user_lpc2.c

Canopen 最小实现源码, 只支持最小的CANOPEN功能

/**************************************************************************
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 IS THE EDUCATIONAL VERSION OF MICROCANOPEN
           See file license_educational.txt or
           www.microcanopen.com/license_educational.txt
           A commercial MicroCANopen license is available at
           www.CANopenStore.com
VERSION:   2.10, ESA 12-JAN-05
           $LastChangedDate: 2005-01-12 13:53:59 -0700 (Wed, 12 Jan 2005) $
           $LastChangedRevision: 48 $
***************************************************************************/ 

#include <LPC21XX.H> // LPC21XX Peripheral Registers
#include <string.h>

#include "mco.h"
#include "mcohw.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 UNSIGNED16 volatile gTimCnt;


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

// This structure holds all node specific configuration
UNSIGNED8 volatile gProcImg[PROCIMG_SIZE];

// Table with SDO Responses for read requests to OD
UNSIGNED8 MEM_CONST SDOResponseTable[] = {
// Each Row has 8 Bytes:
// Command Specifier for SDO Response (1 byte)
//   bits 2+3 contain: '4'