📄 canopobjdict.h
字号:
2, ODD_TPDO_MAP_1_1, ODD_TPDO_MAP_1_2,
#endif
#if CO_NO_TPDO > 2
2, ODD_TPDO_MAP_2_1, ODD_TPDO_MAP_2_2,
#endif
#if CO_NO_TPDO > 3
2, ODD_TPDO_MAP_3_1, ODD_TPDO_MAP_3_2,
#endif
#if CO_NO_TPDO > 4
2, ODD_TPDO_MAP_4_1, ODD_TPDO_MAP_4_2,
#endif
#if CO_NO_TPDO > 5
2, ODD_TPDO_MAP_5_1, ODD_TPDO_MAP_5_2,
#endif
#if CO_NO_TPDO > 6
2, ODD_TPDO_MAP_6_1, ODD_TPDO_MAP_6_2,
#endif
#if CO_NO_TPDO > 7
2, ODD_TPDO_MAP_7_1, ODD_TPDO_MAP_7_2,
#endif
};
#endif
#elif CO_PDO_MAP_SIZE == 8
#if CO_NO_RPDO > 0
rom sPDO_map ODE_RPDO_Mapping[CO_NO_RPDO];
#endif
#if CO_NO_TPDO > 0
rom sPDO_map ODE_TPDO_Mapping[CO_NO_TPDO];
#endif
#else
#error define_CO_PDO_MAP_SIZE CO_PDO_MAP_SIZE not supported
#endif
/** OTHER ********************************************/
/******* Index 0x1F80 ********************************/
rom UNSIGNED32 ODE_NMT_Startup =
#ifdef ODD_BOOT_OPERATIONAL
0x00;
#else
0x04;
#endif
//bit 2: 0(1) - automaticaly enter (DO NOT automaticaly enter)
// the operational state on bootup
//bit 0,1,3,4,5,6: see ds301 (here sholud be set to 0)
//bit 7-31: reserved, set to 0
/******************************************************************************/
/* Manufacturer specific Variables ***********************************/
/******************************************************************************/
/******* Index 0x2100 ********************************/
rom UNSIGNED8 ODE_ErrorStatusBitsNoOfEntries = 5; //5...32 see errors.h
UNSIGNED8 ODE_ErrorStatusBits[5] = {0, 0, 0, 0, 0};
/******* Index 0x2101 ********************************/
//this entery should be replaced with DIP switches on printed board
UNSIGNED8 ODE_CANnodeID = CO_DEFAULT_NODE_ID;
/******* Index 0x2102 ********************************/
//this entery should be replaced with DIP switches on printed board
UNSIGNED8 ODE_CANbitRate = CO_DEFAULT_BIT_RATE;
/******* Index 0x2103 ********************************/
UNSIGNED16 ODE_SYNCcounter; //updated in both interrupts
//intialized at CAN init, incremented at every SYNC object
/******* Index 0x2104 ********************************/
UNSIGNED16 ODE_SYNCtime; //updated in both interrupts
//time in [ms] since last SYNC object
/******* Index 0x2105 ********************************/
extern volatile near unsigned char RCON;
//RCON register in PIC18Fxxx (reset status bits)
/******* EEPROM DATA *********************************/
//Data in following structure is read at chip intialisation
//and is written automatically when it is changed.
struct{
/******* Index 0x2106 *****************/
UNSIGNED32 PowerOnCounter;
//Incremented every time, chip is powered.
}ODE_EEPROM;
/** PDO Data *****************************************/
// Can be mapped to any indexes in object dictionary
// See union tData8bytes for fragmentation (can be
// used as 1byte, 2bytes or 4 bytes lengths).
// Mapping is static.
// By default, they are mapped to 0x2110 and 0x2111
#if CO_NO_RPDO > 0
rom UNSIGNED8 ODE_RPDO_NoOfEntries = CO_NO_RPDO*2;
extern volatile tData8bytes CO_RPDO[CO_NO_RPDO];
#endif
#if CO_NO_TPDO > 0
rom UNSIGNED8 ODE_TPDO_NoOfEntries = CO_NO_TPDO*2;
extern volatile tData8bytes CO_TPDO[CO_NO_TPDO];
#endif
/******************************************************************************/
/* OBJECT DICTIONARY *************************************************/
/******************************************************************************/
/* sections of Object Dictionary: *********************************************/
// 0x0000 Reserved
// 0x0001 - 0x025F Data type definitions
// 0x0260 - 0x0FFF Reserved
// 0x1000 - 0x1FFF Communication profile
// 0x2000 - 0x5FFF Manufacturer specific
// 0x6000 - 0x9FFF Standardized device profile
// 0xA000 - 0xBFFF Standardized interface profile
// 0xC000 - 0xFFFF Reserved
/* LIMITATIONS: ***************************************************************/
// max entry data size = 4 bytes
/******************************************************************************/
#define OD_ENTRY(index, subindex, attribute, variable) \
{index, subindex, attribute, sizeof(variable), (unsigned int)&variable}
const rom CO_objectDictionaryEntry CO_OD[] = {
/***** Communication profile: *************************************************/
OD_ENTRY(0x1000, 0x00, ATTR_RO, ODE_Device_Type),
OD_ENTRY(0x1001, 0x00, ATTR_RO, ODE_Error_Register),
OD_ENTRY(0x1002, 0x00, ATTR_RO, ODE_Manufacturer_Status_Register),
#if CO_NO_ERROR_FIELD > 0
OD_ENTRY(0x1003, 0x00, ATTR_RW, ODE_Pre_Defined_Error_Field_NoOfErrors),
OD_ENTRY(0x1003, 0x01, ATTR_RO, ODE_Pre_Defined_Error_Field[0]),
#if CO_NO_ERROR_FIELD > 1
OD_ENTRY(0x1003, 0x02, ATTR_RO, ODE_Pre_Defined_Error_Field[1]),
#endif
#if CO_NO_ERROR_FIELD > 2
OD_ENTRY(0x1003, 0x03, ATTR_RO, ODE_Pre_Defined_Error_Field[2]),
#endif
#if CO_NO_ERROR_FIELD > 3
OD_ENTRY(0x1003, 0x04, ATTR_RO, ODE_Pre_Defined_Error_Field[3]),
#endif
#if CO_NO_ERROR_FIELD > 4
OD_ENTRY(0x1003, 0x05, ATTR_RO, ODE_Pre_Defined_Error_Field[4]),
#endif
#if CO_NO_ERROR_FIELD > 5
OD_ENTRY(0x1003, 0x06, ATTR_RO, ODE_Pre_Defined_Error_Field[5]),
#endif
#if CO_NO_ERROR_FIELD > 6
OD_ENTRY(0x1003, 0x07, ATTR_RO, ODE_Pre_Defined_Error_Field[6]),
#endif
#if CO_NO_ERROR_FIELD > 7
OD_ENTRY(0x1003, 0x08, ATTR_RO, ODE_Pre_Defined_Error_Field[7]),
#endif
#endif
OD_ENTRY(0x1005, 0x00, ATTR_RW, ODE_SYNC_COB_ID),
OD_ENTRY(0x1006, 0x00, ATTR_RW, ODE_Communication_Cycle_Period),
OD_ENTRY(0x1007, 0x00, ATTR_RW, ODE_Synchronous_Window_Length),
OD_ENTRY(0x1008, 0x00, ATTR_RO, ODE_Manufacturer_Device_Name),
OD_ENTRY(0x1009, 0x00, ATTR_RO, ODE_Manufacturer_Hardware_Version),
OD_ENTRY(0x100A, 0x00, ATTR_RO, ODE_Manufacturer_Software_Version),
OD_ENTRY(0x1014, 0x00, ATTR_RO, ODE_Emergency_COB_ID),
OD_ENTRY(0x1015, 0x00, ATTR_RW, ODE_Inhibit_Time_Emergency),
#if CO_NO_CONS_HEARTBEAT > 0
OD_ENTRY(0x1016, 0x00, ATTR_RO, ODE_Consumer_Heartbeat_Time_NoOfEntries),
OD_ENTRY(0x1016, 0x01, ATTR_RW, ODE_Consumer_Heartbeat_Time[0]),
#if CO_NO_CONS_HEARTBEAT > 1
OD_ENTRY(0x1016, 0x02, ATTR_RW, ODE_Consumer_Heartbeat_Time[1]),
#endif
#if CO_NO_CONS_HEARTBEAT > 2
OD_ENTRY(0x1016, 0x03, ATTR_RW, ODE_Consumer_Heartbeat_Time[2]),
#endif
#if CO_NO_CONS_HEARTBEAT > 3
OD_ENTRY(0x1016, 0x04, ATTR_RW, ODE_Consumer_Heartbeat_Time[3]),
#endif
#if CO_NO_CONS_HEARTBEAT > 4
OD_ENTRY(0x1016, 0x05, ATTR_RW, ODE_Consumer_Heartbeat_Time[4]),
#endif
#if CO_NO_CONS_HEARTBEAT > 5
OD_ENTRY(0x1016, 0x06, ATTR_RW, ODE_Consumer_Heartbeat_Time[5]),
#endif
#if CO_NO_CONS_HEARTBEAT > 6
OD_ENTRY(0x1016, 0x07, ATTR_RW, ODE_Consumer_Heartbeat_Time[6]),
#endif
#if CO_NO_CONS_HEARTBEAT > 7
OD_ENTRY(0x1016, 0x08, ATTR_RW, ODE_Consumer_Heartbeat_Time[7]),
#endif
#endif
OD_ENTRY(0x1017, 0x00, ATTR_RW, ODE_Producer_Heartbeat_Time),
OD_ENTRY(0x1018, 0x00, ATTR_RO, ODE_Identity.NoOfEntries),
OD_ENTRY(0x1018, 0x01, ATTR_RO, ODE_Identity.Vendor_ID),
OD_ENTRY(0x1018, 0x02, ATTR_RO, ODE_Identity.Product_Code),
OD_ENTRY(0x1018, 0x03, ATTR_RO, ODE_Identity.Revision_Number),
OD_ENTRY(0x1018, 0x04, ATTR_RO, ODE_Identity.Serial_Number),
//SDOs
OD_ENTRY(0x1200, 0x00, ATTR_RO, ODE_Server_SDO_Parameter.NoOfEntries),
OD_ENTRY(0x1200, 0x01, ATTR_RO, ODE_Server_SDO_Parameter.COB_ID_Client_to_Server),
OD_ENTRY(0x1200, 0x02, ATTR_RO, ODE_Server_SDO_Parameter.COB_ID_Server_to_Client),
//PDOs
#ifdef CO_PDO_PARAM_IN_OD
#if CO_NO_RPDO > 0
OD_ENTRY(0x1400, 0x00, ATTR_RO, ODE_RPDO_Parameter[0].NoOfEntries),
OD_ENTRY(0x1400, 0x01, ATTR_RW, ODE_RPDO_Parameter[0].COB_ID),
OD_ENTRY(0x1400, 0x02, ATTR_RO, ODE_RPDO_Parameter[0].Transmission_type),
#endif
#if CO_NO_RPDO > 1
OD_ENTRY(0x1401, 0x00, ATTR_RO, ODE_RPDO_Parameter[1].NoOfEntries),
OD_ENTRY(0x1401, 0x01, ATTR_RW, ODE_RPDO_Parameter[1].COB_ID),
OD_ENTRY(0x1401, 0x02, ATTR_RO, ODE_RPDO_Parameter[1].Transmission_type),
#endif
#if CO_NO_RPDO > 2
OD_ENTRY(0x1402, 0x00, ATTR_RO, ODE_RPDO_Parameter[2].NoOfEntries),
OD_ENTRY(0x1402, 0x01, ATTR_RW, ODE_RPDO_Parameter[2].COB_ID),
OD_ENTRY(0x1402, 0x02, ATTR_RO, ODE_RPDO_Parameter[2].Transmission_type),
#endif
#if CO_NO_RPDO > 3
OD_ENTRY(0x1403, 0x00, ATTR_RO, ODE_RPDO_Parameter[3].NoOfEntries),
OD_ENTRY(0x1403, 0x01, ATTR_RW, ODE_RPDO_Parameter[3].COB_ID),
OD_ENTRY(0x1403, 0x02, ATTR_RO, ODE_RPDO_Parameter[3].Transmission_type),
#endif
#if CO_NO_RPDO > 4
OD_ENTRY(0x1404, 0x00, ATTR_RO, ODE_RPDO_Parameter[4].NoOfEntries),
OD_ENTRY(0x1404, 0x01, ATTR_RW, ODE_RPDO_Parameter[4].COB_ID),
OD_ENTRY(0x1404, 0x02, ATTR_RO, ODE_RPDO_Parameter[4].Transmission_type),
#endif
#if CO_NO_RPDO > 5
OD_ENTRY(0x1405, 0x00, ATTR_RO, ODE_RPDO_Parameter[5].NoOfEntries),
OD_ENTRY(0x1405, 0x01, ATTR_RW, ODE_RPDO_Parameter[5].COB_ID),
OD_ENTRY(0x1405, 0x02, ATTR_RO, ODE_RPDO_Parameter[5].Transmission_type),
#endif
#if CO_NO_RPDO > 6
OD_ENTRY(0x1406, 0x00, ATTR_RO, ODE_RPDO_Parameter[6].NoOfEntries),
OD_ENTRY(0x1406, 0x01, ATTR_RW, ODE_RPDO_Parameter[6].COB_ID),
OD_ENTRY(0x1406, 0x02, ATTR_RO, ODE_RPDO_Parameter[6].Transmission_type),
#endif
#if CO_NO_RPDO > 7
OD_ENTRY(0x1407, 0x00, ATTR_RO, ODE_RPDO_Parameter[7].NoOfEntries),
OD_ENTRY(0x1407, 0x01, ATTR_RW, ODE_RPDO_Parameter[7].COB_ID),
OD_ENTRY(0x1407, 0x02, ATTR_RO, ODE_RPDO_Parameter[7].Transmission_type),
#endif
#if CO_NO_TPDO > 0
OD_ENTRY(0x1800, 0x00, ATTR_RO, ODE_TPDO_Parameter[0].NoOfEntries),
OD_ENTRY(0x1800, 0x01, ATTR_RW, ODE_TPDO_Parameter[0].COB_ID),
OD_ENTRY(0x1800, 0x02, ATTR_RW, ODE_TPDO_Parameter[0].Transmission_type),
#endif
#if CO_NO_TPDO > 1
OD_ENTRY(0x1801, 0x00, ATTR_RO, ODE_TPDO_Parameter[1].NoOfEntries),
OD_ENTRY(0x1801, 0x01, ATTR_RW, ODE_TPDO_Parameter[1].COB_ID),
OD_ENTRY(0x1801, 0x02, ATTR_RW, ODE_TPDO_Parameter[1].Transmission_type),
#endif
#if CO_NO_TPDO > 2
OD_ENTRY(0x1802, 0x00, ATTR_RO, ODE_TPDO_Parameter[2].NoOfEntries),
OD_ENTRY(0x1802, 0x01, ATTR_RW, ODE_TPDO_Parameter[2].COB_ID),
OD_ENTRY(0x1802, 0x02, ATTR_RW, ODE_TPDO_Parameter[2].Transmission_type),
#endif
#if CO_NO_TPDO > 3
OD_ENTRY(0x1803, 0x00, ATTR_RO, ODE_TPDO_Parameter[3].NoOfEntries),
OD_ENTRY(0x1803, 0x01, ATTR_RW, ODE_TPDO_Parameter[3].COB_ID),
OD_ENTRY(0x1803, 0x02, ATTR_RW, ODE_TPDO_Parameter[3].Transmission_type),
#endif
#if CO_NO_TPDO > 4
OD_ENTRY(0x1804, 0x00, ATTR_RO, ODE_TPDO_Parameter[4].NoOfEntries),
OD_ENTRY(0x1804, 0x01, ATTR_RW, ODE_TPDO_Parameter[4].COB_ID),
OD_ENTRY(0x1804, 0x02, ATTR_RW, ODE_TPDO_Parameter[4].Transmission_type),
#endif
#if CO_NO_TPDO > 5
OD_ENTRY(0x1805, 0x00, ATTR_RO, ODE_TPDO_Parameter[5].NoOfEntries),
OD_ENTRY(0x1805, 0x01, ATTR_RW, ODE_TPDO_Parameter[5].COB_ID),
OD_ENTRY(0x1805, 0x02, ATTR_RW, ODE_TPDO_Parameter[5].Transmission_type),
#endif
#if CO_NO_TPDO > 6
OD_ENTRY(0x1806, 0x00, ATTR_RO, ODE_TPDO_Parameter[6].NoOfEntries),
OD_ENTRY(0x1806, 0x01, ATTR_RW, ODE_TPDO_Parameter[6].COB_ID),
OD_ENTRY(0x1806, 0x02, ATTR_RW, ODE_TPDO_Parameter[6].Transmission_type),
#endif
#if CO_NO_TPDO > 7
OD_ENTRY(0x1807, 0x00, ATTR_RO, ODE_TPDO_Parameter[7].NoOfEntries),
OD_ENTRY(0x1807, 0x01, ATTR_RW, ODE_TPDO_Parameter[7].COB_ID),
OD_ENTRY(0x1807, 0x02, ATTR_RW, ODE_TPDO_Parameter[7].Transmission_type),
#endif
#endif //end CO_PDO_PARAM_IN_OD
#ifdef CO_PDO_MAPPING_IN_OD
#if (CO_PDO_MAP_SIZE == 2 || CO_PDO_MAP_SIZE == 8)
#if CO_NO_RPDO > 0
OD_ENTRY(0x1600, 0x00, ATTR_RO, ODE_RPDO_Mapping[0].NoOfEntries),
OD_ENTRY(0x1600, 0x01, ATTR_RO, ODE_RPDO_Mapping[0].Map[0]),
OD_ENTRY(0x1600, 0x02, ATTR_RO, ODE_RPDO_Mapping[0].Map[1]),
#endif
#if CO_NO_RPDO > 1
OD_ENTRY(0x1601, 0x00, ATTR_RO, ODE_RPDO_Mapping[1].NoOfEntries),
OD_ENTRY(0x1601, 0x01, ATTR_RO, ODE_RPDO_Mapping[1].Map[0]),
OD_ENTRY(0x1601, 0x02, ATTR_RO, ODE_RPDO_Mapping[1].Map[1]),
#endif
#if CO_NO_RPDO > 2
OD_ENTRY(0x1602, 0x00, ATTR_RO, ODE_RPDO_Mapping[2].NoOfEntries),
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -