148 lines
6.3 KiB
C
148 lines
6.3 KiB
C
/*
|
|
* Licensed under the GNU General Public License version 2 with exceptions. See
|
|
* LICENSE file in the project root for full license information
|
|
*/
|
|
|
|
/** \file
|
|
* \brief
|
|
* CoE Object Dictionary.
|
|
*
|
|
* Part of application, describe the slave and its process data.
|
|
*/
|
|
|
|
#include "esc_coe.h"
|
|
#include "utypes.h"
|
|
#include <stddef.h>
|
|
|
|
extern _Rbuffer Rb;
|
|
extern _Wbuffer Wb;
|
|
extern _Cbuffer Cb;
|
|
extern uint32_t encoder_scale;
|
|
extern uint32_t encoder_scale_mirror;
|
|
|
|
static const char acName1000[] = "Device Type";
|
|
static const char acName1008[] = "Manufacturer Device Name";
|
|
static const char acName1009[] = "Manufacturer Hardware Version";
|
|
static const char acName100A[] = "Manufacturer Software Version";
|
|
static const char acName1018[] = "Identity Object";
|
|
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 acNameMO[] = "Mapped object";
|
|
static const char acName1600[] = "Receive PDO mapping";
|
|
static const char acName1A00[] = "Transmit PDO mapping";
|
|
static const char acName1C00[] = "Sync Manager Communication type";
|
|
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 acName1C10[] = "Sync Manager 0 PDO Assignment";
|
|
static const char acName1C11[] = "Sync Manager 1 PDO Assignment";
|
|
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
|
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
|
static const char acNameNOE[] = "Number of entries";
|
|
static const char acName6000[] = "Digital Inputs";
|
|
static const char acName6000_01[] = "Button";
|
|
static const char acName6000_02[] = "Encoder";
|
|
static const char acName7000[] = "Digital outputs";
|
|
static const char acName7000_01[] = "LED";
|
|
static const char acName7100[] = "Parameters";
|
|
static const char acName7100_01[] = "Encoder scale";
|
|
static const char acName7100_02[] = "Encoder scale mirror";
|
|
static const char acName8001[] = "Slave commands";
|
|
static const char acName8001_01[] = "Reset counter";
|
|
|
|
static char ac1008_00[] = "SOES test application";
|
|
static char ac1009_00[] = "0.0.2";
|
|
static char ac100A_00[] = "0.9.3";
|
|
|
|
const _objd SDO1000[] =
|
|
{ {0x00, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1000[0], 0x00000000, NULL} };
|
|
const _objd SDO1008[] =
|
|
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1008_00) << 3, ATYPE_RO, &acName1008[0], 0, &ac1008_00[0]}
|
|
};
|
|
const _objd SDO1009[] =
|
|
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1009_00) << 3, ATYPE_RO, &acName1009[0], 0, &ac1009_00[0]}
|
|
};
|
|
const _objd SDO100A[] =
|
|
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac100A_00) << 3, ATYPE_RO, &acName100A[0], 0, &ac100A_00[0]}
|
|
};
|
|
const _objd SDO1018[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x04, NULL},
|
|
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_01[0], 0x00001337, NULL},
|
|
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_02[0], 0x12783456, NULL},
|
|
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_03[0], 0x00000001, NULL},
|
|
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_04[0], 0x00000000, NULL}
|
|
};
|
|
const _objd SDO1600[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
|
|
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x70000108, NULL}
|
|
};
|
|
const _objd SDO1A00[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
|
|
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x60000108, NULL},
|
|
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x60000220, NULL}
|
|
|
|
};
|
|
const _objd SDO1C00[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x04, NULL},
|
|
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_01[0], 0x01, NULL},
|
|
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_02[0], 0x02, NULL},
|
|
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_03[0], 0x03, NULL},
|
|
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_04[0], 0x04, NULL}
|
|
};
|
|
const _objd SDO1C10[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C10[0], 0x00, NULL}
|
|
};
|
|
const _objd SDO1C11[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C11[0], 0x00, NULL}
|
|
};
|
|
const _objd SDO1C12[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
|
|
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, &acNameMO[0], 0x1600, NULL}
|
|
};
|
|
const _objd SDO1C13[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
|
|
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, &acNameMO[0], 0x1A00, NULL}
|
|
};
|
|
const _objd SDO6000[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
|
|
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName6000_01[0], 0, &(Rb.button)},
|
|
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName6000_02[0], 0, &(Rb.encoder)}
|
|
};
|
|
const _objd SDO7000[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
|
|
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
|
|
};
|
|
const _objd SDO7100[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
|
|
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
|
|
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName7100_02[0], 0, &(encoder_scale_mirror)}
|
|
};
|
|
|
|
const _objd SDO8001[] =
|
|
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
|
|
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName8001_01[0], 0, &(Cb.reset_counter)},
|
|
};
|
|
|
|
const _objectlist SDOobjects[] =
|
|
{ {0x1000, OTYPE_VAR, 0, 0, &acName1000[0], &SDO1000[0]},
|
|
{0x1008, OTYPE_VAR, 0, 0, &acName1008[0], &SDO1008[0]},
|
|
{0x1009, OTYPE_VAR, 0, 0, &acName1009[0], &SDO1009[0]},
|
|
{0x100A, OTYPE_VAR, 0, 0, &acName100A[0], &SDO100A[0]},
|
|
{0x1018, OTYPE_RECORD, 4, 0, &acName1018[0], &SDO1018[0]},
|
|
{0x1600, OTYPE_RECORD, 0x01, 0, &acName1600[0], &SDO1600[0]},
|
|
{0x1A00, OTYPE_RECORD, 0x02, 0, &acName1A00[0], &SDO1A00[0]},
|
|
{0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]},
|
|
{0x1C10, OTYPE_ARRAY, 0, 0, &acName1C10[0], &SDO1C10[0]},
|
|
{0x1C11, OTYPE_ARRAY, 0, 0, &acName1C11[0], &SDO1C11[0]},
|
|
{0x1C12, OTYPE_ARRAY, 1, 0, &acName1C12[0], &SDO1C12[0]},
|
|
{0x1C13, OTYPE_ARRAY, 1, 0, &acName1C13[0], &SDO1C13[0]},
|
|
{0x6000, OTYPE_ARRAY, 0x02, 0, &acName6000[0], &SDO6000[0]},
|
|
{0x7000, OTYPE_ARRAY, 0x01, 0, &acName7000[0], &SDO7000[0]},
|
|
{0x7100, OTYPE_ARRAY, 0x02, 0, &acName7100[0], &SDO7100[0]},
|
|
{0x8001, OTYPE_ARRAY, 0x01, 0, &acName8001[0], &SDO8001[0]},
|
|
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
|
};
|