Updated code for endurance test bench to run lss slaves
This commit is contained in:
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b29a376904
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@ -5,10 +5,10 @@ FileVersion=1.0
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FileRevision=1.0
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EDSVersion=4.0
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Description=EDS
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CreationTime=13:50PM
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CreationDate=02-11-25
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ModificationTime=13:50PM
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ModificationDate=02-11-25
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CreationTime=15:45PM
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CreationDate=02-14-25
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ModificationTime=15:45PM
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ModificationDate=02-14-25
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CreatedBy=Aniket Saha
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ModifiedBy=Aniket Saha
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@ -61,7 +61,7 @@ SupportedObjects=2
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2=0x3000
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[OptionalObjects]
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SupportedObjects=51
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SupportedObjects=33
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1=0x1003
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2=0x1008
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3=0x1014
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@ -73,46 +73,28 @@ SupportedObjects=51
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9=0x1200
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10=0x1280
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11=0x1281
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12=0x1282
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13=0x1283
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14=0x1284
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15=0x1285
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16=0x1286
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17=0x1287
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18=0x1288
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19=0x1289
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20=0x128a
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21=0x128b
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22=0x128c
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23=0x128d
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24=0x128e
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25=0x128f
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26=0x1290
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27=0x1291
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28=0x1292
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29=0x1293
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30=0x1400
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31=0x1401
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32=0x1402
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33=0x1600
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34=0x1601
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35=0x1602
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36=0x1800
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37=0x1801
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38=0x1802
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39=0x1803
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40=0x1804
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41=0x1a00
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42=0x1a01
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43=0x1a02
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44=0x1a03
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45=0x1a04
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46=0x6000
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47=0x6001
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48=0x6002
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49=0x6003
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50=0x6004
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51=0x6005
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12=0x1400
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13=0x1401
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14=0x1402
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15=0x1600
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16=0x1601
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17=0x1602
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18=0x1800
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19=0x1801
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20=0x1802
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21=0x1803
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22=0x1804
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23=0x1a00
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24=0x1a01
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25=0x1a02
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26=0x1a03
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27=0x1a04
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28=0x6000
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29=0x6001
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30=0x6002
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31=0x6003
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32=0x6004
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33=0x6005
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[1000]
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ParameterName=Device Type
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@ -177,7 +159,7 @@ DefaultValue=0x0
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[1016]
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ParameterName=Consumer Heartbeat Time
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ObjectType=8
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SubNumber=2
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SubNumber=3
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[1016sub0]
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ParameterName=Number of entries
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@ -185,7 +167,7 @@ ObjectType=7
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DataType=5
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AccessType=ro
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PDOMapping=0
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DefaultValue=1
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DefaultValue=2
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[1016sub1]
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ParameterName=Consumer Heartbeat Time
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@ -195,6 +177,14 @@ AccessType=rw
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PDOMapping=0
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DefaultValue=0x0000
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[1016sub2]
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ParameterName=Consumer Heartbeat Time
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x0000
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[1017]
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ParameterName=Producer Heartbeat Time
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ObjectType=7
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@ -389,672 +379,6 @@ DataType=5
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AccessType=rw
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PDOMapping=0
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[1282]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1282sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1282sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1282sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1282sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1283]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1283sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1283sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1283sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1283sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1284]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1284sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1284sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1284sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1284sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1285]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1285sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1285sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1285sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1285sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1286]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1286sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1286sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1286sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1286sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1287]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[1287sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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[1287sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1287sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1287sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1288]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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||||
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[1288sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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||||
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[1288sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1288sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1288sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[1289]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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||||
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[1289sub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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||||
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[1289sub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1289sub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[1289sub3]
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ParameterName=Node-ID of the SDO server
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ObjectType=7
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DataType=5
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AccessType=rw
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PDOMapping=0
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[128a]
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ParameterName=SDO client parameter
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ObjectType=9
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SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[128asub0]
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ParameterName=Highest sub-index supported
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ObjectType=7
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DataType=5
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AccessType=const
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PDOMapping=0
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DefaultValue=3
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||||
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[128asub1]
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ParameterName=COB-ID client -> server
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[128asub2]
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ParameterName=COB-ID server -> client
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ObjectType=7
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DataType=7
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AccessType=rw
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PDOMapping=0
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DefaultValue=0x80000000
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[128asub3]
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ParameterName=Node-ID of the SDO server
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||||
ObjectType=7
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DataType=5
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AccessType=rw
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||||
PDOMapping=0
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[128b]
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ParameterName=SDO client parameter
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||||
ObjectType=9
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||||
SubNumber=4
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;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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||||
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[128bsub0]
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||||
ParameterName=Highest sub-index supported
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||||
ObjectType=7
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||||
DataType=5
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||||
AccessType=const
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||||
PDOMapping=0
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||||
DefaultValue=3
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||||
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||||
[128bsub1]
|
||||
ParameterName=COB-ID client -> server
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||||
ObjectType=7
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||||
DataType=7
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||||
AccessType=rw
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||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
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||||
|
||||
[128bsub2]
|
||||
ParameterName=COB-ID server -> client
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||||
ObjectType=7
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||||
DataType=7
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||||
AccessType=rw
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||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
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||||
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[128bsub3]
|
||||
ParameterName=Node-ID of the SDO server
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||||
ObjectType=7
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||||
DataType=5
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||||
AccessType=rw
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||||
PDOMapping=0
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||||
|
||||
[128c]
|
||||
ParameterName=SDO client parameter
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||||
ObjectType=9
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||||
SubNumber=4
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||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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||||
|
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[128csub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
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||||
DataType=5
|
||||
AccessType=const
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||||
PDOMapping=0
|
||||
DefaultValue=3
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||||
|
||||
[128csub1]
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||||
ParameterName=COB-ID client -> server
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||||
ObjectType=7
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DataType=7
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||||
AccessType=rw
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||||
PDOMapping=0
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||||
DefaultValue=0x80000000
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||||
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[128csub2]
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||||
ParameterName=COB-ID server -> client
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||||
ObjectType=7
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||||
DataType=7
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||||
AccessType=rw
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||||
PDOMapping=0
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||||
DefaultValue=0x80000000
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[128csub3]
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||||
ParameterName=Node-ID of the SDO server
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||||
ObjectType=7
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DataType=5
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||||
AccessType=rw
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PDOMapping=0
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[128d]
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||||
ParameterName=SDO client parameter
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||||
ObjectType=9
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||||
SubNumber=4
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||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
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[128dsub0]
|
||||
ParameterName=Highest sub-index supported
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||||
ObjectType=7
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||||
DataType=5
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AccessType=const
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||||
PDOMapping=0
|
||||
DefaultValue=3
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||||
|
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[128dsub1]
|
||||
ParameterName=COB-ID client -> server
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||||
ObjectType=7
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||||
DataType=7
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||||
AccessType=rw
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||||
PDOMapping=0
|
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DefaultValue=0x80000000
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||||
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[128dsub2]
|
||||
ParameterName=COB-ID server -> client
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||||
ObjectType=7
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||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
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||||
|
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[128dsub3]
|
||||
ParameterName=Node-ID of the SDO server
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||||
ObjectType=7
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||||
DataType=5
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||||
AccessType=rw
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||||
PDOMapping=0
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|
||||
[128e]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[128esub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[128esub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[128esub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[128esub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[128f]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[128fsub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[128fsub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[128fsub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[128fsub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[1290]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[1290sub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[1290sub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1290sub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1290sub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[1291]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[1291sub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[1291sub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1291sub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1291sub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[1292]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[1292sub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[1292sub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1292sub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1292sub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[1293]
|
||||
ParameterName=SDO client parameter
|
||||
ObjectType=9
|
||||
SubNumber=4
|
||||
;;This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
|
||||
|
||||
[1293sub0]
|
||||
ParameterName=Highest sub-index supported
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=const
|
||||
PDOMapping=0
|
||||
DefaultValue=3
|
||||
|
||||
[1293sub1]
|
||||
ParameterName=COB-ID client -> server
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1293sub2]
|
||||
ParameterName=COB-ID server -> client
|
||||
ObjectType=7
|
||||
DataType=7
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
DefaultValue=0x80000000
|
||||
|
||||
[1293sub3]
|
||||
ParameterName=Node-ID of the SDO server
|
||||
ObjectType=7
|
||||
DataType=5
|
||||
AccessType=rw
|
||||
PDOMapping=0
|
||||
|
||||
[1400]
|
||||
ParameterName=Receive PDO Communication Parameter
|
||||
ObjectType=9
|
||||
|
|
|
|||
|
|
@ -19,17 +19,17 @@
|
|||
#define CO_REC_BUFFER_COUNTS 10u
|
||||
#define CO_TR_BUFFER_COUNTS 20u
|
||||
/* Number of objects per line */
|
||||
#define CO_OBJECTS_LINE_0_CNT 56u
|
||||
#define CO_OBJECT_COUNTS 56u
|
||||
#define CO_COB_COUNTS 56u
|
||||
#define CO_OBJECTS_LINE_0_CNT 38u
|
||||
#define CO_OBJECT_COUNTS 38u
|
||||
#define CO_COB_COUNTS 21u
|
||||
#define CO_TXPDO_COUNTS 5u
|
||||
#define CO_RXPDO_COUNTS 3u
|
||||
#define CO_SSDO_COUNTS 1u
|
||||
#define CO_CSDO_COUNTS 20u
|
||||
#define CO_CSDO_COUNTS 2u
|
||||
#define CO_ASSIGN_COUNTS 0u
|
||||
#define CO_MAX_ASSIGN_COUNTS 0u
|
||||
#define CO_GUARDING_COUNTS CO_MAX_ASSIGN_COUNTS
|
||||
#define CO_ERR_CTRL_COUNTS 1u
|
||||
#define CO_ERR_CTRL_COUNTS 2u
|
||||
#define CO_ERR_HIST_COUNTS 1u
|
||||
#define CO_ACT_ERR_HIST_COUNTS 0u
|
||||
#define CO_EMCY_CONS_COUNTS 0u
|
||||
|
|
@ -40,11 +40,11 @@
|
|||
#define CO_NMT_MASTER 1u
|
||||
#define CO_LSS_MASTER_SUPPORTED 1u
|
||||
#define CO_SDO_SERVER_CNT 1u
|
||||
#define CO_SDO_CLIENT_CNT 20u
|
||||
#define CO_SDO_CLIENT_CNT 2u
|
||||
#define CO_PDO_TRANSMIT_CNT 5u
|
||||
#define CO_PDO_RECEIVE_CNT 3u
|
||||
#define CO_MAX_MAP_ENTRIES 2u
|
||||
#define CO_HB_CONSUMER_CNT 1u
|
||||
#define CO_HB_CONSUMER_CNT 2u
|
||||
#define CO_EMCY_PRODUCER 1u
|
||||
#define CO_EMCY_ERROR_HISTORY 1u
|
||||
#define CO_SDO_BLOCK 1u
|
||||
|
|
@ -54,7 +54,7 @@
|
|||
#define CO_SDO_QUEUE_LEN 0u
|
||||
#define CO_INHIBIT_SUPPORTED 1u
|
||||
/* number of used COB objects */
|
||||
#define CO_COB_CNT 56u
|
||||
#define CO_COB_CNT 21u
|
||||
|
||||
|
||||
/* Definition of number of call-back functions for each service*/
|
||||
|
|
@ -95,7 +95,7 @@
|
|||
#define CO_LSS_INQUIRY_SERVICES 1
|
||||
|
||||
#define CODRV_MCAN_STM32_G4
|
||||
#define CONFIG_MCAN0
|
||||
#define CONFIG_MCAN1
|
||||
#define CUBE_MX_GENERATION
|
||||
|
||||
#define NO_PRINTF
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/*
|
||||
* static indication definitions for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
|
||||
* Tue Feb 11 13:50:12 2025
|
||||
* Fri Feb 14 15:45:52 2025
|
||||
*/
|
||||
|
||||
/* protect against multiple inclusion of the file */
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/*
|
||||
* CO index/J1939 PGN/raw CAN-ID defines for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
|
||||
* Tue Feb 11 13:50:11 2025
|
||||
* Fri Feb 14 15:45:51 2025
|
||||
*/
|
||||
|
||||
/* protect against multiple inclusion of the file */
|
||||
|
|
@ -34,24 +34,6 @@
|
|||
#define S_COB_ID_SERVER_CLIENT 0x2u
|
||||
#define S_NODE_ID_OF_THE_SDO_SERVER 0x3u
|
||||
#define I_SDO_CLIENT_PARAMETER1 0x1281u
|
||||
#define I_SDO_CLIENT_PARAMETER2 0x1282u
|
||||
#define I_SDO_CLIENT_PARAMETER3 0x1283u
|
||||
#define I_SDO_CLIENT_PARAMETER4 0x1284u
|
||||
#define I_SDO_CLIENT_PARAMETER5 0x1285u
|
||||
#define I_SDO_CLIENT_PARAMETER6 0x1286u
|
||||
#define I_SDO_CLIENT_PARAMETER7 0x1287u
|
||||
#define I_SDO_CLIENT_PARAMETER8 0x1288u
|
||||
#define I_SDO_CLIENT_PARAMETER9 0x1289u
|
||||
#define I_SDO_CLIENT_PARAMETER10 0x128au
|
||||
#define I_SDO_CLIENT_PARAMETER11 0x128bu
|
||||
#define I_SDO_CLIENT_PARAMETER12 0x128cu
|
||||
#define I_SDO_CLIENT_PARAMETER13 0x128du
|
||||
#define I_SDO_CLIENT_PARAMETER14 0x128eu
|
||||
#define I_SDO_CLIENT_PARAMETER15 0x128fu
|
||||
#define I_SDO_CLIENT_PARAMETER16 0x1290u
|
||||
#define I_SDO_CLIENT_PARAMETER17 0x1291u
|
||||
#define I_SDO_CLIENT_PARAMETER18 0x1292u
|
||||
#define I_SDO_CLIENT_PARAMETER19 0x1293u
|
||||
#define I_RECEIVE_PDO_COMMUNICATION_PARAMETER 0x1400u
|
||||
#define S_COB_ID 0x1u
|
||||
#define S_TRANSMISSION_TYPE 0x2u
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/*
|
||||
* object dictionary for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
|
||||
* Tue Feb 11 13:50:11 2025
|
||||
* Fri Feb 14 15:45:52 2025
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
|
||||
|
|
@ -31,8 +31,8 @@
|
|||
/* definition of static indication function pointers */
|
||||
|
||||
/* number of objects */
|
||||
#define CO_OD_ASSIGN_CNT 56u
|
||||
#define CO_OBJ_DESC_CNT 212u
|
||||
#define CO_OD_ASSIGN_CNT 38u
|
||||
#define CO_OBJ_DESC_CNT 141u
|
||||
|
||||
/* definition of managed variables */
|
||||
static UNSIGNED8 CO_STORAGE_CLASS od_u8[8]= {
|
||||
|
|
@ -88,9 +88,9 @@ static REAL32 CO_STORAGE_CLASS od_r32[8]= {
|
|||
/* definition of constants */
|
||||
static CO_CONST UNSIGNED8 CO_CONST_STORAGE_CLASS od_const_u8[9] = {
|
||||
(UNSIGNED8)0u,
|
||||
(UNSIGNED8)1u,
|
||||
(UNSIGNED8)4u,
|
||||
(UNSIGNED8)2u,
|
||||
(UNSIGNED8)4u,
|
||||
(UNSIGNED8)1u,
|
||||
(UNSIGNED8)3u,
|
||||
(UNSIGNED8)254u,
|
||||
(UNSIGNED8)5u,
|
||||
|
|
@ -154,17 +154,18 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
|
|||
{ (UNSIGNED8)0u, CO_DTYPE_U16_EMCY , (UNSIGNED16)4117u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1015:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1016:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_ERRCTRL, (UNSIGNED16)4118u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1016:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_ERRCTRL, (UNSIGNED16)4118u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1016:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U16_ERRCTRL, (UNSIGNED16)4119u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)1u},/* 0x1017:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)2u},/* 0x1018:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)2u},/* 0x1018:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1018:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U32_CONST, (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1018:3*/
|
||||
{ (UNSIGNED8)4u, CO_DTYPE_U32_VAR , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1018:4*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1029:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U8_ERRCTRL, (UNSIGNED16)4137u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1029:1*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1029:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U8_ERRCTRL, (UNSIGNED16)4137u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1029:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U8_VAR , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1029:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U16_NMT , (UNSIGNED16)4138u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)2u},/* 0x102a:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1200:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1200:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_SERVER, (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1200:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_SERVER, (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)6u},/* 0x1200:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1280:0*/
|
||||
|
|
@ -175,94 +176,22 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
|
|||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1281:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1281:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1281:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1282:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1282:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1282:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1282:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1283:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1283:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1283:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1283:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1284:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1284:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1284:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1284:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1285:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1285:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1285:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1285:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1286:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1286:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1286:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1286:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1287:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1287:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1287:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1287:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1288:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)9u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1288:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)9u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1288:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)9u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1288:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1289:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)10u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1289:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)10u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1289:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)10u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1289:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128a:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128a:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128a:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128a:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128b:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128b:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128b:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128b:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128c:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128c:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128c:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128c:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128d:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)14u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128d:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)14u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128d:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)14u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128d:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128e:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)15u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128e:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)15u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128e:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)15u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128e:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x128f:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)16u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128f:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)16u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x128f:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)16u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x128f:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1290:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)17u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1290:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)17u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1290:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)17u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1290:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1291:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)18u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1291:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)18u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1291:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)18u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1291:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1292:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)19u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1292:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)19u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1292:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)19u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1292:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1293:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1293:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1293:2*/
|
||||
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1293:3*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1400:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1400:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_RPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)8u},/* 0x1400:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U8_RPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1400:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1401:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1401:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_RPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)8u},/* 0x1401:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U8_RPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1401:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1402:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1402:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_RPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)8u},/* 0x1402:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U8_RPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1402:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1600:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1600:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)9u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)9u},/* 0x1600:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)10u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)10u},/* 0x1600:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1601:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1601:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)11u},/* 0x1601:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)12u},/* 0x1601:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1602:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1602:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)13u},/* 0x1602:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)14u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)14u},/* 0x1602:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)6u},/* 0x1800:0*/
|
||||
|
|
@ -299,23 +228,23 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
|
|||
{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1804:4*/
|
||||
{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1804:5*/
|
||||
{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1804:6*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1a00:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1a00:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)19u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)19u},/* 0x1a00:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)20u},/* 0x1a00:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1a01:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1a01:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)21u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)21u},/* 0x1a01:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)22u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)22u},/* 0x1a01:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1a02:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1a02:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)23u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)23u},/* 0x1a02:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)24u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)24u},/* 0x1a02:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1a03:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1a03:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)25u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)25u},/* 0x1a03:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)26u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)26u},/* 0x1a03:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1a04:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1a04:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)11u},/* 0x1a04:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)12u},/* 0x1a04:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_I32_VAR , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC, (UNSIGNED16)0u},/* 0x2001:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x3000:0*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x3000:0*/
|
||||
{ (UNSIGNED8)1u, CO_DTYPE_I16_VAR , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR, (UNSIGNED16)0u},/* 0x3000:1*/
|
||||
{ (UNSIGNED8)2u, CO_DTYPE_I16_VAR , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC, (UNSIGNED16)1u},/* 0x3000:2*/
|
||||
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)6u},/* 0x6000:0*/
|
||||
|
|
@ -367,56 +296,38 @@ CO_CONST CO_OD_ASSIGN_T CO_CONST_STORAGE_CLASS od_assign[CO_OD_ASSIGN_CNT] = {
|
|||
{ 0x1008u, 1u, 0u, CO_ODTYPE_VAR, 4u },
|
||||
{ 0x1014u, 1u, 0u, CO_ODTYPE_VAR, 5u },
|
||||
{ 0x1015u, 1u, 0u, CO_ODTYPE_VAR, 6u },
|
||||
{ 0x1016u, 2u, 1u, CO_ODTYPE_ARRAY, 7u },
|
||||
{ 0x1017u, 1u, 0u, CO_ODTYPE_VAR, 9u },
|
||||
{ 0x1018u, 5u, 4u, CO_ODTYPE_STRUCT, 10u },
|
||||
{ 0x1029u, 3u, 2u, CO_ODTYPE_ARRAY, 15u },
|
||||
{ 0x102au, 1u, 0u, CO_ODTYPE_VAR, 18u },
|
||||
{ 0x1200u, 3u, 2u, CO_ODTYPE_STRUCT, 19u },
|
||||
{ 0x1280u, 4u, 3u, CO_ODTYPE_STRUCT, 22u },
|
||||
{ 0x1281u, 4u, 3u, CO_ODTYPE_STRUCT, 26u },
|
||||
{ 0x1282u, 4u, 3u, CO_ODTYPE_STRUCT, 30u },
|
||||
{ 0x1283u, 4u, 3u, CO_ODTYPE_STRUCT, 34u },
|
||||
{ 0x1284u, 4u, 3u, CO_ODTYPE_STRUCT, 38u },
|
||||
{ 0x1285u, 4u, 3u, CO_ODTYPE_STRUCT, 42u },
|
||||
{ 0x1286u, 4u, 3u, CO_ODTYPE_STRUCT, 46u },
|
||||
{ 0x1287u, 4u, 3u, CO_ODTYPE_STRUCT, 50u },
|
||||
{ 0x1288u, 4u, 3u, CO_ODTYPE_STRUCT, 54u },
|
||||
{ 0x1289u, 4u, 3u, CO_ODTYPE_STRUCT, 58u },
|
||||
{ 0x128au, 4u, 3u, CO_ODTYPE_STRUCT, 62u },
|
||||
{ 0x128bu, 4u, 3u, CO_ODTYPE_STRUCT, 66u },
|
||||
{ 0x128cu, 4u, 3u, CO_ODTYPE_STRUCT, 70u },
|
||||
{ 0x128du, 4u, 3u, CO_ODTYPE_STRUCT, 74u },
|
||||
{ 0x128eu, 4u, 3u, CO_ODTYPE_STRUCT, 78u },
|
||||
{ 0x128fu, 4u, 3u, CO_ODTYPE_STRUCT, 82u },
|
||||
{ 0x1290u, 4u, 3u, CO_ODTYPE_STRUCT, 86u },
|
||||
{ 0x1291u, 4u, 3u, CO_ODTYPE_STRUCT, 90u },
|
||||
{ 0x1292u, 4u, 3u, CO_ODTYPE_STRUCT, 94u },
|
||||
{ 0x1293u, 4u, 3u, CO_ODTYPE_STRUCT, 98u },
|
||||
{ 0x1400u, 3u, 2u, CO_ODTYPE_STRUCT, 102u },
|
||||
{ 0x1401u, 3u, 2u, CO_ODTYPE_STRUCT, 105u },
|
||||
{ 0x1402u, 3u, 2u, CO_ODTYPE_STRUCT, 108u },
|
||||
{ 0x1600u, 3u, 2u, CO_ODTYPE_STRUCT, 111u },
|
||||
{ 0x1601u, 3u, 2u, CO_ODTYPE_STRUCT, 114u },
|
||||
{ 0x1602u, 3u, 2u, CO_ODTYPE_STRUCT, 117u },
|
||||
{ 0x1800u, 6u, 5u, CO_ODTYPE_STRUCT, 120u },
|
||||
{ 0x1801u, 7u, 6u, CO_ODTYPE_STRUCT, 126u },
|
||||
{ 0x1802u, 7u, 6u, CO_ODTYPE_STRUCT, 133u },
|
||||
{ 0x1803u, 7u, 6u, CO_ODTYPE_STRUCT, 140u },
|
||||
{ 0x1804u, 7u, 6u, CO_ODTYPE_STRUCT, 147u },
|
||||
{ 0x1a00u, 3u, 2u, CO_ODTYPE_STRUCT, 154u },
|
||||
{ 0x1a01u, 3u, 2u, CO_ODTYPE_STRUCT, 157u },
|
||||
{ 0x1a02u, 3u, 2u, CO_ODTYPE_STRUCT, 160u },
|
||||
{ 0x1a03u, 3u, 2u, CO_ODTYPE_STRUCT, 163u },
|
||||
{ 0x1a04u, 3u, 2u, CO_ODTYPE_STRUCT, 166u },
|
||||
{ 0x2001u, 1u, 0u, CO_ODTYPE_VAR, 169u },
|
||||
{ 0x3000u, 3u, 2u, CO_ODTYPE_ARRAY, 170u },
|
||||
{ 0x6000u, 6u, 5u, CO_ODTYPE_ARRAY, 173u },
|
||||
{ 0x6001u, 7u, 6u, CO_ODTYPE_ARRAY, 179u },
|
||||
{ 0x6002u, 7u, 6u, CO_ODTYPE_ARRAY, 186u },
|
||||
{ 0x6003u, 9u, 8u, CO_ODTYPE_ARRAY, 193u },
|
||||
{ 0x6004u, 5u, 4u, CO_ODTYPE_ARRAY, 202u },
|
||||
{ 0x6005u, 5u, 4u, CO_ODTYPE_ARRAY, 207u },
|
||||
{ 0x1016u, 3u, 2u, CO_ODTYPE_ARRAY, 7u },
|
||||
{ 0x1017u, 1u, 0u, CO_ODTYPE_VAR, 10u },
|
||||
{ 0x1018u, 5u, 4u, CO_ODTYPE_STRUCT, 11u },
|
||||
{ 0x1029u, 3u, 2u, CO_ODTYPE_ARRAY, 16u },
|
||||
{ 0x102au, 1u, 0u, CO_ODTYPE_VAR, 19u },
|
||||
{ 0x1200u, 3u, 2u, CO_ODTYPE_STRUCT, 20u },
|
||||
{ 0x1280u, 4u, 3u, CO_ODTYPE_STRUCT, 23u },
|
||||
{ 0x1281u, 4u, 3u, CO_ODTYPE_STRUCT, 27u },
|
||||
{ 0x1400u, 3u, 2u, CO_ODTYPE_STRUCT, 31u },
|
||||
{ 0x1401u, 3u, 2u, CO_ODTYPE_STRUCT, 34u },
|
||||
{ 0x1402u, 3u, 2u, CO_ODTYPE_STRUCT, 37u },
|
||||
{ 0x1600u, 3u, 2u, CO_ODTYPE_STRUCT, 40u },
|
||||
{ 0x1601u, 3u, 2u, CO_ODTYPE_STRUCT, 43u },
|
||||
{ 0x1602u, 3u, 2u, CO_ODTYPE_STRUCT, 46u },
|
||||
{ 0x1800u, 6u, 5u, CO_ODTYPE_STRUCT, 49u },
|
||||
{ 0x1801u, 7u, 6u, CO_ODTYPE_STRUCT, 55u },
|
||||
{ 0x1802u, 7u, 6u, CO_ODTYPE_STRUCT, 62u },
|
||||
{ 0x1803u, 7u, 6u, CO_ODTYPE_STRUCT, 69u },
|
||||
{ 0x1804u, 7u, 6u, CO_ODTYPE_STRUCT, 76u },
|
||||
{ 0x1a00u, 3u, 2u, CO_ODTYPE_STRUCT, 83u },
|
||||
{ 0x1a01u, 3u, 2u, CO_ODTYPE_STRUCT, 86u },
|
||||
{ 0x1a02u, 3u, 2u, CO_ODTYPE_STRUCT, 89u },
|
||||
{ 0x1a03u, 3u, 2u, CO_ODTYPE_STRUCT, 92u },
|
||||
{ 0x1a04u, 3u, 2u, CO_ODTYPE_STRUCT, 95u },
|
||||
{ 0x2001u, 1u, 0u, CO_ODTYPE_VAR, 98u },
|
||||
{ 0x3000u, 3u, 2u, CO_ODTYPE_ARRAY, 99u },
|
||||
{ 0x6000u, 6u, 5u, CO_ODTYPE_ARRAY, 102u },
|
||||
{ 0x6001u, 7u, 6u, CO_ODTYPE_ARRAY, 108u },
|
||||
{ 0x6002u, 7u, 6u, CO_ODTYPE_ARRAY, 115u },
|
||||
{ 0x6003u, 9u, 8u, CO_ODTYPE_ARRAY, 122u },
|
||||
{ 0x6004u, 5u, 4u, CO_ODTYPE_ARRAY, 131u },
|
||||
{ 0x6005u, 5u, 4u, CO_ODTYPE_ARRAY, 136u },
|
||||
};
|
||||
|
||||
/* static PDO mapping tables */
|
||||
|
|
@ -622,98 +533,8 @@ CO_COMMON_INIT_VAL_T commonInitVars = {
|
|||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(3u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(4u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(5u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(6u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(7u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(8u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(9u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(10u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(11u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(12u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(13u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(14u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(15u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(16u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(17u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(18u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(19u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
retVal = coSdoClientInit(20u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
CO_HANDLE_WATCHDOG
|
||||
/* initialize error control */
|
||||
retVal = coErrorCtrlInit(od_const_u16[1], 1u);
|
||||
retVal = coErrorCtrlInit(od_const_u16[1], 2u);
|
||||
if (retVal != RET_OK) {
|
||||
return(retVal);
|
||||
}
|
||||
|
|
@ -827,150 +648,6 @@ RET_T userOverwriteCobIdSettings(void)
|
|||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1281, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1282, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1282, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1282, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1282, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1283, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1283, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1283, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1283, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1284, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1284, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1284, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1284, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1285, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1285, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1285, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1285, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1286, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1286, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1286, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1286, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1287, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1287, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1287, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1287, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1288, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1288, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1288, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1288, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1289, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1289, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1289, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1289, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128a, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128a, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128a, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128a, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128b, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128b, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128b, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128b, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128c, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128c, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128c, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128c, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128d, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128d, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128d, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128d, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128e, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128e, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128e, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128e, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128f, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128f, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x128f, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x128f, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1290, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1290, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1290, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1290, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1291, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1291, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1291, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1291, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1292, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1292, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1292, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1292, 2, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1293, 1, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1293, 1, cobId);
|
||||
}
|
||||
ret = coOdGetDefaultVal_u32(0x1293, 2, &cobId);
|
||||
if (ret == RET_OK) {
|
||||
ret = coOdSetCobid(0x1293, 2, cobId);
|
||||
}
|
||||
|
||||
/* RxPDO COB IDs */
|
||||
cobId = nodeId + 0x200;
|
||||
|
|
|
|||
|
|
@ -40,10 +40,17 @@
|
|||
#define SDL_LSS_NODE_HB_MS 1000uL
|
||||
#define SDL_LSS_NODE_STATE_RESET_INTERVAL 3u
|
||||
|
||||
#define SDL_TEST_BENCH_SDO_TIMEOUT 1000u
|
||||
#define SDL_TEST_BENCH_STARTUP_TIMEOUT 10000uLL
|
||||
|
||||
#define SDL_POSITION_SETPOINT_INDEX 0x6002
|
||||
#define SDL_POSITION_SETPOINT_SUB_INDEX 0x0
|
||||
#define SDL_POSITION_FEEDBACK_INDEX 0x6004
|
||||
#define SDL_POSITION_FEEDBACK_SUB_INDEX 0x0
|
||||
|
||||
#define SDL_SDO_CLIENT_COB 0x1280
|
||||
#define SDL_SDO_CLIENT_TO_SERVER_COB 0x600
|
||||
#define SDL_SDO_SERVER_TO_CLIENT_COB 0x580
|
||||
/******************************************************************************
|
||||
* Type Declarations
|
||||
******************************************************************************/
|
||||
|
|
@ -65,13 +72,26 @@ static bool monitorSleep_gb = CO_FALSE; /**< sleep flag */
|
|||
static bool masterStarted_gb; /**< master started flag */
|
||||
static const SdlLssNodeInfo_t nodeLookupTable_gast[SDL_LSS_NODE_COUNT] =
|
||||
{
|
||||
{0x319, 0x0, 0x0, 0x0, 0x12},
|
||||
{0x319, 0x0, 0x3, 0x0, 0x6},
|
||||
{0x319, 0x2, 0x0, 0x0, 0x7},
|
||||
{0x319, 0x4d2, 0x1, 0x0, 0x18},
|
||||
{0x31, 0x4d2, 0x5, 0x0, 0x9},
|
||||
{0x3, 0x4d2, 0x6, 0x0, 0x10},
|
||||
{0x1, 0x4d2, 0x7, 0x0, 0x11}
|
||||
{0x319, 0x4d2, 0x1, 0x01, 0x5} ,
|
||||
{0x319, 0x4d2, 0x1, 0x02, 0x6} ,
|
||||
{0x319, 0x4d2, 0x1, 0x03, 0x7} ,
|
||||
{0x319, 0x4d2, 0x1, 0x04, 0x8} ,
|
||||
{0x319, 0x4d2, 0x1, 0x05, 0x9} ,
|
||||
{0x319, 0x4d2, 0x1, 0x06, 0xA} ,
|
||||
{0x319, 0x4d2, 0x1, 0x07, 0xB} ,
|
||||
{0x319, 0x4d2, 0x1, 0x08, 0xC} ,
|
||||
{0x319, 0x4d2, 0x1, 0x09, 0xD} ,
|
||||
{0x319, 0x4d2, 0x1, 0x0A, 0xE} ,
|
||||
{0x319, 0x4d2, 0x1, 0x0B, 0xF} ,
|
||||
{0x319, 0x4d2, 0x1, 0x0C, 0x10},
|
||||
{0x319, 0x4d2, 0x1, 0x0D, 0x11},
|
||||
{0x319, 0x4d2, 0x1, 0x0E, 0x12},
|
||||
{0x319, 0x4d2, 0x1, 0x0F, 0x13},
|
||||
{0x319, 0x4d2, 0x1, 0x10, 0x14},
|
||||
{0x319, 0x4d2, 0x1, 0x11, 0x15},
|
||||
{0x319, 0x4d2, 0x1, 0x12, 0x16},
|
||||
{0x319, 0x4d2, 0x1, 0x13, 0x17},
|
||||
{0x319, 0x4d2, 0x1, 0x14, 0x18}
|
||||
};
|
||||
static CO_NMT_STATE_T nodeNMTState_gaen[SDL_LSS_NODE_COUNT];
|
||||
/******************************************************************************
|
||||
|
|
@ -92,7 +112,7 @@ static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8);
|
|||
* Need this function for overwriting the manual COB ids
|
||||
* for the TPDO. */
|
||||
extern void userOverwriteCobIdSettings(void);
|
||||
|
||||
static bool SdlAreAllNodesOperational(void);
|
||||
static void SdlEnduranceTestBenchRun(void);
|
||||
/******************************************************************************
|
||||
* Public Function Definitions
|
||||
|
|
@ -107,6 +127,10 @@ void SdlRun(void)
|
|||
{
|
||||
SdlRunCanopen();
|
||||
SdlLssNodeHandlerRun();
|
||||
if (SdlAreAllNodesOperational())
|
||||
{
|
||||
SdlEnduranceTestBenchRun();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -119,21 +143,22 @@ void SdlRun(void)
|
|||
*/
|
||||
static void SdlInitCanopen(void)
|
||||
{
|
||||
RET_T retval;
|
||||
HalSystemInit();
|
||||
codrvHardwareInit();
|
||||
codrvCanInit(SDL_CANOPEN_BITRATE);
|
||||
codrvTimerSetup(CO_TIMER_INTERVAL);
|
||||
retval = codrvCanInit(SDL_CANOPEN_BITRATE);
|
||||
retval = codrvTimerSetup(CO_TIMER_INTERVAL);
|
||||
|
||||
/* CANopen Initialization */
|
||||
coCanOpenStackInit(SdlOverwriteLoadIndication);
|
||||
coEventRegister_LSS_MASTER(SdlLssIndCallback);
|
||||
coEventRegister_ERRCTRL(SdlLssHbMonitorCallback);
|
||||
retval = coCanOpenStackInit(SdlOverwriteLoadIndication);
|
||||
retval = coEventRegister_LSS_MASTER(SdlLssIndCallback);
|
||||
retval = coEventRegister_ERRCTRL(SdlLssHbMonitorCallback);
|
||||
|
||||
/* enable CAN communication */
|
||||
codrvCanEnable();
|
||||
coTimerStart(&monitorTimer_gst, SDL_APPL_TIMER_TIME, SdlLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
|
||||
coTimerStart(&nodeResetTimer_gst, (SDL_LSS_NODE_STATE_RESET_INTERVAL * 1000000uLL), SdlLssResetNodesCallback, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
|
||||
coNmtStateReq(SDL_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
|
||||
retval = codrvCanEnable();
|
||||
retval = coTimerStart(&monitorTimer_gst, SDL_APPL_TIMER_TIME, SdlLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
|
||||
retval = coTimerStart(&nodeResetTimer_gst, (SDL_LSS_NODE_STATE_RESET_INTERVAL * 1000000uLL), SdlLssResetNodesCallback, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
|
||||
retval = coNmtStateReq(SDL_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
|
||||
|
||||
coLssIdentifyNonConfiguredSlaves(SDL_LSS_CONFIG_TIMEOUT, SDL_LSS_CONFIG_INTERVAL);
|
||||
}
|
||||
|
|
@ -147,7 +172,6 @@ static void SdlRunCanopen(void)
|
|||
{
|
||||
coCommTask();
|
||||
SdlLssNodeHandlerRun();
|
||||
SdlEnduranceTestBenchRun();
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -259,20 +283,19 @@ static uint32 SdlLssConfigureNode(uint8 arrIndex_u8)
|
|||
uint32 error_u32 = SDL_DEFAULT_ERROR;
|
||||
RET_T retVal_en = RET_INTERNAL_ERROR;
|
||||
uint16 hb_u16 = 500u;
|
||||
/* Get the node ID from the lookup table using arrIndex_u8 */
|
||||
|
||||
/* Get the node ID from the lookup table using the index passed */
|
||||
uint8 nodeId_u8 = nodeLookupTable_gast[arrIndex_u8].nodeId_u8;
|
||||
|
||||
/* Add node to hb consumers with +25% tolerance
|
||||
/* Add node to heartbeat consumers with +25% tolerance
|
||||
* Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts,
|
||||
* bus delays, or transmission issues.*/
|
||||
retVal_en = coHbConsumerSet(nodeId_u8,
|
||||
((SDL_LSS_NODE_HB_MS / 100 * 25) + SDL_LSS_NODE_HB_MS));
|
||||
((SDL_LSS_NODE_HB_MS / 100u * 25u) + SDL_LSS_NODE_HB_MS));
|
||||
retVal_en = coHbConsumerStart(nodeId_u8);
|
||||
|
||||
/* setup SDO channel */
|
||||
retVal_en = SdlLssSetSdoCobID((arrIndex_u8 + 1), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
|
||||
|
||||
retVal_en = coSdoWrite((arrIndex_u8 + 1), 0x1017u, 0u, (uint8*)(&hb_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = SdlLssSetSdoCobID((arrIndex_u8 + 1u), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
|
||||
|
||||
/* start node */
|
||||
retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE);
|
||||
|
|
@ -339,7 +362,7 @@ static void SdlLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCo
|
|||
|
||||
case CO_LSS_MASTER_SERVICE_FASTSCAN:
|
||||
/* Match detected node with lookup table */
|
||||
for (uint8 i_u8 = 0; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32 &&
|
||||
pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32 &&
|
||||
|
|
@ -446,7 +469,7 @@ static void SdlLssResetNodesCallback(void *pData_pv)
|
|||
(void)pData_pv;
|
||||
|
||||
/* reset defined nodes without known state */
|
||||
for (arrIndex_u8 = 0u; arrIndex_u8 < 3; arrIndex_u8++)
|
||||
for (arrIndex_u8 = 0u; arrIndex_u8 < SDL_LSS_NODE_COUNT; arrIndex_u8++)
|
||||
{
|
||||
if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) &&
|
||||
(nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL))
|
||||
|
|
@ -472,95 +495,106 @@ static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8)
|
|||
{
|
||||
uint16 cobIndex_u16;
|
||||
uint32 newCobId_u32;
|
||||
RET_T retVal = RET_INTERNAL_ERROR;
|
||||
RET_T retVal_en = RET_INTERNAL_ERROR;
|
||||
|
||||
/* get od index of sdoNr */
|
||||
cobIndex_u16 = 0x1280u + sdoNr_u8 - 1u;
|
||||
cobIndex_u16 = SDL_SDO_CLIENT_COB + sdoNr_u8 - 1u; /* SDO starts from 1280 index */
|
||||
|
||||
/* set cobID for client to server direction (request) */
|
||||
newCobId_u32 = 0x600u + nodeId_u8;
|
||||
retVal = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
|
||||
newCobId_u32 = SDL_SDO_CLIENT_TO_SERVER_COB + nodeId_u8;
|
||||
retVal_en = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
|
||||
|
||||
if (retVal == RET_OK)
|
||||
if (retVal_en == RET_OK)
|
||||
{
|
||||
/* set cobID for server to client direction (response) */
|
||||
newCobId_u32 = 0x580u + nodeId_u8;
|
||||
retVal = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
|
||||
newCobId_u32 = SDL_SDO_SERVER_TO_CLIENT_COB + nodeId_u8;
|
||||
retVal_en = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
|
||||
}
|
||||
|
||||
/* print failed setup details */
|
||||
if (retVal != RET_OK)
|
||||
if (retVal_en != RET_OK)
|
||||
{
|
||||
/* ERROR */
|
||||
}
|
||||
|
||||
return retVal;
|
||||
return retVal_en;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief This is the main function that runs the endurance
|
||||
* test bench.
|
||||
*
|
||||
* @return void
|
||||
*
|
||||
*/
|
||||
static void SdlEnduranceTestBenchRun(void)
|
||||
{
|
||||
RET_T retVal_en = RET_INTERNAL_ERROR;
|
||||
uint16 max_u16 = NMS_UINT8_MAX;
|
||||
uint16 min_u16 = 0u;
|
||||
RET_T retVal_en;
|
||||
uint8 max_u8 = NMS_UINT8_MAX;
|
||||
uint8 min_u8 = 0u;
|
||||
static uint64 startTime_u64 = 0uLL;
|
||||
uint8 alternate_u8 = 0u;
|
||||
uint64 currentTime_u64;
|
||||
|
||||
|
||||
if(startTime_u64 == 0uLL)
|
||||
{
|
||||
HalSystemGetRunTimeMs(&startTime_u64);
|
||||
srand(startTime_u64);
|
||||
}
|
||||
HalSystemGetRunTimeMs(¤tTime_u64);
|
||||
if(currentTime_u64 - startTime_u64 <= 10000uLL)
|
||||
if(currentTime_u64 - startTime_u64 <= SDL_TEST_BENCH_STARTUP_TIMEOUT)
|
||||
{
|
||||
if(alternate_u8 == 0u)
|
||||
{
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT / 2; i_u8++)
|
||||
{
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&max_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&max_u8), sizeof(max_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
}
|
||||
for (uint8 i_u8 = 10u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&min_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&min_u8), sizeof(min_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT / 2; i_u8++)
|
||||
{
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&min_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&min_u8), sizeof(min_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
}
|
||||
for (uint8 i_u8 = 10u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&max_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&max_u8), sizeof(max_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
}
|
||||
}
|
||||
uint16 readPos_u16 = 0u;
|
||||
uint8 readPos_u8 = 0u;
|
||||
bool allMotorsReached_b = false;
|
||||
|
||||
while (!allMotorsReached_b)
|
||||
{
|
||||
allMotorsReached_b = true; // Assume all motors have reached the position
|
||||
allMotorsReached_b = true; /* Assume all motors have reached the position */
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
retVal_en = coSdoRead((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&readPos_u16), 2u, CO_FALSE, 1000u);
|
||||
retVal_en = coSdoRead((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&readPos_u8), sizeof(readPos_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
if (alternate_u8 == 0u)
|
||||
{
|
||||
if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u16 != max_u16) ||
|
||||
(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u16 != min_u16))
|
||||
if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u8 != max_u8) ||
|
||||
(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u8 != min_u8))
|
||||
{
|
||||
allMotorsReached_b = false; // Keep waiting
|
||||
allMotorsReached_b = false; /* Keep waiting */
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u16 != min_u16) ||
|
||||
(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u16 != max_u16))
|
||||
if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u8 != min_u8) ||
|
||||
(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u8 != max_u8))
|
||||
{
|
||||
allMotorsReached_b = false; // Keep waiting
|
||||
allMotorsReached_b = false; /* Keep waiting */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -571,9 +605,28 @@ static void SdlEnduranceTestBenchRun(void)
|
|||
{
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
uint16 randomPos_u16 = (uint16)(rand() % (NMS_UINT8_MAX + 1));
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX, (uint8*)(&randomPos_u16), 2u, CO_FALSE, 1000u);
|
||||
uint8 randomPos_u8 = (rand() % (NMS_UINT8_MAX + 1));
|
||||
retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
|
||||
(uint8*)(&randomPos_u8), sizeof(randomPos_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Checks if all nodes are in OPERATIONAL state.
|
||||
*
|
||||
* @return CO_TRUE if all nodes are OPERATIONAL, CO_FALSE otherwise.
|
||||
*/
|
||||
static bool SdlAreAllNodesOperational(void)
|
||||
{
|
||||
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
|
||||
{
|
||||
if (nodeNMTState_gaen[i_u8] != CO_NMT_STATE_OPERATIONAL)
|
||||
{
|
||||
return CO_FALSE; /* If any node is not in OPERATIONAL, return false */
|
||||
}
|
||||
}
|
||||
return CO_TRUE;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user