1391 lines
54 KiB
C
Executable File
1391 lines
54 KiB
C
Executable File
/*******************************************************************************
|
|
CANopen Object Dictionary definition for CANopenNode V4
|
|
|
|
This file was automatically generated with
|
|
libedssharp Object Dictionary Editor v0.8-122-g6c02323
|
|
|
|
https://github.com/CANopenNode/CANopenNode
|
|
https://github.com/robincornelius/libedssharp
|
|
|
|
DON'T EDIT THIS FILE MANUALLY, UNLESS YOU KNOW WHAT YOU ARE DOING !!!!
|
|
*******************************************************************************/
|
|
|
|
#define OD_DEFINITION
|
|
#include "301/CO_ODinterface.h"
|
|
#include "OD.h"
|
|
|
|
#if CO_VERSION_MAJOR < 4
|
|
#error This Object dictionary is compatible with CANopenNode V4.0 and above!
|
|
#endif
|
|
|
|
/*******************************************************************************
|
|
OD data initialization of all groups
|
|
*******************************************************************************/
|
|
OD_PERSIST_COMM_t OD_PERSIST_COMM = {
|
|
.x1000_deviceType = 0x000F0191,
|
|
.x1005_COB_ID_SYNCMessage = 0x00000080,
|
|
.x1006_communicationCyclePeriod = 0x00000000,
|
|
.x1007_synchronousWindowLength = 0x00000000,
|
|
.x1012_COB_IDTimeStampObject = 0x00000100,
|
|
.x1014_COB_ID_EMCY = 0x00000080,
|
|
.x1015_inhibitTimeEMCY = 0x0000,
|
|
.x1016_consumerHeartbeatTime_sub0 = 0x08,
|
|
.x1016_consumerHeartbeatTime = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000},
|
|
.x1017_producerHeartbeatTime = 0x0000,
|
|
.x1018_identity = {
|
|
.highestSub_indexSupported = 0x04,
|
|
.vendor_ID = 0x00000000,
|
|
.productCode = 0x00000000,
|
|
.revisionNumber = 0x00000000,
|
|
.serialNumber = 0x00000000
|
|
},
|
|
.x1019_synchronousCounterOverflowValue = 0x00,
|
|
.x1280_SDOClientParameter = {
|
|
.highestSub_indexSupported = 0x03,
|
|
.COB_IDClientToServerTx = 0x80000000,
|
|
.COB_IDServerToClientRx = 0x80000000,
|
|
.node_IDOfTheSDOServer = 0x01
|
|
},
|
|
.x1400_RPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x05,
|
|
.COB_IDUsedByRPDO = 0x00000200,
|
|
.transmissionType = 0xFF,
|
|
.eventTimer = 0x0000
|
|
},
|
|
.x1401_RPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x05,
|
|
.COB_IDUsedByRPDO = 0x00000300,
|
|
.transmissionType = 0xFF,
|
|
.eventTimer = 0x0000
|
|
},
|
|
.x1402_RPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x05,
|
|
.COB_IDUsedByRPDO = 0x80000400,
|
|
.transmissionType = 0xFE,
|
|
.eventTimer = 0x0000
|
|
},
|
|
.x1403_RPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x05,
|
|
.COB_IDUsedByRPDO = 0x80000500,
|
|
.transmissionType = 0xFE,
|
|
.eventTimer = 0x0000
|
|
},
|
|
.x1600_RPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x02,
|
|
.applicationObject_1 = 0x62000108,
|
|
.applicationObject_2 = 0x62000208,
|
|
.applicationObject_3 = 0x62000308,
|
|
.applicationObject_4 = 0x62000408,
|
|
.applicationObject_5 = 0x62000508,
|
|
.applicationObject_6 = 0x62000608,
|
|
.applicationObject_7 = 0x62000708,
|
|
.applicationObject_8 = 0x62000808
|
|
},
|
|
.x1601_RPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x04,
|
|
.applicationObject_1 = 0x64110110,
|
|
.applicationObject_2 = 0x64110210,
|
|
.applicationObject_3 = 0x64110310,
|
|
.applicationObject_4 = 0x64110410,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
},
|
|
.x1602_RPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x00,
|
|
.applicationObject_1 = 0x00000000,
|
|
.applicationObject_2 = 0x00000000,
|
|
.applicationObject_3 = 0x00000000,
|
|
.applicationObject_4 = 0x00000000,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
},
|
|
.x1603_RPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x00,
|
|
.applicationObject_1 = 0x00000000,
|
|
.applicationObject_2 = 0x00000000,
|
|
.applicationObject_3 = 0x00000000,
|
|
.applicationObject_4 = 0x00000000,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
},
|
|
.x1800_TPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x06,
|
|
.COB_IDUsedByTPDO = 0x40000180,
|
|
.transmissionType = 0xFF,
|
|
.inhibitTime = 0x0000,
|
|
.eventTimer = 0x0000,
|
|
.SYNCStartValue = 0x00
|
|
},
|
|
.x1801_TPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x06,
|
|
.COB_IDUsedByTPDO = 0x40000280,
|
|
.transmissionType = 0xFF,
|
|
.inhibitTime = 0x0000,
|
|
.eventTimer = 0x0000,
|
|
.SYNCStartValue = 0x00
|
|
},
|
|
.x1802_TPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x06,
|
|
.COB_IDUsedByTPDO = 0xC0000380,
|
|
.transmissionType = 0xFE,
|
|
.inhibitTime = 0x0000,
|
|
.eventTimer = 0x0000,
|
|
.SYNCStartValue = 0x00
|
|
},
|
|
.x1803_TPDOCommunicationParameter = {
|
|
.highestSub_indexSupported = 0x06,
|
|
.COB_IDUsedByTPDO = 0xC0000480,
|
|
.transmissionType = 0xFE,
|
|
.inhibitTime = 0x0000,
|
|
.eventTimer = 0x0000,
|
|
.SYNCStartValue = 0x00
|
|
},
|
|
.x1A00_TPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x02,
|
|
.applicationObject_1 = 0x60000108,
|
|
.applicationObject_2 = 0x60000208,
|
|
.applicationObject_3 = 0x60000308,
|
|
.applicationObject_4 = 0x60000408,
|
|
.applicationObject_5 = 0x60000508,
|
|
.applicationObject_6 = 0x60000608,
|
|
.applicationObject_7 = 0x60000708,
|
|
.applicationObject_8 = 0x60000808
|
|
},
|
|
.x1A01_TPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x04,
|
|
.applicationObject_1 = 0x64010110,
|
|
.applicationObject_2 = 0x64010210,
|
|
.applicationObject_3 = 0x64010310,
|
|
.applicationObject_4 = 0x64010410,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
},
|
|
.x1A02_TPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x00,
|
|
.applicationObject_1 = 0x00000000,
|
|
.applicationObject_2 = 0x00000000,
|
|
.applicationObject_3 = 0x00000000,
|
|
.applicationObject_4 = 0x00000000,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
},
|
|
.x1A03_TPDOMappingParameter = {
|
|
.numberOfMappedApplicationObjectsInPDO = 0x00,
|
|
.applicationObject_1 = 0x00000000,
|
|
.applicationObject_2 = 0x00000000,
|
|
.applicationObject_3 = 0x00000000,
|
|
.applicationObject_4 = 0x00000000,
|
|
.applicationObject_5 = 0x00000000,
|
|
.applicationObject_6 = 0x00000000,
|
|
.applicationObject_7 = 0x00000000,
|
|
.applicationObject_8 = 0x00000000
|
|
}
|
|
};
|
|
|
|
OD_RAM_t OD_RAM = {
|
|
.x1001_errorRegister = 0x00,
|
|
.x1003_pre_definedErrorField_sub0 = 0x00,
|
|
.x1003_pre_definedErrorField = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000},
|
|
.x1010_storeParameters_sub0 = 0x06,
|
|
.x1010_storeParameters = {0x00000003, 0x00000001, 0x00000001, 0x00000003, 0x00000001, 0x00000003},
|
|
.x1011_restoreDefaultParameters_sub0 = 0x06,
|
|
.x1011_restoreDefaultParameters = {0x00000001, 0x00000001, 0x00000001, 0x00000001, 0x00000001, 0x00000001},
|
|
.x1200_SDOServerParameter = {
|
|
.highestSub_indexSupported = 0x02,
|
|
.COB_IDClientToServerRx = 0x00000600,
|
|
.COB_IDServerToClientTx = 0x00000580
|
|
},
|
|
.x2100_errorStatusBits = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
|
.x2105_version = {
|
|
.highestSub_indexSupported = 0x02
|
|
},
|
|
.x2110_variableInt32_sub0 = 0x10,
|
|
.x2110_variableInt32 = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
|
|
.x6000_readDigitalInput_8_bit_sub0 = 0x08,
|
|
.x6000_readDigitalInput_8_bit = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
|
.x6200_writeDigitalOutput_8_bit_sub0 = 0x08,
|
|
.x6200_writeDigitalOutput_8_bit = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
|
.x6401_readAnalogInput_16_bit_sub0 = 0x10,
|
|
.x6401_readAnalogInput_16_bit = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
|
|
.x6411_writeAnalogOutput_16_bit_sub0 = 0x08,
|
|
.x6411_writeAnalogOutput_16_bit = {0, 0, 0, 0, 0, 0, 0, 0}
|
|
};
|
|
|
|
OD_PERSIST_TEST_AUTO_t OD_PERSIST_TEST_AUTO = {
|
|
.x2106_power_onCounter = 0x00000000,
|
|
.x2112_variableNV_Int32_autoSave_sub0 = 0x10,
|
|
.x2112_variableNV_Int32_autoSave = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
|
|
};
|
|
|
|
OD_PERSIST_TEST_t OD_PERSIST_TEST = {
|
|
.x2111_variableInt32_save_sub0 = 0x10,
|
|
.x2111_variableInt32_save = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
|
|
.x2120_testingVariables = {
|
|
.highestSub_indexSupported = 0x0C,
|
|
.I64 = -1234567890123456789,
|
|
.U64 = 0x1234567890ABCDEF,
|
|
.R32 = 12.345,
|
|
.R64 = 456.789,
|
|
.stringShort = {'s', 't', 'r', 0},
|
|
.stringLong = {'E', 'x', 'a', 'm', 'p', 'l', 'e', ' ', 's', 't', 'r', 'i', 'n', 'g', ' ', 'w', 'i', 't', 'h', ' ', '1', '0', '0', '0', ' ', 'b', 'y', 't', 'e', 's', ' ', 'c', 'a', 'p', 'a', 'c', 'i', 't', 'y', '.', ' ', 'I', 't', ' ', 'm', 'a', 'y', ' ', 'c', 'o', 'n', 't', 'a', 'i', 'n', ' ', 'U', 'T', 'F', '-', '8', ' ', 'c', 'h', 'a', 'r', 'a', 'c', 't', 'e', 'r', 's', ',', ' ', 'l', 'i', 'k', 'e', ' ', '\'', (char)0xE2, (char)0x82, (char)0xAC, '\'', ',', ' ', 't', 'a', 'b', 's', ' ', '\'', 0x09, '\'', ',', ' ', 'n', 'e', 'w', 'l', 'i', 'n', 'e', 's', ',', ' ', 'e', 't', 'c', '.', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
|
|
.octetString = {0xC8, 0x3D, 0xBB, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
|
.parameterWithDefaultValue = 0x1234,
|
|
.domainFileNameRead = {'b', 'a', 's', 'i', 'c', 'D', 'e', 'v', 'i', 'c', 'e', '.', 'm', 'd', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
|
|
.domainFileNameWrite = {'f', 'i', 'l', 'e', 'W', 'r', 'i', 't', 't', 'e', 'n', 'B', 'y', 'D', 'o', 'm', 'a', 'i', 'n', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
|
|
}
|
|
};
|
|
|
|
|
|
|
|
/*******************************************************************************
|
|
All OD objects (constant definitions)
|
|
*******************************************************************************/
|
|
typedef struct {
|
|
OD_obj_var_t o_1000_deviceType;
|
|
OD_obj_var_t o_1001_errorRegister;
|
|
OD_obj_array_t o_1003_pre_definedErrorField;
|
|
OD_obj_var_t o_1005_COB_ID_SYNCMessage;
|
|
OD_obj_var_t o_1006_communicationCyclePeriod;
|
|
OD_obj_var_t o_1007_synchronousWindowLength;
|
|
OD_obj_array_t o_1010_storeParameters;
|
|
OD_obj_array_t o_1011_restoreDefaultParameters;
|
|
OD_obj_var_t o_1012_COB_IDTimeStampObject;
|
|
OD_obj_var_t o_1014_COB_ID_EMCY;
|
|
OD_obj_var_t o_1015_inhibitTimeEMCY;
|
|
OD_obj_array_t o_1016_consumerHeartbeatTime;
|
|
OD_obj_var_t o_1017_producerHeartbeatTime;
|
|
OD_obj_record_t o_1018_identity[5];
|
|
OD_obj_var_t o_1019_synchronousCounterOverflowValue;
|
|
OD_obj_record_t o_1200_SDOServerParameter[3];
|
|
OD_obj_record_t o_1280_SDOClientParameter[4];
|
|
OD_obj_record_t o_1400_RPDOCommunicationParameter[4];
|
|
OD_obj_record_t o_1401_RPDOCommunicationParameter[4];
|
|
OD_obj_record_t o_1402_RPDOCommunicationParameter[4];
|
|
OD_obj_record_t o_1403_RPDOCommunicationParameter[4];
|
|
OD_obj_record_t o_1600_RPDOMappingParameter[9];
|
|
OD_obj_record_t o_1601_RPDOMappingParameter[9];
|
|
OD_obj_record_t o_1602_RPDOMappingParameter[9];
|
|
OD_obj_record_t o_1603_RPDOMappingParameter[9];
|
|
OD_obj_record_t o_1800_TPDOCommunicationParameter[6];
|
|
OD_obj_record_t o_1801_TPDOCommunicationParameter[6];
|
|
OD_obj_record_t o_1802_TPDOCommunicationParameter[6];
|
|
OD_obj_record_t o_1803_TPDOCommunicationParameter[6];
|
|
OD_obj_record_t o_1A00_TPDOMappingParameter[9];
|
|
OD_obj_record_t o_1A01_TPDOMappingParameter[9];
|
|
OD_obj_record_t o_1A02_TPDOMappingParameter[9];
|
|
OD_obj_record_t o_1A03_TPDOMappingParameter[9];
|
|
OD_obj_var_t o_2100_errorStatusBits;
|
|
OD_obj_record_t o_2105_version[3];
|
|
OD_obj_var_t o_2106_power_onCounter;
|
|
OD_obj_array_t o_2110_variableInt32;
|
|
OD_obj_array_t o_2111_variableInt32_save;
|
|
OD_obj_array_t o_2112_variableNV_Int32_autoSave;
|
|
OD_obj_record_t o_2120_testingVariables[13];
|
|
OD_obj_array_t o_6000_readDigitalInput_8_bit;
|
|
OD_obj_array_t o_6200_writeDigitalOutput_8_bit;
|
|
OD_obj_array_t o_6401_readAnalogInput_16_bit;
|
|
OD_obj_array_t o_6411_writeAnalogOutput_16_bit;
|
|
} ODObjs_t;
|
|
|
|
static CO_PROGMEM ODObjs_t ODObjs = {
|
|
.o_1000_deviceType = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1000_deviceType,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1001_errorRegister = {
|
|
.dataOrig = &OD_RAM.x1001_errorRegister,
|
|
.attribute = ODA_SDO_R | ODA_TRPDO,
|
|
.dataLength = 1
|
|
},
|
|
.o_1003_pre_definedErrorField = {
|
|
.dataOrig0 = &OD_RAM.x1003_pre_definedErrorField_sub0,
|
|
.dataOrig = &OD_RAM.x1003_pre_definedErrorField[0],
|
|
.attribute0 = ODA_SDO_RW,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(uint32_t)
|
|
},
|
|
.o_1005_COB_ID_SYNCMessage = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1005_COB_ID_SYNCMessage,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1006_communicationCyclePeriod = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1006_communicationCyclePeriod,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1007_synchronousWindowLength = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1007_synchronousWindowLength,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1010_storeParameters = {
|
|
.dataOrig0 = &OD_RAM.x1010_storeParameters_sub0,
|
|
.dataOrig = &OD_RAM.x1010_storeParameters[0],
|
|
.attribute0 = ODA_SDO_R,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(uint32_t)
|
|
},
|
|
.o_1011_restoreDefaultParameters = {
|
|
.dataOrig0 = &OD_RAM.x1011_restoreDefaultParameters_sub0,
|
|
.dataOrig = &OD_RAM.x1011_restoreDefaultParameters[0],
|
|
.attribute0 = ODA_SDO_R,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(uint32_t)
|
|
},
|
|
.o_1012_COB_IDTimeStampObject = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1012_COB_IDTimeStampObject,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1014_COB_ID_EMCY = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1014_COB_ID_EMCY,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_1015_inhibitTimeEMCY = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1015_inhibitTimeEMCY,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
.o_1016_consumerHeartbeatTime = {
|
|
.dataOrig0 = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime_sub0,
|
|
.dataOrig = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime[0],
|
|
.attribute0 = ODA_SDO_R,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(uint32_t)
|
|
},
|
|
.o_1017_producerHeartbeatTime = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1017_producerHeartbeatTime,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
.o_1018_identity = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1018_identity.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1018_identity.vendor_ID,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1018_identity.productCode,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1018_identity.revisionNumber,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1018_identity.serialNumber,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1019_synchronousCounterOverflowValue = {
|
|
.dataOrig = &OD_PERSIST_COMM.x1019_synchronousCounterOverflowValue,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
.o_1200_SDOServerParameter = {
|
|
{
|
|
.dataOrig = &OD_RAM.x1200_SDOServerParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDClientToServerRx,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_R | ODA_TPDO | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDServerToClientTx,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_R | ODA_TPDO | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1280_SDOClientParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDClientToServerTx,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDServerToClientRx,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.node_IDOfTheSDOServer,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
}
|
|
},
|
|
.o_1400_RPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.COB_IDUsedByRPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
}
|
|
},
|
|
.o_1401_RPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.COB_IDUsedByRPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
}
|
|
},
|
|
.o_1402_RPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.COB_IDUsedByRPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
}
|
|
},
|
|
.o_1403_RPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.COB_IDUsedByRPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
}
|
|
},
|
|
.o_1600_RPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1601_RPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1602_RPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1603_RPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1800_TPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.COB_IDUsedByTPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.inhibitTime,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.SYNCStartValue,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
}
|
|
},
|
|
.o_1801_TPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.COB_IDUsedByTPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.inhibitTime,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.SYNCStartValue,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
}
|
|
},
|
|
.o_1802_TPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.COB_IDUsedByTPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.inhibitTime,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.SYNCStartValue,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
}
|
|
},
|
|
.o_1803_TPDOCommunicationParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.COB_IDUsedByTPDO,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.transmissionType,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.inhibitTime,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.eventTimer,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.SYNCStartValue,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
}
|
|
},
|
|
.o_1A00_TPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1A01_TPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1A02_TPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_1A03_TPDOMappingParameter = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_1,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_2,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_3,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_4,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_5,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_6,
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_7,
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_8,
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 4
|
|
}
|
|
},
|
|
.o_2100_errorStatusBits = {
|
|
.dataOrig = &OD_RAM.x2100_errorStatusBits[0],
|
|
.attribute = ODA_SDO_R | ODA_TPDO,
|
|
.dataLength = 10
|
|
},
|
|
.o_2105_version = {
|
|
{
|
|
.dataOrig = &OD_RAM.x2105_version.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = NULL,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_R | ODA_STR,
|
|
.dataLength = 0
|
|
},
|
|
{
|
|
.dataOrig = NULL,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_R | ODA_STR,
|
|
.dataLength = 0
|
|
}
|
|
},
|
|
.o_2106_power_onCounter = {
|
|
.dataOrig = &OD_PERSIST_TEST_AUTO.x2106_power_onCounter,
|
|
.attribute = ODA_SDO_R | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
.o_2110_variableInt32 = {
|
|
.dataOrig0 = &OD_RAM.x2110_variableInt32_sub0,
|
|
.dataOrig = &OD_RAM.x2110_variableInt32[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(int32_t)
|
|
},
|
|
.o_2111_variableInt32_save = {
|
|
.dataOrig0 = &OD_PERSIST_TEST.x2111_variableInt32_save_sub0,
|
|
.dataOrig = &OD_PERSIST_TEST.x2111_variableInt32_save[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(int32_t)
|
|
},
|
|
.o_2112_variableNV_Int32_autoSave = {
|
|
.dataOrig0 = &OD_PERSIST_TEST_AUTO.x2112_variableNV_Int32_autoSave_sub0,
|
|
.dataOrig = &OD_PERSIST_TEST_AUTO.x2112_variableNV_Int32_autoSave[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataElementLength = 4,
|
|
.dataElementSizeof = sizeof(int32_t)
|
|
},
|
|
.o_2120_testingVariables = {
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.highestSub_indexSupported,
|
|
.subIndex = 0,
|
|
.attribute = ODA_SDO_R,
|
|
.dataLength = 1
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.I64,
|
|
.subIndex = 1,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 8
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.U64,
|
|
.subIndex = 2,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 8
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.R32,
|
|
.subIndex = 3,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 4
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.R64,
|
|
.subIndex = 4,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataLength = 8
|
|
},
|
|
{
|
|
.dataOrig = NULL,
|
|
.subIndex = 5,
|
|
.attribute = ODA_SDO_R | ODA_TPDO | ODA_MB,
|
|
.dataLength = 8
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.stringShort[0],
|
|
.subIndex = 6,
|
|
.attribute = ODA_SDO_RW | ODA_STR,
|
|
.dataLength = 3
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.stringLong[0],
|
|
.subIndex = 7,
|
|
.attribute = ODA_SDO_RW | ODA_STR,
|
|
.dataLength = 1000
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.octetString[0],
|
|
.subIndex = 8,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 10
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.parameterWithDefaultValue,
|
|
.subIndex = 9,
|
|
.attribute = ODA_SDO_RW | ODA_MB,
|
|
.dataLength = 2
|
|
},
|
|
{
|
|
.dataOrig = NULL,
|
|
.subIndex = 10,
|
|
.attribute = ODA_SDO_RW,
|
|
.dataLength = 0
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.domainFileNameRead[0],
|
|
.subIndex = 11,
|
|
.attribute = ODA_SDO_RW | ODA_STR,
|
|
.dataLength = 100
|
|
},
|
|
{
|
|
.dataOrig = &OD_PERSIST_TEST.x2120_testingVariables.domainFileNameWrite[0],
|
|
.subIndex = 12,
|
|
.attribute = ODA_SDO_RW | ODA_STR,
|
|
.dataLength = 100
|
|
}
|
|
},
|
|
.o_6000_readDigitalInput_8_bit = {
|
|
.dataOrig0 = &OD_RAM.x6000_readDigitalInput_8_bit_sub0,
|
|
.dataOrig = &OD_RAM.x6000_readDigitalInput_8_bit[0],
|
|
.attribute0 = ODA_SDO_R,
|
|
.attribute = ODA_SDO_R | ODA_TPDO,
|
|
.dataElementLength = 1,
|
|
.dataElementSizeof = sizeof(uint8_t)
|
|
},
|
|
.o_6200_writeDigitalOutput_8_bit = {
|
|
.dataOrig0 = &OD_RAM.x6200_writeDigitalOutput_8_bit_sub0,
|
|
.dataOrig = &OD_RAM.x6200_writeDigitalOutput_8_bit[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO,
|
|
.dataElementLength = 1,
|
|
.dataElementSizeof = sizeof(uint8_t)
|
|
},
|
|
.o_6401_readAnalogInput_16_bit = {
|
|
.dataOrig0 = &OD_RAM.x6401_readAnalogInput_16_bit_sub0,
|
|
.dataOrig = &OD_RAM.x6401_readAnalogInput_16_bit[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_R | ODA_TRPDO | ODA_MB,
|
|
.dataElementLength = 2,
|
|
.dataElementSizeof = sizeof(int16_t)
|
|
},
|
|
.o_6411_writeAnalogOutput_16_bit = {
|
|
.dataOrig0 = &OD_RAM.x6411_writeAnalogOutput_16_bit_sub0,
|
|
.dataOrig = &OD_RAM.x6411_writeAnalogOutput_16_bit[0],
|
|
.attribute0 = ODA_SDO_R | ODA_TRPDO,
|
|
.attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB,
|
|
.dataElementLength = 2,
|
|
.dataElementSizeof = sizeof(int16_t)
|
|
}
|
|
};
|
|
|
|
|
|
/*******************************************************************************
|
|
Object dictionary
|
|
*******************************************************************************/
|
|
static OD_entry_t ODList[] = {
|
|
{0x1000, 0x01, ODT_VAR, &ODObjs.o_1000_deviceType, NULL},
|
|
{0x1001, 0x01, ODT_VAR, &ODObjs.o_1001_errorRegister, NULL},
|
|
{0x1003, 0x09, ODT_ARR, &ODObjs.o_1003_pre_definedErrorField, NULL},
|
|
{0x1005, 0x01, ODT_VAR, &ODObjs.o_1005_COB_ID_SYNCMessage, NULL},
|
|
{0x1006, 0x01, ODT_VAR, &ODObjs.o_1006_communicationCyclePeriod, NULL},
|
|
{0x1007, 0x01, ODT_VAR, &ODObjs.o_1007_synchronousWindowLength, NULL},
|
|
{0x1010, 0x07, ODT_ARR, &ODObjs.o_1010_storeParameters, NULL},
|
|
{0x1011, 0x07, ODT_ARR, &ODObjs.o_1011_restoreDefaultParameters, NULL},
|
|
{0x1012, 0x01, ODT_VAR, &ODObjs.o_1012_COB_IDTimeStampObject, NULL},
|
|
{0x1014, 0x01, ODT_VAR, &ODObjs.o_1014_COB_ID_EMCY, NULL},
|
|
{0x1015, 0x01, ODT_VAR, &ODObjs.o_1015_inhibitTimeEMCY, NULL},
|
|
{0x1016, 0x09, ODT_ARR, &ODObjs.o_1016_consumerHeartbeatTime, NULL},
|
|
{0x1017, 0x01, ODT_VAR, &ODObjs.o_1017_producerHeartbeatTime, NULL},
|
|
{0x1018, 0x05, ODT_REC, &ODObjs.o_1018_identity, NULL},
|
|
{0x1019, 0x01, ODT_VAR, &ODObjs.o_1019_synchronousCounterOverflowValue, NULL},
|
|
{0x1200, 0x03, ODT_REC, &ODObjs.o_1200_SDOServerParameter, NULL},
|
|
{0x1280, 0x04, ODT_REC, &ODObjs.o_1280_SDOClientParameter, NULL},
|
|
{0x1400, 0x04, ODT_REC, &ODObjs.o_1400_RPDOCommunicationParameter, NULL},
|
|
{0x1401, 0x04, ODT_REC, &ODObjs.o_1401_RPDOCommunicationParameter, NULL},
|
|
{0x1402, 0x04, ODT_REC, &ODObjs.o_1402_RPDOCommunicationParameter, NULL},
|
|
{0x1403, 0x04, ODT_REC, &ODObjs.o_1403_RPDOCommunicationParameter, NULL},
|
|
{0x1600, 0x09, ODT_REC, &ODObjs.o_1600_RPDOMappingParameter, NULL},
|
|
{0x1601, 0x09, ODT_REC, &ODObjs.o_1601_RPDOMappingParameter, NULL},
|
|
{0x1602, 0x09, ODT_REC, &ODObjs.o_1602_RPDOMappingParameter, NULL},
|
|
{0x1603, 0x09, ODT_REC, &ODObjs.o_1603_RPDOMappingParameter, NULL},
|
|
{0x1800, 0x06, ODT_REC, &ODObjs.o_1800_TPDOCommunicationParameter, NULL},
|
|
{0x1801, 0x06, ODT_REC, &ODObjs.o_1801_TPDOCommunicationParameter, NULL},
|
|
{0x1802, 0x06, ODT_REC, &ODObjs.o_1802_TPDOCommunicationParameter, NULL},
|
|
{0x1803, 0x06, ODT_REC, &ODObjs.o_1803_TPDOCommunicationParameter, NULL},
|
|
{0x1A00, 0x09, ODT_REC, &ODObjs.o_1A00_TPDOMappingParameter, NULL},
|
|
{0x1A01, 0x09, ODT_REC, &ODObjs.o_1A01_TPDOMappingParameter, NULL},
|
|
{0x1A02, 0x09, ODT_REC, &ODObjs.o_1A02_TPDOMappingParameter, NULL},
|
|
{0x1A03, 0x09, ODT_REC, &ODObjs.o_1A03_TPDOMappingParameter, NULL},
|
|
{0x2100, 0x01, ODT_VAR, &ODObjs.o_2100_errorStatusBits, NULL},
|
|
{0x2105, 0x03, ODT_REC, &ODObjs.o_2105_version, NULL},
|
|
{0x2106, 0x01, ODT_VAR, &ODObjs.o_2106_power_onCounter, NULL},
|
|
{0x2110, 0x11, ODT_ARR, &ODObjs.o_2110_variableInt32, NULL},
|
|
{0x2111, 0x11, ODT_ARR, &ODObjs.o_2111_variableInt32_save, NULL},
|
|
{0x2112, 0x11, ODT_ARR, &ODObjs.o_2112_variableNV_Int32_autoSave, NULL},
|
|
{0x2120, 0x0D, ODT_REC, &ODObjs.o_2120_testingVariables, NULL},
|
|
{0x6000, 0x09, ODT_ARR, &ODObjs.o_6000_readDigitalInput_8_bit, NULL},
|
|
{0x6200, 0x09, ODT_ARR, &ODObjs.o_6200_writeDigitalOutput_8_bit, NULL},
|
|
{0x6401, 0x11, ODT_ARR, &ODObjs.o_6401_readAnalogInput_16_bit, NULL},
|
|
{0x6411, 0x09, ODT_ARR, &ODObjs.o_6411_writeAnalogOutput_16_bit, NULL},
|
|
{0x0000, 0x00, 0, NULL, NULL}
|
|
};
|
|
|
|
static OD_t _OD = {
|
|
(sizeof(ODList) / sizeof(ODList[0])) - 1,
|
|
&ODList[0]
|
|
};
|
|
|
|
OD_t *OD = &_OD;
|