#objdict.c#

CANopen源代码

/**************************************************************************/
/* Object Dictionary for the node Linux_slave, default node_id : 0x01       */
/*                                                                        */
/* Computed by "makeobjetdict.php"                                        */
/**************************************************************************/
/* Computed by strComputed */

/*********************************************************                   
 *                                                       *
 *             Master/slave CANopen Library              *
 *                                                       *
 *  LIVIC : Laboratoire Interractions V庨hicule           * 
 *          Infrastructure Conducteur                    *
 *                       ----                            *
 *  INRETS/LIVIC : http://www.inrets.fr                  *
 *      Institut National de Recherche sur               *
 *      les Transports                                   *
 *      et leur S庨curit庨                                 *
 *  LCPC Laboratoire Central des Ponts et Chauss庨es      *
 *  Laboratoire Interractions V庨hicule Infrastructure    *
 *  Conducteur                                           *
 *                                                       *
 *  Authors  : Camille BOSSARD                           *
 *             Francis DUPIN                             *
 *             Laurent ROMIEUX                           *
 *             Zakaria BELAMRI                           *
 *  Contact : [e-mail]                        *
 *            [e-mail]                    *
 *            [e-mail]                *
 *  Date    : 2003                                       *
 * This work is based on                                 *
 * -     CanOpenMatic by  Edouard TISSERANT              *
 *       http://sourceforge.net/projects/canfestival/    * 
 * -     slavelib by    Raphael Zulliger                 *
 *       http://sourceforge.net/projects/canopen/        *
 *********************************************************
 *                                                       *
 *********************************************************
 * This program is free software; you can redistribute   *
 * it and/or modify it under the terms of the GNU General*
 * Public License as published by the Free Software      *
 * Foundation; either version 2 of the License, or (at   *
 * your option) any later version.                       *
 *                                                       *
 * This program 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 General Public       *
 * License for more details.                             *
 *                                                       *
 * You should have received a copy of the GNU General    *
 * Public License along with this program; if not, write *
 * to 	The Free Software Foundation, Inc.               *
 *	675 Mass Ave                                     *
 *	Cambridge                                        *
 *	MA 02139                                         *
 * 	USA.                                             *
 *********************************************************
           File : objdict.c
 *-------------------------------------------------------*
 * This is where you defined the dictionary of your      *
 *  application                                          *      
 *                                                       *
 *********************************************************/
 /* Computed by strEntete */

//#define DEBUG_CAN

#include <stddef.h>
#include <time.h>

#include <def.h>
#include <pdo.h>
#include <sdo.h>
#include <sync.h>
#include <objdictdef.h>
#include <nmtSlave.h>
#include <lifegrd.h>

/**************************************************************************/
/* The node id                                                            */
/**************************************************************************/
/* Computed by strNode */
/* node_id default value. 
   You should always overwrite this by using the function setNodeId(UNS8 nodeId) in your C code.
*/
#define NODE_ID 0x01
UNS8 bDeviceNodeId = NODE_ID;
/**************************************************************************/
/* Declaration of the mapped variables                                    */
/**************************************************************************/
/* Computed by strDeclareMapVar */
UNS8 seconds;		// Mapped at index 0x2000, subindex 0x1
UNS8 minutes;		// Mapped at index 0x2000, subindex 0x2
UNS8 hours;		// Mapped at index 0x2000, subindex 0x3
UNS8 day;		// Mapped at index 0x2000, subindex 0x4
UNS32 canopenErrNB;		// Mapped at index 0x6000, subindex 0x0
UNS32 canopenErrVAL;		// Mapped at index 0x6001, subindex 0x0
UNS8 essaiTable[5];		// Mapped at index 0x2001, subindex 0x1 - 0x5

//*****************************************************************************/
/* Computed by strStartDico */

/* Array of message processing information */
/* Should not be modified */
proceed_info proceed_infos[] = {
  {NMT,		"NMT",	        proceedNMTstateChange},
  {SYNC,        "SYNC",         proceedSYNC},
  {TIME_STAMP,	"TIME_STAMP",	NULL},
  {PDO1tx,	"PDO1tx",       proceedPDO},
  {PDO1rx,	"PDO1rx",	proceedPDO},
  {PDO2tx,	"PDO2tx",	proceedPDO},
  {PDO2rx,	"PDO2rx",	proceedPDO},
  {PDO3tx,	"PDO3tx",	proceedPDO},
  {PDO3rx,	"PDO3rx",	proceedPDO},
  {PDO4tx,	"PDO4tx",	proceedPDO},
  {PDO4rx,	"PDO4rx",	proceedPDO},
  {SDOtx,	"SDOtx",	proceedSDO},
  {SDOrx,	"SDOrx",        proceedSDO},
  {0xD,		"Unknown",	NULL},
  {NODE_GUARD,	"NODE GUARD",   proceedNMTerror},
  {0xF,		"Unknown",	NULL}
};




//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
//
//                       OBJECT DICTIONARY
//                   
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
// Make your change, depending of your application
 
/** index 1000h: device type. You have to change the value below, so
 *  it fits your canopen-slave-module
 */
/* Not used, so, should not be modified */
#define OBJNAME devicetype
/*const*/ UNS32 OBJNAME = 0x0;
/*const*/ subindex Index1000[] =
{
  { RO, uint32, sizeof(UNS32), (void*)&OBJNAME }
};
#undef OBJNAME

/** index 1001: error register. Change the entries to fit your application
 */
/* Not used, so, should not be modified */
#define OBJNAME errorRegister
/*const*/ UNS8 OBJNAME = 0x0;
/*const*/ subindex Index1001[] =
{
  { RO, uint8, sizeof(UNS8), (void*)&OBJNAME }
};
#undef OBJNAME

/** index 1005: COB_ID SYNC
*/
/* Should not be modified */
#define OBJNAME CobIdSync
/*const*/ UNS32 OBJNAME = 0x40000080; // bit 30 = 1 : device can generate a SYNC message
/*const*/ subindex Index1005[] =
{
  { RW, uint32, sizeof(UNS32), (void*)&OBJNAME }
};
#undef OBJNAME

/** index 1006: SYNC period
*/

#define OBJNAME SyncPeriod
// For producing the SYNC signal every n micro-seconds.
// Put O to not producing SYNC
/*const*/ UNS32 OBJNAME = 0x0; /* Default 0 to not produce SYNC */
/*const*/ subindex Index1006[] =
{
  { RW, uint32, sizeof(UNS32), (void*)&OBJNAME }
};
#undef OBJNAME

/** index 1007: Synchronous Window Length
*/
// Seems to be needed by DS401 to generate the SYNC signal.

#define OBJNAME SyncWindowLength
// For producing the SYNC signal every n micro-seconds.
// Put O to not producing SYNC
/*const*/ UNS32 OBJNAME = 0x0; /* Default 0 */
/*const*/ subindex Index1007[] =
{
  { RW, uint32, sizeof(UNS32), (void*)&OBJNAME }
};
#undef OBJNAME

/**************************************************************************/
/* HeartBeat consumers : The nodes which can send a heartbeat             */
/**************************************************************************/
/* Computed by strHeartBeatConsumers */
static  UNS32 HBConsumerTimeArray[] = {
  0x00000000}; // Format 0x00NNTTTT (N=Node T=time in ms)

static  UNS8 HBConsumerCount = 1; // 1 nodes could send me their heartbeat.

subindex Index1016[] = {
  { RO, uint8, sizeof(UNS8), (void*)&HBConsumerCount },
  { RW, uint32, sizeof(UNS32), (void*)&HBConsumerTimeArray[0] }};

/**************************************************************************/
/* The node produce an heartbeat                                          */
/**************************************************************************/
/* Computed by strHeartBeatProducer */
/* Every HBProducerTime, the node sends its heartbeat */
static UNS16 HBProducerTime = 0;  /* in ms. If 0 : not activated */ 
 subindex Index1017[] =
{
	{ RW, uint16, sizeof(UNS16), &HBProducerTime }
};

/**************************************************************************/
/* Next to 0x1018                                                 */
/**************************************************************************/
/* Computed by strVaria1 */
/** index 1018: identify object. Adjust the entries for your node/company
 */
/* Values can be modified */
#define OBJNAME theIdentity
/*const*/ s_identity OBJNAME =
{
  4,       // number of supported entries
  0x1234,  // Vendor-ID (given by the can-cia)
  0x5678,  // Product Code
  0x1364,  // Revision number
  0x7964,  // serial number
} ;


/* Should not be modified */
/*const*/ subindex Index1018[] =
{
  { RO, uint8,  sizeof(UNS8),  (void*)&OBJNAME.count },
  { RO, uint32, sizeof(UNS32), (void*)&OBJNAME.vendor_id},
  { RO, uint32, sizeof(UNS32), (void*)&OBJNAME.product_code},
  { RO, uint32, sizeof(UNS32), (void*)&OBJNAME.revision_number},
  { RO, uint32, sizeof(UNS32), (void*)&OBJNAME.serial_number}
};
#undef OBJNAME

/** now the communication profile entries are grouped together, so they
 *  can be accessed in a standardised manner. This could be memory-optimized
 *  if the empty entries wouldn't be added, but then the communication profile
 *  area must be accessed different (see objacces.c file)
 */
/* Should not be modified */
const indextable CommunicationProfileArea[] =
{
  DeclareIndexTableEntry(Index1000), // creates a line like: { Index1000, 1 },
  DeclareIndexTableEntry(Index1001),
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  DeclareIndexTableEntry(Index1005),
  DeclareIndexTableEntry(Index1006),
  DeclareIndexTableEntry(Index1007),
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  { NULL, 0 },
  DeclareIndexTableEntry(Index1016),
  DeclareIndexTableEntry(Index1017),
  DeclareIndexTableEntry(Index1018),
};

/**************************************************************************/
/* The SDO Server parameters                                              */
/**************************************************************************/
/* Computed by strSdoServer */
/* BEWARE You cannot define more than one SDO server */


#define INDEX_LAST_SDO_SERVER           0x1200
#define DEF_MAX_COUNT_OF_SDO_SERVER     INDEX_LAST_SDO_SERVER - 0x11FF

/* The values should not be modified here, but can be changed at runtime */
#define OBJNAME serverSDO1
static s_sdo_parameter OBJNAME = 
{ 3,                   // Number of entries. Always 3 for the SDO	       
  0x600 + NODE_ID,     // The cob_id transmited in CAN msg to the server     
  0x580 + NODE_ID,     // The cob_id received in CAN msg from the server  
  NODE_ID              // The node id of the client. Should not be modified 
};
static subindex Index1200[] =
{
  { RO, uint8,  sizeof( UNS8 ), (void*)&OBJNAME.count },
  { RO, uint32, sizeof( UNS32), (void*)&OBJNAME.cob_id_client },
  { RO, uint32, sizeof( UNS32), (void*)&OBJNAME.cob_id_server },
  { RW, uint8,  sizeof( UNS8),  (void*)&OBJNAME.node_id }
};
#undef OBJNAME

/** Create the server SDO Parameter area.
 */
/* Should not be modified */
const indextable serverSDOParameter[] =
{
  DeclareIndexTableEntry(Index1200)
};

/**************************************************************************/
/* The SDO(s) clients                                                     */
/**************************************************************************/