diff -r 8d22c323fe0f -r 7d845f5d730c examples/SillySlave/SillySlave.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/SillySlave/SillySlave.c Mon Feb 18 17:14:22 2008 +0100 @@ -0,0 +1,247 @@ + +/* File generated by gen_cfile.py. Should not be modified. */ + +#include "SillySlave.h" + +/**************************************************************************/ +/* Declaration of the mapped variables */ +/**************************************************************************/ +UNS8 LifeSignal = 0x0; /* Mapped at index 0x2001, subindex 0x00 */ + +/**************************************************************************/ +/* Declaration of the value range types */ +/**************************************************************************/ + +#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */ +UNS32 SillySlave_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 SillySlave_bDeviceNodeId = 0x00; + +/**************************************************************************/ +/* Array of message processing information */ + +const UNS8 SillySlave_iam_a_slave = 1; + +TIMER_HANDLE SillySlave_heartBeatTimers[1]; + +/* +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ + + OBJECT DICTIONARY + +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +*/ + +/* index 0x1000 : Device Type. */ + UNS32 SillySlave_obj1000 = 0x2000000; /* 33554432 */ + subindex SillySlave_Index1000[] = + { + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1000 } + }; + +/* index 0x1001 : Error Register. */ + UNS8 SillySlave_obj1001 = 0x0; /* 0 */ + subindex SillySlave_Index1001[] = + { + { RO, uint8, sizeof (UNS8), (void*)&SillySlave_obj1001 } + }; + +/* index 0x1003 : Pre-defined Error Field */ + UNS8 SillySlave_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/ + UNS32 SillySlave_obj1003[] = + { + 0x0 /* 0 */ + }; + ODCallback_t SillySlave_Index1003_callbacks[] = + { + NULL, + NULL, + }; + subindex SillySlave_Index1003[] = + { + { RW, valueRange_EMC, sizeof (UNS8), (void*)&SillySlave_highestSubIndex_obj1003 }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1003[0] } + }; + +/* index 0x1005 : SYNC COB ID */ + UNS32 SillySlave_obj1005 = 0x0; /* 0 */ + +/* index 0x1006 : Communication / Cycle Period */ + UNS32 SillySlave_obj1006 = 0x0; /* 0 */ + +/* index 0x1012 : TIME COB ID. */ + UNS32 SillySlave_obj1012 = 0x80000100; /* 2147483904 */ + subindex SillySlave_Index1012[] = + { + { RW, uint32, sizeof (UNS32), (void*)&SillySlave_obj1012 } + }; + +/* index 0x1013 : High Resolution Timestamp. */ + UNS32 SillySlave_obj1013 = 0x0; /* 0 */ + subindex SillySlave_Index1013[] = + { + { RW, uint32, sizeof (UNS32), (void*)&SillySlave_obj1013 } + }; + +/* index 0x1014 : Emergency COB ID */ + UNS32 SillySlave_obj1014 = 0x0; /* 0 */ + +/* index 0x1016 : Consumer Heartbeat Time */ + UNS8 SillySlave_highestSubIndex_obj1016 = 0; + UNS32 SillySlave_obj1016[]={0}; + +/* index 0x1017 : Producer Heartbeat Time */ + UNS16 SillySlave_obj1017 = 0x0; /* 0 */ + +/* index 0x1018 : Identity. */ + UNS8 SillySlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/ + UNS32 SillySlave_obj1018_Vendor_ID = 0x4321; /* 17185 */ + UNS32 SillySlave_obj1018_Product_Code = 0x12; /* 18 */ + UNS32 SillySlave_obj1018_Revision_Number = 0x1; /* 1 */ + UNS32 SillySlave_obj1018_Serial_Number = 0x1; /* 1 */ + subindex SillySlave_Index1018[] = + { + { RO, uint8, sizeof (UNS8), (void*)&SillySlave_highestSubIndex_obj1018 }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1018_Vendor_ID }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1018_Product_Code }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1018_Revision_Number }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1018_Serial_Number } + }; + +/* index 0x1200 : Server SDO Parameter. */ + UNS8 SillySlave_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/ + UNS32 SillySlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x600; /* 1536 */ + UNS32 SillySlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x580; /* 1408 */ + ODCallback_t SillySlave_Index1200_callbacks[] = + { + NULL, + NULL, + NULL, + }; + subindex SillySlave_Index1200[] = + { + { RO, uint8, sizeof (UNS8), (void*)&SillySlave_highestSubIndex_obj1200 }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1200_COB_ID_Client_to_Server_Receive_SDO }, + { RO, uint32, sizeof (UNS32), (void*)&SillySlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO } + }; + +/* index 0x1800 : Transmit PDO 1 Parameter. */ + UNS8 SillySlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/ + UNS32 SillySlave_obj1800_COB_ID_used_by_PDO = 0x180; /* 384 */ + UNS8 SillySlave_obj1800_Transmission_Type = 0x1; /* 1 */ + UNS16 SillySlave_obj1800_Inhibit_Time = 0x64; /* 100 */ + UNS8 SillySlave_obj1800_Compatibility_Entry = 0x0; /* 0 */ + UNS16 SillySlave_obj1800_Event_Timer = 0x0; /* 0 */ + ODCallback_t SillySlave_Index1800_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; + subindex SillySlave_Index1800[] = + { + { RO, uint8, sizeof (UNS8), (void*)&SillySlave_highestSubIndex_obj1800 }, + { RW, uint32, sizeof (UNS32), (void*)&SillySlave_obj1800_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&SillySlave_obj1800_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&SillySlave_obj1800_Inhibit_Time }, + { RW, uint8, sizeof (UNS8), (void*)&SillySlave_obj1800_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&SillySlave_obj1800_Event_Timer } + }; + +/* index 0x1A00 : Transmit PDO 1 Mapping. */ + UNS8 SillySlave_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/ + UNS32 SillySlave_obj1A00[] = + { + 0x20010008 /* 536936456 */ + }; + subindex SillySlave_Index1A00[] = + { + { RW, uint8, sizeof (UNS8), (void*)&SillySlave_highestSubIndex_obj1A00 }, + { RW, uint32, sizeof (UNS32), (void*)&SillySlave_obj1A00[0] } + }; + +/* index 0x2001 : Mapped variable LifeSignal */ + subindex SillySlave_Index2001[] = + { + { RO, uint8, sizeof (UNS8), (void*)&LifeSignal } + }; + +const indextable SillySlave_objdict[] = +{ + { (subindex*)SillySlave_Index1000,sizeof(SillySlave_Index1000)/sizeof(SillySlave_Index1000[0]), 0x1000}, + { (subindex*)SillySlave_Index1001,sizeof(SillySlave_Index1001)/sizeof(SillySlave_Index1001[0]), 0x1001}, + { (subindex*)SillySlave_Index1012,sizeof(SillySlave_Index1012)/sizeof(SillySlave_Index1012[0]), 0x1012}, + { (subindex*)SillySlave_Index1013,sizeof(SillySlave_Index1013)/sizeof(SillySlave_Index1013[0]), 0x1013}, + { (subindex*)SillySlave_Index1018,sizeof(SillySlave_Index1018)/sizeof(SillySlave_Index1018[0]), 0x1018}, + { (subindex*)SillySlave_Index1200,sizeof(SillySlave_Index1200)/sizeof(SillySlave_Index1200[0]), 0x1200}, + { (subindex*)SillySlave_Index1800,sizeof(SillySlave_Index1800)/sizeof(SillySlave_Index1800[0]), 0x1800}, + { (subindex*)SillySlave_Index1A00,sizeof(SillySlave_Index1A00)/sizeof(SillySlave_Index1A00[0]), 0x1A00}, + { (subindex*)SillySlave_Index2001,sizeof(SillySlave_Index2001)/sizeof(SillySlave_Index2001[0]), 0x2001}, +}; + +const indextable * SillySlave_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 0x1012: i = 2;break; + case 0x1013: i = 3;break; + case 0x1018: i = 4;break; + case 0x1200: i = 5;*callbacks = SillySlave_Index1200_callbacks; break; + case 0x1800: i = 6;*callbacks = SillySlave_Index1800_callbacks; break; + case 0x1A00: i = 7;break; + case 0x2001: i = 8;break; + default: + *errorCode = OD_NO_SUCH_OBJECT; + return NULL; + } + *errorCode = OD_SUCCESSFUL; + return &SillySlave_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 SillySlave_PDO_status[1] = {s_PDO_status_Initializer}; + +quick_index SillySlave_firstIndex = { + 5, /* SDO_SVR */ + 0, /* SDO_CLT */ + 0, /* PDO_RCV */ + 0, /* PDO_RCV_MAP */ + 6, /* PDO_TRS */ + 7 /* PDO_TRS_MAP */ +}; + +quick_index SillySlave_lastIndex = { + 5, /* SDO_SVR */ + 0, /* SDO_CLT */ + 0, /* PDO_RCV */ + 0, /* PDO_RCV_MAP */ + 6, /* PDO_TRS */ + 7 /* PDO_TRS_MAP */ +}; + +UNS16 SillySlave_ObjdictSize = sizeof(SillySlave_objdict)/sizeof(SillySlave_objdict[0]); + +CO_Data SillySlave_Data = CANOPEN_NODE_DATA_INITIALIZER(SillySlave); +