91 lines
2.3 KiB
C
91 lines
2.3 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for esc_coe.c
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*/
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#ifndef __esc_coe__
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#define __esc_coe__
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#include <cc.h>
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typedef struct CC_PACKED
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{
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uint16_t subindex;
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uint16_t datatype;
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uint16_t bitlength;
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uint16_t access;
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const char *name;
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uint32_t value;
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void *data;
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} _objd;
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typedef struct CC_PACKED
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{
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uint16_t index;
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uint16_t objtype;
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uint8_t maxsub;
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uint8_t pad1;
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const char *name;
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const _objd *objdesc;
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} _objectlist;
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#define OBJH_READ 0
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#define OBJH_WRITE 1
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#define OTYPE_DOMAIN 0x0002
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#define OTYPE_DEFTYPE 0x0005
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#define OTYPE_DEFSTRUCT 0x0006
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#define OTYPE_VAR 0x0007
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#define OTYPE_ARRAY 0x0008
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#define OTYPE_RECORD 0x0009
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#define DTYPE_BOOLEAN 0x0001
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#define DTYPE_INTEGER8 0x0002
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#define DTYPE_INTEGER16 0x0003
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#define DTYPE_INTEGER32 0x0004
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#define DTYPE_UNSIGNED8 0x0005
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#define DTYPE_UNSIGNED16 0x0006
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#define DTYPE_UNSIGNED32 0x0007
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#define DTYPE_REAL32 0x0008
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#define DTYPE_VISIBLE_STRING 0x0009
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#define DTYPE_OCTET_STRING 0x000A
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#define DTYPE_UNICODE_STRING 0x000B
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#define DTYPE_INTEGER24 0x0010
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#define DTYPE_UNSIGNED24 0x0016
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#define DTYPE_INTEGER64 0x0015
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#define DTYPE_UNSIGNED64 0x001B
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#define DTYPE_REAL64 0x0011
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#define DTYPE_PDO_MAPPING 0x0021
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#define DTYPE_IDENTITY 0x0023
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#define DTYPE_BIT1 0x0030
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#define DTYPE_BIT2 0x0031
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#define DTYPE_BIT3 0x0032
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#define DTYPE_BIT4 0x0033
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#define DTYPE_BIT5 0x0034
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#define DTYPE_BIT6 0x0035
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#define DTYPE_BIT7 0x0036
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#define DTYPE_BIT8 0x0037
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#define ATYPE_RO 0x07
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#define ATYPE_RW 0x3F
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#define ATYPE_RWpre 0x0F
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#define ATYPE_RXPDO 0x40
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#define ATYPE_TXPDO 0x80
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void ESC_coeprocess (void);
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uint16_t sizeTXPDO (void);
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uint16_t sizeRXPDO (void);
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extern void ESC_objecthandler (uint16_t index, uint8_t subindex);
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extern const _objectlist SDOobjects[];
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extern const _objd SDO1C12[];
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extern const _objd SDO1C13[];
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#endif
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