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objdict.h

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/***************************************************************************
                         objdict.h  -  description
                             -------------------
    begin                : Fri May 17 2002
    copyright            : (C) 2002 by Raphael Zulliger
    email                : zulli@hsr.ch
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library is Copyright (c) by Raphael Zulliger <zulli@gmx.net>.    *
 *   It is licensed under the GNU Library General Public License (LGPL).   *
 *                                                                         *
 ***************************************************************************/


#ifndef __objdict_h__
#define __objdict_h__

#include <def.h>


#define DeclareIndexTableEntry(entryname)     { (subindex*)entryname,sizeof(entryname)/sizeof(entryname[0])}


#define boolean         0x01
#define int8            0x02
#define int16           0x03
#define int32           0x04
#define uint8           0x05
#define uint16          0x06
#define uint32          0x07
#define real32          0x08
#define visible_string  0x09
#define octet_string    0x0A
#define unicode_string  0x0B
#define time_of_day     0x0C
#define time_difference 0x0D

#define domain          0x0F
#define int24           0x10
#define real64          0x11
#define int40           0x12
#define int48           0x13
#define int56           0x14
#define int64           0x15
#define uint24          0x16

#define uint40          0x18
#define uint48          0x19
#define uint56          0x1A
#define uint64          0x1B

#define pdo_communication_parameter 0x20
#define pdo_mapping                 0x21
#define sdo_parameter               0x22
#define identity                    0x23


#define INTEGER8
#define INTEGER16
#define INTEGER32
#define UNSIGNED8   unsigned char
#define UNSIGNED16  unsigned short
#define UNSIGNED32  unsigned long
#define REAL32
#define VISIBLE_STRING
#define OCTET_STRING
#define UNICODE_STRING
#define TIME_OF_DAY
#define TIME_DIFFERENCE
#define INTEGER24
#define REAL64
#define INTEGER40
#define INTEGER48
#define INTEGER56
#define INTEGER64
#define UNSIGNED24
#define UNSIGNED40
#define UNSINGED48
#define UNSINGED56
#define UNSIGNED64

typedef struct td_s_pdo_communication_parameter  // Index: 0x20
{
    UNSIGNED8   count;
    UNSIGNED32  cob_id;
    UNSIGNED8   type;
    UNSIGNED16  inhibit_time;
    UNSIGNED8   reserved;
    UNSIGNED16  event_timer;
} s_pdo_communication_parameter;

#define COUNT_OF_PDO_MAPPING_PARAMETER 4

typedef struct td_s_pdo_mapping_parameter  // Index: 0x21
{
    UNSIGNED8 count;
    UNSIGNED32 object[COUNT_OF_PDO_MAPPING_PARAMETER];
} s_pdo_mapping_parameter;



typedef struct td_s_sdo_parameter // Index: 0x22
{
    UNSIGNED8   count;
    UNSIGNED32  cob_id_client;
    UNSIGNED32  cob_id_server;
    UNSIGNED8   node_id;
} s_sdo_parameter;


typedef struct td_s_identity  // Index: 0x23
{
    UNSIGNED8   count;
    UNSIGNED32  vendor_id;
    UNSIGNED32  product_code;
    UNSIGNED32  revision_number;
    UNSIGNED32  serial_number;
} s_identity;


enum e_accessAttribute { RW, WO, RO, CONST };

enum objectDefinition { DOMAIN=2, DEFTYPE=5, DEFSTRUCT=6, VAR=7, ARRAY=8, RECORD=9 };



typedef struct td_subindex
{
    enum e_accessAttribute  bAccessType;    // Access type (RO, RW, ...)
    BYTE                    bDataType;      // Defines of what datatype the entry is
    DWORD                   size;           // The size (in Byte) of the variable
    void*                   pObject;        // This is the pointer of the Variable
} subindex;


typedef struct td_indextable
{
    subindex*   pSubindex;                  // Pointer to the subindex
    UNSIGNED8   bSubCount;                  // the count of valid entries in for this subindex
                                            // note: this count can differ fCODE the count defined
                                            // in some object dictionary entries (in subindex 0).
                                            // this count here defines how many memory has been
                                            // allocated. this memory does not have to be used.
} indextable;


#define COUNT_OF_HEARTBEAT_CONSUMER 1






/*************************************************************************
* This is the part of the object directory which contains the
* communication profile...
*************************************************************************/

#define COMM_PROFILE_LAST 0x1018

extern const CODE indextable FAR CommunicationProfileArea[];






/*************************************************************************
* This is the part of the object directory which contains the
* PDO Parameters
*************************************************************************/

extern const CODE indextable FAR receivePDOParameter[];

#define RECEIVE_PDO_LAST 0x1400


#define MAX_COUNT_OF_PDO (RECEIVE_PDO_LAST - 0x13FF)

extern const CODE indextable FAR transmitPDOParameter[];

#define TRANSMIT_PDO_LAST 0x1800




/*************************************************************************
* This is the part of the object directory which contains the
* PDO Mapping parameters
*************************************************************************/

#define MAPPING_PARAMETER_COUNT 8

extern const CODE indextable FAR RxPDOMappingTable[ ];

#define RECEIVE_PDO_MAPPING_LAST 0x1600

extern const CODE indextable FAR TxPDOMappingTable[ ];

#define TRANSMIT_PDO_MAPPING_LAST 0x1A00




/*************************************************************************
*  DS-401: digital&analog input/output device
*************************************************************************/

extern const CODE indextable FAR digitalInputTable[];

#define COUNT_OF_DIGITAL_INPUT 3

extern const CODE indextable FAR digitalOutputTable[];

#define COUNT_OF_DIGITAL_OUTPUT 1


#endif // __objdict_h__

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