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SOES/applications/rtl_slavedemo/objectlist.h
Hans-Erik Floryd 134d2eb20b clean license headers
2015-05-20 11:47:50 +02:00

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/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2007-2013 Arthur Ketels
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* CoE Object Dictionary.
*
* Part of application, describe the slave and its process data.
*/
#ifndef __objectlist__
#define __objectlist__
typedef FLASHSTORE struct PACKED
{
uint16 subindex;
uint16 datatype;
uint16 bitlength;
uint16 access;
char FLASHSTORE *name;
uint32 value;
void *data;
} _objd;
typedef FLASHSTORE struct PACKED
{
uint16 index;
uint16 objtype;
uint8 maxsub;
uint8 pad1;
char FLASHSTORE *name;
_objd FLASHSTORE *objdesc;
} _objectlist;
#define OBJH_READ 0
#define OBJH_WRITE 1
#define _ac FLASHSTORE char
#define nil 0
#define OTYPE_DOMAIN 0x0002
#define OTYPE_DEFTYPE 0x0005
#define OTYPE_DEFSTRUCT 0x0006
#define OTYPE_VAR 0x0007
#define OTYPE_ARRAY 0x0008
#define OTYPE_RECORD 0x0009
#define DTYPE_BOOLEAN 0x0001
#define DTYPE_INTEGER8 0x0002
#define DTYPE_INTEGER16 0x0003
#define DTYPE_INTEGER32 0x0004
#define DTYPE_UNSIGNED8 0x0005
#define DTYPE_UNSIGNED16 0x0006
#define DTYPE_UNSIGNED32 0x0007
#define DTYPE_REAL32 0x0008
#define DTYPE_VISIBLE_STRING 0x0009
#define DTYPE_OCTET_STRING 0x000A
#define DTYPE_UNICODE_STRING 0x000B
#define DTYPE_INTEGER24 0x0010
#define DTYPE_UNSIGNED24 0x0016
#define DTYPE_INTEGER64 0x0015
#define DTYPE_UNSIGNED64 0x001B
#define DTYPE_REAL64 0x0011
#define DTYPE_PDO_MAPPING 0x0021
#define DTYPE_IDENTITY 0x0023
#define DTYPE_BIT1 0x0030
#define DTYPE_BIT2 0x0031
#define DTYPE_BIT3 0x0032
#define DTYPE_BIT4 0x0033
#define DTYPE_BIT5 0x0034
#define DTYPE_BIT6 0x0035
#define DTYPE_BIT7 0x0036
#define DTYPE_BIT8 0x0037
#define ATYPE_R 0x07
#define ATYPE_RW 0x3F
#define ATYPE_RWpre 0x0F
#define ATYPE_RXPDO 0x40
#define ATYPE_TXPDO 0x80
_ac acName1000[] = "Device Type";
_ac acName1008[] = "Manufacturer Device Name";
_ac acName1009[] = "Manufacturer Hardware Version";
_ac acName100A[] = "Manufacturer Software Version";
_ac acName1018[] = "Identity Object";
_ac acName1018_01[] = "Vendor ID";
_ac acName1018_02[] = "Product Code";
_ac acName1018_03[] = "Revision Number";
_ac acName1018_04[] = "Serial Number";
_ac acNameMO[] = "Mapped object";
_ac acName1600[] = "Receive PDO mapping";
_ac acName1A00[] = "Transmit PDO mapping";
_ac acName1C00[] = "Sync Manager Communication type";
_ac acName1C00_01[] = "Communications type SM0";
_ac acName1C00_02[] = "Communications type SM1";
_ac acName1C00_03[] = "Communications type SM2";
_ac acName1C00_04[] = "Communications type SM3";
_ac acName1C10[] = "Sync Manager 0 PDO Assignment";
_ac acName1C11[] = "Sync Manager 1 PDO Assignment";
_ac acName1C12[] = "Sync Manager 2 PDO Assignment";
_ac acName1C13[] = "Sync Manager 3 PDO Assignment";
_ac acNameNOE[] = "Number of entries";
_ac acName6000[] = "Digital Inputs";
_ac acName6000_01[] = "Button";
_ac acName6000_02[] = "Encoder";
_ac acName7000[] = "Digital outputs";
_ac acName7000_01[] = "LED";
_ac acName7100[] = "Parameters";
_ac acName7100_01[] = "Encoder scale";
_ac acName7100_02[] = "Encoder scale mirror";
_ac acName8001[] = "Slave commands";
_ac acName8001_01[] = "Reset counter";
//_ac acName[]="";
char ac1008_00[] = "SOES test application";
char ac1009_00[] = "0.0.2";
char ac100A_00[] = "0.9.3";
FLASHSTORE _objd SDO1000[] =
{ {0x00, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1000[0], 0x00000000, nil} };
FLASHSTORE _objd SDO1008[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1008_00) << 3, ATYPE_R, &acName1008[0], 0, &ac1008_00[0]}
};
FLASHSTORE _objd SDO1009[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1009_00) << 3, ATYPE_R, &acName1009[0], 0, &ac1009_00[0]}
};
FLASHSTORE _objd SDO100A[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac100A_00) << 3, ATYPE_R, &acName100A[0], 0, &ac100A_00[0]}
};
FLASHSTORE _objd SDO1018[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_01[0], 0x00001337, nil},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_02[0], 0x12783456, nil},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_03[0], 0x00000001, nil},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_04[0], 0x00000000, nil}
};
FLASHSTORE _objd SDO1600[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil}
};
FLASHSTORE _objd SDO1A00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x60000108, nil},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x60000220, nil}
};
FLASHSTORE _objd SDO1C00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_01[0], 0x01, nil},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_02[0], 0x02, nil},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_03[0], 0x03, nil},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_04[0], 0x04, nil}
};
FLASHSTORE _objd SDO1C10[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C10[0], 0x00, nil}
};
FLASHSTORE _objd SDO1C11[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C11[0], 0x00, nil}
};
FLASHSTORE _objd SDO1C12[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil}
};
FLASHSTORE _objd SDO1C13[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1A00, nil}
};
FLASHSTORE _objd SDO6000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName6000_01[0], 0, &(Rb.button)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName6000_02[0], 0, &(Rb.encoder)}
};
FLASHSTORE _objd SDO7000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
};
FLASHSTORE _objd SDO7100[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName7100_02[0], 0, &(encoder_scale_mirror)}
};
FLASHSTORE _objd SDO8001[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName8001_01[0], 0, &(Cb.reset_counter)},
};
FLASHSTORE _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, nil, nil}
};
#endif
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