diff -r ac05410cc1b8 -r 9d8959095936 examples/TestMasterSlave/TestSlave.c --- a/examples/TestMasterSlave/TestSlave.c Mon Jan 29 14:34:31 2007 +0100 +++ b/examples/TestMasterSlave/TestSlave.c Mon Jan 29 14:36:42 2007 +0100 @@ -1,24 +1,3 @@ -/* -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. */ @@ -27,10 +6,10 @@ /**************************************************************************/ /* Declaration of the mapped variables */ /**************************************************************************/ -UNS8 SlaveMap1 = 0x0; // Mapped at index 0x2000, subindex 0x00 -UNS8 SlaveMap2 = 0x0; // Mapped at index 0x2001, subindex 0x00 -UNS8 SlaveMap3 = 0x0; // Mapped at index 0x2002, subindex 0x00 -UNS8 SlaveMap4 = 0x0; // Mapped at index 0x2003, subindex 0x00 +UNS8 SlaveMap1 = 0x0; /* Mapped at index 0x2000, subindex 0x00 */ +UNS8 SlaveMap2 = 0x0; /* Mapped at index 0x2001, subindex 0x00 */ +UNS8 SlaveMap3 = 0x0; /* Mapped at index 0x2002, subindex 0x00 */ +UNS8 SlaveMap4 = 0x0; /* Mapped at index 0x2003, subindex 0x00 */ /**************************************************************************/ /* Declaration of the value range types */ @@ -49,35 +28,37 @@ /* node_id default value.*/ UNS8 TestSlave_bDeviceNodeId = 0x00; -//*****************************************************************************/ +/**************************************************************************/ /* Array of message processing information */ const UNS8 TestSlave_iam_a_slave = 1; -TIMER_HANDLE TestSlave_heartBeatTimers[0]; - -//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -// -// OBJECT DICTIONARY -// -//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +TIMER_HANDLE TestSlave_heartBeatTimers[1]; + +/* +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ + + OBJECT DICTIONARY + +$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +*/ /* index 0x1000 : Device Type. */ - UNS32 TestSlave_obj1000 = 0x12D; // 301 + UNS32 TestSlave_obj1000 = 0x12D; /* 301 */ subindex TestSlave_Index1000[] = { { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1000 } }; /* index 0x1001 : Error Register. */ - UNS8 TestSlave_obj1001 = 0x0; // 0 + UNS8 TestSlave_obj1001 = 0x0; /* 0 */ subindex TestSlave_Index1001[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_obj1001 } }; /* index 0x1005 : SYNC COB ID. */ - UNS32 TestSlave_obj1005 = 0x80; // 128 + UNS32 TestSlave_obj1005 = 0x80; /* 128 */ ODCallback_t TestSlave_Index1005_callbacks[] = { NULL, @@ -88,7 +69,7 @@ }; /* index 0x1006 : Communication / Cycle Period. */ - UNS32 TestSlave_obj1006 = 0x0; // 0 + UNS32 TestSlave_obj1006 = 0x0; /* 0 */ ODCallback_t TestSlave_Index1006_callbacks[] = { NULL, @@ -99,11 +80,11 @@ }; /* index 0x1010 : Store parameters. */ - UNS8 TestSlave_highestSubIndex_obj1010 = 4; // number of subindex - 1 - UNS32 TestSlave_obj1010_Save_All_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1010_Save_Communication_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1010_Save_Application_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1010_Save_Manufacturer_Parameters = 0x0; // 0 + UNS8 TestSlave_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/ + UNS32 TestSlave_obj1010_Save_All_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1010_Save_Communication_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1010_Save_Application_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1010_Save_Manufacturer_Parameters = 0x0; /* 0 */ ODCallback_t TestSlave_Index1010_callbacks[] = { NULL, @@ -122,11 +103,11 @@ }; /* index 0x1011 : Restore Default Parameters. */ - UNS8 TestSlave_highestSubIndex_obj1011 = 4; // number of subindex - 1 - UNS32 TestSlave_obj1011_Restore_All_Default_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1011_Restore_Communication_Default_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1011_Restore_Application_Default_Parameters = 0x0; // 0 - UNS32 TestSlave_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; // 0 + UNS8 TestSlave_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/ + UNS32 TestSlave_obj1011_Restore_All_Default_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1011_Restore_Communication_Default_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1011_Restore_Application_Default_Parameters = 0x0; /* 0 */ + UNS32 TestSlave_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; /* 0 */ ODCallback_t TestSlave_Index1011_callbacks[] = { NULL, @@ -146,22 +127,22 @@ /* index 0x1016 : Consumer Heartbeat Time */ UNS8 TestSlave_highestSubIndex_obj1016 = 0; - UNS32 TestSlave_obj1016[0]; - subindex TestSlave_Index1016[0]; + UNS32 TestSlave_obj1016[]; + subindex TestSlave_Index1016[]; /* index 0x1017 : Producer Heartbeat Time. */ - UNS16 TestSlave_obj1017 = 0x3E8; // 1000 + UNS16 TestSlave_obj1017 = 0x3E8; /* 1000 */ subindex TestSlave_Index1017[] = { { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 } }; /* index 0x1018 : Identity. */ - UNS8 TestSlave_highestSubIndex_obj1018 = 4; // number of subindex - 1 - UNS32 TestSlave_obj1018_Vendor_ID = 0x0; // 0 - UNS32 TestSlave_obj1018_Product_Code = 0x0; // 0 - UNS32 TestSlave_obj1018_Revision_Number = 0x0; // 0 - UNS32 TestSlave_obj1018_Serial_Number = 0x0; // 0 + UNS8 TestSlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/ + UNS32 TestSlave_obj1018_Vendor_ID = 0x0; /* 0 */ + UNS32 TestSlave_obj1018_Product_Code = 0x0; /* 0 */ + UNS32 TestSlave_obj1018_Revision_Number = 0x0; /* 0 */ + UNS32 TestSlave_obj1018_Serial_Number = 0x0; /* 0 */ subindex TestSlave_Index1018[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 }, @@ -172,9 +153,9 @@ }; /* index 0x1200 : Server SDO Parameter. */ - UNS8 TestSlave_highestSubIndex_obj1200 = 2; // number of subindex - 1 - UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601; // 1537 - UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581; // 1409 + UNS8 TestSlave_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/ + UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601; /* 1537 */ + UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581; /* 1409 */ subindex TestSlave_Index1200[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1200 }, @@ -183,12 +164,12 @@ }; /* index 0x1800 : Transmit PDO 1 Parameter. */ - UNS8 TestSlave_highestSubIndex_obj1800 = 5; // number of subindex - 1 - UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; // 386 - UNS8 TestSlave_obj1800_Transmission_Type = 0x1; // 1 - UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; // 0 - UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; // 0 - UNS16 TestSlave_obj1800_Event_Timer = 0x0; // 0 + UNS8 TestSlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/ + UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; /* 386 */ + UNS8 TestSlave_obj1800_Transmission_Type = 0x1; /* 1 */ + UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */ + UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */ + UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */ subindex TestSlave_Index1800[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 }, @@ -200,12 +181,12 @@ }; /* index 0x1801 : Transmit PDO 2 Parameter. */ - UNS8 TestSlave_highestSubIndex_obj1801 = 5; // number of subindex - 1 - UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; // 642 - UNS8 TestSlave_obj1801_Transmission_Type = 0x1; // 1 - UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; // 0 - UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; // 0 - UNS16 TestSlave_obj1801_Event_Timer = 0x0; // 0 + UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/ + UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */ + UNS8 TestSlave_obj1801_Transmission_Type = 0x1; /* 1 */ + UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */ + UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */ + UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */ subindex TestSlave_Index1801[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 }, @@ -217,29 +198,29 @@ }; /* index 0x1A00 : Transmit PDO 1 Mapping. */ - UNS8 TestSlave_highestSubIndex_obj1A00 = 2; // number of subindex - 1 + UNS8 TestSlave_highestSubIndex_obj1A00 = 2; /* number of subindex - 1*/ UNS32 TestSlave_obj1A00[] = { - 0x20000008, // 536870920 - 0x20010008 // 536936456 + 0x20000008, /* 536870920 */ + 0x20010008 /* 536936456 */ }; subindex TestSlave_Index1A00[] = { - { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 }, { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] }, { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] } }; /* index 0x1A01 : Transmit PDO 2 Mapping. */ - UNS8 TestSlave_highestSubIndex_obj1A01 = 2; // number of subindex - 1 + UNS8 TestSlave_highestSubIndex_obj1A01 = 2; /* number of subindex - 1*/ UNS32 TestSlave_obj1A01[] = { - 0x20020008, // 537001992 - 0x20030008 // 537067528 + 0x20020008, /* 537001992 */ + 0x20030008 /* 537067528 */ }; subindex TestSlave_Index1A01[] = { - { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 }, + { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 }, { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] }, { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] } }; @@ -319,27 +300,28 @@ return &TestSlave_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. +/* 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 TestSlave_count_sync[2] = {0,}; quick_index TestSlave_firstIndex = { - SDO_SVR : 8, - SDO_CLT : 0, - PDO_RCV : 0, - PDO_RCV_MAP : 0, - PDO_TRS : 9, - PDO_TRS_MAP : 11 + 8, /* SDO_SVR */ + 0, /* SDO_CLT */ + 0, /* PDO_RCV */ + 0, /* PDO_RCV_MAP */ + 9, /* PDO_TRS */ + 11 /* PDO_TRS_MAP */ }; quick_index TestSlave_lastIndex = { - SDO_SVR : 8, - SDO_CLT : 0, - PDO_RCV : 0, - PDO_RCV_MAP : 0, - PDO_TRS : 10, - PDO_TRS_MAP : 12 + 8, /* SDO_SVR */ + 0, /* SDO_CLT */ + 0, /* PDO_RCV */ + 0, /* PDO_RCV_MAP */ + 10, /* PDO_TRS */ + 12 /* PDO_TRS_MAP */ }; UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]);