objdict.c

CANopen 协议栈源码 ,实现基本的CANopen 协议

                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1400_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Event_Timer }
                     };

/* index 0x1600 :   Receive PDO 1 Mapping. */
                    UNS8 ObjDict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
                    UNS32 ObjDict_obj1600[] = 
                    {
                      0x62000108	/* 1644167432 */
                    };
                    subindex ObjDict_Index1600[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1600 },
                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1600[0] }
                     };

/* index 0x1800 :   Transmit PDO 1 Parameter. */
                    UNS8 ObjDict_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
                    UNS32 ObjDict_obj1800_COB_ID_used_by_PDO = 0x180;	/* 384 */
                    UNS8 ObjDict_obj1800_Transmission_Type = 0xFF;	/* 255 */
                    UNS16 ObjDict_obj1800_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 ObjDict_obj1800_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 ObjDict_obj1800_Event_Timer = 0x0;	/* 0 */
                    ODCallback_t ObjDict_Index1800_callbacks[] = 
                     {
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                     };
                    subindex ObjDict_Index1800[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1800 },
                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1800_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Event_Timer }
                     };

/* index 0x1A00 :   Transmit PDO 1 Mapping. */
                    UNS8 ObjDict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
                    UNS32 ObjDict_obj1A00[] = 
                    {
                      0x60000108	/* 1610613000 */
                    };
                    subindex ObjDict_Index1A00[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1A00 },
                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A00[0] }
                     };

/* index 0x6000 :   Mapped variable Read Inputs 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6000[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6000 },
                       { RO, uint8, sizeof (UNS8), (void*)&Read_Inputs_8_Bit[0] }
                     };

/* index 0x6002 :   Mapped variable Polarity Input 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6002 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6002[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6002 },
                       { RW, uint8, sizeof (UNS8), (void*)&Polarity_Input_8_Bit[0] }
                     };

/* index 0x6003 :   Mapped variable Filter Constant Input 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6003 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6003[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6003 },
                       { RW, uint8, sizeof (UNS8), (void*)&Filter_Constant_Input_8_Bit[0] }
                     };

/* index 0x6005 :   Mapped variable Global Interrupt Enable Digital */
                    subindex ObjDict_Index6005[] = 
                     {
                       { RW, boolean, sizeof (UNS8), (void*)&Global_Interrupt_Enable_Digital }
                     };

/* index 0x6006 :   Mapped variable Interrupt Mask Any Change 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6006 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6006[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6006 },
                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Any_Change_8_Bit[0] }
                     };

/* index 0x6007 :   Mapped variable Interrupt Mask Low to High 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6007 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6007[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6007 },
                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Low_to_High_8_Bit[0] }
                     };

/* index 0x6008 :   Mapped variable Interrupt Mask High to Low 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6008 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6008[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6008 },
                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_High_to_Low_8_Bit[0] }
                     };

/* index 0x6200 :   Mapped variable Write Outputs 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6200 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6200[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6200 },
                       { RW, uint8, sizeof (UNS8), (void*)&Write_Outputs_8_Bit[0] }
                     };

/* index 0x6202 :   Mapped variable Change Polarity Outputs 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6202 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6202[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6202 },
                       { RW, uint8, sizeof (UNS8), (void*)&Change_Polarity_Outputs_8_Bit[0] }
                     };

/* index 0x6206 :   Mapped variable Error Mode Outputs 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6206 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6206[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6206 },
                       { RW, uint8, sizeof (UNS8), (void*)&Error_Mode_Outputs_8_Bit[0] }
                     };

/* index 0x6207 :   Mapped variable Error Value Outputs 8 Bit */
                    UNS8 ObjDict_highestSubIndex_obj6207 = 1; /* number of subindex - 1*/
                    subindex ObjDict_Index6207[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6207 },
                       { RW, uint8, sizeof (UNS8), (void*)&Error_Value_Outputs_8_Bit[0] }
                     };

const indextable ObjDict_objdict[] = 
{
  { (subindex*)ObjDict_Index1000,sizeof(ObjDict_Index1000)/sizeof(ObjDict_Index1000[0]), 0x1000},
  { (subindex*)ObjDict_Index1001,sizeof(ObjDict_Index1001)/sizeof(ObjDict_Index1001[0]), 0x1001},
  { (subindex*)ObjDict_Index1003,sizeof(ObjDict_Index1003)/sizeof(ObjDict_Index1003[0]), 0x1003},
  { (subindex*)ObjDict_Index1005,sizeof(ObjDict_Index1005)/sizeof(ObjDict_Index1005[0]), 0x1005},
  { (subindex*)ObjDict_Index1008,sizeof(ObjDict_Index1008)/sizeof(ObjDict_Index1008[0]), 0x1008},
  { (subindex*)ObjDict_Index1009,sizeof(ObjDict_Index1009)/sizeof(ObjDict_Index1009[0]), 0x1009},
  { (subindex*)ObjDict_Index100A,sizeof(ObjDict_Index100A)/sizeof(ObjDict_Index100A[0]), 0x100A},
  { (subindex*)ObjDict_Index1010,sizeof(ObjDict_Index1010)/sizeof(ObjDict_Index1010[0]), 0x1010},
  { (subindex*)ObjDict_Index1011,sizeof(ObjDict_Index1011)/sizeof(ObjDict_Index1011[0]), 0x1011},
  { (subindex*)ObjDict_Index1014,sizeof(ObjDict_Index1014)/sizeof(ObjDict_Index1014[0]), 0x1014},
  { (subindex*)ObjDict_Index1016,sizeof(ObjDict_Index1016)/sizeof(ObjDict_Index1016[0]), 0x1016},
  { (subindex*)ObjDict_Index1017,sizeof(ObjDict_Index1017)/sizeof(ObjDict_Index1017[0]), 0x1017},
  { (subindex*)ObjDict_Index1018,sizeof(ObjDict_Index1018)/sizeof(ObjDict_Index1018[0]), 0x1018},
  { (subindex*)ObjDict_Index1200,sizeof(ObjDict_Index1200)/sizeof(ObjDict_Index1200[0]), 0x1200},
  { (subindex*)ObjDict_Index1400,sizeof(ObjDict_Index1400)/sizeof(ObjDict_Index1400[0]), 0x1400},
  { (subindex*)ObjDict_Index1600,sizeof(ObjDict_Index1600)/sizeof(ObjDict_Index1600[0]), 0x1600},
  { (subindex*)ObjDict_Index1800,sizeof(ObjDict_Index1800)/sizeof(ObjDict_Index1800[0]), 0x1800},
  { (subindex*)ObjDict_Index1A00,sizeof(ObjDict_Index1A00)/sizeof(ObjDict_Index1A00[0]), 0x1A00},
  { (subindex*)ObjDict_Index6000,sizeof(ObjDict_Index6000)/sizeof(ObjDict_Index6000[0]), 0x6000},
  { (subindex*)ObjDict_Index6002,sizeof(ObjDict_Index6002)/sizeof(ObjDict_Index6002[0]), 0x6002},
  { (subindex*)ObjDict_Index6003,sizeof(ObjDict_Index6003)/sizeof(ObjDict_Index6003[0]), 0x6003},
  { (subindex*)ObjDict_Index6005,sizeof(ObjDict_Index6005)/sizeof(ObjDict_Index6005[0]), 0x6005},
  { (subindex*)ObjDict_Index6006,sizeof(ObjDict_Index6006)/sizeof(ObjDict_Index6006[0]), 0x6006},
  { (subindex*)ObjDict_Index6007,sizeof(ObjDict_Index6007)/sizeof(ObjDict_Index6007[0]), 0x6007},
  { (subindex*)ObjDict_Index6008,sizeof(ObjDict_Index6008)/sizeof(ObjDict_Index6008[0]), 0x6008},
  { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200},
  { (subindex*)ObjDict_Index6202,sizeof(ObjDict_Index6202)/sizeof(ObjDict_Index6202[0]), 0x6202},
  { (subindex*)ObjDict_Index6206,sizeof(ObjDict_Index6206)/sizeof(ObjDict_Index6206[0]), 0x6206},
  { (subindex*)ObjDict_Index6207,sizeof(ObjDict_Index6207)/sizeof(ObjDict_Index6207[0]), 0x6207},
};

const indextable * ObjDict_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
{
	int i;
	*callbacks = NULL;
	switch(wIndex){
		case 0x1000: i = 0;break;
		case 0x1001: i = 1;break;
		case 0x1003: i = 2;*callbacks = ObjDict_Index1003_callbacks; break;
		case 0x1005: i = 3;*callbacks = ObjDict_Index1005_callbacks; break;
		case 0x1008: i = 4;break;
		case 0x1009: i = 5;break;
		case 0x100A: i = 6;break;
		case 0x1010: i = 7;break;
		case 0x1011: i = 8;break;
		case 0x1014: i = 9;break;
		case 0x1016: i = 10;break;
		case 0x1017: i = 11;*callbacks = ObjDict_Index1017_callbacks; break;
		case 0x1018: i = 12;break;
		case 0x1200: i = 13;break;
		case 0x1400: i = 14;break;
		case 0x1600: i = 15;break;
		case 0x1800: i = 16;*callbacks = ObjDict_Index1800_callbacks; break;
		case 0x1A00: i = 17;break;
		case 0x6000: i = 18;break;
		case 0x6002: i = 19;break;
		case 0x6003: i = 20;break;
		case 0x6005: i = 21;break;
		case 0x6006: i = 22;break;
		case 0x6007: i = 23;break;
		case 0x6008: i = 24;break;
		case 0x6200: i = 25;break;
		case 0x6202: i = 26;break;
		case 0x6206: i = 27;break;
		case 0x6207: i = 28;break;
		default:
			*errorCode = OD_NO_SUCH_OBJECT;
			return NULL;
	}
	*errorCode = OD_SUCCESSFUL;
	return &ObjDict_objdict[i];
}

/* 
 * To count at which received SYNC a PDO must be sent.
 * Even if no pdoTransmit are defined, at least one entry is computed
 * for compilations issues.
 */
s_PDO_status ObjDict_PDO_status[1] = {s_PDO_status_Initializer};

quick_index ObjDict_firstIndex = {
  13, /* SDO_SVR */
  0, /* SDO_CLT */
  14, /* PDO_RCV */
  15, /* PDO_RCV_MAP */
  16, /* PDO_TRS */
  17 /* PDO_TRS_MAP */
};

quick_index ObjDict_lastIndex = {
  13, /* SDO_SVR */
  0, /* SDO_CLT */
  14, /* PDO_RCV */
  15, /* PDO_RCV_MAP */
  16, /* PDO_TRS */
  17 /* PDO_TRS_MAP */
};

UNS16 ObjDict_ObjdictSize = sizeof(ObjDict_objdict)/sizeof(ObjDict_objdict[0]); 

CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict);