, at least one entry is computed
nico@207: 00557 // for compilations issues.
nico@207: 00558 UNS8 Linux_slave_count_sync[1] = {0, };
nico@207: 00559 
nico@207: 00560 quick_index Linux_slave_firstIndex = {
nico@207: 00561     SDO_SVR : 11,
nico@207: 00562     SDO_CLT : 12,
nico@207: 00563     PDO_RCV : 13,
nico@207: 00564     PDO_RCV_MAP : 16,
nico@207: 00565     PDO_TRS : 19,
nico@207: 00566     PDO_TRS_MAP : 22
nico@207: 00567 }
nico@207: 00568 
nico@207: 00569 quick_index Linux_slave_lastIndex{
nico@207: 00570     SDO_SVR : 11,
nico@207: 00571     SDO_CLT : 12,
nico@207: 00572     PDO_RCV : 15,
nico@207: 00573     PDO_RCV_MAP : 18,
nico@207: 00574     PDO_TRS : 21,
nico@207: 00575     PDO_TRS_MAP : 24
nico@207: 00576 }
nico@207: 00577 
nico@207: 00578 UNS16 Linux_slave_ObjdictSize = sizeof(Linux_slave_objdict)/sizeof(Linux_slave_objdict[0]); 
nico@207: 00579 
nico@207:
/home/epimerde/documents/tc11/CanFestival-3/objdictgen/examples/example_objdict.c
