diff -r 000000000000 -r 4472ee7c6c3e examples/TestMasterSlave/TestMaster.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/TestMasterSlave/TestMaster.c Wed May 10 16:59:40 2006 +0200 @@ -0,0 +1,306 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* File generated by gen_cfile.py. Should not be modified. */ + +#include "TestMaster.h" + +/**************************************************************************/ +/* Declaration of the mapped variables */ +/**************************************************************************/ +UNS8 MasterMap1 = 0x0; // Mapped at index 0x2000, subindex 0x00 +UNS8 MasterMap2 = 0x0; // Mapped at index 0x2001, subindex 0x00 +UNS8 MasterMap3 = 0x0; // Mapped at index 0x2002, subindex 0x00 +UNS8 MasterMap4 = 0x0; // Mapped at index 0x2003, subindex 0x00 + +/**************************************************************************/ +/* Declaration of the value range types */ +/**************************************************************************/ + +UNS32 TestMaster_valueRangeTest (UNS8 typeValue, void * value) +{ + switch (typeValue) { + } + return 0; +} + +/**************************************************************************/ +/* The node id */ +/**************************************************************************/ +/* node_id default value.*/ +UNS8 TestMaster_bDeviceNodeId = 0x00; + +//*****************************************************************************/ +/* Array of message processing information */ + +const UNS8 TestMaster_iam_a_slave = 0; + +TIMER_HANDLE TestMaster_heartBeatTimers[1] = {TIMER_NONE,}; + +//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +// +// OBJECT DICTIONARY +// +//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ + +/* index 0x1000 : Device Type. */ + UNS32 TestMaster_obj1000 = 0x12D; + subindex TestMaster_Index1000[] = + { + { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1000 } + }; + +/* index 0x1001 : Error Register. */ + UNS8 TestMaster_obj1001 = 0x0; + subindex TestMaster_Index1001[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_obj1001 } + }; + +/* index 0x1005 : SYNC COB ID. */ + UNS32 TestMaster_obj1005 = 0x40000080; + ODCallback_t TestMaster_Index1005_callbacks[] = + { + NULL, + }; + subindex TestMaster_Index1005[] = + { + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1005 } + }; + +/* index 0x1006 : Communication / Cycle Period. */ + UNS32 TestMaster_obj1006 = 0xC350; + ODCallback_t TestMaster_Index1006_callbacks[] = + { + NULL, + }; + subindex TestMaster_Index1006[] = + { + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1006 } + }; + +/* index 0x1016 : Consumer Heartbeat Time. */ + UNS8 TestMaster_highestSubIndex_obj1016 = 1; // number of subindex - 1 + UNS32 TestMaster_obj1016[] = + { + 133122 + }; + subindex TestMaster_Index1016[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1016 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1016[0] } + }; + +/* index 0x1017 : Producer Heartbeat Time */ + UNS16 TestMaster_obj1017 = 0; + +/* index 0x1018 : Identity. */ + UNS8 TestMaster_highestSubIndex_obj1018 = 4; // number of subindex - 1 + UNS32 TestMaster_obj1018_Vendor_ID = 0x0; + UNS32 TestMaster_obj1018_Product_Code = 0x0; + UNS32 TestMaster_obj1018_Revision_Number = 0x0; + UNS32 TestMaster_obj1018_Serial_Number = 0x0; + subindex TestMaster_Index1018[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1018 }, + { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Vendor_ID }, + { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Product_Code }, + { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Revision_Number }, + { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Serial_Number } + }; + +/* index 0x1280 : Client SDO 1 Parameter. */ + UNS8 TestMaster_highestSubIndex_obj1280 = 3; // number of subindex - 1 + UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x602; + UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x582; + UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2; + subindex TestMaster_Index1280[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1280 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server } + }; + +/* index 0x1400 : Receive PDO 1 Parameter. */ + UNS8 TestMaster_highestSubIndex_obj1400 = 5; // number of subindex - 1 + UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182; + UNS8 TestMaster_obj1400_Transmission_Type = 0x1; + UNS16 TestMaster_obj1400_Inhibit_Time = 0x0; + UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0; + UNS16 TestMaster_obj1400_Event_Timer = 0x0; + subindex TestMaster_Index1400[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1400 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1400_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Inhibit_Time }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Event_Timer } + }; + +/* index 0x1401 : Receive PDO 2 Parameter. */ + UNS8 TestMaster_highestSubIndex_obj1401 = 5; // number of subindex - 1 + UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x282; + UNS8 TestMaster_obj1401_Transmission_Type = 0x1; + UNS16 TestMaster_obj1401_Inhibit_Time = 0x0; + UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0; + UNS16 TestMaster_obj1401_Event_Timer = 0x0; + subindex TestMaster_Index1401[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1401 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1401_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1401_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Inhibit_Time }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Event_Timer } + }; + +/* index 0x1600 : Receive PDO 1 Mapping. */ + UNS8 TestMaster_highestSubIndex_obj1600 = 2; // number of subindex - 1 + UNS32 TestMaster_obj1600[] = + { + 536870920, + 536936456 + }; + subindex TestMaster_Index1600[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1600 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[0] }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[1] } + }; + +/* index 0x1601 : Receive PDO 2 Mapping. */ + UNS8 TestMaster_highestSubIndex_obj1601 = 2; // number of subindex - 1 + UNS32 TestMaster_obj1601[] = + { + 537001992, + 537067528 + }; + subindex TestMaster_Index1601[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1601 }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] }, + { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[1] } + }; + +/* index 0x2000 : Mapped variable MasterMap1 */ + ODCallback_t MasterMap1_callbacks[] = + { + NULL, + }; + subindex TestMaster_Index2000[] = + { + { RW, uint8, sizeof (UNS8), (void*)&MasterMap1 } + }; + +/* index 0x2001 : Mapped variable MasterMap2 */ + subindex TestMaster_Index2001[] = + { + { RW, uint8, sizeof (UNS8), (void*)&MasterMap2 } + }; + +/* index 0x2002 : Mapped variable MasterMap3 */ + subindex TestMaster_Index2002[] = + { + { RW, uint8, sizeof (UNS8), (void*)&MasterMap3 } + }; + +/* index 0x2003 : Mapped variable MasterMap4 */ + subindex TestMaster_Index2003[] = + { + { RW, uint8, sizeof (UNS8), (void*)&MasterMap4 } + }; + +const indextable TestMaster_objdict[] = +{ + { (subindex*)TestMaster_Index1000,sizeof(TestMaster_Index1000)/sizeof(TestMaster_Index1000[0]), 0x1000}, + { (subindex*)TestMaster_Index1001,sizeof(TestMaster_Index1001)/sizeof(TestMaster_Index1001[0]), 0x1001}, + { (subindex*)TestMaster_Index1005,sizeof(TestMaster_Index1005)/sizeof(TestMaster_Index1005[0]), 0x1005}, + { (subindex*)TestMaster_Index1006,sizeof(TestMaster_Index1006)/sizeof(TestMaster_Index1006[0]), 0x1006}, + { (subindex*)TestMaster_Index1016,sizeof(TestMaster_Index1016)/sizeof(TestMaster_Index1016[0]), 0x1016}, + { (subindex*)TestMaster_Index1018,sizeof(TestMaster_Index1018)/sizeof(TestMaster_Index1018[0]), 0x1018}, + { (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280}, + { (subindex*)TestMaster_Index1400,sizeof(TestMaster_Index1400)/sizeof(TestMaster_Index1400[0]), 0x1400}, + { (subindex*)TestMaster_Index1401,sizeof(TestMaster_Index1401)/sizeof(TestMaster_Index1401[0]), 0x1401}, + { (subindex*)TestMaster_Index1600,sizeof(TestMaster_Index1600)/sizeof(TestMaster_Index1600[0]), 0x1600}, + { (subindex*)TestMaster_Index1601,sizeof(TestMaster_Index1601)/sizeof(TestMaster_Index1601[0]), 0x1601}, + { (subindex*)TestMaster_Index2000,sizeof(TestMaster_Index2000)/sizeof(TestMaster_Index2000[0]), 0x2000}, + { (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001}, + { (subindex*)TestMaster_Index2002,sizeof(TestMaster_Index2002)/sizeof(TestMaster_Index2002[0]), 0x2002}, + { (subindex*)TestMaster_Index2003,sizeof(TestMaster_Index2003)/sizeof(TestMaster_Index2003[0]), 0x2003}, +}; + +const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) +{ + int i; + switch(wIndex){ + case 0x1000: i = 0; *callbacks = NULL; break; + case 0x1001: i = 1; *callbacks = NULL; break; + case 0x1005: i = 2; *callbacks = TestMaster_Index1005_callbacks; break; + case 0x1006: i = 3; *callbacks = TestMaster_Index1006_callbacks; break; + case 0x1016: i = 4; *callbacks = NULL; break; + case 0x1018: i = 5; *callbacks = NULL; break; + case 0x1280: i = 6; *callbacks = NULL; break; + case 0x1400: i = 7; *callbacks = NULL; break; + case 0x1401: i = 8; *callbacks = NULL; break; + case 0x1600: i = 9; *callbacks = NULL; break; + case 0x1601: i = 10; *callbacks = NULL; break; + case 0x2000: i = 11; *callbacks = MasterMap1_callbacks; break; + case 0x2001: i = 12; *callbacks = NULL; break; + case 0x2002: i = 13; *callbacks = NULL; break; + case 0x2003: i = 14; *callbacks = NULL; break; + default: + *errorCode = OD_NO_SUCH_OBJECT; + return NULL; + } + *errorCode = OD_SUCCESSFUL; + return &TestMaster_objdict[i]; +} + +// To count at which received SYNC a PDO must be sent. +// Even if no pdoTransmit are defined, at least one entry is computed +// for compilations issues. +UNS8 TestMaster_count_sync[1] = {0,}; + +quick_index TestMaster_firstIndex = { + SDO_SVR : 0, + SDO_CLT : 6, + PDO_RCV : 7, + PDO_RCV_MAP : 9, + PDO_TRS : 0, + PDO_TRS_MAP : 0 +}; + +quick_index TestMaster_lastIndex = { + SDO_SVR : 0, + SDO_CLT : 6, + PDO_RCV : 8, + PDO_RCV_MAP : 10, + PDO_TRS : 0, + PDO_TRS_MAP : 0 +}; + +UNS16 TestMaster_ObjdictSize = sizeof(TestMaster_objdict)/sizeof(TestMaster_objdict[0]); + +CO_Data TestMaster_Data = CANOPEN_NODE_DATA_INITIALIZER(TestMaster); +