First Last
EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
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EtherCAT
by 
First Last
Diff: EtherCAT/objectlist.h
- Revision:
- 2:3dd1240eb938
- Parent:
- 0:a8daa9348a67
- Child:
- 3:3761315146ec
--- a/EtherCAT/objectlist.h Thu Dec 11 21:16:00 2014 +0000
+++ b/EtherCAT/objectlist.h Thu Dec 11 21:49:07 2014 +0000
@@ -1,286 +1,286 @@
-/*
- * SOES Simple Open EtherCAT Slave
- *
- * File : objectlist.h
- * Version : 0.9.2
- * Date : 22-02-2010
- * Copyright (C) 2007-2010 Arthur Ketels
- *
- * SOES is free software; you can redistribute it and/or modify it under
- * the terms of the GNU General Public License version 2 as published by the Free
- * Software Foundation.
- *
- * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
- * WARRANTY; without even the implied warranty of MERCHANTABILITY or
- * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * As a special exception, if other files instantiate templates or use macros
- * or inline functions from this file, or you compile this file and link it
- * with other works to produce a work based on this file, this file does not
- * by itself cause the resulting work to be covered by the GNU General Public
- * License. However the source code for this file must still be made available
- * in accordance with section (3) of the GNU General Public License.
- *
- * This exception does not invalidate any other reasons why a work based on
- * this file might be covered by the GNU General Public License.
- *
- * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
- * property of, and protected by Beckhoff Automation GmbH.
- */
-#ifndef __objectlist__
-#define __objectlist__
-
-/**
-For info about this file, please check http://bitbucket.org/utwente_bss/soes_arm/wiki/objectlist_h
-*/
-typedef const struct
- {
- uint16 subindex;
- uint16 datatype;
- uint16 bitlength;
- uint16 access;
- char const *name;
- uint32 value;
- void *data;
- } _objd;
-
-typedef const struct
- {
- uint16 index;
- uint16 objtype;
- uint8 maxsub;
- uint8 pad1;
- char const *name;
- _objd const *objdesc;
- } _objectlist;
-
-#define OBJH_READ 0
-#define OBJH_WRITE 1
-
-#define _ac const char
-#define nil 0
-
-//Described in Table 63 & Table 64 of ETG1000.6
-#define OTYPE_DOMAIN 0x0002
-#define OTYPE_DEFTYPE 0x0005
-#define OTYPE_DEFSTRUCT 0x0006
-#define OTYPE_VAR 0x0007
-#define OTYPE_ARRAY 0x0008
-#define OTYPE_RECORD 0x0009
-
-//Described in Table 70 of ETG1000.6
-#define DTYPE_BOOLEAN 0x0001
-#define DTYPE_INTEGER8 0x0002
-#define DTYPE_INTEGER16 0x0003
-#define DTYPE_INTEGER32 0x0004
-#define DTYPE_UNSIGNED8 0x0005
-#define DTYPE_UNSIGNED16 0x0006
-#define DTYPE_UNSIGNED32 0x0007
-#define DTYPE_REAL32 0x0008
-#define DTYPE_VISIBLE_STRING 0x0009
-#define DTYPE_OCTET_STRING 0x000A
-#define DTYPE_UNICODE_STRING 0x000B
-#define DTYPE_INTEGER24 0x0010
-#define DTYPE_UNSIGNED24 0x0016
-#define DTYPE_INTEGER64 0x0015
-#define DTYPE_UNSIGNED64 0x001B
-#define DTYPE_REAL64 0x0011
-#define DTYPE_PDO_MAPPING 0x0021
-#define DTYPE_IDENTITY 0x0023
-#define DTYPE_BIT1 0x0030
-#define DTYPE_BIT2 0x0031
-#define DTYPE_BIT3 0x0032
-#define DTYPE_BIT4 0x0033
-#define DTYPE_BIT5 0x0034
-#define DTYPE_BIT6 0x0035
-#define DTYPE_BIT7 0x0036
-#define DTYPE_BIT8 0x0037
-
-//See 'Object Access' in Table 47 of ETG1000.6
-#define ATYPE_R 0x07
-#define ATYPE_RW 0x3F
-#define ATYPE_RWpre 0x0F
-#define ATYPE_RXPDO 0x40
-#define ATYPE_TXPDO 0x80
-
-/** Mapping of parameters is according to ETG.5000 document, and ETG.1000.6
-*/
-_ac acName1000[]="Device Type";
-_ac acName1008[]="Manufacturer Device Name";
-_ac acName1009[]="Manufacturer Hardware Version";
-_ac acName100A[]="Manufacturer Software Version";
-_ac acName1018[]="Identity Object";
-/*Subindexes for Identity Object*/
-_ac acName1018_01[]="Vendor ID";
-_ac acName1018_02[]="Product Code";
-_ac acName1018_03[]="Revision Number";
-_ac acName1018_04[]="Serial Number";
-/*End of subindexes for Identity Object*/
-_ac acNameMO[]="Mapped object";
-_ac acName1600[]="Receive PDO mapping";
-_ac acName1A00[]="Transmit PDO mapping - Digital";
-_ac acName1A10[]="Transmit PDO mapping - Analog";
-_ac acName1C00[]="Sync Manager Communication type";
-/*Subindexes for Sync Manager Communication type*/
-_ac acName1C00_01[]="Communications type SM0";
-_ac acName1C00_02[]="Communications type SM1";
-_ac acName1C00_03[]="Communications type SM2";
-_ac acName1C00_04[]="Communications type SM3";
-/*End of subindexes for Sync Manager Communication type*/
-_ac acName1C10[]="Sync Manager 0 PDO Assignment";
-_ac acName1C11[]="Sync Manager 1 PDO Assignment";
-_ac acName1C12[]="Sync Manager 2 PDO Assignment";
-_ac acName1C13[]="Sync Manager 3 PDO Assignment";
-_ac acNameNOE[]="Number of entries";
-_ac acName6000[]="Digital Inputs";
-/*Subindexes for Digital Inputs*/
-_ac acName6000_01[]="Status";
-_ac acName6000_02[]="Counter";
-_ac acName6000_03[]="Digital inputs";
-/*End of subindexes for Digital Inputs*/
-_ac acName6001[]="Analog Inputs";
-/*Subindexes for Analog inputs*/
-_ac acName6001_01[]="Analog 1";
-_ac acName6001_02[]="Analog 2";
-_ac acName6001_03[]="Analog 3";
-_ac acName6001_04[]="Analog 4";
-_ac acName6001_05[]="Analog 5";
-_ac acName6001_06[]="Analog 6";
-_ac acName6001_07[]="Analog 7";
-_ac acName6001_08[]="Analog 8";
-_ac acName6001_09[]="Timestamp";
-/*End of subindexes for Analog inputs*/
-_ac acName7000[]="Outputs";
-/*Subindexes of Outputs*/
-_ac acName7000_01[]="Control";
-_ac acName7000_02[]="digoutput";
-/*End of subindexes for Outputs*/
-_ac acName8000[]="Configuration";
-/*Subindexes of configuration*/
-_ac acName8000_01[]="Settings 8";
-_ac acName8000_02[]="Settings 16";
-/*End of subindexes of configuration*/
-
-/////////////////////////////////////////////////////////////////////////////////////
-/** Definiton of Device Name */
-char ac1008_00[]="SOES Simple Open EtherCAT Slave";
-/** Definition of Hardware version*/
-char ac1009_00[]="0.0.1";
-/** Definition of Software version*/
-char ac100A_00[]="0.0.1";
-/** Service Data Object 1000: Device Type */
-const _objd SDO1000[]=
-{{0x00,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1000[0],0x00000000}};
-/** Service Data Object 1008: Device Name */
-const _objd SDO1008[]=
-{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac1008_00)<<3,ATYPE_R,&acName1008[0],0,&ac1008_00[0]}};
-/** Service Data Object 1009: Hardware Version */
-const _objd SDO1009[]=
-{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac1009_00)<<3,ATYPE_R,&acName1009[0],0,&ac1009_00[0]}};
-/** Service Data Object 100A: Software Version */
-const _objd SDO100A[]=
-{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac100A_00)<<3,ATYPE_R,&acName100A[0],0,&ac100A_00[0]}};
-const _objd SDO1018[]= //See ETG.1000.6 'Identity Object'
- {{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x04}, //Number of Entries
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_01[0],0x500}, //Vendor ID
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_02[0],0x00908001 }, //Product Code
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_03[0],0x002}, //Revision Number
- {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_04[0],0x001} //Serial Number};
-};
-/////////////////////////////////////////////////////////////////////////////////////////////
-const _objd SDO1600[]= //RxPDO mapping (objects from master to slave)
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x02}, //Number of RxPDOs
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x70000108}, //First Object, pointing to object 7001:01
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x70000208} //Second Object, pointing to object 7001:02
-};
-const _objd SDO1A00[]= //TxPDO mapping (objects from slave to master)
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x03}, //Number of TxPDOs
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000108}, //First Object, pointing to object 6000:01
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000208}, //Second Object, pointing to object 6000:02
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000308} //..
-};
-const _objd SDO1A10[]= //Second TxPDO module
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x09},
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010110},
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010210},
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010310},
- {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010410},
- {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010510},
- {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010610},
- {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010710},
- {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010810},
- {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010920}
-};
-const _objd SDO1C00[]= //Sync Manager
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x04}, //Number of used Sync Manager channels
- {0x01,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_01[0],0x01}, //Sync Manager 0: Mailbox Receive (master->slave)
- {0x02,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_02[0],0x02}, //Sync Manager 1: Mailbos send (slave->master)
- {0x03,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_03[0],0x03}, //Process Data Output (or Inputs if no Outputs are used)
- {0x04,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_04[0],0x04} //Process Data Input
-};
-const _objd SDO1C10[]= //Sync Manager 0 PDO Assignment
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C10[0],0x00}};
-const _objd SDO1C11[]= //Sync Manager 1 PDO Assignment
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C11[0],0x00}};
-const _objd SDO1C12[]= //RxPDO Assign objects
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x01}, //Number of Entries
- {0x01,DTYPE_UNSIGNED16,16,ATYPE_R,&acNameMO[0],0x1600} //Send objects in index 0x1600
-};
-const _objd SDO1C13[]= //TxPDO Assign objects ; CHANGEABLE, thus 'RWpre' mode
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_RWpre,&acNameNOE[0],0x02}, //Number of Entries
- {0x01,DTYPE_UNSIGNED16,16,ATYPE_RWpre,&acNameMO[0],0x1A00}, //Send objects in index 0x1A00
- {0x02,DTYPE_UNSIGNED16,16,ATYPE_RWpre,&acNameMO[0],0x1A10} //Send objects in index 0x1A10
-};
-const _objd SDO6000[]= //TxPDO module
-{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x03}, //Number of elements
- {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_01[0],0,&(Rb.status)}, //6000:01 is status
- {0x02,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_02[0],0,&(Rb.counter)}, //6000:02 is counter
- {0x03,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_03[0],0,&(Rb.diginput)} //6000:03 is digital inputs
-};
-const _objd SDO6001[]= //TxPDO module
-{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of elements
- {0x01,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_01[0],0,&(Rb.analog[0])}, //6001:1 is analog 0
- {0x02,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_02[0],0,&(Rb.analog[1])}, //6001:2 is analog 1
- {0x03,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_03[0],0,&(Rb.analog[2])}, //6001:3 is analog 2
- {0x04,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_04[0],0,&(Rb.analog[3])}, //6001:4 is analog 3
- {0x05,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_05[0],0,&(Rb.analog[4])}, //6001:5 is analog 4
- {0x06,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_06[0],0,&(Rb.analog[5])}, //6001:6 is analog 5
- {0x07,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_07[0],0,&(Rb.analog[6])}, //6001:7 is analog 6
- {0x08,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_08[0],0,&(Rb.analog[7])}, //6001:8 is analog 7
- {0x09,DTYPE_UNSIGNED32 ,32,ATYPE_R,&acName6001_09[0],0,&(Rb.timestamp)} //6001:9 is timestamp
-};
-const _objd SDO7000[]= //RxPDO module
-{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x02}, //Number of elements
- {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName7000_01[0],0,&(Wb.control)}, //7001:01 is control
- {0x02,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName7000_02[0],0,&(Wb.digoutput)} //7001:02 is digoutput
-};
-const _objd SDO8000[]= //Configuration mailbox
-{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x02}, //number of elements
- {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName8000_01[0],0,&(Eb.setting8)}, //8000:01 is setting8
- {0x02,DTYPE_UNSIGNED16 ,16,ATYPE_RW,&acName8000_02[0],0,&(Eb.setting16)} //8000:02 is setting16
-};
-/** Object list; all objects used in EtherCAT slave */
-const _objectlist SDOobjects[]=
-{{0x1000,OTYPE_VAR , 0,0,&acName1000[0],&SDO1000[0]}, //Device Type
- {0x1008,OTYPE_VAR , 0,0,&acName1008[0],&SDO1008[0]}, //Device Name
- {0x1009,OTYPE_VAR , 0,0,&acName1009[0],&SDO1009[0]}, //Hardware Version
- {0x100A,OTYPE_VAR , 0,0,&acName100A[0],&SDO100A[0]}, //Software Version
- {0x1018,OTYPE_RECORD , 4,0,&acName1018[0],&SDO1018[0]}, //Identity
- {0x1600,OTYPE_RECORD , 0x02,0,&acName1600[0],&SDO1600[0]}, //RxPDO mapping
- {0x1A00,OTYPE_RECORD , 0x03,0,&acName1A00[0],&SDO1A00[0]}, //TxPDO mapping
- {0x1A10,OTYPE_RECORD , 0x09,0,&acName1A10[0],&SDO1A10[0]}, //TxPDO mapping
- {0x1C00,OTYPE_ARRAY , 4,0,&acName1C00[0],&SDO1C00[0]}, //Sync Manager configuration
- {0x1C10,OTYPE_ARRAY , 0,0,&acName1C10[0],&SDO1C10[0]}, //Sync Manager 0 PDO assignment
- {0x1C11,OTYPE_ARRAY , 0,0,&acName1C11[0],&SDO1C11[0]}, //Sync Manager 1 PDO assignment
- {0x1C12,OTYPE_ARRAY , 1,0,&acName1C12[0],&SDO1C12[0]}, //RxPDO objects
- {0x1C13,OTYPE_ARRAY , 2,0,&acName1C13[0],&SDO1C13[0]}, //TxPDO objects
- {0x6000,OTYPE_ARRAY , 0x03,0,&acName6000[0],&SDO6000[0]}, //TxPDO module
- {0x6001,OTYPE_ARRAY , 0x09,0,&acName6001[0],&SDO6001[0]}, //TxPDO module
- {0x7000,OTYPE_ARRAY , 0x02,0,&acName7000[0],&SDO7000[0]}, //RxPDO module
- {0x8000,OTYPE_ARRAY , 0x02,0,&acName8000[0],&SDO8000[0]}, //RxPDO module
- {0xffff,0xff,0xff,0xff,nil,nil}
-};
-
-#endif
+/*
+ * SOES Simple Open EtherCAT Slave
+ *
+ * File : objectlist.h
+ * Version : 0.9.2
+ * Date : 22-02-2010
+ * Copyright (C) 2007-2010 Arthur Ketels
+ *
+ * SOES is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the Free
+ * Software Foundation.
+ *
+ * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * As a special exception, if other files instantiate templates or use macros
+ * or inline functions from this file, or you compile this file and link it
+ * with other works to produce a work based on this file, this file does not
+ * by itself cause the resulting work to be covered by the GNU General Public
+ * License. However the source code for this file must still be made available
+ * in accordance with section (3) of the GNU General Public License.
+ *
+ * This exception does not invalidate any other reasons why a work based on
+ * this file might be covered by the GNU General Public License.
+ *
+ * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
+ * property of, and protected by Beckhoff Automation GmbH.
+ */
+#ifndef __objectlist__
+#define __objectlist__
+
+/**
+For info about this file, please check http://bitbucket.org/utwente_bss/soes_arm/wiki/objectlist_h
+*/
+typedef const struct
+ {
+ uint16 subindex;
+ uint16 datatype;
+ uint16 bitlength;
+ uint16 access;
+ char const *name;
+ uint32 value;
+ void *data;
+ } _objd;
+
+typedef const struct
+ {
+ uint16 index;
+ uint16 objtype;
+ uint8 maxsub;
+ uint8 pad1;
+ char const *name;
+ _objd const *objdesc;
+ } _objectlist;
+
+#define OBJH_READ 0
+#define OBJH_WRITE 1
+
+#define _ac const char
+#define nil 0
+
+//Described in Table 63 & Table 64 of ETG1000.6
+#define OTYPE_DOMAIN 0x0002
+#define OTYPE_DEFTYPE 0x0005
+#define OTYPE_DEFSTRUCT 0x0006
+#define OTYPE_VAR 0x0007
+#define OTYPE_ARRAY 0x0008
+#define OTYPE_RECORD 0x0009
+
+//Described in Table 70 of ETG1000.6
+#define DTYPE_BOOLEAN 0x0001
+#define DTYPE_INTEGER8 0x0002
+#define DTYPE_INTEGER16 0x0003
+#define DTYPE_INTEGER32 0x0004
+#define DTYPE_UNSIGNED8 0x0005
+#define DTYPE_UNSIGNED16 0x0006
+#define DTYPE_UNSIGNED32 0x0007
+#define DTYPE_REAL32 0x0008
+#define DTYPE_VISIBLE_STRING 0x0009
+#define DTYPE_OCTET_STRING 0x000A
+#define DTYPE_UNICODE_STRING 0x000B
+#define DTYPE_INTEGER24 0x0010
+#define DTYPE_UNSIGNED24 0x0016
+#define DTYPE_INTEGER64 0x0015
+#define DTYPE_UNSIGNED64 0x001B
+#define DTYPE_REAL64 0x0011
+#define DTYPE_PDO_MAPPING 0x0021
+#define DTYPE_IDENTITY 0x0023
+#define DTYPE_BIT1 0x0030
+#define DTYPE_BIT2 0x0031
+#define DTYPE_BIT3 0x0032
+#define DTYPE_BIT4 0x0033
+#define DTYPE_BIT5 0x0034
+#define DTYPE_BIT6 0x0035
+#define DTYPE_BIT7 0x0036
+#define DTYPE_BIT8 0x0037
+
+//See 'Object Access' in Table 47 of ETG1000.6
+#define ATYPE_R 0x07
+#define ATYPE_RW 0x3F
+#define ATYPE_RWpre 0x0F
+#define ATYPE_RXPDO 0x40
+#define ATYPE_TXPDO 0x80
+/** Mapping of parameters is according to ETG.5000 document, and ETG.1000.6
+*/
+_ac acName1000[]="Device Type";
+_ac acName1008[]="Manufacturer Device Name";
+_ac acName1009[]="Manufacturer Hardware Version";
+_ac acName100A[]="Manufacturer Software Version";
+_ac acName1018[]="Identity Object";
+/*Subindexes for Identity Object*/
+_ac acName1018_01[]="Vendor ID";
+_ac acName1018_02[]="Product Code";
+_ac acName1018_03[]="Revision Number";
+_ac acName1018_04[]="Serial Number";
+/*End of subindexes for Identity Object*/
+_ac acNameMO[]="Mapped object";
+_ac acName1600[]="Receive PDO mapping";
+_ac acName1A00[]="Transmit PDO mapping - Digital";
+_ac acName1A10[]="Transmit PDO mapping - Analog";
+_ac acName1C00[]="Sync Manager Communication type";
+/*Subindexes for Sync Manager Communication type*/
+_ac acName1C00_01[]="Communications type SM0";
+_ac acName1C00_02[]="Communications type SM1";
+_ac acName1C00_03[]="Communications type SM2";
+_ac acName1C00_04[]="Communications type SM3";
+/*End of subindexes for Sync Manager Communication type*/
+_ac acName1C10[]="Sync Manager 0 PDO Assignment";
+_ac acName1C11[]="Sync Manager 1 PDO Assignment";
+_ac acName1C12[]="Sync Manager 2 PDO Assignment";
+_ac acName1C13[]="Sync Manager 3 PDO Assignment";
+_ac acNameNOE[]="Number of entries";
+_ac acName6000[]="Digital Inputs";
+/*Subindexes for Digital Inputs*/
+_ac acName6000_01[]="Status";
+_ac acName6000_02[]="Counter";
+_ac acName6000_03[]="Digital inputs";
+/*End of subindexes for Digital Inputs*/
+_ac acName6001[]="Analog Inputs";
+/*Subindexes for Analog inputs*/
+_ac acName6001_01[]="Analog 1";
+_ac acName6001_02[]="Analog 2";
+_ac acName6001_03[]="Analog 3";
+_ac acName6001_04[]="Analog 4";
+_ac acName6001_05[]="Analog 5";
+_ac acName6001_06[]="Analog 6";
+_ac acName6001_07[]="Analog 7";
+_ac acName6001_08[]="Analog 8";
+_ac acName6001_09[]="Timestamp";
+/*End of subindexes for Analog inputs*/
+_ac acName7000[]="Outputs";
+/*Subindexes of Outputs*/
+_ac acName7000_01[]="Control";
+_ac acName7000_02[]="digoutput";
+/*End of subindexes for Outputs*/
+_ac acName8000[]="Configuration";
+/*Subindexes of configuration*/
+_ac acName8000_01[]="Settings 8";
+_ac acName8000_02[]="Settings 16";
+/*End of subindexes of configuration*/
+
+/////////////////////////////////////////////////////////////////////////////////////
+/** Definiton of Device Name */
+char ac1008_00[]="BalanceBoard";
+/** Definition of Hardware version*/
+char ac1009_00[]="0.0.1";
+/** Definition of Software version*/
+char ac100A_00[]="0.0.1";
+/** Service Data Object 1000: Device Type */
+const _objd SDO1000[]=
+{{0x00,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1000[0],0x00000000}};
+/** Service Data Object 1008: Device Name */
+const _objd SDO1008[]=
+{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac1008_00)<<3,ATYPE_R,&acName1008[0],0,&ac1008_00[0]}};
+/** Service Data Object 1009: Hardware Version */
+const _objd SDO1009[]=
+{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac1009_00)<<3,ATYPE_R,&acName1009[0],0,&ac1009_00[0]}};
+/** Service Data Object 100A: Software Version */
+const _objd SDO100A[]=
+{{0x00,DTYPE_VISIBLE_STRING,sizeof(ac100A_00)<<3,ATYPE_R,&acName100A[0],0,&ac100A_00[0]}};
+const _objd SDO1018[]= //See ETG.1000.6 'Identity Object'
+ {{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x04}, //Number of Entries
+ {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_01[0],0x500}, //Vendor ID
+ {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_02[0],0x00000004 }, //Product Code
+ {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_03[0],0x001}, //Revision Number
+ {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acName1018_04[0],0x001} //Serial Number};
+};
+/////////////////////////////////////////////////////////////////////////////////////////////
+const _objd SDO1600[]= //RxPDO mapping (objects from master to slave)
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x02}, //Number of RxPDOs
+ {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x70000108}, //First Object, pointing to object 7001:01
+ {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x70000208} //Second Object, pointing to object 7001:02
+};
+const _objd SDO1A00[]= //TxPDO mapping (objects from slave to master)
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x03}, //Number of TxPDOs
+ {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000108}, //First Object, pointing to object 6000:01
+ {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000208}, //Second Object, pointing to object 6000:02
+ {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000308} //..
+};
+const _objd SDO1A10[]= //Second TxPDO module
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x09},
+ {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010110},
+ {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010210},
+ {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010310},
+ {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010410},
+ {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010510},
+ {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010610},
+ {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010710},
+ {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010810},
+ {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010920}
+};
+const _objd SDO1C00[]= //Sync Manager
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x04}, //Number of used Sync Manager channels
+ {0x01,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_01[0],0x01}, //Sync Manager 0: Mailbox Receive (master->slave)
+ {0x02,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_02[0],0x02}, //Sync Manager 1: Mailbos send (slave->master)
+ {0x03,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_03[0],0x03}, //Process Data Output (or Inputs if no Outputs are used)
+ {0x04,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C00_04[0],0x04} //Process Data Input
+};
+const _objd SDO1C10[]= //Sync Manager 0 PDO Assignment
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C10[0],0x00}};
+const _objd SDO1C11[]= //Sync Manager 1 PDO Assignment
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acName1C11[0],0x00}};
+const _objd SDO1C12[]= //RxPDO Assign objects
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x01}, //Number of Entries
+ {0x01,DTYPE_UNSIGNED16,16,ATYPE_R,&acNameMO[0],0x1600} //Send objects in index 0x1600
+};
+const _objd SDO1C13[]= //TxPDO Assign objects ; CHANGEABLE, thus 'RWpre' mode
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_RWpre,&acNameNOE[0],0x02}, //Number of Entries
+ {0x01,DTYPE_UNSIGNED16,16,ATYPE_RWpre,&acNameMO[0],0x1A00}, //Send objects in index 0x1A00
+ {0x02,DTYPE_UNSIGNED16,16,ATYPE_RWpre,&acNameMO[0],0x1A10} //Send objects in index 0x1A10
+};
+const _objd SDO6000[]= //TxPDO module
+{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x03}, //Number of elements
+ {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_01[0],0,&(Rb.status)}, //6000:01 is status
+ {0x02,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_02[0],0,&(Rb.counter)}, //6000:02 is counter
+ {0x03,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acName6000_03[0],0,&(Rb.diginput)} //6000:03 is digital inputs
+};
+const _objd SDO6001[]= //TxPDO module
+{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of elements
+ {0x01,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_01[0],0,&(Rb.analog[0])}, //6001:1 is analog 0
+ {0x02,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_02[0],0,&(Rb.analog[1])}, //6001:2 is analog 1
+ {0x03,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_03[0],0,&(Rb.analog[2])}, //6001:3 is analog 2
+ {0x04,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_04[0],0,&(Rb.analog[3])}, //6001:4 is analog 3
+ {0x05,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_05[0],0,&(Rb.analog[4])}, //6001:5 is analog 4
+ {0x06,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_06[0],0,&(Rb.analog[5])}, //6001:6 is analog 5
+ {0x07,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_07[0],0,&(Rb.analog[6])}, //6001:7 is analog 6
+ {0x08,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6001_08[0],0,&(Rb.analog[7])}, //6001:8 is analog 7
+ {0x09,DTYPE_UNSIGNED32 ,32,ATYPE_R,&acName6001_09[0],0,&(Rb.timestamp)} //6001:9 is timestamp
+};
+const _objd SDO7000[]= //RxPDO module
+{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x02}, //Number of elements
+ {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName7000_01[0],0,&(Wb.control)}, //7001:01 is control
+ {0x02,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName7000_02[0],0,&(Wb.digoutput)} //7001:02 is digoutput
+};
+const _objd SDO8000[]= //Configuration mailbox
+{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x02}, //number of elements
+ {0x01,DTYPE_UNSIGNED8 ,8,ATYPE_RW,&acName8000_01[0],0,&(Eb.setting8)}, //8000:01 is setting8
+ {0x02,DTYPE_UNSIGNED16 ,16,ATYPE_RW,&acName8000_02[0],0,&(Eb.setting16)} //8000:02 is setting16
+};
+/** Object list; all objects used in EtherCAT slave */
+const _objectlist SDOobjects[]=
+{{0x1000,OTYPE_VAR , 0,0,&acName1000[0],&SDO1000[0]}, //Device Type
+ {0x1008,OTYPE_VAR , 0,0,&acName1008[0],&SDO1008[0]}, //Device Name
+ {0x1009,OTYPE_VAR , 0,0,&acName1009[0],&SDO1009[0]}, //Hardware Version
+ {0x100A,OTYPE_VAR , 0,0,&acName100A[0],&SDO100A[0]}, //Software Version
+ {0x1018,OTYPE_RECORD , 4,0,&acName1018[0],&SDO1018[0]}, //Identity
+ {0x1600,OTYPE_RECORD , 0x02,0,&acName1600[0],&SDO1600[0]}, //RxPDO mapping
+ {0x1A00,OTYPE_RECORD , 0x03,0,&acName1A00[0],&SDO1A00[0]}, //TxPDO mapping
+ {0x1A10,OTYPE_RECORD , 0x09,0,&acName1A10[0],&SDO1A10[0]}, //TxPDO mapping
+ {0x1C00,OTYPE_ARRAY , 4,0,&acName1C00[0],&SDO1C00[0]}, //Sync Manager configuration
+ {0x1C10,OTYPE_ARRAY , 0,0,&acName1C10[0],&SDO1C10[0]}, //Sync Manager 0 PDO assignment
+ {0x1C11,OTYPE_ARRAY , 0,0,&acName1C11[0],&SDO1C11[0]}, //Sync Manager 1 PDO assignment
+ {0x1C12,OTYPE_ARRAY , 1,0,&acName1C12[0],&SDO1C12[0]}, //RxPDO objects
+ {0x1C13,OTYPE_ARRAY , 2,0,&acName1C13[0],&SDO1C13[0]}, //TxPDO objects
+ {0x6000,OTYPE_ARRAY , 0x03,0,&acName6000[0],&SDO6000[0]}, //TxPDO module
+ {0x6001,OTYPE_ARRAY , 0x09,0,&acName6001[0],&SDO6001[0]}, //TxPDO module
+ {0x7000,OTYPE_ARRAY , 0x02,0,&acName7000[0],&SDO7000[0]}, //RxPDO module
+ {0x8000,OTYPE_ARRAY , 0x02,0,&acName8000[0],&SDO8000[0]}, //RxPDO module
+ {0xffff,0xff,0xff,0xff,nil,nil}
+};
+
+#endif
+