cleanup applications
Remove rtl_lan9252demo and rtl_xmc4_irq as they are similar to other applications.pull/52/head
Hans-Erik Floryd
parent
e600a515c5
commit
27ab8dfba5
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@ -1,44 +0,0 @@
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#ifndef __ECAT_OPTIONS_H__
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#define __ECAT_OPTIONS_H__
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#include "cc.h"
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#define USE_FOE 1
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#define USE_EOE 0
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#define MBXSIZE 128
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#define MBXSIZEBOOT 128
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#define MBXBUFFERS 3
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#define MBX0_sma 0x1000
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#define MBX0_sml MBXSIZE
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#define MBX0_sme MBX0_sma+MBX0_sml-1
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#define MBX0_smc 0x26
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#define MBX1_sma MBX0_sma+MBX0_sml
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#define MBX1_sml MBXSIZE
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#define MBX1_sme MBX1_sma+MBX1_sml-1
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#define MBX1_smc 0x22
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#define MBX0_sma_b 0x1000
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#define MBX0_sml_b MBXSIZEBOOT
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#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
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#define MBX0_smc_b 0x26
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#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
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#define MBX1_sml_b MBXSIZEBOOT
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#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
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#define MBX1_smc_b 0x22
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#define SM2_sma 0x1100
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#define SM2_smc 0x24
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#define SM2_act 1
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#define SM3_sma 0x1180
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#define SM3_smc 0x20
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#define SM3_act 1
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#define MAX_RXPDO_SIZE 42
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#define MAX_TXPDO_SIZE 42
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#define MAX_MAPPINGS_SM2 2
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#define MAX_MAPPINGS_SM3 1
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#endif /* __ECAT_OPTIONS_H__ */
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@ -1,52 +0,0 @@
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#include <stdio.h>
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#include "ecat_slv.h"
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#include "utypes.h"
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/* Application variables */
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_Objects Obj;
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void cb_get_inputs (void)
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{
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}
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void cb_set_outputs (void)
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{
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}
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int main_run (void * arg)
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{
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static esc_cfg_t config =
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{
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.user_arg = "/spi1/lan9252",
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.use_interrupt = 0,
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.watchdog_cnt = 150,
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = NULL,
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.esc_hw_interrupt_disable = NULL,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = NULL,
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};
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ecat_slv_init (&config);
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while (1)
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{
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ecat_slv();
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}
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return 0;
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}
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int main (void)
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{
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rprintf ("Hello Main\n");
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task_spawn ("soes", main_run, 8, 2048, NULL);
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}
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Binary file not shown.
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@ -1,298 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<Slave id="evb9252_dig" productCode="1234">
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<Name>lan9252</Name>
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<Vendor>
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<Id>0x1337</Id>
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<Name>rt-labs AB</Name>
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</Vendor>
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<Group>
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<Type>lan9252_spi</Type>
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<Name>lan9252</Name>
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</Group>
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<Fmmu>Outputs</Fmmu>
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<Fmmu>Inputs</Fmmu>
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<Sm ControlByte="0x26" DefaultSize="128" StartAddress="0x1000">MBoxOut</Sm>
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<Sm ControlByte="0x22" DefaultSize="128" StartAddress="0x1080">MBoxIn</Sm>
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<Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
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<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
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<Mailbox CoE="true" FoE="true">
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<Bootstrap Length="128" Start="0x1000"/>
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<Standard Length="128" Start="0x1000"/>
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</Mailbox>
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<Eeprom>
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<ConfigData>8002000000000000</ConfigData>
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<BootStrap>0010800080108000</BootStrap>
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</Eeprom>
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<Dictionary>
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<Item>
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<Name>Device Type</Name>
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<Index>0x1000</Index>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x01901389</DefaultValue>
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</Item>
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<Item Managed="true">
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<Name>Device Name</Name>
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<Index>0x1008</Index>
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<DataType>VISIBLE_STRING</DataType>
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<DefaultValue>evb9252_dig</DefaultValue>
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</Item>
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<Item>
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<Name>Hardware Version</Name>
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<Index>0x1009</Index>
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<DataType>VISIBLE_STRING</DataType>
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<DefaultValue>1.0</DefaultValue>
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</Item>
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<Item>
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<Name>Software Version</Name>
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<Index>0x100A</Index>
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<DataType>VISIBLE_STRING</DataType>
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<DefaultValue>1.0</DefaultValue>
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</Item>
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<Item Managed="true">
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<Name>Identity Object</Name>
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<Index>0x1018</Index>
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<DataType>RECORD</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>4</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Vendor ID</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x1337</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Product Code</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>1234</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Revision Number</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Serial Number</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x00000000</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>LEDs</Name>
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<Index>0x1600</Index>
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<DataType>RECORD</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>2</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>LED0</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x70000108</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>LED1</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x70000208</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Buttons</Name>
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<Index>0x1A00</Index>
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<DataType>RECORD</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Button1</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0x60000108</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Sync Manager Communication Type</Name>
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<Index>0x1C00</Index>
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<DataType>ARRAY</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>4</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Communications Type SM0</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Communications Type SM1</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>2</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Communications Type SM2</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>3</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Communications Type SM3</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>4</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Sync Manager 2 PDO Assignment</Name>
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<Index>0x1C12</Index>
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<DataType>ARRAY</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>PDO Mapping</Name>
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<DataType>UNSIGNED16</DataType>
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<DefaultValue>0x1600</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Sync Manager 3 PDO Assignment</Name>
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<Index>0x1C13</Index>
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<DataType>ARRAY</DataType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>PDO Mapping</Name>
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<DataType>UNSIGNED16</DataType>
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<DefaultValue>0x1A00</DefaultValue>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Buttons</Name>
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<Index>0x6000</Index>
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<DataType>RECORD</DataType>
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<Variable>Buttons</Variable>
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<VariableType>Input</VariableType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Button1</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>0</DefaultValue>
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<Access>RO</Access>
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<Variable>Button1</Variable>
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<VariableType>Input</VariableType>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>LEDs</Name>
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<Index>0x7000</Index>
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<DataType>RECORD</DataType>
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<Variable>LEDs</Variable>
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<VariableType>Output</VariableType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>2</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>LED0</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>0</DefaultValue>
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<Access>RO</Access>
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<Variable>LED0</Variable>
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<VariableType>Output</VariableType>
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</SubItem>
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<SubItem>
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<Name>LED1</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>0</DefaultValue>
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<Access>RO</Access>
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<Variable>LED1</Variable>
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<VariableType>Output</VariableType>
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</SubItem>
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</Item>
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<Item Managed="true">
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<Name>Parameters</Name>
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<Index>0x8000</Index>
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<DataType>RECORD</DataType>
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<Variable>Parameters</Variable>
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<VariableType>Parameter</VariableType>
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<SubItem>
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<Name>Number of Elements</Name>
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<DataType>UNSIGNED8</DataType>
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<DefaultValue>1</DefaultValue>
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</SubItem>
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<SubItem>
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<Name>Multiplier</Name>
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<DataType>UNSIGNED32</DataType>
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<DefaultValue>0</DefaultValue>
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<Access>RW</Access>
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<Variable>Multiplier</Variable>
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<VariableType>Parameter</VariableType>
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</SubItem>
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</Item>
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</Dictionary>
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<RxPdo>
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<Index>0x1600</Index>
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<Container>LEDs</Container>
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<Name>LEDs</Name>
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<Entry>
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<Index>0x7000</Index>
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<SubIndex>1</SubIndex>
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<Variable>LED0</Variable>
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</Entry>
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<Entry>
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<Index>0x7000</Index>
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<SubIndex>2</SubIndex>
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<Variable>LED1</Variable>
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</Entry>
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</RxPdo>
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<TxPdo>
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<Index>0x1A00</Index>
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<Container>Buttons</Container>
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<Name>Buttons</Name>
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<Entry>
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<Index>0x6000</Index>
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<SubIndex>1</SubIndex>
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<Variable>Button1</Variable>
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</Entry>
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</TxPdo>
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<Input>
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<Name>Buttons</Name>
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<Type>RECORD</Type>
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<Member>
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<Name>Button1</Name>
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<Type>UNSIGNED8</Type>
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</Member>
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</Input>
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<Output>
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<Name>LEDs</Name>
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<Type>RECORD</Type>
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<Member>
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<Name>LED0</Name>
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<Type>UNSIGNED8</Type>
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</Member>
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<Member>
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<Name>LED1</Name>
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<Type>UNSIGNED8</Type>
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</Member>
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</Output>
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<Parameter>
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<Name>Parameters</Name>
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<Type>RECORD</Type>
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<Member>
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<Name>Multiplier</Name>
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<Type>UNSIGNED32</Type>
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</Member>
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</Parameter>
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</Slave>
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@ -1,691 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<EtherCATInfo>
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<Vendor>
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<Id>#x1337</Id>
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<Name LcId="1033">rt-labs AB</Name>
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</Vendor>
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<Descriptions>
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<Groups>
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<Group>
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<Type>lan9252_spi</Type>
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<Name LcId="1033">lan9252</Name>
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</Group>
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</Groups>
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<Devices>
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<Device Physics="YY">
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<Type ProductCode="1234" RevisionNo="0">evb9252_dig</Type>
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<Name LcId="1033">lan9252</Name>
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<GroupType>lan9252_spi</GroupType>
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<Profile>
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<ProfileNo>5001</ProfileNo>
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<AddInfo>400</AddInfo>
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<Dictionary>
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<DataTypes>
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<DataType>
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<Name>DT1018</Name>
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<BitSize>144</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Number of Elements</Name>
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||||
<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>1</SubIdx>
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<Name>Vendor ID</Name>
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<Type>UDINT</Type>
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<BitSize>32</BitSize>
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<BitOffs>16</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>2</SubIdx>
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<Name>Product Code</Name>
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<Type>UDINT</Type>
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<BitSize>32</BitSize>
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<BitOffs>48</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>3</SubIdx>
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<Name>Revision Number</Name>
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<Type>UDINT</Type>
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<BitSize>32</BitSize>
|
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<BitOffs>80</BitOffs>
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<Flags>
|
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>4</SubIdx>
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<Name>Serial Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
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<BitOffs>112</BitOffs>
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<Flags>
|
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<Access>ro</Access>
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</Flags>
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</SubItem>
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</DataType>
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<DataType>
|
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<Name>DT1600</Name>
|
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<BitSize>80</BitSize>
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<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
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<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>LED0</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>LED1</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>48</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A00</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Button1</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C00ARR</Name>
|
||||
<BaseType>USINT</BaseType>
|
||||
<BitSize>32</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C00</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C00ARR</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>16</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C12ARR</Type>
|
||||
<BitSize>16</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>16</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C13ARR</Type>
|
||||
<BitSize>16</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT6000</Name>
|
||||
<BitSize>24</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Button1</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT7000</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>LED0</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>LED1</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>24</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT8000</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Number of Elements</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Multiplier</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>rw</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(3)</Name>
|
||||
<BitSize>24</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(11)</Name>
|
||||
<BitSize>88</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UDINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UINT</Name>
|
||||
<BitSize>16</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>USINT</Name>
|
||||
<BitSize>8</BitSize>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<Objects>
|
||||
<Object>
|
||||
<Index>#x1000</Index>
|
||||
<Name>Device Type</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>#x01901389</DefaultValue>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
<Category>m</Category>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1008</Index>
|
||||
<Name>Device Name</Name>
|
||||
<Type>STRING(11)</Type>
|
||||
<BitSize>88</BitSize>
|
||||
<Info>
|
||||
<DefaultString>evb9252_dig</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1009</Index>
|
||||
<Name>Hardware Version</Name>
|
||||
<Type>STRING(3)</Type>
|
||||
<BitSize>24</BitSize>
|
||||
<Info>
|
||||
<DefaultString>1.0</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
<Category>o</Category>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x100A</Index>
|
||||
<Name>Software Version</Name>
|
||||
<Type>STRING(3)</Type>
|
||||
<BitSize>24</BitSize>
|
||||
<Info>
|
||||
<DefaultString>1.0</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1018</Index>
|
||||
<Name>Identity Object</Name>
|
||||
<Type>DT1018</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Vendor ID</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1337</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Product Code</Name>
|
||||
<Info>
|
||||
<DefaultValue>1234</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Revision Number</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Serial Number</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x00000000</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1600</Index>
|
||||
<Name>LEDs</Name>
|
||||
<Type>DT1600</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>LED0</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70000108</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>LED1</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70000208</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1A00</Index>
|
||||
<Name>Buttons</Name>
|
||||
<Type>DT1A00</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Button1</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60000108</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1C00</Index>
|
||||
<Name>Sync Manager Communication Type</Name>
|
||||
<Type>DT1C00</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Communications Type SM0</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Communications Type SM1</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Communications Type SM2</Name>
|
||||
<Info>
|
||||
<DefaultValue>3</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Communications Type SM3</Name>
|
||||
<Info>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1C12</Index>
|
||||
<Name>Sync Manager 2 PDO Assignment</Name>
|
||||
<Type>DT1C12</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1600</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1C13</Index>
|
||||
<Name>Sync Manager 3 PDO Assignment</Name>
|
||||
<Type>DT1C13</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1A00</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x6000</Index>
|
||||
<Name>Buttons</Name>
|
||||
<Type>DT6000</Type>
|
||||
<BitSize>24</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Button1</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x7000</Index>
|
||||
<Name>LEDs</Name>
|
||||
<Type>DT7000</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>LED0</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>LED1</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x8000</Index>
|
||||
<Name>Parameters</Name>
|
||||
<Type>DT8000</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Number of Elements</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Multiplier</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
</Objects>
|
||||
</Dictionary>
|
||||
</Profile>
|
||||
<Fmmu>Outputs</Fmmu>
|
||||
<Fmmu>Inputs</Fmmu>
|
||||
<Sm ControlByte="#x26" DefaultSize="128" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
|
||||
<Sm ControlByte="#x22" DefaultSize="128" Enable="1" StartAddress="#x1080">MBoxIn</Sm>
|
||||
<Sm ControlByte="#x24" Enable="1" StartAddress="#x1100">Outputs</Sm>
|
||||
<Sm ControlByte="#x20" Enable="1" StartAddress="#x1180">Inputs</Sm>
|
||||
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
||||
<Index>#x1600</Index>
|
||||
<Name>LEDs</Name>
|
||||
<Entry>
|
||||
<Index>#x7000</Index>
|
||||
<SubIndex>1</SubIndex>
|
||||
<BitLen>8</BitLen>
|
||||
<Name>LED0</Name>
|
||||
<DataType>USINT</DataType>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Index>#x7000</Index>
|
||||
<SubIndex>2</SubIndex>
|
||||
<BitLen>8</BitLen>
|
||||
<Name>LED1</Name>
|
||||
<DataType>USINT</DataType>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A00</Index>
|
||||
<Name>Buttons</Name>
|
||||
<Entry>
|
||||
<Index>#x6000</Index>
|
||||
<SubIndex>1</SubIndex>
|
||||
<BitLen>8</BitLen>
|
||||
<Name>Button1</Name>
|
||||
<DataType>USINT</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<Mailbox DataLinkLayer="true">
|
||||
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
|
||||
<FoE/>
|
||||
</Mailbox>
|
||||
<Eeprom>
|
||||
<ByteSize>256</ByteSize>
|
||||
<ConfigData>8002000000000000</ConfigData>
|
||||
<BootStrap>0010800080108000</BootStrap>
|
||||
</Eeprom>
|
||||
</Device>
|
||||
</Devices>
|
||||
</Descriptions>
|
||||
</EtherCATInfo>
|
||||
|
|
@ -1,139 +0,0 @@
|
|||
#include "esc_coe.h"
|
||||
#include "utypes.h"
|
||||
#include <stddef.h>
|
||||
|
||||
#ifndef HW_REV
|
||||
#define HW_REV "1.0"
|
||||
#endif
|
||||
|
||||
#ifndef SW_REV
|
||||
#define SW_REV "1.0"
|
||||
#endif
|
||||
|
||||
static const char acName1000[] = "Device Type";
|
||||
static const char acName1008[] = "Device Name";
|
||||
static const char acName1009[] = "Hardware Version";
|
||||
static const char acName100A[] = "Software Version";
|
||||
static const char acName1018[] = "Identity Object";
|
||||
static const char acName1018_00[] = "Max SubIndex";
|
||||
static const char acName1018_01[] = "Vendor ID";
|
||||
static const char acName1018_02[] = "Product Code";
|
||||
static const char acName1018_03[] = "Revision Number";
|
||||
static const char acName1018_04[] = "Serial Number";
|
||||
static const char acName1600[] = "LEDs";
|
||||
static const char acName1600_00[] = "Max SubIndex";
|
||||
static const char acName1600_01[] = "LED0";
|
||||
static const char acName1600_02[] = "LED1";
|
||||
static const char acName1A00[] = "Buttons";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "Button1";
|
||||
static const char acName1C00[] = "Sync Manager Communication Type";
|
||||
static const char acName1C00_00[] = "Max SubIndex";
|
||||
static const char acName1C00_01[] = "Communications Type SM0";
|
||||
static const char acName1C00_02[] = "Communications Type SM1";
|
||||
static const char acName1C00_03[] = "Communications Type SM2";
|
||||
static const char acName1C00_04[] = "Communications Type SM3";
|
||||
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
||||
static const char acName1C12_00[] = "Max SubIndex";
|
||||
static const char acName1C12_01[] = "PDO Mapping";
|
||||
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
||||
static const char acName1C13_00[] = "Max SubIndex";
|
||||
static const char acName1C13_01[] = "PDO Mapping";
|
||||
static const char acName6000[] = "Buttons";
|
||||
static const char acName6000_00[] = "Max SubIndex";
|
||||
static const char acName6000_01[] = "Button1";
|
||||
static const char acName7000[] = "LEDs";
|
||||
static const char acName7000_00[] = "Max SubIndex";
|
||||
static const char acName7000_01[] = "LED0";
|
||||
static const char acName7000_02[] = "LED1";
|
||||
static const char acName8000[] = "Parameters";
|
||||
static const char acName8000_00[] = "Max SubIndex";
|
||||
static const char acName8000_01[] = "Multiplier";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x13890190, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"},
|
||||
};
|
||||
const _objd SDO1009[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV},
|
||||
};
|
||||
const _objd SDO100A[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName100A, 0, SW_REV},
|
||||
};
|
||||
const _objd SDO1018[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 0x1337, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 1234, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
|
||||
};
|
||||
const _objd SDO1600[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000208, NULL},
|
||||
};
|
||||
const _objd SDO1A00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
|
||||
};
|
||||
const _objd SDO1C00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
|
||||
};
|
||||
const _objd SDO1C12[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Obj.Buttons.Button1},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.LEDs.LED0},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Obj.LEDs.LED1},
|
||||
};
|
||||
const _objd SDO8000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier},
|
||||
};
|
||||
|
||||
const _objectlist SDOobjects[] =
|
||||
{
|
||||
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
|
||||
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
|
||||
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
|
||||
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
|
||||
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
|
||||
{0x1600, OTYPE_RECORD, 2, 0, acName1600, SDO1600},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
|
||||
{0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000},
|
||||
{0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
|
||||
{0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
|
|
@ -1,45 +0,0 @@
|
|||
#ifndef __UTYPES_H__
|
||||
#define __UTYPES_H__
|
||||
|
||||
#include "cc.h"
|
||||
|
||||
|
||||
/* Object dictionary storage */
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Inputs */
|
||||
struct
|
||||
{
|
||||
uint8_t Button1;
|
||||
} Buttons;
|
||||
|
||||
|
||||
/* Outputs */
|
||||
struct
|
||||
{
|
||||
uint8_t LED0;
|
||||
uint8_t LED1;
|
||||
} LEDs;
|
||||
|
||||
|
||||
/* Parameters */
|
||||
struct
|
||||
{
|
||||
uint32_t Multiplier;
|
||||
} Parameters;
|
||||
|
||||
|
||||
/* Manufacturer specific data */
|
||||
|
||||
/* Dynamic TX PDO:s */
|
||||
|
||||
/* Dynamic RX PDO:s */
|
||||
|
||||
/* Sync Managers */
|
||||
|
||||
} _Objects;
|
||||
|
||||
extern _Objects Obj;
|
||||
|
||||
#endif /* __UTYPES_H__ */
|
||||
|
|
@ -1,44 +0,0 @@
|
|||
#ifndef __ECAT_OPTIONS_H__
|
||||
#define __ECAT_OPTIONS_H__
|
||||
|
||||
#include "cc.h"
|
||||
|
||||
#define USE_FOE 0
|
||||
#define USE_EOE 0
|
||||
|
||||
#define MBXSIZE 128
|
||||
#define MBXSIZEBOOT 128
|
||||
#define MBXBUFFERS 3
|
||||
|
||||
#define MBX0_sma 0x1000
|
||||
#define MBX0_sml MBXSIZE
|
||||
#define MBX0_sme MBX0_sma+MBX0_sml-1
|
||||
#define MBX0_smc 0x26
|
||||
#define MBX1_sma MBX0_sma+MBX0_sml
|
||||
#define MBX1_sml MBXSIZE
|
||||
#define MBX1_sme MBX1_sma+MBX1_sml-1
|
||||
#define MBX1_smc 0x22
|
||||
|
||||
#define MBX0_sma_b 0x1000
|
||||
#define MBX0_sml_b MBXSIZEBOOT
|
||||
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
|
||||
#define MBX0_smc_b 0x26
|
||||
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
|
||||
#define MBX1_sml_b MBXSIZEBOOT
|
||||
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
|
||||
#define MBX1_smc_b 0x22
|
||||
|
||||
#define SM2_sma 0x1100
|
||||
#define SM2_smc 0x64
|
||||
#define SM2_act 1
|
||||
#define SM3_sma 0x1180
|
||||
#define SM3_smc 0x20
|
||||
#define SM3_act 1
|
||||
|
||||
#define MAX_RXPDO_SIZE 42
|
||||
#define MAX_TXPDO_SIZE 42
|
||||
|
||||
#define MAX_MAPPINGS_SM2 2
|
||||
#define MAX_MAPPINGS_SM3 1
|
||||
|
||||
#endif /* __ECAT_OPTIONS_H__ */
|
||||
|
|
@ -1,90 +0,0 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <cc.h>
|
||||
#include <kern.h>
|
||||
#include <xmc4.h>
|
||||
#include <bsp.h>
|
||||
#include "esc_hw.h"
|
||||
#include "esc.h"
|
||||
#include "ecat_slv.h"
|
||||
#include "config.h"
|
||||
#include "utypes.h"
|
||||
|
||||
/* Application variables */
|
||||
_Objects Obj;
|
||||
|
||||
/**
|
||||
* This function is called when to get input values
|
||||
*/
|
||||
void cb_get_inputs()
|
||||
{
|
||||
Obj.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called when to set outputs values
|
||||
*/
|
||||
void cb_set_outputs()
|
||||
{
|
||||
gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0);
|
||||
gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1);
|
||||
}
|
||||
|
||||
void safe_out(void)
|
||||
{
|
||||
rprintp("safe out\n");
|
||||
return;
|
||||
}
|
||||
|
||||
void cb_state_change (uint8_t * as, uint8_t * an)
|
||||
{
|
||||
if (*as == SAFEOP_TO_OP)
|
||||
{
|
||||
/* Enable watchdog interrupt */
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
|
||||
}
|
||||
}
|
||||
|
||||
/* Setup of DC */
|
||||
uint16_t dc_checker(void)
|
||||
{
|
||||
/* Indicate we run DC */
|
||||
ESCvar.dcsync = 1;
|
||||
/* Fetch the sync counter limit SDO10F1*/
|
||||
ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Configuration parameters for SOES
|
||||
* SM and Mailbox parameters comes from the
|
||||
* generated config.h
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
static esc_cfg_t config =
|
||||
{
|
||||
.user_arg = NULL,
|
||||
.use_interrupt = 1,
|
||||
.watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
|
||||
.set_defaults_hook = NULL,
|
||||
.pre_state_change_hook = NULL,
|
||||
.post_state_change_hook = cb_state_change,
|
||||
.application_hook = NULL,
|
||||
.safeoutput_override = NULL,
|
||||
.pre_object_download_hook = NULL,
|
||||
.post_object_download_hook = NULL,
|
||||
.rxpdo_override = NULL,
|
||||
.txpdo_override = NULL,
|
||||
.esc_hw_interrupt_enable = ESC_interrupt_enable,
|
||||
.esc_hw_interrupt_disable = ESC_interrupt_disable,
|
||||
.esc_hw_eep_handler = ESC_eep_handler,
|
||||
.esc_check_dc_handler = NULL
|
||||
};
|
||||
|
||||
rprintf("Hello Main\n");
|
||||
ecat_slv_init(&config);
|
||||
return 0;
|
||||
}
|
||||
Binary file not shown.
|
|
@ -1,778 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="xmc43relax" productCode="0x4300">
|
||||
<Name>xmc43relax</Name>
|
||||
<Vendor>
|
||||
<Id>0x1337</Id>
|
||||
<Name>rt-labs</Name>
|
||||
</Vendor>
|
||||
<Group>
|
||||
<Type>xmc4</Type>
|
||||
<Name>xmc4</Name>
|
||||
</Group>
|
||||
<Fmmu>Outputs</Fmmu>
|
||||
<Fmmu>Inputs</Fmmu>
|
||||
<Fmmu>MBoxState</Fmmu>
|
||||
<Sm ControlByte="0x26" DefaultSize="128" StartAddress="0x1000">MBoxOut</Sm>
|
||||
<Sm ControlByte="0x22" DefaultSize="128" StartAddress="0x1080">MBoxIn</Sm>
|
||||
<Sm ControlByte="0x64" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
|
||||
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
|
||||
<Mailbox CoE="true">
|
||||
<Bootstrap Length="128" Start="0x1000"/>
|
||||
<Standard Length="128" Start="0x1000"/>
|
||||
</Mailbox>
|
||||
<Eeprom>
|
||||
<ConfigData>8006810600000000</ConfigData>
|
||||
<BootStrap>0010800080108000</BootStrap>
|
||||
</Eeprom>
|
||||
<Dictionary>
|
||||
<Item Managed="true">
|
||||
<Index>0x1000</Index>
|
||||
<Name>Device Type</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x00001389</DefaultValue>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1008</Index>
|
||||
<Name>Device Name</Name>
|
||||
<DataType>VISIBLE_STRING</DataType>
|
||||
<DefaultValue>xmc43relax</DefaultValue>
|
||||
<Length>10</Length>
|
||||
</Item>
|
||||
<Item>
|
||||
<Index>0x1009</Index>
|
||||
<Name>Hardware Version</Name>
|
||||
<DataType>VISIBLE_STRING</DataType>
|
||||
<DefaultValue>1.0</DefaultValue>
|
||||
<Length>4</Length>
|
||||
</Item>
|
||||
<Item>
|
||||
<Index>0x100A</Index>
|
||||
<Name>Software Version</Name>
|
||||
<DataType>VISIBLE_STRING</DataType>
|
||||
<DefaultValue>1.0</DefaultValue>
|
||||
<Length>4</Length>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1018</Index>
|
||||
<Name>Identity Object</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>Vendor ID</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x1337</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x02</Index>
|
||||
<Name>Product Code</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x4300</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x03</Index>
|
||||
<Name>Revision Number</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x04</Index>
|
||||
<Name>Serial Number</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x00000000</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x10F1</Index>
|
||||
<Name>ErrorSettings</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>ErrorSettings</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>Local Error Reaction</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Local_Error_Reaction</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x02</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>SyncErrorCounterLimit</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
<Variable>SyncErrorCounterLimit</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1600</Index>
|
||||
<Name>LEDgroup0</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>LED0</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x70000108</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1601</Index>
|
||||
<Name>LEDgroup1</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>LED1</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x70010108</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1A00</Index>
|
||||
<Name>Buttons</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>Button1</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0x60000108</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1C00</Index>
|
||||
<Name>Sync Manager Communication Type</Name>
|
||||
<DataType>ARRAY</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>Communications Type SM0</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x02</Index>
|
||||
<Name>Communications Type SM1</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x03</Index>
|
||||
<Name>Communications Type SM2</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>3</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x04</Index>
|
||||
<Name>Communications Type SM3</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1C12</Index>
|
||||
<Name>Sync Manager 2 PDO Assignment</Name>
|
||||
<DataType>ARRAY</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>PDO Mapping</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0x1600</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x02</Index>
|
||||
<Name>PDO Mapping</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0x1601</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1C13</Index>
|
||||
<Name>Sync Manager 3 PDO Assignment</Name>
|
||||
<DataType>ARRAY</DataType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Name>PDO Mapping</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0x1A00</DefaultValue>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x1C32</Index>
|
||||
<Name>SyncMgrParam</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>SyncMgrParam</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>32</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>Sync mode</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Sync_mode</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x02</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>CycleTime</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>CycleTime</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x03</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>ShiftTime</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>ShiftTime</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x04</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Sync modes supported</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Sync_modes_supported</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x05</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Minimum Cycle Time</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>125000</DefaultValue>
|
||||
<Variable>Minimum_Cycle_Time</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x06</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Calc and Copy Time</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Calc_and_Copy_Time</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x07</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Minimum Delay Time</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Minimum_Delay_Time</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x08</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>GetCycleTime</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>GetCycleTime</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x09</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>DelayTime</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>DelayTime</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0A</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Sync0CycleTime</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Sync0CycleTime</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0B</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>SMEventMissedCnt</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>SMEventMissedCnt</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0C</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>CycleTimeTooSmallCnt</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>CycleTimeTooSmallCnt</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0D</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Shift too short counter</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Shift_too_short_counter</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0E</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>RxPDOToggleFailed</Name>
|
||||
<DataType>UNSIGNED16</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>RxPDOToggleFailed</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x0F</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Minimum Cycle Distance</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Minimum_Cycle_Distance</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x10</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Maximum Cycle Distance</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Maximum_Cycle_Distance</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x11</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Minimum SM Sync Distance</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Minimum_SM_Sync_Distance</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x12</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Maximum SM Sync Distance</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Maximum_SM_Sync_Distance</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x20</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>SyncError</Name>
|
||||
<DataType>BOOLEAN</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>SyncError</Variable>
|
||||
<VariableType>Manufacturer</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x6000</Index>
|
||||
<Name>Buttons</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>Buttons</Variable>
|
||||
<VariableType>Input</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Button1</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<PdoMapping>TX</PdoMapping>
|
||||
<Variable>Button1</Variable>
|
||||
<VariableType>Input</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x7000</Index>
|
||||
<Name>LEDgroup0</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>LEDgroup0</Variable>
|
||||
<VariableType>Output</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>LED0</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
<Variable>LED0</Variable>
|
||||
<VariableType>Output</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x7001</Index>
|
||||
<Name>LEDgroup1</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>LEDgroup1</Variable>
|
||||
<VariableType>Output</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>LED1</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
<Variable>LED1</Variable>
|
||||
<VariableType>Output</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x8000</Index>
|
||||
<Name>Parameters</Name>
|
||||
<DataType>RECORD</DataType>
|
||||
<Variable>Parameters</Variable>
|
||||
<VariableType>Parameter</VariableType>
|
||||
<SubItem>
|
||||
<Index>0x00</Index>
|
||||
<Name>Max SubIndex</Name>
|
||||
<DataType>UNSIGNED8</DataType>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Index>0x01</Index>
|
||||
<Access>RO</Access>
|
||||
<Name>Multiplier</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>Multiplier</Variable>
|
||||
<VariableType>Parameter</VariableType>
|
||||
</SubItem>
|
||||
</Item>
|
||||
<Item Managed="true">
|
||||
<Index>0x8001</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>variableRW</Name>
|
||||
<DataType>UNSIGNED32</DataType>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
<Variable>variableRW</Variable>
|
||||
<VariableType>Parameter</VariableType>
|
||||
</Item>
|
||||
</Dictionary>
|
||||
<SmAssignment>
|
||||
<Index>0x1C12</Index>
|
||||
<Entry>
|
||||
<Index>0x01</Index>
|
||||
<AssignedPdo>0x1600</AssignedPdo>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Index>0x02</Index>
|
||||
<AssignedPdo>0x1601</AssignedPdo>
|
||||
</Entry>
|
||||
</SmAssignment>
|
||||
<SmAssignment>
|
||||
<Index>0x1C13</Index>
|
||||
<Entry>
|
||||
<Index>0x01</Index>
|
||||
<AssignedPdo>0x1A00</AssignedPdo>
|
||||
</Entry>
|
||||
</SmAssignment>
|
||||
<RxPdo>
|
||||
<Index>0x1600</Index>
|
||||
<Name>LEDgroup0</Name>
|
||||
<Entry>
|
||||
<Index>0x1</Index>
|
||||
<MappedIndex>0x7000</MappedIndex>
|
||||
<MappedSubIndex>0x01</MappedSubIndex>
|
||||
<Variable>LED0</Variable>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<RxPdo>
|
||||
<Index>0x1601</Index>
|
||||
<Name>LEDgroup1</Name>
|
||||
<Entry>
|
||||
<Index>0x1</Index>
|
||||
<MappedIndex>0x7001</MappedIndex>
|
||||
<MappedSubIndex>0x01</MappedSubIndex>
|
||||
<Variable>LED1</Variable>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<TxPdo>
|
||||
<Index>0x1A00</Index>
|
||||
<Name>Buttons</Name>
|
||||
<Entry>
|
||||
<Index>0x1</Index>
|
||||
<MappedIndex>0x6000</MappedIndex>
|
||||
<MappedSubIndex>0x01</MappedSubIndex>
|
||||
<Variable>Button1</Variable>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<Input>
|
||||
<Index>0x6000</Index>
|
||||
<Name>Buttons</Name>
|
||||
<PdoMapping>TX</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Name>Button1</Name>
|
||||
<Type>UNSIGNED8</Type>
|
||||
<PdoMapping>TX</PdoMapping>
|
||||
</Member>
|
||||
</Input>
|
||||
<Output>
|
||||
<Index>0x7000</Index>
|
||||
<Name>LEDgroup0</Name>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Name>LED0</Name>
|
||||
<Type>UNSIGNED8</Type>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
</Member>
|
||||
</Output>
|
||||
<Output>
|
||||
<Index>0x7001</Index>
|
||||
<Name>LEDgroup1</Name>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Name>LED1</Name>
|
||||
<Type>UNSIGNED8</Type>
|
||||
<PdoMapping>RX</PdoMapping>
|
||||
</Member>
|
||||
</Output>
|
||||
<Parameter>
|
||||
<Index>0x8000</Index>
|
||||
<Name>Parameters</Name>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Name>Multiplier</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
</Parameter>
|
||||
<Parameter>
|
||||
<Index>0x8001</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>variableRW</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
<ObjectType>VAR</ObjectType>
|
||||
</Parameter>
|
||||
<Manufacturer>
|
||||
<Index>0x10F1</Index>
|
||||
<Name>ErrorSettings</Name>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>Local Error Reaction</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x02</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>SyncErrorCounterLimit</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
</Manufacturer>
|
||||
<Manufacturer>
|
||||
<Index>0x1C32</Index>
|
||||
<Name>SyncMgrParam</Name>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
<ObjectType>RECORD</ObjectType>
|
||||
<Member>
|
||||
<Index>0x01</Index>
|
||||
<Access>RW</Access>
|
||||
<Name>Sync mode</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x02</Index>
|
||||
<Name>CycleTime</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x03</Index>
|
||||
<Name>ShiftTime</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x04</Index>
|
||||
<Name>Sync modes supported</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x05</Index>
|
||||
<Name>Minimum Cycle Time</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<DefaultValue>125000</DefaultValue>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x06</Index>
|
||||
<Name>Calc and Copy Time</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x07</Index>
|
||||
<Name>Minimum Delay Time</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x08</Index>
|
||||
<Name>GetCycleTime</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x09</Index>
|
||||
<Name>DelayTime</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0A</Index>
|
||||
<Name>Sync0CycleTime</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0B</Index>
|
||||
<Name>SMEventMissedCnt</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0C</Index>
|
||||
<Name>CycleTimeTooSmallCnt</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0D</Index>
|
||||
<Name>Shift too short counter</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0E</Index>
|
||||
<Name>RxPDOToggleFailed</Name>
|
||||
<Type>UNSIGNED16</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x0F</Index>
|
||||
<Name>Minimum Cycle Distance</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x10</Index>
|
||||
<Name>Maximum Cycle Distance</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x11</Index>
|
||||
<Name>Minimum SM Sync Distance</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x12</Index>
|
||||
<Name>Maximum SM Sync Distance</Name>
|
||||
<Type>UNSIGNED32</Type>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
<Member>
|
||||
<Index>0x20</Index>
|
||||
<Name>SyncError</Name>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
</Manufacturer>
|
||||
</Slave>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,217 +0,0 @@
|
|||
#include "esc_coe.h"
|
||||
#include "utypes.h"
|
||||
#include <stddef.h>
|
||||
|
||||
#ifndef HW_REV
|
||||
#define HW_REV "1.0"
|
||||
#endif
|
||||
|
||||
#ifndef SW_REV
|
||||
#define SW_REV "1.0"
|
||||
#endif
|
||||
|
||||
static const char acName1000[] = "Device Type";
|
||||
static const char acName1008[] = "Device Name";
|
||||
static const char acName1009[] = "Hardware Version";
|
||||
static const char acName100A[] = "Software Version";
|
||||
static const char acName1018[] = "Identity Object";
|
||||
static const char acName1018_00[] = "Max SubIndex";
|
||||
static const char acName1018_01[] = "Vendor ID";
|
||||
static const char acName1018_02[] = "Product Code";
|
||||
static const char acName1018_03[] = "Revision Number";
|
||||
static const char acName1018_04[] = "Serial Number";
|
||||
static const char acName10F1[] = "ErrorSettings";
|
||||
static const char acName10F1_00[] = "Max SubIndex";
|
||||
static const char acName10F1_01[] = "Local Error Reaction";
|
||||
static const char acName10F1_02[] = "SyncErrorCounterLimit";
|
||||
static const char acName1600[] = "LEDgroup0";
|
||||
static const char acName1600_00[] = "Max SubIndex";
|
||||
static const char acName1600_01[] = "LED0";
|
||||
static const char acName1601[] = "LEDgroup1";
|
||||
static const char acName1601_00[] = "Max SubIndex";
|
||||
static const char acName1601_01[] = "LED1";
|
||||
static const char acName1A00[] = "Buttons";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "Button1";
|
||||
static const char acName1C00[] = "Sync Manager Communication Type";
|
||||
static const char acName1C00_00[] = "Max SubIndex";
|
||||
static const char acName1C00_01[] = "Communications Type SM0";
|
||||
static const char acName1C00_02[] = "Communications Type SM1";
|
||||
static const char acName1C00_03[] = "Communications Type SM2";
|
||||
static const char acName1C00_04[] = "Communications Type SM3";
|
||||
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
||||
static const char acName1C12_00[] = "Max SubIndex";
|
||||
static const char acName1C12_01[] = "PDO Mapping";
|
||||
static const char acName1C12_02[] = "PDO Mapping";
|
||||
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
||||
static const char acName1C13_00[] = "Max SubIndex";
|
||||
static const char acName1C13_01[] = "PDO Mapping";
|
||||
static const char acName1C32[] = "SyncMgrParam";
|
||||
static const char acName1C32_00[] = "Max SubIndex";
|
||||
static const char acName1C32_01[] = "Sync mode";
|
||||
static const char acName1C32_02[] = "CycleTime";
|
||||
static const char acName1C32_03[] = "ShiftTime";
|
||||
static const char acName1C32_04[] = "Sync modes supported";
|
||||
static const char acName1C32_05[] = "Minimum Cycle Time";
|
||||
static const char acName1C32_06[] = "Calc and Copy Time";
|
||||
static const char acName1C32_07[] = "Minimum Delay Time";
|
||||
static const char acName1C32_08[] = "GetCycleTime";
|
||||
static const char acName1C32_09[] = "DelayTime";
|
||||
static const char acName1C32_0A[] = "Sync0CycleTime";
|
||||
static const char acName1C32_0B[] = "SMEventMissedCnt";
|
||||
static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
|
||||
static const char acName1C32_0D[] = "Shift too short counter";
|
||||
static const char acName1C32_0E[] = "RxPDOToggleFailed";
|
||||
static const char acName1C32_0F[] = "Minimum Cycle Distance";
|
||||
static const char acName1C32_10[] = "Maximum Cycle Distance";
|
||||
static const char acName1C32_11[] = "Minimum SM Sync Distance";
|
||||
static const char acName1C32_12[] = "Maximum SM Sync Distance";
|
||||
static const char acName1C32_20[] = "SyncError";
|
||||
static const char acName6000[] = "Buttons";
|
||||
static const char acName6000_00[] = "Max SubIndex";
|
||||
static const char acName6000_01[] = "Button1";
|
||||
static const char acName7000[] = "LEDgroup0";
|
||||
static const char acName7000_00[] = "Max SubIndex";
|
||||
static const char acName7000_01[] = "LED0";
|
||||
static const char acName7001[] = "LEDgroup1";
|
||||
static const char acName7001_00[] = "Max SubIndex";
|
||||
static const char acName7001_01[] = "LED1";
|
||||
static const char acName8000[] = "Parameters";
|
||||
static const char acName8000_00[] = "Max SubIndex";
|
||||
static const char acName8000_01[] = "Multiplier";
|
||||
static const char acName8001[] = "variableRW";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc43relax"},
|
||||
};
|
||||
const _objd SDO1009[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName1009, 0, HW_REV},
|
||||
};
|
||||
const _objd SDO100A[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName100A, 0, SW_REV},
|
||||
};
|
||||
const _objd SDO1018[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 0x1337, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x4300, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
|
||||
};
|
||||
const _objd SDO10F1[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName10F1_01, 0, &Obj.ErrorSettings.Local_Error_Reaction},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Obj.ErrorSettings.SyncErrorCounterLimit},
|
||||
};
|
||||
const _objd SDO1600[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
|
||||
};
|
||||
const _objd SDO1601[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
|
||||
};
|
||||
const _objd SDO1A00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
|
||||
};
|
||||
const _objd SDO1C00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
|
||||
};
|
||||
const _objd SDO1C12[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
|
||||
};
|
||||
const _objd SDO1C32[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName1C32_01, 0, &Obj.SyncMgrParam.Sync_mode},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Obj.SyncMgrParam.CycleTime},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Obj.SyncMgrParam.ShiftTime},
|
||||
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0, &Obj.SyncMgrParam.Sync_modes_supported},
|
||||
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.Minimum_Cycle_Time},
|
||||
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.Calc_and_Copy_Time},
|
||||
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.Minimum_Delay_Time},
|
||||
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Obj.SyncMgrParam.GetCycleTime},
|
||||
{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Obj.SyncMgrParam.DelayTime},
|
||||
{0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Obj.SyncMgrParam.Sync0CycleTime},
|
||||
{0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Obj.SyncMgrParam.SMEventMissedCnt},
|
||||
{0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Obj.SyncMgrParam.CycleTimeTooSmallCnt},
|
||||
{0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Obj.SyncMgrParam.Shift_too_short_counter},
|
||||
{0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Obj.SyncMgrParam.RxPDOToggleFailed},
|
||||
{0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Obj.SyncMgrParam.Minimum_Cycle_Distance},
|
||||
{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.Maximum_Cycle_Distance},
|
||||
{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.Minimum_SM_Sync_Distance},
|
||||
{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.Maximum_SM_Sync_Distance},
|
||||
{0x20, DTYPE_BOOLEAN, 1, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button1},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDgroup0.LED0},
|
||||
};
|
||||
const _objd SDO7001[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.LEDgroup1.LED1},
|
||||
};
|
||||
const _objd SDO8000[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8000_01, 0, &Obj.Parameters.Multiplier},
|
||||
};
|
||||
const _objd SDO8001[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW},
|
||||
};
|
||||
|
||||
const _objectlist SDOobjects[] =
|
||||
{
|
||||
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
|
||||
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
|
||||
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
|
||||
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
|
||||
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
|
||||
{0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
|
||||
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
|
||||
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
|
||||
{0x1C32, OTYPE_RECORD, 19, 0, acName1C32, SDO1C32},
|
||||
{0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000},
|
||||
{0x7000, OTYPE_RECORD, 1, 0, acName7000, SDO7000},
|
||||
{0x7001, OTYPE_RECORD, 1, 0, acName7001, SDO7001},
|
||||
{0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
|
||||
{0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
|
|
@ -1,79 +0,0 @@
|
|||
#ifndef __UTYPES_H__
|
||||
#define __UTYPES_H__
|
||||
|
||||
#include "cc.h"
|
||||
|
||||
|
||||
/* Object dictionary storage */
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Inputs */
|
||||
struct
|
||||
{
|
||||
uint8_t Button1;
|
||||
} Buttons;
|
||||
|
||||
|
||||
/* Outputs */
|
||||
struct
|
||||
{
|
||||
uint8_t LED0;
|
||||
} LEDgroup0;
|
||||
|
||||
struct
|
||||
{
|
||||
uint8_t LED1;
|
||||
} LEDgroup1;
|
||||
|
||||
|
||||
/* Parameters */
|
||||
struct
|
||||
{
|
||||
uint32_t Multiplier;
|
||||
} Parameters;
|
||||
|
||||
uint32_t variableRW;
|
||||
|
||||
/* Manufacturer specific data */
|
||||
struct
|
||||
{
|
||||
uint32_t Local_Error_Reaction;
|
||||
uint16_t SyncErrorCounterLimit;
|
||||
} ErrorSettings;
|
||||
|
||||
struct
|
||||
{
|
||||
uint16_t Sync_mode;
|
||||
uint32_t CycleTime;
|
||||
uint32_t ShiftTime;
|
||||
uint16_t Sync_modes_supported;
|
||||
uint32_t Minimum_Cycle_Time;
|
||||
uint32_t Calc_and_Copy_Time;
|
||||
uint32_t Minimum_Delay_Time;
|
||||
uint16_t GetCycleTime;
|
||||
uint32_t DelayTime;
|
||||
uint32_t Sync0CycleTime;
|
||||
uint16_t SMEventMissedCnt;
|
||||
uint16_t CycleTimeTooSmallCnt;
|
||||
uint16_t Shift_too_short_counter;
|
||||
uint16_t RxPDOToggleFailed;
|
||||
uint32_t Minimum_Cycle_Distance;
|
||||
uint32_t Maximum_Cycle_Distance;
|
||||
uint32_t Minimum_SM_Sync_Distance;
|
||||
uint32_t Maximum_SM_Sync_Distance;
|
||||
uint8_t SyncError;
|
||||
} SyncMgrParam;
|
||||
|
||||
|
||||
/* Dynamic TX PDO:s */
|
||||
|
||||
/* Dynamic RX PDO:s */
|
||||
|
||||
/* Sync Managers */
|
||||
|
||||
} _Objects;
|
||||
|
||||
extern _Objects Obj;
|
||||
|
||||
#endif /* __UTYPES_H__ */
|
||||
Loading…
Reference in New Issue