118 lines
3.2 KiB
C
118 lines
3.2 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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CC_PACKED_BEGIN
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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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uint64_t value;
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void *data;
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} _objd;
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CC_PACKED_END
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CC_PACKED_BEGIN
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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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CC_PACKED_END
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typedef struct
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{
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const _objd * obj;
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uint16_t offset;
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} _SMmap;
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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_Rpre 0x01
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#define ATYPE_Rsafe 0x02
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#define ATYPE_Rop 0x04
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#define ATYPE_Wpre 0x08
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#define ATYPE_Wsafe 0x10
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#define ATYPE_Wop 0x20
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#define ATYPE_RXPDO 0x40
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#define ATYPE_TXPDO 0x80
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#define ATYPE_RO (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
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#define ATYPE_RW (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop | ATYPE_RO)
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#define ATYPE_RWpre (ATYPE_Wpre | ATYPE_RO)
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#define TX_PDO_OBJIDX 0x1c13
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#define RX_PDO_OBJIDX 0x1c12
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void ESC_coeprocess (void);
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uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
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void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode);
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void COE_initDefaultValues (void);
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void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
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void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
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uint8_t COE_maxSub (uint16_t index);
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extern void ESC_objecthandler (uint16_t index, uint8_t subindex, bool isCA);
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extern uint32_t ESC_pre_objecthandler (uint16_t index,
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uint8_t subindex,
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void * data,
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size_t size,
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bool isCA);
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extern const _objectlist SDOobjects[];
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#endif
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