#include "esc_coe.h" #include "utypes.h" #include #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[] = "RXPDO 1"; static const char acName1600_00[] = "Max SubIndex"; static const char acName1600_01[] = "LED0"; static const char acName1601[] = "RXPDO 2"; static const char acName1601_00[] = "Max SubIndex"; static const char acName1601_01[] = "LED1"; static const char acName1602[] = "RXPDO 3"; static const char acName1602_00[] = "Max SubIndex"; static const char acName1602_01[] = "PDO Entry 1602:01"; static const char acName1602_02[] = "PDO Entry 1602:02"; static const char acName1602_03[] = "PDO Entry 1602:03"; static const char acName1602_04[] = "PDO Entry 1602:04"; static const char acName1602_05[] = "PDO Entry 1602:05"; static const char acName1602_06[] = "PDO Entry 1602:06"; static const char acName1602_07[] = "PDO Entry 1602:07"; static const char acName1602_08[] = "PDO Entry 1602:08"; static const char acName1A00[] = "TXPDO 1"; static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_01[] = "Button1"; static const char acName1A01[] = "TXPDO 2"; static const char acName1A01_00[] = "Max SubIndex"; static const char acName1A01_01[] = "PDO Entry 1A01:01"; static const char acName1A01_02[] = "PDO Entry 1A01:02"; static const char acName1A01_03[] = "PDO Entry 1A01:03"; static const char acName1A01_04[] = "PDO Entry 1A01:04"; static const char acName1A01_05[] = "PDO Entry 1A01:05"; static const char acName1A01_06[] = "PDO Entry 1A01:06"; static const char acName1A01_07[] = "PDO Entry 1A01:07"; static const char acName1A01_08[] = "PDO Entry 1A01:08"; 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 acName1C12_03[] = "SM Entry 1C12:03"; static const char acName1C12_04[] = "SM Entry 1C12:04"; static const char acName1C12_05[] = "SM Entry 1C12:05"; static const char acName1C12_06[] = "SM Entry 1C12:06"; static const char acName1C12_07[] = "SM Entry 1C12:07"; static const char acName1C12_08[] = "SM Entry 1C12:08"; 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 acName1C13_02[] = "SM Entry 1C13:02"; static const char acName1C13_03[] = "SM Entry 1C13:03"; static const char acName1C13_04[] = "SM Entry 1C13:04"; static const char acName1C13_05[] = "SM Entry 1C13:05"; static const char acName1C13_06[] = "SM Entry 1C13:06"; static const char acName1C13_07[] = "SM Entry 1C13:07"; static const char acName1C13_08[] = "SM Entry 1C13:08"; 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, "xmc48relax"}, }; const _objd SDO1009[] = { {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV}, }; const _objd SDO100A[] = { {0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x4800, NULL}, {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL}, {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, &Obj.serial}, }; 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 SDO1602[] = { {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1602_00, 8, &Obj.PDO1602.maxsub}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_01, 0x00000000, &Obj.PDO1602.value[0]}, {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_02, 0x00000000, &Obj.PDO1602.value[1]}, {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_03, 0x00000000, &Obj.PDO1602.value[2]}, {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_04, 0x00000000, &Obj.PDO1602.value[3]}, {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_05, 0x00000000, &Obj.PDO1602.value[4]}, {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_06, 0x00000000, &Obj.PDO1602.value[5]}, {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_07, 0x00000000, &Obj.PDO1602.value[6]}, {0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_08, 0x00000000, &Obj.PDO1602.value[7]}, }; 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 SDO1A01[] = { {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A01_00, 8, &Obj.PDO1A01.maxsub}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_01, 0x00000000, &Obj.PDO1A01.value[0]}, {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_02, 0x00000000, &Obj.PDO1A01.value[1]}, {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_03, 0x00000000, &Obj.PDO1A01.value[2]}, {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_04, 0x00000000, &Obj.PDO1A01.value[3]}, {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_05, 0x00000000, &Obj.PDO1A01.value[4]}, {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_06, 0x00000000, &Obj.PDO1A01.value[5]}, {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_07, 0x00000000, &Obj.PDO1A01.value[6]}, {0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_08, 0x00000000, &Obj.PDO1A01.value[7]}, }; 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_RWpre, acName1C12_00, 8, &Obj.SM1C12.maxsub}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM1C12.value[0]}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0x1601, &Obj.SM1C12.value[1]}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0x0000, &Obj.SM1C12.value[2]}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0x0000, &Obj.SM1C12.value[3]}, {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_05, 0x0000, &Obj.SM1C12.value[4]}, {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_06, 0x0000, &Obj.SM1C12.value[5]}, {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_07, 0x0000, &Obj.SM1C12.value[6]}, {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_08, 0x0000, &Obj.SM1C12.value[7]}, }; const _objd SDO1C13[] = { {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 8, &Obj.SM1C13.maxsub}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM1C13.value[0]}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x0000, &Obj.SM1C13.value[1]}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x0000, &Obj.SM1C13.value[2]}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x0000, &Obj.SM1C13.value[3]}, {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_05, 0x0000, &Obj.SM1C13.value[4]}, {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_06, 0x0000, &Obj.SM1C13.value[5]}, {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_07, 0x0000, &Obj.SM1C13.value[6]}, {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_08, 0x0000, &Obj.SM1C13.value[7]}, }; 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}, {0x1602, OTYPE_RECORD, 8, 0, acName1602, SDO1602}, {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, {0x1A01, OTYPE_RECORD, 8, 0, acName1A01, SDO1A01}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C12, OTYPE_ARRAY, 8, 0, acName1C12, SDO1C12}, {0x1C13, OTYPE_ARRAY, 8, 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} };