#objdict.c#

CANopen源代码

/* Computed by strSdoClients */
/* For a slave node, declare only one SDO client to send data to the master */
/* The master node must have one SDO client for each slave */
#define INDEX_LAST_SDO_CLIENT           0x1280
#define DEF_MAX_COUNT_OF_SDO_CLIENT     1

#define _CREATE_SDO_CLIENT_(SDONUM) \
static  s_sdo_parameter clientSDO ## SDONUM = \
{ 3,    /* Number of entries. Always 3 for the SDO*/\
0x600,  /* The cob_id transmited in CAN msg to the server. Put the "good" value instead : 0x600 + server node */\
0x580,  /* The cob_id received in CAN msg from the server. Put the "good" value instead : 0x600 + server node*/\
0x00    /* The node id of the server. Put the "good" value : server node*/\
};\
static  subindex Index ## SDONUM  [] =\
{\
	{ RO, uint8, sizeof( UNS8 ), (void*)&clientSDO ## SDONUM.count },\
	{ RO, uint32, sizeof( UNS32), (void*)&clientSDO ## SDONUM.cob_id_client },\
	{ RO, uint32, sizeof( UNS32), (void*)&clientSDO ## SDONUM.cob_id_server },\
	{ RO, uint8, sizeof( UNS8), (void*)&clientSDO ## SDONUM.node_id }\
};

_CREATE_SDO_CLIENT_(1280)

/* Create the client SDO Parameter area. */
const indextable   clientSDOParameter[] =
{
  DeclareIndexTableEntry(Index1280)
};

/**************************************************************************/
/* The PDO(s) Which could be received                                     */
/**************************************************************************/
/* Computed by strPdoReceive */
#define INDEX_LAST_PDO_RECEIVE  0X1402
#define MAX_COUNT_OF_PDO_RECEIVE 3

#define _CREATE_RXPDO_(RXPDO) \
static  s_pdo_communication_parameter RxPDO ## RXPDO = \
{ 2,      /* Number of entries. Always 2*/\
0x000,  /* Default cobid*/\
0x00    /* Transmission type. See objetdictdef.h*/\
};\
static  subindex Index ## RXPDO[] =\
{\
	{ RO, uint8, sizeof( UNS8 ), (void*)&RxPDO ## RXPDO.count },\
	{ RW, uint32, sizeof( UNS32), (void*)&RxPDO ## RXPDO.cob_id },\
	{ RW, uint8, sizeof( UNS8), (void*)&RxPDO ## RXPDO.type }\
};

// This define the PDO receive entries from index 0x1400 to 0x1402 
_CREATE_RXPDO_(1400)
_CREATE_RXPDO_(1401)
_CREATE_RXPDO_(1402)

/* Create the Receive PDO Parameter area. */
const indextable   receivePDOParameter[] =
{ 
  DeclareIndexTableEntry(Index1400),
  DeclareIndexTableEntry(Index1401),
  DeclareIndexTableEntry(Index1402)
};

/**************************************************************************/
/* The PDO(s) Which could be transmited                                   */
/**************************************************************************/
/* Computed by strPdoTransmit */
#define INDEX_LAST_PDO_TRANSMIT  0X1802
#define MAX_COUNT_OF_PDO_TRANSMIT 3
/** Usually the ID of a transmitting PDO is 0x180 + device_node_id,
*  but the node_id is not known during compilation... so what to do?!
*  the correct values have to be setted up during bootup of the device...
*/
#define _CREATE_TXPDO_(TXPDO) \
static  s_pdo_communication_parameter TxPDO ## TXPDO = \
{ 2,      /* Number of entries. Always 2*/\
0x000,  /* Default cobid*/\
0x00    /* Transmission type. See objetdictdef.h*/\
};\
static  subindex Index ## TXPDO[] =\
{\
	{ RO, uint8, sizeof( UNS8 ), (void*)&TxPDO ## TXPDO.count },\
	{ RW, uint32, sizeof( UNS32), (void*)&TxPDO ## TXPDO.cob_id },\
	{ RW, uint8, sizeof( UNS8), (void*)&TxPDO ## TXPDO.type }\
};

// This define the PDO transmit entries from index 0x1800 to 0x1802 
_CREATE_TXPDO_(1800)
_CREATE_TXPDO_(1801)
_CREATE_TXPDO_(1802)

/* Create the Transmit PDO Parameter area. */
const indextable   transmitPDOParameter[] =
{ 
  DeclareIndexTableEntry(Index1800),
  DeclareIndexTableEntry(Index1801),
  DeclareIndexTableEntry(Index1802)
};

/**************************************************************************/
/* PDO Mapping parameters                                                 */
/**************************************************************************/
/* Computed by strPdoParam */

#  define PDO_MAP(index, sub_index, size_variable_in_bits)\
0x ## index ## sub_index ## size_variable_in_bits

/* Beware : 
index                 *must* be writen 4 numbers in hexa
sub_index             *must* be writen 2 numbers in hexa
size_variable_in_UNS8 *must* be writen 2 numbers in hexa
*/
/* Max number of data which can be put in a PDO
   Example, one PDO contains 2 objects, an other contains 5 objects.
   put 
   MAX_COUNT_OF_PDO_MAPPING 5
*/
#define MAX_COUNT_OF_PDO_MAPPING 8

typedef struct td_s_pdo_mapping_parameter  // Index: 0x21
{
/** count of mapping entries
	*/
	UNS8 count;
	/** mapping entries itself.
	*/
	UNS32 object[MAX_COUNT_OF_PDO_MAPPING];
} s_pdo_mapping_parameter;

/**************************************************************************/
/* The mapping area of the PDO received                                   */
/**************************************************************************/
/* Computed by strPdoReceiveMapTop */
/* Note, The index 160x is used to map the PDO 140x. The relation between the two is automatic */
/* Computed by  strCreateRxMap */
#define _CREATE_RXMAP_(RXMAP) \
static  s_pdo_mapping_parameter RxMap ## RXMAP = \
{ 0,\
{\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00)\
 }\
 };\
 subindex Index ## RXMAP [] =\
{\
  { RW, uint8, sizeof( UNS8 ), (void*)&RxMap ## RXMAP.count },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[0] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[1] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[2] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[3] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[4] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[5] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[6] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&RxMap ## RXMAP.object[7] }\
};
/* Computed by strPdoReceiveMapBot */
#define INDEX_LAST_PDO_MAPPING_RECEIVE  0x1602
_CREATE_RXMAP_(1600)
_CREATE_RXMAP_(1601)
_CREATE_RXMAP_(1602)

const indextable   RxPDOMappingTable[ ] =
{
  DeclareIndexTableEntry(Index1600),
  DeclareIndexTableEntry(Index1601),
  DeclareIndexTableEntry(Index1602)
};

/**************************************************************************/
/* The mapping area of the PDO transmited                                   */
/**************************************************************************/
/* Computed by strPdoTransmitMapTop */
/* Note, The index 18xx is used to map the PDO 1Axxx. The relation between the two is automatic */
/* Computed by  strCreateRxMap */
#define _CREATE_TXMAP_(TXMAP) \
static  s_pdo_mapping_parameter TxMap ## TXMAP = \
{ 0,\
{\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00),\
    PDO_MAP(0000, 00, 00)\
 }\
 };\
 subindex Index ## TXMAP [] =\
{\
  { RW, uint8, sizeof( UNS8 ), (void*)&TxMap ## TXMAP.count },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[0] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[1] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[2] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[3] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[4] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[5] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[6] },\
  { RW, uint32, sizeof( UNS32 ), (void*)&TxMap ## TXMAP.object[7] }\
};
/* Computed by strPdoTransmitMapBot */
#define INDEX_LAST_PDO_MAPPING_TRANSMIT  0x1a02
_CREATE_TXMAP_(1a00)
_CREATE_TXMAP_(1a01)
_CREATE_TXMAP_(1a02)

const indextable   TxPDOMappingTable[ ] =
{
  DeclareIndexTableEntry(Index1a00),
  DeclareIndexTableEntry(Index1a01),
  DeclareIndexTableEntry(Index1a02)
};

**************************************************************************/
/* The mapped variables at index 0x2000 - 0x5fff                          */
/**************************************************************************/
/* Computed by strMapVar */

/********* Index 2000 *********/
static UNS8 highestSubIndex_2000 = 4; // number of subindex - 1
subindex Index2000[] = 
{
  { RO, uint8, sizeof(UNS8), (void*)&highestSubIndex_2000 },
  { RW, uint8, sizeof (UNS8), (void*)&seconds },
  { RW, uint8, sizeof (UNS8), (void*)&minutes },
  { RW, uint8, sizeof (UNS8), (void*)&hours },
  { RO, uint8, sizeof (UNS8), (void*)&day }
};

/********* Index 2001 *********/
static UNS8 highestSubIndex_2001 = 5; // number of subindex - 1
subindex Index2001[] = 
{
  { RO, uint8, sizeof(UNS8), (void*)&highestSubIndex_2001 },
  { RO, uint8, sizeof (UNS8), (void*)&essaiTable[0] },
  { RO, uint8, sizeof (UNS8), (void*)&essaiTable[1] },
  { RO, uint8, sizeof (UNS8), (void*)&essaiTable[2] },
  { RO, uint8, sizeof (UNS8), (void*)&essaiTable[3] },
  { RO, uint8, sizeof (UNS8), (void*)&essaiTable[4] }
};

#define MANUFACTURER_SPECIFIC_LAST_INDEX 0x2001
const indextable manufacturerProfileTable[] = 
{
  DeclareIndexTableEntry(Index2000),
  DeclareIndexTableEntry(Index2001)
};



/**************************************************************************/
/* The mapped variables at index 0x6000 - 0x61ff                          */
/**************************************************************************/
/* Computed by strMapVar */

/********* Index 6000 *********/
static UNS8 highestSubIndex_6000 = 0; // number of subindex - 1
subindex Index6000[] = 
{
  { RW, uint32, sizeof (UNS32), (void*)&canopenErrNB }
};

/********* Index 6001 *********/
static UNS8 highestSubIndex_6001 = 0; // number of subindex - 1
subindex Index6001[] = 
{
  { RW, uint32, sizeof (UNS32), (void*)&canopenErrVAL }
};

#define DIGITAL_INPUT_LAST_TABLE_INDEX 0x6001
const indextable digitalInputTable[] = 
{
  DeclareIndexTableEntry(Index6000),
  DeclareIndexTableEntry(Index6001)
};



/**************************************************************************/
/* The mapped variables at index 0x6200 - 0x9fff                          */
/**************************************************************************/
/* Computed by strMapVar */

#define DIGITAL_OUTPUT_LAST_TABLE_INDEX 0x0
const indextable digitalOutputTable[] = 
{
  {NULL, 0}
};

/**************************************************************************/
/* Varia used by other files                                              */
/**************************************************************************/
/* Computed by strVaria2 */
UNS8 count_sync[MAX_COUNT_OF_PDO_TRANSMIT];

#define COMM_PROFILE_LAST 0x1018

/* Should not be modified */
const dict_cste dict_cstes = {
COMM_PROFILE_LAST,
INDEX_LAST_SDO_SERVER,            
DEF_MAX_COUNT_OF_SDO_SERVER,	    
INDEX_LAST_SDO_CLIENT,	          
DEF_MAX_COUNT_OF_SDO_CLIENT,	    
INDEX_LAST_PDO_RECEIVE,	          
MAX_COUNT_OF_PDO_RECEIVE,	        
INDEX_LAST_PDO_TRANSMIT,	        
MAX_COUNT_OF_PDO_TRANSMIT,	      
INDEX_LAST_PDO_MAPPING_RECEIVE,	  
INDEX_LAST_PDO_MAPPING_TRANSMIT,
MANUFACTURER_SPECIFIC_LAST_INDEX,
DIGITAL_INPUT_LAST_TABLE_INDEX,
DIGITAL_OUTPUT_LAST_TABLE_INDEX,
NB_OF_HEARTBEAT_PRODUCERS	  
};