| author | peter |
| Fri, 07 Mar 2008 15:47:28 +0100 | |
| changeset 413 | 57c7a451c671 |
| parent 412 | 84867470a60c |
| child 414 | d6d31c35676b |
--- /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 @@ +<AVRStudio><MANAGEMENT><ProjectName>SlaveAVR</ProjectName><Created>16-Dec-2007 22:17:10</Created><LastEdit>07-Mar-2008 15:45:15</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>16-Dec-2007 22:17:10</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\SlaveAVR.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>JTAGICE 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e\CAN\CanFestival-3\include\AVR\iar.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.h</HEADERFILE><OTHERFILE>default\SlaveAVR.lss</OTHERFILE><OTHERFILE>default\SlaveAVR.map</OTHERFILE><OTHERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</EXTERNALMAKEFILE><PART>at90can128</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>SlaveAVR.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\can_AVR.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\timer_AVR.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\dcf.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\emcy.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lifegrd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lss.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtMaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtSlave.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\objacces.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\pdo.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sdo.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\states.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sync.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\timer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS><INCLUDE>..\..\..\..\include\</INCLUDE><INCLUDE>..\..\..\..\include\AVR\</INCLUDE><INCLUDE>.\</INCLUDE></INCDIRS><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Os -fsigned-char -fpack-struct</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\programme\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\programme\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><JTAGICEmkII><DAISY_CHAIN>0</DAISY_CHAIN><DEVS_BEFORE>0</DEVS_BEFORE><DEVS_AFTER>0</DEVS_AFTER><INSTRBITS_BEFORE>0</INSTRBITS_BEFORE><INSTRBITS_AFTER>0</INSTRBITS_AFTER><BAUDRATE>19200</BAUDRATE><JTAG_FREQ>8000000</JTAG_FREQ><TIMERS_RUNNING>0</TIMERS_RUNNING><PRESERVE_EEPROM>1</PRESERVE_EEPROM><ALWAYS_EXT_RESET>0</ALWAYS_EXT_RESET><PRINT_BRK_CAUSE>0</PRINT_BRK_CAUSE><ENABLE_IDR_IN_RUN_MODE>0</ENABLE_IDR_IN_RUN_MODE><ALLOW_BRK_INSTR>1</ALLOW_BRK_INSTR><STOPIF_ENTRYFUNC_NOTFOUND>1</STOPIF_ENTRYFUNC_NOTFOUND><ENTRY_FUNCTION>main</ENTRY_FUNCTION><REPROGRAM>2</REPROGRAM></JTAGICEmkII><AVRSimulator><FuseExt>0</FuseExt><FuseHigh>138</FuseHigh><FuseLow>56</FuseLow><LockBits>123</LockBits><Frequency>8000000</Frequency><ExtSRAM>0</ExtSRAM><SimBoot>1</SimBoot><SimBootnew>1</SimBootnew></AVRSimulator><IOView><usergroups/><sort sorted="1" column="1" ordername="1" orderaddress="0" ordergroup="1"/></IOView><Files><File00000><FileId>00000</FileId><FileName>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>default\Makefile</FileName><Status>1</Status></File00002></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
--- /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) $(wildcard dep/*) +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AVR/Slave/AVR-Studio/slaveavr.aws Fri Mar 07 15:47:28 2008 +0100 @@ -0,0 +1,1 @@ +<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="AT90CAN128"/><Files><File00000 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c" Position="332 160 1009 573" LineCol="47 0" State="Maximized"/><File00001 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile" Position="262 71 1119 661" LineCol="18 46" State="Maximized"/><File00002 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\default\Makefile" Position="266 94 939 481" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AVR/Slave/Makefile Fri Mar 07 15:47:28 2008 +0100 @@ -0,0 +1,101 @@ +############################################################################### +# Makefile for the project SlaveAVR +############################################################################### + +## General Flags +PROJECT = SlaveAVR +MCU = at90can128 +TARGET = AVR +CC = avr-gcc.exe +SRC = ../../../src +DRV = ../../../drivers/AVR + +## Options common to compile, link and assembly rules +COMMON = -mmcu=$(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/*) +
--- /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); +
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AVR/Slave/ObjDict.od Fri Mar 07 15:47:28 2008 +0100 @@ -0,0 +1,5220 @@ +<?xml version="1.0"?> +<!DOCTYPE PyObject SYSTEM "PyObjects.dtd"> +<PyObject module="node" class="Node" id="57840904"> +<attr name="Profile" type="dict" id="57810992" > + <entry> + <key type="numeric" value="24576" /> + <val type="dict" id="57811136" > + <entry> + <key type="string" value="need" /> + <val type="False" value="" /> + </entry> + <entry> + <key type="string" value="values" /> + <val type="list" id="57840704" > + <item type="dict" id="57811280" > + <entry> + <key type="string" value="access" /> + <val type="string" value="ro" /> + </entry> + <entry> + <key type="string" value="pdo" /> + <val type="False" value="" /> + </entry> + <entry> + <key type="string" value="type" /> + <val type="numeric" value="5" /> + </entry> + <entry> + <key type="string" value="name" /> + <val type="string" value="Number of Input 8 bit" /> + </entry> + </item> + <item type="dict" id="57811424" > + <entry> + <key type="string" value="access" /> + <val type="string" value="ro" /> + </entry> + <entry> + <key type="string" value="pdo" /> + <val type="True" value="" /> + </entry> + <entry> + <key type="string" value="type" /> + <val type="numeric" value="5" /> + </entry> + <entry> + <key type="string" value="name" /> + <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*8-7,sub*8)]" /> + </entry> + <entry> + <key type="string" value="nbmax" /> + <val type="numeric" value="254" /> + </entry> + </item> + </val> + </entry> + <entry> + <key type="string" value="name" /> + <val type="string" value="Read Inputs 8 Bit" /> + </entry> + <entry> + <key type="string" value="struct" /> + <val type="numeric" value="7" /> + </entry> + </val> + </entry> + <entry> + <key type="numeric" value="24832" /> + <val type="dict" id="57811568" > + <entry> + <key type="string" value="need" /> + <val type="False" value="" /> + </entry> + <entry> + <key type="string" 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--- /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; +} + + +
--- /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__
--- /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 + +
--- /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 +}