diff -r b74f7ec412fc -r 03fb0bfccc1f examples/AVR/DS401_Slave/ObjDict.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AVR/DS401_Slave/ObjDict.c Thu Jan 31 15:20:59 2008 +0100 @@ -0,0 +1,425 @@ + +/* File generated by gen_cfile.py. Should not be modified. */ + +#include "ObjDict.h" + +/**************************************************************************/ +/* Declaration of the mapped variables */ +/**************************************************************************/ +UNS8 Read_Inputs_8_Bit[] = /* Mapped at index 0x6000, subindex 0x01 - 0x01 */ + { + 0x0 /* 0 */ + }; +UNS8 Polarity_Input_8_Bit[] = /* Mapped at index 0x6002, subindex 0x01 - 0x01 */ + { + 0x0 /* 0 */ + }; +UNS8 Filter_Constant_Input_8_Bit[] = /* Mapped at index 0x6003, subindex 0x01 - 0x01 */ + { + 0x0 /* 0 */ + }; +UNS8 Global_Interrupt_Enable_Digital = 0x1; /* Mapped at index 0x6005, subindex 0x00 */ +UNS8 Interrupt_Mask_Any_Change_8_Bit[] = /* Mapped at index 0x6006, subindex 0x01 - 0x01 */ + { + 0xFF /* 255 */ + }; +UNS8 Write_Outputs_8_Bit[] = /* Mapped at index 0x6200, subindex 0x01 - 0x01 */ + { + 0x0 /* 0 */ + }; + +/**************************************************************************/ +/* Declaration of the value range types */ +/**************************************************************************/ + +#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */ +UNS32 ObjDict_valueRangeTest (UNS8 typeValue, void * value) +{ + switch (typeValue) { + case valueRange_EMC: + if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED; + break; + } + return 0; +} + +/**************************************************************************/ +/* The node id */ +/**************************************************************************/ +/* node_id default value.*/ +UNS8 ObjDict_bDeviceNodeId = 0x00; + +/**************************************************************************/ +/* Array of message processing information */ + +const UNS8 ObjDict_iam_a_slave = 1; + +TIMER_HANDLE ObjDict_heartBeatTimers[1] = {TIMER_NONE,}; + +/* +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ + + OBJECT DICTIONARY + +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +*/ + +/* index 0x1000 : Device Type. */ + UNS32 ObjDict_obj1000 = 0x30191; /* 197009 */ + subindex ObjDict_Index1000[] = + { + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1000 } + }; + +/* index 0x1001 : Error Register. */ + UNS8 ObjDict_obj1001 = 0x0; /* 0 */ + subindex ObjDict_Index1001[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_obj1001 } + }; + +/* index 0x1003 : Pre-defined Error Field. */ + UNS8 ObjDict_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/ + UNS32 ObjDict_obj1003[] = + { + 0x0 /* 0 */ + }; + ODCallback_t ObjDict_Index1003_callbacks[] = + { + NULL, + NULL, + }; + subindex ObjDict_Index1003[] = + { + { RW, valueRange_EMC, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1003 }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1003[0] } + }; + +/* index 0x1005 : SYNC COB ID. */ + UNS32 ObjDict_obj1005 = 0x80; /* 128 */ + ODCallback_t ObjDict_Index1005_callbacks[] = + { + NULL, + }; + subindex ObjDict_Index1005[] = + { + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1005 } + }; + +/* index 0x1006 : Communication / Cycle Period */ + UNS32 ObjDict_obj1006 = 0x0; /* 0 */ + +/* index 0x1008 : Manufacturer Device Name. */ + UNS8 ObjDict_obj1008[10] = ""; + subindex ObjDict_Index1008[] = + { + { RO, visible_string, 0, (void*)&ObjDict_obj1008 } + }; + +/* index 0x1009 : Manufacturer Hardware Version. */ + UNS8 ObjDict_obj1009[10] = ""; + subindex ObjDict_Index1009[] = + { + { RO, visible_string, 0, (void*)&ObjDict_obj1009 } + }; + +/* index 0x100A : Manufacturer Software Version. */ + UNS8 ObjDict_obj100A[10] = ""; + subindex ObjDict_Index100A[] = + { + { RO, visible_string, 0, (void*)&ObjDict_obj100A } + }; + +/* index 0x1010 : Store parameters. */ + UNS8 ObjDict_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/ + UNS32 ObjDict_obj1010_Save_All_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1010_Save_Communication_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1010_Save_Application_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1010_Save_Manufacturer_Parameters = 0x0; /* 0 */ + subindex ObjDict_Index1010[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1010 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_All_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Communication_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Application_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Manufacturer_Parameters } + }; + +/* index 0x1011 : Restore Default Parameters. */ + UNS8 ObjDict_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/ + UNS32 ObjDict_obj1011_Restore_All_Default_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1011_Restore_Communication_Default_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1011_Restore_Application_Default_Parameters = 0x0; /* 0 */ + UNS32 ObjDict_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; /* 0 */ + subindex ObjDict_Index1011[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1011 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_All_Default_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Communication_Default_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Application_Default_Parameters }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Manufacturer_Default_Parameters } + }; + +/* index 0x1014 : Emergency COB ID. */ + UNS32 ObjDict_obj1014 = 0x80; /* 128 */ + subindex ObjDict_Index1014[] = + { + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1014 } + }; + +/* index 0x1016 : Consumer Heartbeat Time. */ + UNS8 ObjDict_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/ + UNS32 ObjDict_obj1016[] = + { + 0x0 /* 0 */ + }; + subindex ObjDict_Index1016[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1016 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1016[0] } + }; + +/* index 0x1017 : Producer Heartbeat Time. */ + UNS16 ObjDict_obj1017 = 0x3E8; /* 1000 */ + ODCallback_t ObjDict_Index1017_callbacks[] = + { + NULL, + }; + subindex ObjDict_Index1017[] = + { + { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1017 } + }; + +/* index 0x1018 : Identity. */ + UNS8 ObjDict_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/ + UNS32 ObjDict_obj1018_Vendor_ID = 0x0; /* 0 */ + UNS32 ObjDict_obj1018_Product_Code = 0x0; /* 0 */ + UNS32 ObjDict_obj1018_Revision_Number = 0x0; /* 0 */ + UNS32 ObjDict_obj1018_Serial_Number = 0x0; /* 0 */ + subindex ObjDict_Index1018[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1018 }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Vendor_ID }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Product_Code }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Revision_Number }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Serial_Number } + }; + +/* index 0x1200 : Server SDO Parameter. */ + UNS8 ObjDict_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/ + UNS32 ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x600; /* 1536 */ + UNS32 ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x580; /* 1408 */ + subindex ObjDict_Index1200[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1200 }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO }, + { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO } + }; + +/* index 0x1400 : Receive PDO 1 Parameter. */ + UNS8 ObjDict_highestSubIndex_obj1400 = 5; /* number of subindex - 1*/ + UNS32 ObjDict_obj1400_COB_ID_used_by_PDO = 0x200; /* 512 */ + UNS8 ObjDict_obj1400_Transmission_Type = 0x1; /* 1 */ + UNS16 ObjDict_obj1400_Inhibit_Time = 0x0; /* 0 */ + UNS8 ObjDict_obj1400_Compatibility_Entry = 0x0; /* 0 */ + UNS16 ObjDict_obj1400_Event_Timer = 0x0; /* 0 */ + subindex ObjDict_Index1400[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1400 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1400_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Inhibit_Time }, + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Event_Timer } + }; + +/* index 0x1600 : Receive PDO 1 Mapping. */ + UNS8 ObjDict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/ + UNS32 ObjDict_obj1600[] = + { + 0x62000108 /* 1644167432 */ + }; + subindex ObjDict_Index1600[] = + { + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1600 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1600[0] } + }; + +/* index 0x1800 : Transmit PDO 1 Parameter. */ + UNS8 ObjDict_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/ + UNS32 ObjDict_obj1800_COB_ID_used_by_PDO = 0x180; /* 384 */ + UNS8 ObjDict_obj1800_Transmission_Type = 0x0; /* 0 */ + UNS16 ObjDict_obj1800_Inhibit_Time = 0x0; /* 0 */ + UNS8 ObjDict_obj1800_Compatibility_Entry = 0x0; /* 0 */ + UNS16 ObjDict_obj1800_Event_Timer = 0x0; /* 0 */ + ODCallback_t ObjDict_Index1800_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; + subindex ObjDict_Index1800[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1800 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1800_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Inhibit_Time }, + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Event_Timer } + }; + +/* index 0x1A00 : Transmit PDO 1 Mapping. */ + UNS8 ObjDict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/ + UNS32 ObjDict_obj1A00[] = + { + 0x60000108 /* 1610613000 */ + }; + subindex ObjDict_Index1A00[] = + { + { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1A00 }, + { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A00[0] } + }; + +/* index 0x6000 : Mapped variable Read Inputs 8 Bit */ + UNS8 ObjDict_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/ + subindex ObjDict_Index6000[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6000 }, + { RO, uint8, sizeof (UNS8), (void*)&Read_Inputs_8_Bit[0] } + }; + +/* index 0x6002 : Mapped variable Polarity Input 8 Bit */ + UNS8 ObjDict_highestSubIndex_obj6002 = 1; /* number of subindex - 1*/ + subindex ObjDict_Index6002[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6002 }, + { RW, uint8, sizeof (UNS8), (void*)&Polarity_Input_8_Bit[0] } + }; + +/* index 0x6003 : Mapped variable Filter Constant Input 8 Bit */ + UNS8 ObjDict_highestSubIndex_obj6003 = 1; /* number of subindex - 1*/ + subindex ObjDict_Index6003[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6003 }, + { RW, uint8, sizeof (UNS8), (void*)&Filter_Constant_Input_8_Bit[0] } + }; + +/* index 0x6005 : Mapped variable Global Interrupt Enable Digital */ + subindex ObjDict_Index6005[] = + { + { RW, boolean, sizeof (UNS8), (void*)&Global_Interrupt_Enable_Digital } + }; + +/* index 0x6006 : Mapped variable Interrupt Mask Any Change 8 Bit */ + UNS8 ObjDict_highestSubIndex_obj6006 = 1; /* number of subindex - 1*/ + subindex ObjDict_Index6006[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6006 }, + { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Any_Change_8_Bit[0] } + }; + +/* index 0x6200 : Mapped variable Write Outputs 8 Bit */ + UNS8 ObjDict_highestSubIndex_obj6200 = 1; /* number of subindex - 1*/ + subindex ObjDict_Index6200[] = + { + { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6200 }, + { RW, uint8, sizeof (UNS8), (void*)&Write_Outputs_8_Bit[0] } + }; + +const indextable ObjDict_objdict[] = +{ + { (subindex*)ObjDict_Index1000,sizeof(ObjDict_Index1000)/sizeof(ObjDict_Index1000[0]), 0x1000}, + { (subindex*)ObjDict_Index1001,sizeof(ObjDict_Index1001)/sizeof(ObjDict_Index1001[0]), 0x1001}, + { (subindex*)ObjDict_Index1003,sizeof(ObjDict_Index1003)/sizeof(ObjDict_Index1003[0]), 0x1003}, + { (subindex*)ObjDict_Index1005,sizeof(ObjDict_Index1005)/sizeof(ObjDict_Index1005[0]), 0x1005}, + { (subindex*)ObjDict_Index1008,sizeof(ObjDict_Index1008)/sizeof(ObjDict_Index1008[0]), 0x1008}, + { (subindex*)ObjDict_Index1009,sizeof(ObjDict_Index1009)/sizeof(ObjDict_Index1009[0]), 0x1009}, + { (subindex*)ObjDict_Index100A,sizeof(ObjDict_Index100A)/sizeof(ObjDict_Index100A[0]), 0x100A}, + { (subindex*)ObjDict_Index1010,sizeof(ObjDict_Index1010)/sizeof(ObjDict_Index1010[0]), 0x1010}, + { (subindex*)ObjDict_Index1011,sizeof(ObjDict_Index1011)/sizeof(ObjDict_Index1011[0]), 0x1011}, + { (subindex*)ObjDict_Index1014,sizeof(ObjDict_Index1014)/sizeof(ObjDict_Index1014[0]), 0x1014}, + { (subindex*)ObjDict_Index1016,sizeof(ObjDict_Index1016)/sizeof(ObjDict_Index1016[0]), 0x1016}, + { (subindex*)ObjDict_Index1017,sizeof(ObjDict_Index1017)/sizeof(ObjDict_Index1017[0]), 0x1017}, + { (subindex*)ObjDict_Index1018,sizeof(ObjDict_Index1018)/sizeof(ObjDict_Index1018[0]), 0x1018}, + { (subindex*)ObjDict_Index1200,sizeof(ObjDict_Index1200)/sizeof(ObjDict_Index1200[0]), 0x1200}, + { (subindex*)ObjDict_Index1400,sizeof(ObjDict_Index1400)/sizeof(ObjDict_Index1400[0]), 0x1400}, + { (subindex*)ObjDict_Index1600,sizeof(ObjDict_Index1600)/sizeof(ObjDict_Index1600[0]), 0x1600}, + { (subindex*)ObjDict_Index1800,sizeof(ObjDict_Index1800)/sizeof(ObjDict_Index1800[0]), 0x1800}, + { (subindex*)ObjDict_Index1A00,sizeof(ObjDict_Index1A00)/sizeof(ObjDict_Index1A00[0]), 0x1A00}, + { (subindex*)ObjDict_Index6000,sizeof(ObjDict_Index6000)/sizeof(ObjDict_Index6000[0]), 0x6000}, + { (subindex*)ObjDict_Index6002,sizeof(ObjDict_Index6002)/sizeof(ObjDict_Index6002[0]), 0x6002}, + { (subindex*)ObjDict_Index6003,sizeof(ObjDict_Index6003)/sizeof(ObjDict_Index6003[0]), 0x6003}, + { (subindex*)ObjDict_Index6005,sizeof(ObjDict_Index6005)/sizeof(ObjDict_Index6005[0]), 0x6005}, + { (subindex*)ObjDict_Index6006,sizeof(ObjDict_Index6006)/sizeof(ObjDict_Index6006[0]), 0x6006}, + { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200}, +}; + +const indextable * ObjDict_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) +{ + int i; + *callbacks = NULL; + switch(wIndex){ + case 0x1000: i = 0;break; + case 0x1001: i = 1;break; + case 0x1003: i = 2;*callbacks = ObjDict_Index1003_callbacks; break; + case 0x1005: i = 3;*callbacks = ObjDict_Index1005_callbacks; break; + case 0x1008: i = 4;break; + case 0x1009: i = 5;break; + case 0x100A: i = 6;break; + case 0x1010: i = 7;break; + case 0x1011: i = 8;break; + case 0x1014: i = 9;break; + case 0x1016: i = 10;break; + case 0x1017: i = 11;*callbacks = ObjDict_Index1017_callbacks; break; + case 0x1018: i = 12;break; + case 0x1200: i = 13;break; + case 0x1400: i = 14;break; + case 0x1600: i = 15;break; + case 0x1800: i = 16;*callbacks = ObjDict_Index1800_callbacks; break; + case 0x1A00: i = 17;break; + case 0x6000: i = 18;break; + case 0x6002: i = 19;break; + case 0x6003: i = 20;break; + case 0x6005: i = 21;break; + case 0x6006: i = 22;break; + case 0x6200: i = 23;break; + default: + *errorCode = OD_NO_SUCH_OBJECT; + return NULL; + } + *errorCode = OD_SUCCESSFUL; + return &ObjDict_objdict[i]; +} + +/* + * To count at which received SYNC a PDO must be sent. + * Even if no pdoTransmit are defined, at least one entry is computed + * for compilations issues. + */ +s_PDO_status ObjDict_PDO_status[1] = {s_PDO_status_Initializer}; + +quick_index ObjDict_firstIndex = { + 13, /* SDO_SVR */ + 0, /* SDO_CLT */ + 14, /* PDO_RCV */ + 15, /* PDO_RCV_MAP */ + 16, /* PDO_TRS */ + 17 /* PDO_TRS_MAP */ +}; + +quick_index ObjDict_lastIndex = { + 13, /* SDO_SVR */ + 0, /* SDO_CLT */ + 14, /* PDO_RCV */ + 15, /* PDO_RCV_MAP */ + 16, /* PDO_TRS */ + 17 /* PDO_TRS_MAP */ +}; + +UNS16 ObjDict_ObjdictSize = sizeof(ObjDict_objdict)/sizeof(ObjDict_objdict[0]); + +CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict); +