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NorthStar-Endurance-TestBench/EnduranceTestBench/coappl/gen_objdict.c

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/*
* object dictionary for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
* Fri Feb 14 15:45:52 2025
*/
#include <stdlib.h>
#include <gen_define.h>
#include <co_canopen.h>
#include <gen_indication.h>
#include <gen_user.h>
/* definition of memory specifier */
#ifndef CO_CONST
#define CO_CONST const
#endif
/* definition of compiler-specific storage classes */
#ifndef CO_STORAGE_CLASS
#define CO_STORAGE_CLASS
#endif
#ifndef CO_CONST_STORAGE_CLASS
#define CO_CONST_STORAGE_CLASS
#endif
/* definition of watchdog handle during initialization */
#ifndef CO_HANDLE_WATCHDOG
#define CO_HANDLE_WATCHDOG
#endif /* CO_HANDLE_WATCHDOG */
/* definition of static indication function pointers */
/* number of objects */
#define CO_OD_ASSIGN_CNT 38u
#define CO_OBJ_DESC_CNT 141u
/* definition of managed variables */
static UNSIGNED8 CO_STORAGE_CLASS od_u8[8]= {
(UNSIGNED8)0u /* 0x1001:0 */,
(UNSIGNED8)0u /* 0x1003:0 */,
(UNSIGNED8)0u /* 0x1029:2 */,
(UNSIGNED8)0u /* 0x6000:1 */,
(UNSIGNED8)0u /* 0x6000:2 */,
(UNSIGNED8)0u /* 0x6000:3 */,
(UNSIGNED8)0u /* 0x6000:4 */,
(UNSIGNED8)0u /* 0x6000:5 */};
static UNSIGNED16 CO_STORAGE_CLASS od_u16[1]= {
(UNSIGNED16)0u /* 0x1015:0 */};
static UNSIGNED32 CO_STORAGE_CLASS od_u32[23]= {
(UNSIGNED32)0UL /* 0x1003:1 */,
(UNSIGNED32)0UL /* 0x1014:0 */,
(UNSIGNED32)0UL /* 0x1018:4 */,
(UNSIGNED32)0UL /* 0x6001:1 */,
(UNSIGNED32)0UL /* 0x6001:2 */,
(UNSIGNED32)0UL /* 0x6001:3 */,
(UNSIGNED32)0UL /* 0x6001:4 */,
(UNSIGNED32)0UL /* 0x6001:5 */,
(UNSIGNED32)0UL /* 0x6001:6 */,
(UNSIGNED32)0UL /* 0x6002:1 */,
(UNSIGNED32)0UL /* 0x6002:2 */,
(UNSIGNED32)0UL /* 0x6002:3 */,
(UNSIGNED32)0UL /* 0x6002:4 */,
(UNSIGNED32)0UL /* 0x6002:5 */,
(UNSIGNED32)0UL /* 0x6002:6 */,
(UNSIGNED32)0UL /* 0x6003:1 */,
(UNSIGNED32)0UL /* 0x6003:2 */,
(UNSIGNED32)0UL /* 0x6003:3 */,
(UNSIGNED32)0UL /* 0x6003:4 */,
(UNSIGNED32)0UL /* 0x6003:5 */,
(UNSIGNED32)0UL /* 0x6003:6 */,
(UNSIGNED32)0UL /* 0x6003:7 */,
(UNSIGNED32)0UL /* 0x6003:8 */};
static INTEGER16 CO_STORAGE_CLASS od_i16[2]= {
(INTEGER16)0 /* 0x3000:1 */,
(INTEGER16)2 /* 0x3000:2 */};
static INTEGER32 CO_STORAGE_CLASS od_i32[1]= {
(INTEGER32)4L /* 0x2001:0 */};
static REAL32 CO_STORAGE_CLASS od_r32[8]= {
(REAL32)0.0000000f /* 0x6004:1 */,
(REAL32)0.0000000f /* 0x6004:2 */,
(REAL32)0.0000000f /* 0x6004:3 */,
(REAL32)0.0000000f /* 0x6004:4 */,
(REAL32)0.0000000f /* 0x6005:1 */,
(REAL32)0.0000000f /* 0x6005:2 */,
(REAL32)0.0000000f /* 0x6005:3 */,
(REAL32)0.0000000f /* 0x6005:4 */};
/* definition of constants */
static CO_CONST UNSIGNED8 CO_CONST_STORAGE_CLASS od_const_u8[9] = {
(UNSIGNED8)0u,
(UNSIGNED8)2u,
(UNSIGNED8)4u,
(UNSIGNED8)1u,
(UNSIGNED8)3u,
(UNSIGNED8)254u,
(UNSIGNED8)5u,
(UNSIGNED8)6u,
(UNSIGNED8)8u};
static CO_CONST UNSIGNED16 CO_CONST_STORAGE_CLASS od_const_u16[4] = {
(UNSIGNED16)0u,
(UNSIGNED16)1500u,
(UNSIGNED16)10u,
(UNSIGNED16)500u};
static CO_CONST UNSIGNED32 CO_CONST_STORAGE_CLASS od_const_u32[27] = {
(UNSIGNED32)0UL,
(UNSIGNED32)128UL,
(UNSIGNED32)793UL,
(UNSIGNED32)1234UL,
(UNSIGNED32)1UL,
(UNSIGNED32)1536UL,
(UNSIGNED32)1408UL,
(UNSIGNED32)2147483648UL,
(UNSIGNED32)512UL,
(UNSIGNED32)1610678560UL,
(UNSIGNED32)1610678816UL,
(UNSIGNED32)1610679072UL,
(UNSIGNED32)1610679328UL,
(UNSIGNED32)1610679584UL,
(UNSIGNED32)1610679840UL,
(UNSIGNED32)384UL,
(UNSIGNED32)640UL,
(UNSIGNED32)896UL,
(UNSIGNED32)1152UL,
(UNSIGNED32)1610744096UL,
(UNSIGNED32)1610744352UL,
(UNSIGNED32)1610744608UL,
(UNSIGNED32)1610744864UL,
(UNSIGNED32)1610745120UL,
(UNSIGNED32)1610745376UL,
(UNSIGNED32)1610875168UL,
(UNSIGNED32)1610940704UL};
static CO_CONST INTEGER16 CO_CONST_STORAGE_CLASS od_const_i16[2] = {
(INTEGER16)0,
(INTEGER16)2};
static CO_CONST INTEGER32 CO_CONST_STORAGE_CLASS od_const_i32[1] = {
(INTEGER32)4L};
static CO_CONST REAL32 CO_CONST_STORAGE_CLASS od_const_r32[1] = {
(REAL32)0.00000000f};
static CO_CONST VIS_STRING CO_CONST_STORAGE_CLASS od_const_vis_string[1] = {
"emotas Slave 1"};
static CO_CONST UNSIGNED32 CO_CONST_STORAGE_CLASS od_const_vis_string_len[1] = {
14};
/* definition of application variables */
/* description of the objects */
CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT] = {
{ (UNSIGNED8)0u, CO_DTYPE_U32_CONST, (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1000:0*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_VAR , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ, (UNSIGNED16)0u},/* 0x1001:0*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_EMCY , (UNSIGNED16)4099u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1003:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_EMCY , (UNSIGNED16)4099u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1003:1*/
{ (UNSIGNED8)0u, CO_DTYPE_VS_CONST , (UNSIGNED16)0u, CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1008:0*/
{ (UNSIGNED8)0u, CO_DTYPE_U32_EMCY , (UNSIGNED16)4116u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)1u},/* 0x1014:0*/
{ (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)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)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*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1280:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U32_SDO_CLIENT, (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1280:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U8_SDO_CLIENT, (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE, (UNSIGNED16)0u},/* 0x1280:3*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)4u},/* 0x1281:0*/
{ (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)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)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)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)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)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)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*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)15u},/* 0x1800:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1800:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1800:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1800:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1800:5*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1801:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)16u},/* 0x1801:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1801:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1801:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1801:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1801:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1801:6*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1802:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)17u},/* 0x1802:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1802:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1802:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1802:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1802:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1802:6*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1803:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)18u},/* 0x1803:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1803:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1803:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1803:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)3u},/* 0x1803:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1803:6*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x1804:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1804:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)5u},/* 0x1804:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x1804:3*/
{ (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)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)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)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)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)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)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*/
{ (UNSIGNED8)1u, CO_DTYPE_U8_VAR , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6000:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U8_VAR , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6000:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U8_VAR , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6000:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U8_VAR , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6000:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U8_VAR , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6000:5*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x6001:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_VAR , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U32_VAR , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U32_VAR , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U32_VAR , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U32_VAR , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U32_VAR , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6001:6*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)7u},/* 0x6002:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_VAR , (UNSIGNED16)9u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U32_VAR , (UNSIGNED16)10u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U32_VAR , (UNSIGNED16)11u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U32_VAR , (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U32_VAR , (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U32_VAR , (UNSIGNED16)14u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6002:6*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)8u},/* 0x6003:0*/
{ (UNSIGNED8)1u, CO_DTYPE_U32_VAR , (UNSIGNED16)15u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:1*/
{ (UNSIGNED8)2u, CO_DTYPE_U32_VAR , (UNSIGNED16)16u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:2*/
{ (UNSIGNED8)3u, CO_DTYPE_U32_VAR , (UNSIGNED16)17u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:3*/
{ (UNSIGNED8)4u, CO_DTYPE_U32_VAR , (UNSIGNED16)18u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:4*/
{ (UNSIGNED8)5u, CO_DTYPE_U32_VAR , (UNSIGNED16)19u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:5*/
{ (UNSIGNED8)6u, CO_DTYPE_U32_VAR , (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:6*/
{ (UNSIGNED8)7u, CO_DTYPE_U32_VAR , (UNSIGNED16)21u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:7*/
{ (UNSIGNED8)8u, CO_DTYPE_U32_VAR , (UNSIGNED16)22u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6003:8*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)2u},/* 0x6004:0*/
{ (UNSIGNED8)1u, CO_DTYPE_R32_VAR , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6004:1*/
{ (UNSIGNED8)2u, CO_DTYPE_R32_VAR , (UNSIGNED16)1u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6004:2*/
{ (UNSIGNED8)3u, CO_DTYPE_R32_VAR , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6004:3*/
{ (UNSIGNED8)4u, CO_DTYPE_R32_VAR , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6004:4*/
{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)2u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL, (UNSIGNED16)2u},/* 0x6005:0*/
{ (UNSIGNED8)1u, CO_DTYPE_R32_VAR , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6005:1*/
{ (UNSIGNED8)2u, CO_DTYPE_R32_VAR , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6005:2*/
{ (UNSIGNED8)3u, CO_DTYPE_R32_VAR , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6005:3*/
{ (UNSIGNED8)4u, CO_DTYPE_R32_VAR , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL, (UNSIGNED16)0u},/* 0x6005:4*/
};
/* object dictionary assignment */
CO_CONST CO_OD_ASSIGN_T CO_CONST_STORAGE_CLASS od_assign[CO_OD_ASSIGN_CNT] = {
{ 0x1000u, 1u, 0u, CO_ODTYPE_VAR, 0u },
{ 0x1001u, 1u, 0u, CO_ODTYPE_VAR, 1u },
{ 0x1003u, 2u, 1u, CO_ODTYPE_ARRAY, 2u },
{ 0x1008u, 1u, 0u, CO_ODTYPE_VAR, 4u },
{ 0x1014u, 1u, 0u, CO_ODTYPE_VAR, 5u },
{ 0x1015u, 1u, 0u, CO_ODTYPE_VAR, 6u },
{ 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 */
/* Mapping table TPDO 1*/
static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableTPDO1 = {
(UNSIGNED8)2u,
{
{&od_u32[9], 4u, CO_TRUE, 0x60020120UL },
{&od_u32[10], 4u, CO_TRUE, 0x60020220UL },
}
};
/* Mapping table TPDO 2*/
static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableTPDO2 = {
(UNSIGNED8)2u,
{
{&od_u32[11], 4u, CO_TRUE, 0x60020320UL },
{&od_u32[12], 4u, CO_TRUE, 0x60020420UL },
}
};
/* Mapping table TPDO 3*/
static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableTPDO3 = {
(UNSIGNED8)2u,
{
{&od_u32[13], 4u, CO_TRUE, 0x60020520UL },
{&od_u32[14], 4u, CO_TRUE, 0x60020620UL },
}
};
/* Mapping table TPDO 4*/
static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableTPDO4 = {
(UNSIGNED8)2u,
{
{&od_r32[0], 4u, CO_TRUE, 0x60040120UL },
{&od_r32[4], 4u, CO_TRUE, 0x60050120UL },
}
};
/* Mapping table TPDO 5*/
static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableTPDO5 = {
(UNSIGNED8)2u,
{
{&od_u32[5], 4u, CO_TRUE, 0x60010320UL },
{&od_u32[6], 4u, CO_TRUE, 0x60010420UL },
}
};
/* unique rpdo defintion */
static CO_CONST PDO_REC_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableRPDO0 = {
(UNSIGNED8)2u,
{
{&od_u32[3], 4u, CO_TRUE, 0x60010120UL },
{&od_u32[4], 4u, CO_TRUE, 0x60010220UL },
}
};
/* unique rpdo defintion */
static CO_CONST PDO_REC_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableRPDO1 = {
(UNSIGNED8)2u,
{
{&od_u32[5], 4u, CO_TRUE, 0x60010320UL },
{&od_u32[6], 4u, CO_TRUE, 0x60010420UL },
}
};
/* unique rpdo defintion */
static CO_CONST PDO_REC_MAP_TABLE_T CO_CONST_STORAGE_CLASS mapTableRPDO2 = {
(UNSIGNED8)2u,
{
{&od_u32[7], 4u, CO_TRUE, 0x60010520UL },
{&od_u32[8], 4u, CO_TRUE, 0x60010620UL },
}
};
/**********************************************************************/
/* Structure for all OD variables */
CO_CONST CO_OD_DATA_VARIABLES_T od_data_variables = {
&od_const_u8[0]
, &od_const_u16[0]
, &od_const_u32[0]
, &od_const_r32[0]
#ifdef CO_EXTENDED_DATA_TYPES
, NULL
, NULL
, NULL
, NULL
#endif /* CO_EXTENDED_DATA_TYPES */
, &od_u8[0]
, &od_u16[0]
, &od_u32[0]
, &od_r32[0]
#ifdef CO_EXTENDED_DATA_TYPES
, NULL
, NULL
, NULL
, NULL
#endif /* CO_EXTENDED_DATA_TYPES */
, NULL
, &od_const_i16[0]
, &od_const_i32[0]
, NULL
, &od_i16[0]
, &od_i32[0]
, NULL
, NULL
, NULL
#ifdef CO_EXTENDED_DATA_TYPES
, NULL
, NULL
, NULL
, NULL
#endif /* CO_EXTENDED_DATA_TYPES */
, NULL
, NULL
, NULL
, NULL
, &od_const_vis_string[0]
, &od_const_vis_string_len[0]
, NULL
, NULL
, NULL
#ifdef CO_UTF8_DATA_TYPE
, NULL
, NULL
, NULL
, NULL
, NULL
#endif
, NULL
, NULL
, NULL
, NULL
, NULL
, NULL
};
RET_T coCanOpenStackInit(
CO_EVENT_STORE_T pLoadFunction
)
{
RET_T retVal;
CO_COMMON_INIT_VAL_T commonInitVars = {
1u,
{ CO_REC_BUFFER_COUNTS },
{ CO_TR_BUFFER_COUNTS },
{ CO_COB_COUNTS },
{ MP_PROT_TYPE_CANOPEN}
};
CO_SERVICE_INIT_VAL_T serviceInitVars = {
5u,
{ CO_OBJECT_COUNTS },
{ CO_TXPDO_COUNTS },
{ CO_RXPDO_COUNTS },
#ifdef CO_SRDO_SUPPORTED
{ CO_SRDO_COUNTS },
#endif /* CO_SRDO_SUPPORTED */
{ CO_SSDO_COUNTS },
{ CO_CSDO_COUNTS },
{ CO_ERR_CTRL_COUNTS },
{ CO_ERR_HIST_COUNTS },
{ CO_ACT_ERR_HIST_COUNTS },
{ CO_EMCY_CONS_COUNTS },
#ifdef CO_NETWORK_ROUTING_CNT
{ CO_NETWORK_ROUTING_COUNTS },
#endif /* CO_NETWORK_ROUTING_CNT */
{ CO_ASSIGN_COUNTS },
{ CO_GUARDING_COUNTS },
{ CO_NODE_IDS },
{ CO_NODE_ID_FUNCTIONS }
};
/* common initialization */
retVal = commonStackInit(&commonInitVars);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* variable initialization */
retVal = coCanOpenStackVarInit(&serviceInitVars);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize object dictionary variables and pointers */
coOdInitOdPtr(&od_assign[0], CO_OD_ASSIGN_CNT, &od_description[0], CO_OBJ_DESC_CNT, NULL, &od_data_variables);
/* initialization of LED module */
coLedInit();
/* initialize sdo server(s) */
retVal = coSdoServerInit(1u);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize sdo clients(s) */
retVal = coSdoClientInit(1u);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
retVal = coSdoClientInit(2u);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize error control */
retVal = coErrorCtrlInit(od_const_u16[1], 2u);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize emergency */
retVal = coEmcyProducerInit();
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize TPDO 1 */
retVal = coPdoTransmitInit(1u, od_const_u8[5], od_const_u16[0], od_const_u16[3], 0u, &mapTableTPDO1);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize TPDO 2 */
retVal = coPdoTransmitInit(2u, od_const_u8[5], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO2);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize TPDO 3 */
retVal = coPdoTransmitInit(3u, od_const_u8[5], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO3);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize TPDO 4 */
retVal = coPdoTransmitInit(4u, od_const_u8[5], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO4);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize TPDO 5 */
retVal = coPdoTransmitInit(5u, od_const_u8[5], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO5);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize RPDO 1 */
retVal = coPdoReceiveInit(1u, od_const_u8[5], 0u, 0u, &mapTableRPDO0);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize RPDO 2 */
retVal = coPdoReceiveInit(2u, od_const_u8[5], 0u, 0u, &mapTableRPDO1);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize RPDO 3 */
retVal = coPdoReceiveInit(3u, od_const_u8[5], 0u, 0u, &mapTableRPDO2);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize load parameter function */
#if defined(CO_EVENT_DYNAMIC_STORE) || defined(CO_EVENT_PROFILE_STORE)
retVal = coEventRegister_LOAD_PARA(pLoadFunction);
if (retVal != RET_OK) {
return(retVal);
}
#else
if (pLoadFunction != NULL) {
return(RET_INVALID_PARAMETER);
}
#endif /* CO_EVENT_DYNAMIC_STORE || CO_EVENT_PROFILE_STORE */
/* initialize LSS Master */
retVal = coLssMasterInit();
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
/* initialize NMT master */
retVal = coNmtInit(1u);
if (retVal != RET_OK) {
return(retVal);
}
CO_HANDLE_WATCHDOG
return(RET_OK);
}
/* Please be careful - this function overwrite the COB-ids of the
* predefined connection set with values setting up by the CDD
* It should to be called inside the load indication function.
*/
RET_T userOverwriteCobIdSettings(void)
{
RET_T ret = RET_OK;
UNSIGNED32 cobId = 0ul;
UNSIGNED8 nodeId = coNmtGetNodeId();
/* SDO client COB IDs */
ret = coOdGetDefaultVal_u32(0x1280, 1, &cobId);
if (ret == RET_OK) {
ret = coOdSetCobid(0x1280, 1, cobId);
}
ret = coOdGetDefaultVal_u32(0x1280, 2, &cobId);
if (ret == RET_OK) {
ret = coOdSetCobid(0x1280, 2, cobId);
}
ret = coOdGetDefaultVal_u32(0x1281, 1, &cobId);
if (ret == RET_OK) {
ret = coOdSetCobid(0x1281, 1, cobId);
}
ret = coOdGetDefaultVal_u32(0x1281, 2, &cobId);
if (ret == RET_OK) {
ret = coOdSetCobid(0x1281, 2, cobId);
}
/* RxPDO COB IDs */
cobId = nodeId + 0x200;
ret = coOdSetCobid(0x1400, 1, cobId);
cobId = nodeId + 0x200;
ret = coOdSetCobid(0x1401, 1, cobId);
cobId = nodeId + 0x200;
ret = coOdSetCobid(0x1402, 1, cobId);
/* TxPDO COB IDs */
cobId = nodeId + 0x180;
ret = coOdSetCobid(0x1800, 1, cobId);
cobId = nodeId + 0x280;
ret = coOdSetCobid(0x1801, 1, cobId);
cobId = nodeId + 0x380;
ret = coOdSetCobid(0x1802, 1, cobId);
cobId = nodeId + 0x480;
ret = coOdSetCobid(0x1803, 1, cobId);
cobId = nodeId + 0x180+1;
ret = coOdSetCobid(0x1804, 1, cobId);
return ret;
}
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