Paul Paterson / Mbed 2 deprecated ppCANOpen_Example

I am no longer actively working on the ppCANOpen library, however, I want to publish this project so that anyone who wants to pick up any of the pieces can have a good example. This is a a project I was working on using the ppCANOpen library. It has a pretty in deep use of the object dictionary structure. And a number of functions to control high voltage pinball drivers, if you're into that sort of thing.

Dependencies:   CANnucleo mbed ppCANOpen

Application/source/Node_pin0808.cpp@10:ec59d628ebdc, 2016-03-19 (annotated)

Committer:
ptpaterson
Date:
Sat Mar 19 01:44:35 2016 +0000
Revision:
10:ec59d628ebdc
Final Submission (probs)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ptpaterson 10:ec59d628ebdc 1 /**
ptpaterson 10:ec59d628ebdc 2 ******************************************************************************
ptpaterson 10:ec59d628ebdc 3 * @file
ptpaterson 10:ec59d628ebdc 4 * @author Paul Paterson
ptpaterson 10:ec59d628ebdc 5 * @version
ptpaterson 10:ec59d628ebdc 6 * @date 2015-12-14
ptpaterson 10:ec59d628ebdc 7 * @brief CANOpen implementation library
ptpaterson 10:ec59d628ebdc 8 ******************************************************************************
ptpaterson 10:ec59d628ebdc 9 * @attention
ptpaterson 10:ec59d628ebdc 10 *
ptpaterson 10:ec59d628ebdc 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
ptpaterson 10:ec59d628ebdc 12 *
ptpaterson 10:ec59d628ebdc 13 * All rights reserved.
ptpaterson 10:ec59d628ebdc 14
ptpaterson 10:ec59d628ebdc 15 This program is free software: you can redistribute it and/or modify
ptpaterson 10:ec59d628ebdc 16 it under the terms of the GNU General Public License as published by
ptpaterson 10:ec59d628ebdc 17 the Free Software Foundation, either version 3 of the License, or
ptpaterson 10:ec59d628ebdc 18 (at your option) any later version.
ptpaterson 10:ec59d628ebdc 19
ptpaterson 10:ec59d628ebdc 20 This program is distributed in the hope that it will be useful,
ptpaterson 10:ec59d628ebdc 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
ptpaterson 10:ec59d628ebdc 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ptpaterson 10:ec59d628ebdc 23 GNU General Public License for more details.
ptpaterson 10:ec59d628ebdc 24
ptpaterson 10:ec59d628ebdc 25 You should have received a copy of the GNU General Public License
ptpaterson 10:ec59d628ebdc 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
ptpaterson 10:ec59d628ebdc 27 */
ptpaterson 10:ec59d628ebdc 28
ptpaterson 10:ec59d628ebdc 29 #include "Node_pin0808.h"
ptpaterson 10:ec59d628ebdc 30 #include "ServiceProvider.h"
ptpaterson 10:ec59d628ebdc 31
ptpaterson 10:ec59d628ebdc 32 #include "stdio.h"
ptpaterson 10:ec59d628ebdc 33 #include "mbed.h"
ptpaterson 10:ec59d628ebdc 34
ptpaterson 10:ec59d628ebdc 35 PortIn mbedInputs(PortB, 0x00FF);
ptpaterson 10:ec59d628ebdc 36 PortOut mbedOutputs(PortB, 0xFF00);
ptpaterson 10:ec59d628ebdc 37
ptpaterson 10:ec59d628ebdc 38 namespace ppCANOpen
ptpaterson 10:ec59d628ebdc 39 {
ptpaterson 10:ec59d628ebdc 40
ptpaterson 10:ec59d628ebdc 41 /******************************************************************************
ptpaterson 10:ec59d628ebdc 42 * Constructor/Destructor
ptpaterson 10:ec59d628ebdc 43 ******************************************************************************
ptpaterson 10:ec59d628ebdc 44 */
ptpaterson 10:ec59d628ebdc 45
ptpaterson 10:ec59d628ebdc 46 Node_pin0808::Node_pin0808 (int id, ServiceProvider * provider, int bLoop)
ptpaterson 10:ec59d628ebdc 47 : Node(id, provider, bLoop)
ptpaterson 10:ec59d628ebdc 48 {
ptpaterson 10:ec59d628ebdc 49 dictionary = new ObjectData[22];
ptpaterson 10:ec59d628ebdc 50
ptpaterson 10:ec59d628ebdc 51
ptpaterson 10:ec59d628ebdc 52 /* Init values ***********************************************************/
ptpaterson 10:ec59d628ebdc 53 memset(prevInputBuffers, 0, sizeof(prevInputBuffers));
ptpaterson 10:ec59d628ebdc 54 memset(inputDebounce, 0, sizeof(inputDebounce));
ptpaterson 10:ec59d628ebdc 55
ptpaterson 10:ec59d628ebdc 56 memset(prevOutputBuffers,0, sizeof(prevOutputBuffers));
ptpaterson 10:ec59d628ebdc 57
ptpaterson 10:ec59d628ebdc 58 /* Init Object Dictionary ************************************************/
ptpaterson 10:ec59d628ebdc 59
ptpaterson 10:ec59d628ebdc 60 /* Communication Objects ================================================*/
ptpaterson 10:ec59d628ebdc 61
ptpaterson 10:ec59d628ebdc 62 /* SDO ------------------------------------------------------------------*/
ptpaterson 10:ec59d628ebdc 63 /* index 0x1200 */
ptpaterson 10:ec59d628ebdc 64 Obj1200_highestSubIndex = 2;
ptpaterson 10:ec59d628ebdc 65 Obj1200_ReceiveCobId = 0x600 + nodeId;
ptpaterson 10:ec59d628ebdc 66 Obj1200_TransmitCobId = 0x580 + nodeId;
ptpaterson 10:ec59d628ebdc 67 Obj1200_entries[0] = EntryData((void*)&Obj1200_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 68 Obj1200_entries[1] = EntryData((void*)&Obj1200_ReceiveCobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 69 Obj1200_entries[2] = EntryData((void*)&Obj1200_TransmitCobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 70 Obj1200 = ObjectData(Obj1200_entries, 0x1200, sizeof(Obj1200_entries) / sizeof(Obj1200_entries[0]));
ptpaterson 10:ec59d628ebdc 71
ptpaterson 10:ec59d628ebdc 72 /* RPDO -----------------------------------------------------------------*/
ptpaterson 10:ec59d628ebdc 73 /* index 0x1400 */
ptpaterson 10:ec59d628ebdc 74 Obj1400_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 75 Obj1400_CobId = 0x200 + nodeId;
ptpaterson 10:ec59d628ebdc 76 Obj1400_TransmissionType = 1;
ptpaterson 10:ec59d628ebdc 77 Obj1400_InhibitTime = 0;
ptpaterson 10:ec59d628ebdc 78 Obj1400_CompatibilityEntry = 0;
ptpaterson 10:ec59d628ebdc 79 Obj1400_EventTimer = 0;
ptpaterson 10:ec59d628ebdc 80 Obj1400_entries[0] = EntryData((void*)&Obj1400_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 81 Obj1400_entries[1] = EntryData((void*)&Obj1400_CobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 82 Obj1400_entries[2] = EntryData((void*)&Obj1400_TransmissionType, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 83 Obj1400_entries[3] = EntryData((void*)&Obj1400_InhibitTime, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 84 Obj1400_entries[4] = EntryData((void*)&Obj1400_CompatibilityEntry, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 85 Obj1400_entries[5] = EntryData((void*)&Obj1400_EventTimer, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 86 Obj1400 = ObjectData(Obj1400_entries, 0x1400, sizeof(Obj1400_entries) / sizeof(Obj1400_entries[0]));
ptpaterson 10:ec59d628ebdc 87
ptpaterson 10:ec59d628ebdc 88 /* index 0x1401 */
ptpaterson 10:ec59d628ebdc 89 Obj1401_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 90 Obj1401_CobId = 0x300 + nodeId;
ptpaterson 10:ec59d628ebdc 91 Obj1401_TransmissionType = 1;
ptpaterson 10:ec59d628ebdc 92 Obj1401_InhibitTime = 0;
ptpaterson 10:ec59d628ebdc 93 Obj1401_CompatibilityEntry = 0;
ptpaterson 10:ec59d628ebdc 94 Obj1401_EventTimer = 0;
ptpaterson 10:ec59d628ebdc 95 Obj1401_entries[0] = EntryData((void*)&Obj1401_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 96 Obj1401_entries[1] = EntryData((void*)&Obj1401_CobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 97 Obj1401_entries[2] = EntryData((void*)&Obj1401_TransmissionType, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 98 Obj1401_entries[3] = EntryData((void*)&Obj1401_InhibitTime, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 99 Obj1401_entries[4] = EntryData((void*)&Obj1401_CompatibilityEntry, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 100 Obj1401_entries[5] = EntryData((void*)&Obj1401_EventTimer, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 101 Obj1401 = ObjectData(Obj1401_entries, 0x1401, sizeof(Obj1401_entries) / sizeof(Obj1401_entries[0]));
ptpaterson 10:ec59d628ebdc 102
ptpaterson 10:ec59d628ebdc 103 /* index 0x1402 */
ptpaterson 10:ec59d628ebdc 104 Obj1402_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 105 Obj1402_CobId = 0x400 + nodeId;
ptpaterson 10:ec59d628ebdc 106 Obj1402_TransmissionType = 1;
ptpaterson 10:ec59d628ebdc 107 Obj1402_InhibitTime = 0;
ptpaterson 10:ec59d628ebdc 108 Obj1402_CompatibilityEntry = 0;
ptpaterson 10:ec59d628ebdc 109 Obj1402_EventTimer = 0;
ptpaterson 10:ec59d628ebdc 110 Obj1402_entries[0] = EntryData((void*)&Obj1402_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 111 Obj1402_entries[1] = EntryData((void*)&Obj1402_CobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 112 Obj1402_entries[2] = EntryData((void*)&Obj1402_TransmissionType, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 113 Obj1402_entries[3] = EntryData((void*)&Obj1402_InhibitTime, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 114 Obj1402_entries[4] = EntryData((void*)&Obj1402_CompatibilityEntry, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 115 Obj1402_entries[5] = EntryData((void*)&Obj1402_EventTimer, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 116 Obj1402 = ObjectData(Obj1402_entries, 0x1402, sizeof(Obj1402_entries) / sizeof(Obj1402_entries[0]));
ptpaterson 10:ec59d628ebdc 117
ptpaterson 10:ec59d628ebdc 118 /* index 0x1403 */
ptpaterson 10:ec59d628ebdc 119 Obj1403_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 120 Obj1403_CobId = 0x181;
ptpaterson 10:ec59d628ebdc 121 Obj1403_TransmissionType = 1;
ptpaterson 10:ec59d628ebdc 122 Obj1403_InhibitTime = 0;
ptpaterson 10:ec59d628ebdc 123 Obj1403_CompatibilityEntry = 0;
ptpaterson 10:ec59d628ebdc 124 Obj1403_EventTimer = 0;
ptpaterson 10:ec59d628ebdc 125 Obj1403_entries[0] = EntryData((void*)&Obj1403_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 126 Obj1403_entries[1] = EntryData((void*)&Obj1403_CobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 127 Obj1403_entries[2] = EntryData((void*)&Obj1403_TransmissionType, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 128 Obj1403_entries[3] = EntryData((void*)&Obj1403_InhibitTime, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 129 Obj1403_entries[4] = EntryData((void*)&Obj1403_CompatibilityEntry, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 130 Obj1403_entries[5] = EntryData((void*)&Obj1403_EventTimer, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 131 Obj1403 = ObjectData(Obj1403_entries, 0x1403, sizeof(Obj1403_entries) / sizeof(Obj1403_entries[0]));
ptpaterson 10:ec59d628ebdc 132
ptpaterson 10:ec59d628ebdc 133 /* index 0x1600 */
ptpaterson 10:ec59d628ebdc 134 Obj1600_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 135 Obj1600_Map = 0x62000108;
ptpaterson 10:ec59d628ebdc 136 Obj1600_entries[0] = EntryData((void*)&Obj1600_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 137 Obj1600_entries[1] = EntryData((void*)&Obj1600_Map, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 138 Obj1600 = ObjectData(Obj1600_entries, 0x1600, sizeof(Obj1600_entries) / sizeof(Obj1600_entries[0]));
ptpaterson 10:ec59d628ebdc 139
ptpaterson 10:ec59d628ebdc 140 /* index 0x1601 */
ptpaterson 10:ec59d628ebdc 141 Obj1601_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 142 Obj1601_Map = 0x20010140;
ptpaterson 10:ec59d628ebdc 143 Obj1601_entries[0] = EntryData((void*)&Obj1601_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 144 Obj1601_entries[1] = EntryData((void*)&Obj1601_Map, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 145 Obj1601 = ObjectData(Obj1601_entries, 0x1601, sizeof(Obj1601_entries) / sizeof(Obj1601_entries[0]));
ptpaterson 10:ec59d628ebdc 146
ptpaterson 10:ec59d628ebdc 147 /* index 0x1602 */
ptpaterson 10:ec59d628ebdc 148 Obj1602_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 149 Obj1602_Map = 0x22000140;
ptpaterson 10:ec59d628ebdc 150 Obj1602_entries[0] = EntryData((void*)&Obj1602_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 151 Obj1602_entries[1] = EntryData((void*)&Obj1602_Map, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 152 Obj1602 = ObjectData(Obj1602_entries, 0x1602, sizeof(Obj1602_entries) / sizeof(Obj1602_entries[0]));
ptpaterson 10:ec59d628ebdc 153
ptpaterson 10:ec59d628ebdc 154 /* index 0x1603 */
ptpaterson 10:ec59d628ebdc 155 Obj1603_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 156 Obj1603_Map = 0x22000238;
ptpaterson 10:ec59d628ebdc 157 Obj1603_entries[0] = EntryData((void*)&Obj1603_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 158 Obj1603_entries[1] = EntryData((void*)&Obj1603_Map, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 159 Obj1603 = ObjectData(Obj1603_entries, 0x1603, sizeof(Obj1603_entries) / sizeof(Obj1603_entries[0]));
ptpaterson 10:ec59d628ebdc 160
ptpaterson 10:ec59d628ebdc 161 /* TPDO -----------------------------------------------------------------*/
ptpaterson 10:ec59d628ebdc 162 /* index 0x1800 */
ptpaterson 10:ec59d628ebdc 163 Obj1800_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 164 Obj1800_CobId = 0x181;
ptpaterson 10:ec59d628ebdc 165 Obj1800_TransmissionType = 0xFE; /* event driven Manuf specific */
ptpaterson 10:ec59d628ebdc 166 Obj1800_InhibitTime = 0; // TODO review if this is needed
ptpaterson 10:ec59d628ebdc 167 Obj1800_CompatibilityEntry = 0;
ptpaterson 10:ec59d628ebdc 168 Obj1800_EventTimer = 0;
ptpaterson 10:ec59d628ebdc 169 Obj1800_entries[0] = EntryData((void*)&Obj1800_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 170 Obj1800_entries[1] = EntryData((void*)&Obj1800_CobId, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 171 Obj1800_entries[2] = EntryData((void*)&Obj1800_TransmissionType, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 172 Obj1800_entries[3] = EntryData((void*)&Obj1800_InhibitTime, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 173 Obj1800_entries[4] = EntryData((void*)&Obj1800_CompatibilityEntry, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 174 Obj1800_entries[5] = EntryData((void*)&Obj1800_EventTimer, sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 175 Obj1800 = ObjectData(Obj1800_entries, 0x1800, sizeof(Obj1800_entries) / sizeof(Obj1800_entries[0]));
ptpaterson 10:ec59d628ebdc 176
ptpaterson 10:ec59d628ebdc 177 /* index 0x1A00 */
ptpaterson 10:ec59d628ebdc 178 Obj1A00_highestSubIndex = 5;
ptpaterson 10:ec59d628ebdc 179 Obj1A00_MapInput = 0x60000108;
ptpaterson 10:ec59d628ebdc 180 Obj1A00_MapVoid16 = 0x00000010;
ptpaterson 10:ec59d628ebdc 181 Obj1A00_MapChange = 0x21000108;
ptpaterson 10:ec59d628ebdc 182 Obj1A00_MapSourceId = 0x21000208;
ptpaterson 10:ec59d628ebdc 183 Obj1A00_entries[0] = EntryData((void*)&Obj1A00_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 184 Obj1A00_entries[1] = EntryData((void*)&Obj1A00_MapInput, sizeof(uint8_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 185 Obj1A00_entries[2] = EntryData((void*)&Obj1A00_MapVoid16, sizeof(uint16_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 186 Obj1A00_entries[3] = EntryData((void*)&Obj1A00_MapChange, sizeof(uint8_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 187 Obj1A00_entries[4] = EntryData((void*)&Obj1A00_MapVoid16, sizeof(uint16_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 188 Obj1A00_entries[5] = EntryData((void*)&Obj1A00_MapSourceId, sizeof(uint8_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 189 Obj1A00 = ObjectData(Obj1A00_entries, 0x1A00, sizeof(Obj1A00_entries) / sizeof(Obj1A00_entries[0]));
ptpaterson 10:ec59d628ebdc 190
ptpaterson 10:ec59d628ebdc 191
ptpaterson 10:ec59d628ebdc 192 /* Manufacturer Specific Objects ========================================*/
ptpaterson 10:ec59d628ebdc 193
ptpaterson 10:ec59d628ebdc 194 /* index 0x2001 : Pin Output Configurations */
ptpaterson 10:ec59d628ebdc 195 Obj2001_highestSubIndex = 8;
ptpaterson 10:ec59d628ebdc 196 memset(&writeOutputConfig, 0, sizeof(writeOutputConfig));
ptpaterson 10:ec59d628ebdc 197 memset(outputConfigs, 0, sizeof(outputConfigs));
ptpaterson 10:ec59d628ebdc 198 outputConfigs[0].type = 0x08;
ptpaterson 10:ec59d628ebdc 199 memset(outputTimers, 0, sizeof(outputTimers));
ptpaterson 10:ec59d628ebdc 200 Obj2001_entries[0] = EntryData((void*)&Obj2001_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 201 Obj2001_entries[1] = EntryData((void*)&writeOutputConfig, sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 202 Obj2001_entries[2] = EntryData((void*)&outputConfigs[0], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 203 Obj2001_entries[3] = EntryData((void*)&outputConfigs[1], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 204 Obj2001_entries[4] = EntryData((void*)&outputConfigs[2], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 205 Obj2001_entries[5] = EntryData((void*)&outputConfigs[3], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 206 Obj2001_entries[6] = EntryData((void*)&outputConfigs[4], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 207 Obj2001_entries[7] = EntryData((void*)&outputConfigs[5], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 208 Obj2001_entries[8] = EntryData((void*)&outputConfigs[6], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 209 Obj2001_entries[9] = EntryData((void*)&outputConfigs[7], sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 210 Obj2001 = ObjectData(Obj2001_entries, 0x2001, sizeof(Obj2001_entries) / sizeof(Obj2001_entries[0]));
ptpaterson 10:ec59d628ebdc 211
ptpaterson 10:ec59d628ebdc 212 /* index 0x2002 : Output Schedule Configuration */
ptpaterson 10:ec59d628ebdc 213 Obj2002_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 214 scheduleConfig = 0x01;
ptpaterson 10:ec59d628ebdc 215 schedules[0] = 0xFF00F0F0;
ptpaterson 10:ec59d628ebdc 216 Obj2002_entries[0] = EntryData((void*)&Obj2002_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 217 Obj2002_entries[1] = EntryData((void*)&scheduleConfig, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 218 Obj2002_entries[2] = EntryData((void*)&schedules[0], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 219 Obj2002_entries[3] = EntryData((void*)&schedules[1], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 220 Obj2002_entries[4] = EntryData((void*)&schedules[2], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 221 Obj2002_entries[5] = EntryData((void*)&schedules[3], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 222 Obj2002_entries[6] = EntryData((void*)&schedules[4], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 223 Obj2002_entries[7] = EntryData((void*)&schedules[5], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 224 Obj2002_entries[8] = EntryData((void*)&schedules[6], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 225 Obj2002_entries[9] = EntryData((void*)&schedules[7], sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 226 Obj2002 = ObjectData(Obj2002_entries, 0x2002, sizeof(Obj2002_entries) / sizeof(Obj2002_entries[0]));
ptpaterson 10:ec59d628ebdc 227
ptpaterson 10:ec59d628ebdc 228 /* Index 2100 */
ptpaterson 10:ec59d628ebdc 229 Obj2100_highestSubIndex = 2;
ptpaterson 10:ec59d628ebdc 230 inputChangeMask[0] = 0;
ptpaterson 10:ec59d628ebdc 231 /* nodeId; */
ptpaterson 10:ec59d628ebdc 232 Obj2100_entries[0] = EntryData((void*)&Obj2100_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 233 Obj2100_entries[1] = EntryData((void*)&inputChangeMask[0], sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 234 Obj2100_entries[2] = EntryData((void*)&nodeId, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 235 Obj2100 = ObjectData(Obj2100_entries, 0x2100, sizeof(Obj2100_entries) / sizeof(Obj2100_entries[0]));
ptpaterson 10:ec59d628ebdc 236
ptpaterson 10:ec59d628ebdc 237 /* Index 2200 */
ptpaterson 10:ec59d628ebdc 238 Obj2200_highestSubIndex = 2;
ptpaterson 10:ec59d628ebdc 239 memset(&writeRule, 0, sizeof(AutotriggerRule));
ptpaterson 10:ec59d628ebdc 240 memset(&autotriggerMessage, 0, sizeof(AutotriggerMessage));
ptpaterson 10:ec59d628ebdc 241 memset(rules, 0, sizeof(rules));
ptpaterson 10:ec59d628ebdc 242 Obj2200_entries[0] = EntryData((void*)&Obj2200_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 243 Obj2200_entries[1] = EntryData((void*)&writeRule, sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 244 Obj2200_entries[2] = EntryData((void*)&autotriggerMessage, sizeof(AutotriggerMessage), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 245 Obj2200_entries[3] = EntryData((void*)&rules[0], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 246 Obj2200_entries[4] = EntryData((void*)&rules[1], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 247 Obj2200_entries[5] = EntryData((void*)&rules[2], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 248 Obj2200_entries[6] = EntryData((void*)&rules[3], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 249 Obj2200_entries[7] = EntryData((void*)&rules[4], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 250 Obj2200_entries[8] = EntryData((void*)&rules[5], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 251 Obj2200_entries[9] = EntryData((void*)&rules[6], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 252 Obj2200_entries[10] = EntryData((void*)&rules[7], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 253 Obj2200_entries[11] = EntryData((void*)&rules[8], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 254 Obj2200_entries[12] = EntryData((void*)&rules[9], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 255 Obj2200_entries[13] = EntryData((void*)&rules[10], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 256 Obj2200_entries[14] = EntryData((void*)&rules[11], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 257 Obj2200_entries[15] = EntryData((void*)&rules[12], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 258 Obj2200_entries[16] = EntryData((void*)&rules[13], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 259 Obj2200_entries[17] = EntryData((void*)&rules[14], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 260 Obj2200_entries[18] = EntryData((void*)&rules[15], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 261 Obj2200_entries[19] = EntryData((void*)&rules[16], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 262 Obj2200_entries[20] = EntryData((void*)&rules[17], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 263 Obj2200_entries[21] = EntryData((void*)&rules[18], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 264 Obj2200_entries[22] = EntryData((void*)&rules[19], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 265 Obj2200_entries[23] = EntryData((void*)&rules[20], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 266 Obj2200_entries[24] = EntryData((void*)&rules[21], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 267 Obj2200_entries[25] = EntryData((void*)&rules[22], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 268 Obj2200_entries[26] = EntryData((void*)&rules[23], sizeof(AutotriggerRule), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 269 Obj2200 = ObjectData(Obj2200_entries, 0x2200, sizeof(Obj2200_entries) / sizeof(Obj2200_entries[0]));
ptpaterson 10:ec59d628ebdc 270
ptpaterson 10:ec59d628ebdc 271 /* Device Profile Specific Objects ======================================*/
ptpaterson 10:ec59d628ebdc 272
ptpaterson 10:ec59d628ebdc 273 /* Index 6000 */
ptpaterson 10:ec59d628ebdc 274 Obj6000_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 275 readInputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 276 Obj6000_entries[0] = EntryData((void*)&Obj6000_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 277 Obj6000_entries[1] = EntryData((void*)&readInputBuffers, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 278 Obj6000 = ObjectData(Obj6000_entries, 0x6000, sizeof(Obj6000_entries) / sizeof(Obj6000_entries[0]));
ptpaterson 10:ec59d628ebdc 279
ptpaterson 10:ec59d628ebdc 280 /* Index 6005 */
ptpaterson 10:ec59d628ebdc 281 Obj6005_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 282 bInputInterruptEnable = 0x01;
ptpaterson 10:ec59d628ebdc 283 Obj6005_entries[0] = EntryData((void*)&Obj6005_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 284 Obj6005_entries[1] = EntryData((void*)&bInputInterruptEnable, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 285 Obj6005 = ObjectData(Obj6005_entries, 0x6005, sizeof(Obj6005_entries) / sizeof(Obj6005_entries[0]));
ptpaterson 10:ec59d628ebdc 286
ptpaterson 10:ec59d628ebdc 287 /* Index 6006 */
ptpaterson 10:ec59d628ebdc 288 Obj6006_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 289 inputInterruptMask[0] = 0xFF;
ptpaterson 10:ec59d628ebdc 290 Obj6006_entries[0] = EntryData((void*)&Obj6006_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 291 Obj6006_entries[1] = EntryData((void*)&inputInterruptMask, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 292 Obj6006 = ObjectData(Obj6006_entries, 0x6006, sizeof(Obj6006_entries) / sizeof(Obj6006_entries[0]));
ptpaterson 10:ec59d628ebdc 293
ptpaterson 10:ec59d628ebdc 294 /* Index 6200 */
ptpaterson 10:ec59d628ebdc 295 Obj6200_highestSubIndex = 1;
ptpaterson 10:ec59d628ebdc 296 writeOutputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 297 Obj6200_entries[0] = EntryData((void*)&Obj6200_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
ptpaterson 10:ec59d628ebdc 298 Obj6200_entries[1] = EntryData((void*)&writeOutputBuffers, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
ptpaterson 10:ec59d628ebdc 299 Obj6200 = ObjectData(Obj6200_entries, 0x6200, sizeof(Obj6200_entries) / sizeof(Obj6200_entries[0]));
ptpaterson 10:ec59d628ebdc 300
ptpaterson 10:ec59d628ebdc 301 /* Set up the whole dictionary */
ptpaterson 10:ec59d628ebdc 302 dictionary[0] = Obj1200;
ptpaterson 10:ec59d628ebdc 303 dictionary[1] = Obj1400;
ptpaterson 10:ec59d628ebdc 304 dictionary[2] = Obj1401;
ptpaterson 10:ec59d628ebdc 305 dictionary[3] = Obj1402;
ptpaterson 10:ec59d628ebdc 306 dictionary[4] = Obj1403;
ptpaterson 10:ec59d628ebdc 307 dictionary[5] = Obj1600;
ptpaterson 10:ec59d628ebdc 308 dictionary[6] = Obj1601;
ptpaterson 10:ec59d628ebdc 309 dictionary[7] = Obj1602;
ptpaterson 10:ec59d628ebdc 310 dictionary[8] = Obj1603;
ptpaterson 10:ec59d628ebdc 311 dictionary[10] = Obj1800;
ptpaterson 10:ec59d628ebdc 312 dictionary[11] = Obj1A00;
ptpaterson 10:ec59d628ebdc 313 dictionary[12] = Obj2001;
ptpaterson 10:ec59d628ebdc 314 dictionary[13] = Obj2002;
ptpaterson 10:ec59d628ebdc 315 dictionary[14] = Obj2100;
ptpaterson 10:ec59d628ebdc 316 dictionary[15] = Obj2200;
ptpaterson 10:ec59d628ebdc 317 dictionary[16] = Obj6000;
ptpaterson 10:ec59d628ebdc 318 dictionary[17] = Obj6005;
ptpaterson 10:ec59d628ebdc 319 dictionary[18] = Obj6006;
ptpaterson 10:ec59d628ebdc 320 dictionary[19] = Obj6200;
ptpaterson 10:ec59d628ebdc 321
ptpaterson 10:ec59d628ebdc 322 }
ptpaterson 10:ec59d628ebdc 323
ptpaterson 10:ec59d628ebdc 324 Node_pin0808::~Node_pin0808(void)
ptpaterson 10:ec59d628ebdc 325 {
ptpaterson 10:ec59d628ebdc 326 delete dictionary;
ptpaterson 10:ec59d628ebdc 327 }
ptpaterson 10:ec59d628ebdc 328
ptpaterson 10:ec59d628ebdc 329 /******************************************************************************
ptpaterson 10:ec59d628ebdc 330 * Application Run Implementation
ptpaterson 10:ec59d628ebdc 331 ******************************************************************************
ptpaterson 10:ec59d628ebdc 332 */
ptpaterson 10:ec59d628ebdc 333
ptpaterson 10:ec59d628ebdc 334 void Node_pin0808::OnFixedUpdate (void)
ptpaterson 10:ec59d628ebdc 335 {
ptpaterson 10:ec59d628ebdc 336 /**************************************************************************
ptpaterson 10:ec59d628ebdc 337 * INPUTS
ptpaterson 10:ec59d628ebdc 338 **************************************************************************
ptpaterson 10:ec59d628ebdc 339 */
ptpaterson 10:ec59d628ebdc 340
ptpaterson 10:ec59d628ebdc 341 uint8_t inputSample = ~(uint8_t)(mbedInputs.read());
ptpaterson 10:ec59d628ebdc 342
ptpaterson 10:ec59d628ebdc 343 uint8_t inputChange = readInputBuffers[0] ^ inputSample;
ptpaterson 10:ec59d628ebdc 344
ptpaterson 10:ec59d628ebdc 345 /* Loop through all of the inputs */
ptpaterson 10:ec59d628ebdc 346 for (int in = 0; in < 8; in++) {
ptpaterson 10:ec59d628ebdc 347 if (inputChange & (1 << in)) {
ptpaterson 10:ec59d628ebdc 348
ptpaterson 10:ec59d628ebdc 349 inputDebounce[in] += (uint8_t)(timeSinceLastTick);
ptpaterson 10:ec59d628ebdc 350 if (inputDebounce[in] > DEBOUNCE_TIME) {
ptpaterson 10:ec59d628ebdc 351 readInputBuffers[0] &= ~(1 << in);
ptpaterson 10:ec59d628ebdc 352 readInputBuffers[0] |= (inputSample & (1 << in));
ptpaterson 10:ec59d628ebdc 353
ptpaterson 10:ec59d628ebdc 354 inputDebounce[in] = 0;
ptpaterson 10:ec59d628ebdc 355 }
ptpaterson 10:ec59d628ebdc 356
ptpaterson 10:ec59d628ebdc 357 } else {
ptpaterson 10:ec59d628ebdc 358 inputDebounce[in] = 0;
ptpaterson 10:ec59d628ebdc 359 }
ptpaterson 10:ec59d628ebdc 360 }
ptpaterson 10:ec59d628ebdc 361
ptpaterson 10:ec59d628ebdc 362
ptpaterson 10:ec59d628ebdc 363 /**************************************************************************
ptpaterson 10:ec59d628ebdc 364 * OUTPUTS
ptpaterson 10:ec59d628ebdc 365 **************************************************************************
ptpaterson 10:ec59d628ebdc 366 */
ptpaterson 10:ec59d628ebdc 367
ptpaterson 10:ec59d628ebdc 368 /* create a copy of the current outputs and edit as we go */
ptpaterson 10:ec59d628ebdc 369 uint8_t newOutput = (uint8_t)(mbedOutputs >> 8);
ptpaterson 10:ec59d628ebdc 370
ptpaterson 10:ec59d628ebdc 371 /* big operation, so let's only do it once! */
ptpaterson 10:ec59d628ebdc 372 int scheduleIndexer = 1 << ((timeCurrentTick * 100) / 3125) % 32;
ptpaterson 10:ec59d628ebdc 373
ptpaterson 10:ec59d628ebdc 374 /* Loop through all of the outputs */
ptpaterson 10:ec59d628ebdc 375 for (int out = 0; out < 8; out++) {
ptpaterson 10:ec59d628ebdc 376
ptpaterson 10:ec59d628ebdc 377 if (scheduleConfig & (1 << out)) {
ptpaterson 10:ec59d628ebdc 378
ptpaterson 10:ec59d628ebdc 379 if (schedules[out] & scheduleIndexer) {
ptpaterson 10:ec59d628ebdc 380 writeOutputBuffers[0] |= (1 << out);
ptpaterson 10:ec59d628ebdc 381 } else {
ptpaterson 10:ec59d628ebdc 382 writeOutputBuffers[0] &= ~(1 << out);
ptpaterson 10:ec59d628ebdc 383 }
ptpaterson 10:ec59d628ebdc 384 }
ptpaterson 10:ec59d628ebdc 385
ptpaterson 10:ec59d628ebdc 386 /* update GPIO's immediately only if new signal was given */
ptpaterson 10:ec59d628ebdc 387 int outputBufferChanges = writeOutputBuffers[0] ^ prevOutputBuffers[0];
ptpaterson 10:ec59d628ebdc 388
ptpaterson 10:ec59d628ebdc 389 if (outputBufferChanges & (1 << out)) {
ptpaterson 10:ec59d628ebdc 390 if ((1 << out) & writeOutputBuffers[0]) {
ptpaterson 10:ec59d628ebdc 391 /* switched on */
ptpaterson 10:ec59d628ebdc 392 newOutput |= (1 << out);
ptpaterson 10:ec59d628ebdc 393
ptpaterson 10:ec59d628ebdc 394 /* reset timers */
ptpaterson 10:ec59d628ebdc 395 if (outputConfigs[out].type) {
ptpaterson 10:ec59d628ebdc 396 outputTimers[out] = OutputConfiguration(outputConfigs[out]);
ptpaterson 10:ec59d628ebdc 397 }
ptpaterson 10:ec59d628ebdc 398 } else {
ptpaterson 10:ec59d628ebdc 399 /* switched off */
ptpaterson 10:ec59d628ebdc 400 newOutput &= ~(1 << out);
ptpaterson 10:ec59d628ebdc 401 memset(&outputTimers[out], 0, sizeof(outputTimers[out]));
ptpaterson 10:ec59d628ebdc 402 }
ptpaterson 10:ec59d628ebdc 403 }
ptpaterson 10:ec59d628ebdc 404
ptpaterson 10:ec59d628ebdc 405 /* if there is a pulse run down the timer */
ptpaterson 10:ec59d628ebdc 406 if (outputTimers[out].type & 0x01) {
ptpaterson 10:ec59d628ebdc 407
ptpaterson 10:ec59d628ebdc 408 if (outputTimers[out].pulse_ms >= timeSinceLastTick) {
ptpaterson 10:ec59d628ebdc 409 outputTimers[out].pulse_ms -= timeSinceLastTick;
ptpaterson 10:ec59d628ebdc 410 } else {
ptpaterson 10:ec59d628ebdc 411 /* time past would put timer below 0 */
ptpaterson 10:ec59d628ebdc 412 outputTimers[out].pulse_ms = 0;
ptpaterson 10:ec59d628ebdc 413 }
ptpaterson 10:ec59d628ebdc 414
ptpaterson 10:ec59d628ebdc 415 /* if time has run out */
ptpaterson 10:ec59d628ebdc 416 if (0 == outputTimers[out].pulse_ms) {
ptpaterson 10:ec59d628ebdc 417
ptpaterson 10:ec59d628ebdc 418 /* just turn off pulse */
ptpaterson 10:ec59d628ebdc 419 outputTimers[out].type &= 0xFE;
ptpaterson 10:ec59d628ebdc 420 newOutput &= ~(1 << out);
ptpaterson 10:ec59d628ebdc 421
ptpaterson 10:ec59d628ebdc 422 /* if there is a patter, then output buffer will stay on */
ptpaterson 10:ec59d628ebdc 423 /* but if there is a pulsed-patter, then it should still turn off */
ptpaterson 10:ec59d628ebdc 424 if (!(outputTimers[out].type & 0x02) ||
ptpaterson 10:ec59d628ebdc 425 (outputTimers[out].type & (0x02 | 0x04))) {
ptpaterson 10:ec59d628ebdc 426 /* turn buffer off */
ptpaterson 10:ec59d628ebdc 427 outputTimers[out].type = 0;
ptpaterson 10:ec59d628ebdc 428 writeOutputBuffers[0] &= ~(1 << out);
ptpaterson 10:ec59d628ebdc 429 }
ptpaterson 10:ec59d628ebdc 430 }
ptpaterson 10:ec59d628ebdc 431 }
ptpaterson 10:ec59d628ebdc 432
ptpaterson 10:ec59d628ebdc 433 /* two ways to patter:
ptpaterson 10:ec59d628ebdc 434 * wait until after pulse (pulse-then-patter),
ptpaterson 10:ec59d628ebdc 435 * or config so pulse happens at same time (pulsed-patter)
ptpaterson 10:ec59d628ebdc 436 */
ptpaterson 10:ec59d628ebdc 437 if (((outputTimers[out].type & 0x02) && !(outputTimers[out].type & 0x01)) ||
ptpaterson 10:ec59d628ebdc 438 ((outputTimers[out].type & (0x02 | 0x04)) && (outputTimers[out].type & 0x01))) {
ptpaterson 10:ec59d628ebdc 439
ptpaterson 10:ec59d628ebdc 440 /* if output is on, run down pwm_on, else tun down pwm_off */
ptpaterson 10:ec59d628ebdc 441 uint8_t *pw_timer;
ptpaterson 10:ec59d628ebdc 442 if (newOutput & (1 << out)) {
ptpaterson 10:ec59d628ebdc 443 pw_timer = &outputTimers[out].pwm_on;
ptpaterson 10:ec59d628ebdc 444 } else {
ptpaterson 10:ec59d628ebdc 445 pw_timer = &outputTimers[out].pwm_off;
ptpaterson 10:ec59d628ebdc 446 }
ptpaterson 10:ec59d628ebdc 447
ptpaterson 10:ec59d628ebdc 448 if (*pw_timer >= timeSinceLastTick) {
ptpaterson 10:ec59d628ebdc 449 *pw_timer -= timeSinceLastTick;
ptpaterson 10:ec59d628ebdc 450 } else {
ptpaterson 10:ec59d628ebdc 451 *pw_timer = 0;
ptpaterson 10:ec59d628ebdc 452 }
ptpaterson 10:ec59d628ebdc 453
ptpaterson 10:ec59d628ebdc 454 if (*pw_timer == 0) {
ptpaterson 10:ec59d628ebdc 455 newOutput ^= (1 << out);
ptpaterson 10:ec59d628ebdc 456
ptpaterson 10:ec59d628ebdc 457 outputTimers[out].pwm_on = outputConfigs[out].pwm_on;
ptpaterson 10:ec59d628ebdc 458 outputTimers[out].pwm_off = outputConfigs[out].pwm_off;
ptpaterson 10:ec59d628ebdc 459 }
ptpaterson 10:ec59d628ebdc 460 }
ptpaterson 10:ec59d628ebdc 461
ptpaterson 10:ec59d628ebdc 462
ptpaterson 10:ec59d628ebdc 463 }
ptpaterson 10:ec59d628ebdc 464
ptpaterson 10:ec59d628ebdc 465 mbedOutputs = ((uint16_t)newOutput) << 8;
ptpaterson 10:ec59d628ebdc 466
ptpaterson 10:ec59d628ebdc 467 prevOutputBuffers[0] = writeOutputBuffers[0];
ptpaterson 10:ec59d628ebdc 468 }
ptpaterson 10:ec59d628ebdc 469
ptpaterson 10:ec59d628ebdc 470 void Node_pin0808::OnUpdate (void)
ptpaterson 10:ec59d628ebdc 471 {
ptpaterson 10:ec59d628ebdc 472 /* Check for output configurations --------------------------------------*/
ptpaterson 10:ec59d628ebdc 473 if (writeOutputConfig.writeData) {
ptpaterson 10:ec59d628ebdc 474 uint8_t out = (uint8_t)(writeOutputConfig.writeData);
ptpaterson 10:ec59d628ebdc 475
ptpaterson 10:ec59d628ebdc 476 writeOutputConfig.writeData = 0;
ptpaterson 10:ec59d628ebdc 477 outputConfigs[out] = writeOutputConfig;
ptpaterson 10:ec59d628ebdc 478
ptpaterson 10:ec59d628ebdc 479 memset(&writeOutputConfig, 0, sizeof(writeOutputConfig));
ptpaterson 10:ec59d628ebdc 480 }
ptpaterson 10:ec59d628ebdc 481
ptpaterson 10:ec59d628ebdc 482
ptpaterson 10:ec59d628ebdc 483 /* Check for rule configurations ----------------------------------------*/
ptpaterson 10:ec59d628ebdc 484 if (writeRule.sourceId) {
ptpaterson 10:ec59d628ebdc 485 printf(" Configuring Rules...\r\n");
ptpaterson 10:ec59d628ebdc 486 if (writeRule.sourceId & 0x80) {
ptpaterson 10:ec59d628ebdc 487 /* write new rule*/
ptpaterson 10:ec59d628ebdc 488
ptpaterson 10:ec59d628ebdc 489 /* scan through array of rules for available (8th bit cleared) */
ptpaterson 10:ec59d628ebdc 490 int ruleNum = 0;
ptpaterson 10:ec59d628ebdc 491 while (ruleNum < 24) {
ptpaterson 10:ec59d628ebdc 492 if (!(rules[ruleNum].sourceId & 0x80)) {
ptpaterson 10:ec59d628ebdc 493
ptpaterson 10:ec59d628ebdc 494 rules[ruleNum] = writeRule;
ptpaterson 10:ec59d628ebdc 495 printf(" Rule added: #%d\r\n", ruleNum);
ptpaterson 10:ec59d628ebdc 496 ruleNum = 24;
ptpaterson 10:ec59d628ebdc 497 } else {
ptpaterson 10:ec59d628ebdc 498 ruleNum++;
ptpaterson 10:ec59d628ebdc 499 if (ruleNum == 24) {
ptpaterson 10:ec59d628ebdc 500 printf(" ERROR: Not enough rules available");
ptpaterson 10:ec59d628ebdc 501 }
ptpaterson 10:ec59d628ebdc 502 }
ptpaterson 10:ec59d628ebdc 503 }
ptpaterson 10:ec59d628ebdc 504
ptpaterson 10:ec59d628ebdc 505 } else {
ptpaterson 10:ec59d628ebdc 506 /* clear rules */
ptpaterson 10:ec59d628ebdc 507
ptpaterson 10:ec59d628ebdc 508 /* scan through array of rules matching input and disable */
ptpaterson 10:ec59d628ebdc 509 for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
ptpaterson 10:ec59d628ebdc 510
ptpaterson 10:ec59d628ebdc 511 /* check if rule enabled and input num matches */
ptpaterson 10:ec59d628ebdc 512 if ((rules[ruleNum].sourceId & 0x80) &&
ptpaterson 10:ec59d628ebdc 513 ((rules[ruleNum].sourceId & 0x7F) == writeRule.sourceId) &&
ptpaterson 10:ec59d628ebdc 514 ((rules[ruleNum].input & 0x1F) == (writeRule.input & 0x1F)))
ptpaterson 10:ec59d628ebdc 515 {
ptpaterson 10:ec59d628ebdc 516 memset(&rules[ruleNum], 0, sizeof(AutotriggerRule));
ptpaterson 10:ec59d628ebdc 517 printf(" Rule removed: #%d\r\n", ruleNum);
ptpaterson 10:ec59d628ebdc 518 }
ptpaterson 10:ec59d628ebdc 519
ptpaterson 10:ec59d628ebdc 520 }
ptpaterson 10:ec59d628ebdc 521 }
ptpaterson 10:ec59d628ebdc 522
ptpaterson 10:ec59d628ebdc 523 memset(&writeRule, 0, sizeof(AutotriggerRule));
ptpaterson 10:ec59d628ebdc 524 }
ptpaterson 10:ec59d628ebdc 525
ptpaterson 10:ec59d628ebdc 526 /* check for input changes from other devices---------------------------*/
ptpaterson 10:ec59d628ebdc 527 if (autotriggerMessage.sourceId) {
ptpaterson 10:ec59d628ebdc 528
ptpaterson 10:ec59d628ebdc 529 printf(" detected change from node: %#04x\r\n", (autotriggerMessage.sourceId & 0x7F));
ptpaterson 10:ec59d628ebdc 530 /* scan through array of rules matching inputs and direction */
ptpaterson 10:ec59d628ebdc 531 for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
ptpaterson 10:ec59d628ebdc 532
ptpaterson 10:ec59d628ebdc 533 /* check if rule enabled and input num matches */
ptpaterson 10:ec59d628ebdc 534 if ((rules[ruleNum].sourceId & 0x80) && /* rule is active AND */
ptpaterson 10:ec59d628ebdc 535 (rules[ruleNum].sourceId == autotriggerMessage.sourceId) && /* rule source matches message source AND */
ptpaterson 10:ec59d628ebdc 536 (autotriggerMessage.change[0] & (1 << (rules[ruleNum].input & 0x1F)))) /* change exists at input num */
ptpaterson 10:ec59d628ebdc 537 {
ptpaterson 10:ec59d628ebdc 538
ptpaterson 10:ec59d628ebdc 539 int ruleActivity = rules[ruleNum].input >> 5;
ptpaterson 10:ec59d628ebdc 540 int inputActivity = (autotriggerMessage.input[0] >> (rules[ruleNum].input & 0x1F)) & 1;
ptpaterson 10:ec59d628ebdc 541
ptpaterson 10:ec59d628ebdc 542 printf(" id match: %#04x\r\n", ruleNum);
ptpaterson 10:ec59d628ebdc 543 printf(" ruleActivity: %#04x\r\n", ruleActivity);
ptpaterson 10:ec59d628ebdc 544 printf(" inputActivity: %#04x\r\n", inputActivity);
ptpaterson 10:ec59d628ebdc 545
ptpaterson 10:ec59d628ebdc 546 if ((2 == ruleActivity) || (inputActivity == ruleActivity)) {
ptpaterson 10:ec59d628ebdc 547
ptpaterson 10:ec59d628ebdc 548 printf(" activating Rule...\r\n");
ptpaterson 10:ec59d628ebdc 549 printf(" setMask: %#10x\r\n", rules[ruleNum].setMask[0]);
ptpaterson 10:ec59d628ebdc 550 printf(" clearMask: %#10x\r\n", ~rules[ruleNum].clearMask[0]);
ptpaterson 10:ec59d628ebdc 551
ptpaterson 10:ec59d628ebdc 552 writeOutputBuffers[0] |= rules[ruleNum].setMask[0];
ptpaterson 10:ec59d628ebdc 553 //writeOutputBuffers[1] |= rules[ruleNum].setMask[1];
ptpaterson 10:ec59d628ebdc 554 //writeOutputBuffers[2] |= rules[ruleNum].setMask[2];
ptpaterson 10:ec59d628ebdc 555
ptpaterson 10:ec59d628ebdc 556 writeOutputBuffers[0] &= ~rules[ruleNum].clearMask[0];
ptpaterson 10:ec59d628ebdc 557 //writeOutputBuffers[1] &= ~rules[ruleNum].clearMask[1];
ptpaterson 10:ec59d628ebdc 558 //writeOutputBuffers[2] &= ~rules[ruleNum].clearMask[2];
ptpaterson 10:ec59d628ebdc 559 }
ptpaterson 10:ec59d628ebdc 560 }
ptpaterson 10:ec59d628ebdc 561
ptpaterson 10:ec59d628ebdc 562 }
ptpaterson 10:ec59d628ebdc 563
ptpaterson 10:ec59d628ebdc 564 memset(&autotriggerMessage, 0, sizeof(AutotriggerMessage));
ptpaterson 10:ec59d628ebdc 565 }
ptpaterson 10:ec59d628ebdc 566
ptpaterson 10:ec59d628ebdc 567 /* check for input changes from this device -----------------------------*/
ptpaterson 10:ec59d628ebdc 568 /* update Index 2101-01 */
ptpaterson 10:ec59d628ebdc 569 inputChangeMask[0] = readInputBuffers[0] ^ prevInputBuffers[0];
ptpaterson 10:ec59d628ebdc 570
ptpaterson 10:ec59d628ebdc 571 /* check for rules against this devices inputs */
ptpaterson 10:ec59d628ebdc 572 if (inputChangeMask[0]) {
ptpaterson 10:ec59d628ebdc 573 /* scan through array of rules matching inputs and direction */
ptpaterson 10:ec59d628ebdc 574 for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
ptpaterson 10:ec59d628ebdc 575
ptpaterson 10:ec59d628ebdc 576 /* check if rule enabled and input num matches */
ptpaterson 10:ec59d628ebdc 577 if ((rules[ruleNum].sourceId & 0x80) && /* rule is active AND */
ptpaterson 10:ec59d628ebdc 578 ((rules[ruleNum].sourceId & 0x7F) == nodeId) && /* rule source is this nodeId AND */
ptpaterson 10:ec59d628ebdc 579 (inputChangeMask[0] & (1 << (rules[ruleNum].input & 0x1F)))) /* change exists at input num */
ptpaterson 10:ec59d628ebdc 580 {
ptpaterson 10:ec59d628ebdc 581
ptpaterson 10:ec59d628ebdc 582 int ruleActivity = rules[ruleNum].input >> 5;
ptpaterson 10:ec59d628ebdc 583 int inputActivity = (readInputBuffers[0] >> (rules[ruleNum].input & 0x1F)) & 1;
ptpaterson 10:ec59d628ebdc 584
ptpaterson 10:ec59d628ebdc 585 if ((2 == ruleActivity) || (inputActivity == ruleActivity)) {
ptpaterson 10:ec59d628ebdc 586 writeOutputBuffers[0] |= rules[ruleNum].setMask[0];
ptpaterson 10:ec59d628ebdc 587 //writeOutputBuffers[1] |= rules[ruleNum].setMask[1];
ptpaterson 10:ec59d628ebdc 588 //writeOutputBuffers[2] |= rules[ruleNum].setMask[2];
ptpaterson 10:ec59d628ebdc 589
ptpaterson 10:ec59d628ebdc 590 writeOutputBuffers[0] &= ~rules[ruleNum].clearMask[0];
ptpaterson 10:ec59d628ebdc 591 //writeOutputBuffers[1] &= ~rules[ruleNum].clearMask[1];
ptpaterson 10:ec59d628ebdc 592 //writeOutputBuffers[2] &= ~rules[ruleNum].clearMask[2];
ptpaterson 10:ec59d628ebdc 593 }
ptpaterson 10:ec59d628ebdc 594 }
ptpaterson 10:ec59d628ebdc 595
ptpaterson 10:ec59d628ebdc 596 }
ptpaterson 10:ec59d628ebdc 597 }
ptpaterson 10:ec59d628ebdc 598
ptpaterson 10:ec59d628ebdc 599 /* index 6005-01 configured to enable interrupt messages */
ptpaterson 10:ec59d628ebdc 600 if (bInputInterruptEnable) {
ptpaterson 10:ec59d628ebdc 601
ptpaterson 10:ec59d628ebdc 602 /* if change is within index 6006-01, interrupt mask */
ptpaterson 10:ec59d628ebdc 603 if (inputChangeMask[0] & inputInterruptMask[0]) {
ptpaterson 10:ec59d628ebdc 604
ptpaterson 10:ec59d628ebdc 605 /* send a message immediately */
ptpaterson 10:ec59d628ebdc 606 PostTPDO(0x181);
ptpaterson 10:ec59d628ebdc 607 }
ptpaterson 10:ec59d628ebdc 608
ptpaterson 10:ec59d628ebdc 609 }
ptpaterson 10:ec59d628ebdc 610
ptpaterson 10:ec59d628ebdc 611 prevInputBuffers[0] = readInputBuffers[0];
ptpaterson 10:ec59d628ebdc 612 }
ptpaterson 10:ec59d628ebdc 613
ptpaterson 10:ec59d628ebdc 614 /******************************************************************************
ptpaterson 10:ec59d628ebdc 615 * SYNC Implementation
ptpaterson 10:ec59d628ebdc 616 ******************************************************************************
ptpaterson 10:ec59d628ebdc 617 */
ptpaterson 10:ec59d628ebdc 618
ptpaterson 10:ec59d628ebdc 619 void Node_pin0808::OnSync (uint8_t counter)
ptpaterson 10:ec59d628ebdc 620 {
ptpaterson 10:ec59d628ebdc 621
ptpaterson 10:ec59d628ebdc 622 }
ptpaterson 10:ec59d628ebdc 623
ptpaterson 10:ec59d628ebdc 624 /******************************************************************************
ptpaterson 10:ec59d628ebdc 625 * NMT Control Implementation
ptpaterson 10:ec59d628ebdc 626 ******************************************************************************
ptpaterson 10:ec59d628ebdc 627 */
ptpaterson 10:ec59d628ebdc 628
ptpaterson 10:ec59d628ebdc 629 void Node_pin0808::OnInitialize (void)
ptpaterson 10:ec59d628ebdc 630 {
ptpaterson 10:ec59d628ebdc 631 printf(" Node_pin0808::INITIALIZE!\r\n");
ptpaterson 10:ec59d628ebdc 632
ptpaterson 10:ec59d628ebdc 633 mbedOutputs = 0xFFFF;
ptpaterson 10:ec59d628ebdc 634 wait(1.0);
ptpaterson 10:ec59d628ebdc 635 mbedOutputs = 0;
ptpaterson 10:ec59d628ebdc 636
ptpaterson 10:ec59d628ebdc 637 prevOutputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 638 writeOutputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 639
ptpaterson 10:ec59d628ebdc 640 prevInputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 641 readInputBuffers[0] = 0;
ptpaterson 10:ec59d628ebdc 642 }
ptpaterson 10:ec59d628ebdc 643
ptpaterson 10:ec59d628ebdc 644 void Node_pin0808::OnPreoperational (void)
ptpaterson 10:ec59d628ebdc 645 {
ptpaterson 10:ec59d628ebdc 646 printf(" Node_pin0808::PRE-OPERATIONAL!\r\n");
ptpaterson 10:ec59d628ebdc 647 }
ptpaterson 10:ec59d628ebdc 648
ptpaterson 10:ec59d628ebdc 649 void Node_pin0808::OnOperational (void)
ptpaterson 10:ec59d628ebdc 650 {
ptpaterson 10:ec59d628ebdc 651 printf(" Node_pin0808::OPERATIONAL!\r\n");
ptpaterson 10:ec59d628ebdc 652
ptpaterson 10:ec59d628ebdc 653 mbedOutputs = (writeOutputBuffers[0] << 16);
ptpaterson 10:ec59d628ebdc 654 }
ptpaterson 10:ec59d628ebdc 655
ptpaterson 10:ec59d628ebdc 656 void Node_pin0808::OnStopped (void)
ptpaterson 10:ec59d628ebdc 657 {
ptpaterson 10:ec59d628ebdc 658 printf(" Node_pin0808::STOPPED!\r\n");
ptpaterson 10:ec59d628ebdc 659
ptpaterson 10:ec59d628ebdc 660 mbedOutputs = 0;
ptpaterson 10:ec59d628ebdc 661 }
ptpaterson 10:ec59d628ebdc 662
ptpaterson 10:ec59d628ebdc 663 /******************************************************************************
ptpaterson 10:ec59d628ebdc 664 * Object Dictionary Handling
ptpaterson 10:ec59d628ebdc 665 ******************************************************************************
ptpaterson 10:ec59d628ebdc 666 */
ptpaterson 10:ec59d628ebdc 667
ptpaterson 10:ec59d628ebdc 668 ObjectData * Node_pin0808::ScanIndex(IndexSize index)
ptpaterson 10:ec59d628ebdc 669 {
ptpaterson 10:ec59d628ebdc 670 ObjectData * result = 0;
ptpaterson 10:ec59d628ebdc 671
ptpaterson 10:ec59d628ebdc 672 switch(index) {
ptpaterson 10:ec59d628ebdc 673 case 0x1200: result = &dictionary[0]; break;
ptpaterson 10:ec59d628ebdc 674 case 0x1400: result = &dictionary[1]; break;
ptpaterson 10:ec59d628ebdc 675 case 0x1401: result = &dictionary[2]; break;
ptpaterson 10:ec59d628ebdc 676 case 0x1402: result = &dictionary[3]; break;
ptpaterson 10:ec59d628ebdc 677 case 0x1403: result = &dictionary[4]; break;
ptpaterson 10:ec59d628ebdc 678 case 0x1600: result = &dictionary[5]; break;
ptpaterson 10:ec59d628ebdc 679 case 0x1601: result = &dictionary[6]; break;
ptpaterson 10:ec59d628ebdc 680 case 0x1602: result = &dictionary[7]; break;
ptpaterson 10:ec59d628ebdc 681 case 0x1603: result = &dictionary[8]; break;
ptpaterson 10:ec59d628ebdc 682 case 0x1800: result = &dictionary[10]; break;
ptpaterson 10:ec59d628ebdc 683 case 0x1A00: result = &dictionary[11]; break;
ptpaterson 10:ec59d628ebdc 684 case 0x2001: result = &dictionary[12]; break;
ptpaterson 10:ec59d628ebdc 685 case 0x2002: result = &dictionary[13]; break;
ptpaterson 10:ec59d628ebdc 686 case 0x2100: result = &dictionary[14]; break;
ptpaterson 10:ec59d628ebdc 687 case 0x2200: result = &dictionary[15]; break;
ptpaterson 10:ec59d628ebdc 688 case 0x6000: result = &dictionary[16]; break;
ptpaterson 10:ec59d628ebdc 689 case 0x6005: result = &dictionary[17]; break;
ptpaterson 10:ec59d628ebdc 690 case 0x6006: result = &dictionary[18]; break;
ptpaterson 10:ec59d628ebdc 691 case 0x6200: result = &dictionary[19]; break;
ptpaterson 10:ec59d628ebdc 692 default:
ptpaterson 10:ec59d628ebdc 693 // TODO add error handling
ptpaterson 10:ec59d628ebdc 694 break;
ptpaterson 10:ec59d628ebdc 695 }
ptpaterson 10:ec59d628ebdc 696
ptpaterson 10:ec59d628ebdc 697 return result;
ptpaterson 10:ec59d628ebdc 698 }
ptpaterson 10:ec59d628ebdc 699
ptpaterson 10:ec59d628ebdc 700 } /* namespace ppCANOpen */