user_lpc2.c

Philips LPC2000 CAN驱动程序(包括3个示例)

/**************************************************************************
MODULE:    USER
CONTAINS:  MicroCANopen Object Dictionary and Process Image implementation
COPYRIGHT: Embedded Systems Academy, Inc. 2002-2004.
           All rights reserved. www.microcanopen.com
           This software was written in accordance to the guidelines at
           www.esacademy.com/software/softwarestyleguide.pdf
DISCLAIM:  Read and understand our disclaimer before using this code!
           www.esacademy.com/disclaim.htm
LICENSE:   THIS VERSION CREATED FOR FREE DISTRIBUTION
           FOR KEIL SOFTWARE www.keil.com
		       FOR PHILIPS SEMICONDUCTORS www.philipsmcu.com
VERSION:   1.21, Pf 02-FEB-04
---------------------------------------------------------------------------
HISTORY:   1.21, Pf 02-FEB-04, Release for Philips LPC2129
           1.20, Pf 19-AUG-03, First Published Version
           Functionality in this module was located in module MCO in
		     previous releases.
***************************************************************************/ 

#include "mco.h"
#include "mcohw.h"
#include "string.h"

#if (NR_OF_RPDOS != 2)
  #if (NR_OF_TPDOS != 2)
ERROR: This example is for 2 TPDOs and 2 RPDOs only
  #endif
#endif

// Global timer/conter variable, incremented every millisecond
extern WORD volatile gTimCnt;

/**************************************************************************
MACROS FOR OBJECT DICTIONARY ENTRIES
***************************************************************************/ 

#define GETBYTE(val,pos) ((val >> pos) & 0xFF)
#define GETBYTES16(val) GETBYTE(val, 0), GETBYTE(val, 8)
#define GETBYTES32(val) GETBYTE(val, 0), GETBYTE(val, 8), GETBYTE(val,16), GETBYTE(val,24)
#define SDOREPLY(index,sub,len,val) 0x43 | ((4-len)<<2), GETBYTES16(index), sub, GETBYTES32(val)
#define SDOREPLY4(index,sub,len,d1,d2,d3,d4) 0x43 | ((4-len)<<2), GETBYTES16(index), sub, d1, d2, d3, d4

#define ODENTRY(index,sub,len,offset) {index, sub, len, offset}

/**************************************************************************
GLOBAL VARIABLES
***************************************************************************/ 

// This structure holds all node specific configuration
BYTE volatile gProcImg[PROCIMG_SIZE];

// Table with SDO Responses for read requests to OD
BYTE MEM_CONST SDOResponseTable[] = {
// Each Row has 8 Bytes:
// Command Specifier for SDO Response (1 byte)
//   bits 2+3 contain: '4'