diff -r f812bf6b7237 -r 905677ed00f3 examples/TestMasterSlave/TestSlave.c --- a/examples/TestMasterSlave/TestSlave.c Fri Jun 29 19:51:39 2007 +0200 +++ b/examples/TestMasterSlave/TestSlave.c Mon Jul 02 18:22:58 2007 +0200 @@ -18,6 +18,7 @@ UNS32 SlaveMap10 = 0x0; /* Mapped at index 0x2009, subindex 0x00 */ UNS16 SlaveMap11 = 0x0; /* Mapped at index 0x200A, subindex 0x00 */ INTEGER16 SlaveMap12 = 0x0; /* Mapped at index 0x200B, subindex 0x00 */ +INTEGER16 SlaveMap13 = 0x4D2; /* Mapped at index 0x200C, subindex 0x00 */ /**************************************************************************/ /* Declaration of the value range types */ @@ -34,7 +35,7 @@ /* The node id */ /**************************************************************************/ /* node_id default value.*/ -UNS8 TestSlave_bDeviceNodeId = 0x00; +UNS8 TestSlave_bDeviceNodeId = 0x02; /**************************************************************************/ /* Array of message processing information */ @@ -181,6 +182,15 @@ UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */ UNS8 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */ UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */ + ODCallback_t TestSlave_Index1800_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; subindex TestSlave_Index1800[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 }, @@ -193,11 +203,20 @@ /* index 0x1801 : Transmit PDO 2 Parameter. */ UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/ - UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x0; /* 0 */ + UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */ UNS8 TestSlave_obj1801_Transmission_Type = 0x0; /* 0 */ UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */ UNS8 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */ UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */ + ODCallback_t TestSlave_Index1801_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; subindex TestSlave_Index1801[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 }, @@ -210,11 +229,20 @@ /* index 0x1802 : Transmit PDO 3 Parameter. */ UNS8 TestSlave_highestSubIndex_obj1802 = 5; /* number of subindex - 1*/ - UNS32 TestSlave_obj1802_COB_ID_used_by_PDO = 0x380; /* 896 */ + UNS32 TestSlave_obj1802_COB_ID_used_by_PDO = 0x382; /* 898 */ UNS8 TestSlave_obj1802_Transmission_Type = 0xFF; /* 255 */ UNS16 TestSlave_obj1802_Inhibit_Time = 0x1388; /* 5000 */ UNS8 TestSlave_obj1802_Compatibility_Entry = 0x0; /* 0 */ UNS16 TestSlave_obj1802_Event_Timer = 0x3E8; /* 1000 */ + ODCallback_t TestSlave_Index1802_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; subindex TestSlave_Index1802[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1802 }, @@ -225,6 +253,58 @@ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1802_Event_Timer } }; +/* index 0x1803 : Transmit PDO 4 Parameter. */ + UNS8 TestSlave_highestSubIndex_obj1803 = 5; /* number of subindex - 1*/ + UNS32 TestSlave_obj1803_COB_ID_used_by_PDO = 0x482; /* 1154 */ + UNS8 TestSlave_obj1803_Transmission_Type = 0xFC; /* 252 */ + UNS16 TestSlave_obj1803_Inhibit_Time = 0x0; /* 0 */ + UNS8 TestSlave_obj1803_Compatibility_Entry = 0x0; /* 0 */ + UNS16 TestSlave_obj1803_Event_Timer = 0x0; /* 0 */ + ODCallback_t TestSlave_Index1803_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; + subindex TestSlave_Index1803[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1803 }, + { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1803_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1803_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1803_Inhibit_Time }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1803_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1803_Event_Timer } + }; + +/* index 0x1804 : Transmit PDO 5 Parameter. */ + UNS8 TestSlave_highestSubIndex_obj1804 = 5; /* number of subindex - 1*/ + UNS32 TestSlave_obj1804_COB_ID_used_by_PDO = 0x401; /* 1025 */ + UNS8 TestSlave_obj1804_Transmission_Type = 0xFD; /* 253 */ + UNS16 TestSlave_obj1804_Inhibit_Time = 0x0; /* 0 */ + UNS8 TestSlave_obj1804_Compatibility_Entry = 0x0; /* 0 */ + UNS16 TestSlave_obj1804_Event_Timer = 0x0; /* 0 */ + ODCallback_t TestSlave_Index1804_callbacks[] = + { + NULL, + NULL, + NULL, + NULL, + NULL, + NULL, + }; + subindex TestSlave_Index1804[] = + { + { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1804 }, + { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1804_COB_ID_used_by_PDO }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1804_Transmission_Type }, + { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1804_Inhibit_Time }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1804_Compatibility_Entry }, + { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1804_Event_Timer } + }; + /* index 0x1A00 : Transmit PDO 1 Mapping. */ UNS8 TestSlave_highestSubIndex_obj1A00 = 10; /* number of subindex - 1*/ UNS32 TestSlave_obj1A00[] = @@ -279,6 +359,30 @@ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A02[0] } }; +/* index 0x1A03 : Transmit PDO 4 Mapping. */ + UNS8 TestSlave_highestSubIndex_obj1A03 = 1; /* number of subindex - 1*/ + UNS32 TestSlave_obj1A03[] = + { + 0x200C0010 /* 537657360 */ + }; + subindex TestSlave_Index1A03[] = + { + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A03 }, + { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A03[0] } + }; + +/* index 0x1A04 : Transmit PDO 5 Mapping. */ + UNS8 TestSlave_highestSubIndex_obj1A04 = 1; /* number of subindex - 1*/ + UNS32 TestSlave_obj1A04[] = + { + 0x200C0010 /* 537657360 */ + }; + subindex TestSlave_Index1A04[] = + { + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A04 }, + { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A04[0] } + }; + /* index 0x2000 : Mapped variable SlaveMap1 */ subindex TestSlave_Index2000[] = { @@ -351,6 +455,12 @@ { RW, int16, sizeof (INTEGER16), (void*)&SlaveMap12 } }; +/* index 0x200C : Mapped variable SlaveMap13 */ + subindex TestSlave_Index200C[] = + { + { RW, int16, sizeof (INTEGER16), (void*)&SlaveMap13 } + }; + const indextable TestSlave_objdict[] = { { (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000}, @@ -365,9 +475,13 @@ { (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800}, { (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801}, { (subindex*)TestSlave_Index1802,sizeof(TestSlave_Index1802)/sizeof(TestSlave_Index1802[0]), 0x1802}, + { (subindex*)TestSlave_Index1803,sizeof(TestSlave_Index1803)/sizeof(TestSlave_Index1803[0]), 0x1803}, + { (subindex*)TestSlave_Index1804,sizeof(TestSlave_Index1804)/sizeof(TestSlave_Index1804[0]), 0x1804}, { (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00}, { (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01}, { (subindex*)TestSlave_Index1A02,sizeof(TestSlave_Index1A02)/sizeof(TestSlave_Index1A02[0]), 0x1A02}, + { (subindex*)TestSlave_Index1A03,sizeof(TestSlave_Index1A03)/sizeof(TestSlave_Index1A03[0]), 0x1A03}, + { (subindex*)TestSlave_Index1A04,sizeof(TestSlave_Index1A04)/sizeof(TestSlave_Index1A04[0]), 0x1A04}, { (subindex*)TestSlave_Index2000,sizeof(TestSlave_Index2000)/sizeof(TestSlave_Index2000[0]), 0x2000}, { (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001}, { (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002}, @@ -380,6 +494,7 @@ { (subindex*)TestSlave_Index2009,sizeof(TestSlave_Index2009)/sizeof(TestSlave_Index2009[0]), 0x2009}, { (subindex*)TestSlave_Index200A,sizeof(TestSlave_Index200A)/sizeof(TestSlave_Index200A[0]), 0x200A}, { (subindex*)TestSlave_Index200B,sizeof(TestSlave_Index200B)/sizeof(TestSlave_Index200B[0]), 0x200B}, + { (subindex*)TestSlave_Index200C,sizeof(TestSlave_Index200C)/sizeof(TestSlave_Index200C[0]), 0x200C}, }; const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) @@ -396,24 +511,29 @@ case 0x1017: i = 6;*callbacks = TestSlave_Index1017_callbacks; break; case 0x1018: i = 7;break; case 0x1200: i = 8;break; - case 0x1800: i = 9;break; - case 0x1801: i = 10;break; - case 0x1802: i = 11;break; - case 0x1A00: i = 12;break; - case 0x1A01: i = 13;break; - case 0x1A02: i = 14;break; - case 0x2000: i = 15;break; - case 0x2001: i = 16;break; - case 0x2002: i = 17;break; - case 0x2003: i = 18;break; - case 0x2004: i = 19;break; - case 0x2005: i = 20;break; - case 0x2006: i = 21;break; - case 0x2007: i = 22;break; - case 0x2008: i = 23;break; - case 0x2009: i = 24;break; - case 0x200A: i = 25;break; - case 0x200B: i = 26;break; + case 0x1800: i = 9;*callbacks = TestSlave_Index1800_callbacks; break; + case 0x1801: i = 10;*callbacks = TestSlave_Index1801_callbacks; break; + case 0x1802: i = 11;*callbacks = TestSlave_Index1802_callbacks; break; + case 0x1803: i = 12;*callbacks = TestSlave_Index1803_callbacks; break; + case 0x1804: i = 13;*callbacks = TestSlave_Index1804_callbacks; break; + case 0x1A00: i = 14;break; + case 0x1A01: i = 15;break; + case 0x1A02: i = 16;break; + case 0x1A03: i = 17;break; + case 0x1A04: i = 18;break; + case 0x2000: i = 19;break; + case 0x2001: i = 20;break; + case 0x2002: i = 21;break; + case 0x2003: i = 22;break; + case 0x2004: i = 23;break; + case 0x2005: i = 24;break; + case 0x2006: i = 25;break; + case 0x2007: i = 26;break; + case 0x2008: i = 27;break; + case 0x2009: i = 28;break; + case 0x200A: i = 29;break; + case 0x200B: i = 30;break; + case 0x200C: i = 31;break; default: *errorCode = OD_NO_SUCH_OBJECT; return NULL; @@ -427,7 +547,7 @@ * Even if no pdoTransmit are defined, at least one entry is computed * for compilations issues. */ -s_PDO_status TestSlave_PDO_status[3] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer}; +s_PDO_status TestSlave_PDO_status[5] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer}; quick_index TestSlave_firstIndex = { 8, /* SDO_SVR */ @@ -435,7 +555,7 @@ 0, /* PDO_RCV */ 0, /* PDO_RCV_MAP */ 9, /* PDO_TRS */ - 12 /* PDO_TRS_MAP */ + 14 /* PDO_TRS_MAP */ }; quick_index TestSlave_lastIndex = { @@ -443,8 +563,8 @@ 0, /* SDO_CLT */ 0, /* PDO_RCV */ 0, /* PDO_RCV_MAP */ - 11, /* PDO_TRS */ - 14 /* PDO_TRS_MAP */ + 13, /* PDO_TRS */ + 18 /* PDO_TRS_MAP */ }; UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]);