# HG changeset patch
# User peter
# Date 1204901248 -3600
# Node ID 57c7a451c6719a3d0e0bdd7904783889023c647c
# Parent 84867470a60ca712f1495f66b418979f9cd35f39
New named folder, first DS401 profile module, Makefile
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/AVR-Studio/SlaveAVR.aps
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/AVR-Studio/SlaveAVR.aps Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,1 @@
+SlaveAVR16-Dec-2007 22:17:1007-Mar-2008 15:45:15241016-Dec-2007 22:17:1044, 13, 0, 528AVR GCCI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\SlaveAVR.elfI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\JTAGICE mkIIAT90CAN128falseR00R01R02R03R04R05R06R07R08R09R10R11R12R13R14R15R16R17R18R19R20R21R22R23R24R25R26R27R28R29R30R31Auto00Read_Inputs_8_BitInterrupt_Mask_Any_Change_8_BitInterrupt_Mask_Low_to_High_8_BitInterrupt_Mask_High_to_Low_8_Bittransmission0I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\can_AVR.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\dcf.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\timer.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\emcy.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\lifegrd.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\lss.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtMaster.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtSlave.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\objacces.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\pdo.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\sdo.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\states.cI:\Entwicklung\Firmware\CAN\CanFestival-3\src\sync.cI:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\timer_AVR.cI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.cI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.cI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ds401.cI:\Entwicklung\Firmware\CAN\CanFestival-3\include\timers_driver.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\can.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\can_driver.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\data.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\dcf.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\def.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\emcy.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\lifegrd.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\lss.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\nmtMaster.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\nmtSlave.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\objacces.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\objdictdef.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\pdo.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\sdo.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\states.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\sync.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\sysdep.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\timer.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\timerscfg.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\applicfg.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\can_AVR.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\can_drv.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\canfestival.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\config.hI:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\iar.hI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.hdefault\SlaveAVR.lssdefault\SlaveAVR.mapI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\MakefiledefaultYESI:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefileat90can12811
SlaveAVR.elfdefault\0..\..\..\..\include\..\..\..\..\include\AVR\.\-Wall -gdwarf-2 -Os -fsigned-char -fpack-structdefault1C:\programme\WinAVR\bin\avr-gcc.exeC:\programme\WinAVR\utils\bin\make.exe000001920080000000100011main2013856123800000001100000I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c100001I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile100002default\Makefile1
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/AVR-Studio/default/Makefile
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/AVR-Studio/default/Makefile Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,126 @@
+###############################################################################
+# Makefile for the project SlaveAVR
+###############################################################################
+
+## General Flags
+PROJECT = SlaveAVR
+MCU = at90can128
+TARGET = SlaveAVR.elf
+CC = avr-gcc.exe
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -Os -fsigned-char -fpack-struct
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS += -Wl,-Map=SlaveAVR.map
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+
+## Include Directories
+INCLUDES = -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\..\..\..\..\include" -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\..\..\..\..\include\AVR" -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\."
+
+## Objects that must be built in order to link
+OBJECTS = can_AVR.o dcf.o timer.o emcy.o lifegrd.o lss.o nmtMaster.o nmtSlave.o objacces.o pdo.o sdo.o states.o sync.o timer_AVR.o ObjDict.o main.o ds401.o
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS =
+
+## Build
+all: $(TARGET) SlaveAVR.hex SlaveAVR.eep SlaveAVR.lss size
+
+## Compile
+can_AVR.o: ../../../../../drivers/AVR/can_AVR.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+dcf.o: ../../../../../src/dcf.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+timer.o: ../../../../../src/timer.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+emcy.o: ../../../../../src/emcy.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+lifegrd.o: ../../../../../src/lifegrd.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+lss.o: ../../../../../src/lss.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+nmtMaster.o: ../../../../../src/nmtMaster.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+nmtSlave.o: ../../../../../src/nmtSlave.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+objacces.o: ../../../../../src/objacces.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+pdo.o: ../../../../../src/pdo.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+sdo.o: ../../../../../src/sdo.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+states.o: ../../../../../src/states.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+sync.o: ../../../../../src/sync.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+timer_AVR.o: ../../../../../drivers/AVR/timer_AVR.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+ObjDict.o: ../../ObjDict.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+main.o: ../../main.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+ds401.o: ../../ds401.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+##Link
+$(TARGET): $(OBJECTS)
+ $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+ avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
+
+%.eep: $(TARGET)
+ -avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET)
+ avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+ @echo
+ @avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+ -rm -rf $(OBJECTS) SlaveAVR.elf dep/* SlaveAVR.hex SlaveAVR.eep SlaveAVR.lss SlaveAVR.map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/AVR-Studio/slaveavr.aws
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/AVR-Studio/slaveavr.aws Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,1 @@
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/Makefile
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/Makefile Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,101 @@
+###############################################################################
+# Makefile for the project SlaveAVR
+###############################################################################
+
+## General Flags
+PROJECT = SlaveAVR
+MCU = at90can128
+TARGET = AVR
+CC = avr-gcc.exe
+SRC = ../../../src
+DRV = ../../../drivers/AVR
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -Os -fsigned-char -fpack-struct
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS += -Wl,-Map=$(PROJECT).map
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+## Include Directories
+INCLUDES = -I../../../include -I../../../include/AVR
+
+## Objects that must be built in order to link
+OBJECTS = $(DRV)/can_AVR.o\
+ $(DRV)/timer_AVR.o\
+ $(SRC)/dcf.o\
+ $(SRC)/timer.o\
+ $(SRC)/emcy.o\
+ $(SRC)/lifegrd.o\
+ $(SRC)/lss.o\
+ $(SRC)/nmtMaster.o\
+ $(SRC)/nmtSlave.o\
+ $(SRC)/objacces.o\
+ $(SRC)/pdo.o\
+ $(SRC)/sdo.o\
+ $(SRC)/states.o\
+ $(SRC)/sync.o\
+ ObjDict.o\
+ ds401.o\
+ main.o
+
+## Build
+all: $(PROJECT).elf $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss size
+
+## Compile
+%.o: %.c
+# @echo " "
+ @echo "---------------------------------------------------------------------------"
+ @echo "**Compiling $< -> $@"
+# @echo "*********************************************"
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+# $(CC) $(INCLUDES) $(CFLAGS) -c -o $@ $<
+
+
+##Link
+$(PROJECT).elf: $(OBJECTS)
+# @echo " "
+ @echo "---------------------------------------------------------------------------"
+ @echo "**Linking : $@"
+# @echo "*********************************************"
+ $(CC) $(LDFLAGS) $(LIBDIRS) $(LIBS) $(^F) -o $@
+
+%.hex: $(PROJECT).elf
+ avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
+
+%.eep: $(PROJECT).elf
+ -avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(PROJECT).elf
+ avr-objdump -h -S $< > $@
+
+size: $(PROJECT).elf
+ @echo
+ @avr-size -C --mcu=${MCU} $(PROJECT).elf
+
+## Clean target
+.PHONY: clean
+clean:
+ -rm -rf *.o $(PROJECT).elf dep/* $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss $(PROJECT).map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/ObjDict.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/ObjDict.c Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,495 @@
+
+/* 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 Interrupt_Mask_Low_to_High_8_Bit[] = /* Mapped at index 0x6007, subindex 0x01 - 0x01 */
+ {
+ 0x0 /* 0 */
+ };
+UNS8 Interrupt_Mask_High_to_Low_8_Bit[] = /* Mapped at index 0x6008, subindex 0x01 - 0x01 */
+ {
+ 0x0 /* 0 */
+ };
+UNS8 Write_Outputs_8_Bit[] = /* Mapped at index 0x6200, subindex 0x01 - 0x01 */
+ {
+ 0x0 /* 0 */
+ };
+UNS8 Change_Polarity_Outputs_8_Bit[] = /* Mapped at index 0x6202, subindex 0x01 - 0x01 */
+ {
+ 0x0 /* 0 */
+ };
+UNS8 Error_Mode_Outputs_8_Bit[] = /* Mapped at index 0x6206, subindex 0x01 - 0x01 */
+ {
+ 0x0 /* 0 */
+ };
+UNS8 Error_Value_Outputs_8_Bit[] = /* Mapped at index 0x6207, 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 = 0x2710; /* 10000 */
+ 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 = 0xFF; /* 255 */
+ 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 0x6007 : Mapped variable Interrupt Mask Low to High 8 Bit */
+ UNS8 ObjDict_highestSubIndex_obj6007 = 1; /* number of subindex - 1*/
+ subindex ObjDict_Index6007[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6007 },
+ { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Low_to_High_8_Bit[0] }
+ };
+
+/* index 0x6008 : Mapped variable Interrupt Mask High to Low 8 Bit */
+ UNS8 ObjDict_highestSubIndex_obj6008 = 1; /* number of subindex - 1*/
+ subindex ObjDict_Index6008[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6008 },
+ { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_High_to_Low_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] }
+ };
+
+/* index 0x6202 : Mapped variable Change Polarity Outputs 8 Bit */
+ UNS8 ObjDict_highestSubIndex_obj6202 = 1; /* number of subindex - 1*/
+ subindex ObjDict_Index6202[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6202 },
+ { RW, uint8, sizeof (UNS8), (void*)&Change_Polarity_Outputs_8_Bit[0] }
+ };
+
+/* index 0x6206 : Mapped variable Error Mode Outputs 8 Bit */
+ UNS8 ObjDict_highestSubIndex_obj6206 = 1; /* number of subindex - 1*/
+ subindex ObjDict_Index6206[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6206 },
+ { RW, uint8, sizeof (UNS8), (void*)&Error_Mode_Outputs_8_Bit[0] }
+ };
+
+/* index 0x6207 : Mapped variable Error Value Outputs 8 Bit */
+ UNS8 ObjDict_highestSubIndex_obj6207 = 1; /* number of subindex - 1*/
+ subindex ObjDict_Index6207[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6207 },
+ { RW, uint8, sizeof (UNS8), (void*)&Error_Value_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_Index6007,sizeof(ObjDict_Index6007)/sizeof(ObjDict_Index6007[0]), 0x6007},
+ { (subindex*)ObjDict_Index6008,sizeof(ObjDict_Index6008)/sizeof(ObjDict_Index6008[0]), 0x6008},
+ { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200},
+ { (subindex*)ObjDict_Index6202,sizeof(ObjDict_Index6202)/sizeof(ObjDict_Index6202[0]), 0x6202},
+ { (subindex*)ObjDict_Index6206,sizeof(ObjDict_Index6206)/sizeof(ObjDict_Index6206[0]), 0x6206},
+ { (subindex*)ObjDict_Index6207,sizeof(ObjDict_Index6207)/sizeof(ObjDict_Index6207[0]), 0x6207},
+};
+
+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 0x6007: i = 23;break;
+ case 0x6008: i = 24;break;
+ case 0x6200: i = 25;break;
+ case 0x6202: i = 26;break;
+ case 0x6206: i = 27;break;
+ case 0x6207: i = 28;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);
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/ObjDict.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/ObjDict.h Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,28 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#ifndef OBJDICT_H
+#define OBJDICT_H
+
+#include "data.h"
+
+/* Prototypes of function provided by object dictionnary */
+UNS32 ObjDict_valueRangeTest (UNS8 typeValue, void * value);
+const indextable * ObjDict_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
+
+/* Master node data struct */
+extern CO_Data ObjDict_Data;
+extern ODCallback_t Transmit_PDO_1_Parameter_callbacks[]; /* Callbacks of index0x1800 */
+extern UNS8 Read_Inputs_8_Bit[1]; /* Mapped at index 0x6000, subindex 0x01 - 0x01 */
+extern UNS8 Polarity_Input_8_Bit[1]; /* Mapped at index 0x6002, subindex 0x01 - 0x01 */
+extern UNS8 Filter_Constant_Input_8_Bit[1]; /* Mapped at index 0x6003, subindex 0x01 - 0x01 */
+extern UNS8 Global_Interrupt_Enable_Digital; /* Mapped at index 0x6005, subindex 0x00*/
+extern UNS8 Interrupt_Mask_Any_Change_8_Bit[1]; /* Mapped at index 0x6006, subindex 0x01 - 0x01 */
+extern UNS8 Interrupt_Mask_Low_to_High_8_Bit[1]; /* Mapped at index 0x6007, subindex 0x01 - 0x01 */
+extern UNS8 Interrupt_Mask_High_to_Low_8_Bit[1]; /* Mapped at index 0x6008, subindex 0x01 - 0x01 */
+extern UNS8 Write_Outputs_8_Bit[1]; /* Mapped at index 0x6200, subindex 0x01 - 0x01 */
+extern UNS8 Change_Polarity_Outputs_8_Bit[1]; /* Mapped at index 0x6202, subindex 0x01 - 0x01 */
+extern UNS8 Error_Mode_Outputs_8_Bit[1]; /* Mapped at index 0x6206, subindex 0x01 - 0x01 */
+extern UNS8 Error_Value_Outputs_8_Bit[1]; /* Mapped at index 0x6207, subindex 0x01 - 0x01 */
+
+#endif // OBJDICT_H
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/ObjDict.od
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/ObjDict.od Fri Mar 07 15:47:28 2008 +0100
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+Slave AVR Test
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+DS-401
+slave
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+ObjDict
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/ds401.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/ds401.c Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,89 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Andreas GLAUSER
+
+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
+*/
+
+// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
+
+// Includes for the Canfestival
+#include "ds401.h"
+
+unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
+{
+ unsigned char loops, i, input, transmission = 0;
+
+ loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
+
+ for (i=0; i < loops; i++)
+ {
+ input = *newInput ^ Polarity_Input_8_Bit[i];
+ if (Read_Inputs_8_Bit[i] != input)
+ {
+ if (Global_Interrupt_Enable_Digital)
+ {
+ if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input))
+ || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
+ || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
+ transmission = 1;
+ }
+ // update object dict
+ Read_Inputs_8_Bit[i] = input;
+ }
+ newInput++;
+ }
+ if (transmission)
+ sendPDOevent(d);
+
+ return 1;
+}
+
+unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
+{
+ unsigned char loops, i, error, type;
+ unsigned char varsize = 1;
+
+ loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
+
+ for (i=0; i < loops; i++)
+ {
+ getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
+ if ((getState(d) == Stopped) || (error != 0)) // node stopped or error
+ {
+ Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
+ Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
+ }
+ *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
+ newOutput++;
+ }
+ return 1;
+}
+
+unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
+{
+ return 0;
+}
+
+unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
+{
+ return 0;
+}
+
+
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/ds401.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/ds401.h Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,42 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Andreas GLAUSER
+
+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
+*/
+
+// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
+
+#ifndef __DS_401_h__
+#define __DS_401_h__
+
+// Includes for the Canfestival
+#include "canfestival.h"
+#include "timer.h"
+#include "objdict.h"
+
+
+unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size);
+
+unsigned char digital_output_handler(CO_Data* d, unsigned char *newOuput, unsigned char size);
+
+unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size);
+
+unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size);
+
+#endif //__DS_401_h__
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/hardware.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/hardware.h Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,52 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+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
+*/
+/******************************************************************************
+MCU ports and Bits
+Makros for access on hardware
+******************************************************************************/
+
+#ifndef _HARDWARE_INCLUDED
+#define _HARDWARE_INCLUDED
+
+/******************************************************************************
+Makros for bit access on the ports and registers
+******************************************************************************/
+// Macros for set and clear bits in I/O registers
+#define setbit(address,bit) ((address) |= (1<<(bit)))
+#define clearbit(address,bit) ((address) &= ~(1<<(bit)))
+#define togglebit(address,bit) ((address) ^= (1<<(bit)))
+
+// Macro for testing of a single bit in an I/O location
+#define checkbit(address,bit) ((address) & (1<<(bit)))
+
+/************************** Hardware Makros **********************************/
+
+// Read the inputs
+#define get_inputs() (~PINA)
+#define read_bcd() (~PINC & 0x0F)
+// Write the outputs
+#define set_outputs(val) PORTB = ~(val)
+
+#endif // _HARDWARE_INCLUDED
+
+
diff -r 84867470a60c -r 57c7a451c671 examples/AVR/Slave/main.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/Slave/main.c Fri Mar 07 15:47:28 2008 +0100
@@ -0,0 +1,149 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+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
+*/
+/******************************************************************************
+Project description:
+Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128
+Short description:
+ PORTA: Inputs (Keys, low active)
+ PORTB: Outputs (LEDs, low active)
+ PORTC: Node ID (1 BCD switch)
+
+******************************************************************************/
+#include "hardware.h"
+#include "canfestival.h"
+#include "can_AVR.h"
+#include "objdict.h"
+#include "ds401.h"
+
+
+unsigned char timer_interrupt = 0; // Set if timer interrupt eclapsed
+unsigned char inputs;
+
+// CAN
+unsigned char nodeID;
+unsigned char digital_input[1] = {0};
+unsigned char digital_output[1] = {0};
+
+static Message m = Message_Initializer; // contain a CAN message
+
+void sys_init();
+
+// macros to handle the schedule timer
+#define sys_timer timer_interrupt
+#define reset_sys_timer() timer_interrupt = 0
+#define CYCLE_TIME 1000 // Sample Timebase [us]
+
+int main(void)
+{
+ sys_init(); // Initialize system
+ canInit(CAN_BAUDRATE); // Initialize the CANopen bus
+ initTimer(); // Start timer for the CANopen stack
+ nodeID = read_bcd(); // Read node ID first
+ setNodeId (&ObjDict_Data, nodeID);
+ setState(&ObjDict_Data, Initialisation); // Init the state
+
+ for(;;) // forever loop
+ {
+ if (sys_timer) // Cycle timer, invoke action on every time slice
+ {
+ reset_sys_timer(); // Reset timer
+ digital_input[0] = get_inputs();
+ digital_input_handler(&ObjDict_Data, digital_input, sizeof(digital_input));
+ digital_output_handler(&ObjDict_Data, digital_output, sizeof(digital_output));
+ set_outputs(digital_output[0]);
+
+ // Check if CAN address has been changed
+ if(!( nodeID == read_bcd()))
+ {
+ nodeID = read_bcd(); // Save the new CAN adress
+ setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID
+ setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed
+ setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again
+ }
+ }
+
+ // a message was received pass it to the CANstack
+ if (canReceive(&m)) // a message reveived
+ canDispatch(&ObjDict_Data, &m); // process it
+ else
+ {
+ // Enter sleep mode
+ #ifdef WD_SLEEP // Watchdog and Sleep
+ wdt_reset();
+ sleep_enable();
+ sleep_cpu();
+ #endif // Watchdog and Sleep
+ }
+ }
+}
+
+void sys_init()
+/******************************************************************************
+Initialize the relays, the main states and the modbus protocol stack.
+INPUT LOCK_STATES *lock_states
+OUTPUT void
+******************************************************************************/
+{
+ OSCCAL = 0x43;
+
+ PORTA = 0xFF; // Inputs (Keys, low active) with pullup
+ DDRA = 0x00; //
+ PORTB = 0xFF; // Outputs (LEDs, low active) all 1
+ DDRB = 0xFF; //
+ PORTC = 0xFF; // 1 BCD switch with pullup
+ DDRC = 0x00; //
+ PORTD = 0x2C; // 2xCOM, unused, CAN, unused
+ DDRD = 0x2A; // All init 0 or without pullup
+ PORTE = 0x00; // Output
+ DDRE = 0x3C; // 2x not used, 2x not used
+ PORTF = 0x00; // Not used
+ DDRF = 0xFF; // All output
+ PORTG = 0x00; // Not used
+ DDRG = 0x1F; // Output for debug (only 5 pins)
+
+// Set timer 0 for main schedule time
+ TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten
+ TIMSK0 = 1 << OCIE0A; // Timer Interrupts: Timer 0 Compare
+ OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1); // Reloadvalue for timer 0
+ #ifdef WD_SLEEP // Watchdog and Sleep
+ wdt_reset();
+ wdt_enable(WDTO_15MS); // Watchdogtimer start with 16 ms timeout
+ #endif // Watchdog and Sleep
+ sei(); // Enable Interrupts
+}
+
+
+#ifdef __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=TIMER0_COMP_vect
+void TIMER0_COMP_interrupt(void)
+#else // GCC
+ISR(TIMER0_COMP_vect)
+#endif // GCC
+/******************************************************************************
+Interruptserviceroutine Timer 2 Compare A for the main cycle
+******************************************************************************/
+
+{
+ timer_interrupt = 1; // Set flag
+}