-
Notifications
You must be signed in to change notification settings - Fork 0
/
CANOpenShellSlaveOD.c
1408 lines (1323 loc) · 100 KB
/
CANOpenShellSlaveOD.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/* File generated by gen_cfile.py. Should not be modified. */
#include "CANOpenShellSlaveOD.h"
/**************************************************************************/
/* Declaration of mapped variables */
/**************************************************************************/
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_1P = 0x0; /* Mapped at index 0x2010, subindex 0x01 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_2P = 0x0; /* Mapped at index 0x2010, subindex 0x02 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_3P = 0x0; /* Mapped at index 0x2010, subindex 0x03 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_4P = 0x0; /* Mapped at index 0x2010, subindex 0x04 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_5P = 0x0; /* Mapped at index 0x2010, subindex 0x05 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_6P = 0x0; /* Mapped at index 0x2010, subindex 0x06 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_7P = 0x0; /* Mapped at index 0x2010, subindex 0x07 */
INTEGER32 sensor1_strain_gauge_processed_Strain_Gauge_8P = 0x0; /* Mapped at index 0x2010, subindex 0x08 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_1R = 0x0; /* Mapped at index 0x2011, subindex 0x01 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_2R = 0x0; /* Mapped at index 0x2011, subindex 0x02 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_3R = 0x0; /* Mapped at index 0x2011, subindex 0x03 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_4R = 0x0; /* Mapped at index 0x2011, subindex 0x04 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_5R = 0x0; /* Mapped at index 0x2011, subindex 0x05 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_6R = 0x0; /* Mapped at index 0x2011, subindex 0x06 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_7R = 0x0; /* Mapped at index 0x2011, subindex 0x07 */
INTEGER32 sensor1_strain_gauge_raw_Strain_Gauge_8R = 0x0; /* Mapped at index 0x2011, subindex 0x08 */
REAL32 sensor1_ahrs_quaternion_Quaternion_ahrs_1 = 0.000000; /* Mapped at index 0x2012, subindex 0x01 */
REAL32 sensor1_ahrs_quaternion_Quaternion_ahrs_2 = 0.000000; /* Mapped at index 0x2012, subindex 0x02 */
REAL32 sensor1_ahrs_quaternion_Quaternion_ahrs_3 = 0.000000; /* Mapped at index 0x2012, subindex 0x03 */
REAL32 sensor1_ahrs_quaternion_Quaternion_ahrs_4 = 0.000000; /* Mapped at index 0x2012, subindex 0x04 */
REAL32 sensor1_imu_quaternion_Quaternion_imu_1 = 0.000000; /* Mapped at index 0x2013, subindex 0x01 */
REAL32 sensor1_imu_quaternion_Quaternion_imu_2 = 0.000000; /* Mapped at index 0x2013, subindex 0x02 */
REAL32 sensor1_imu_quaternion_Quaternion_imu_3 = 0.000000; /* Mapped at index 0x2013, subindex 0x03 */
REAL32 sensor1_imu_quaternion_Quaternion_imu_4 = 0.000000; /* Mapped at index 0x2013, subindex 0x04 */
REAL32 sensor1_accel_accel_x_norm = 0.000000; /* Mapped at index 0x2014, subindex 0x01 */
REAL32 sensor1_accel_accel_y_norm = 0.000000; /* Mapped at index 0x2014, subindex 0x02 */
REAL32 sensor1_accel_accel_z_norm = 0.000000; /* Mapped at index 0x2014, subindex 0x03 */
UNS16 sensor1_accel_accel_x_raw = 0x0; /* Mapped at index 0x2014, subindex 0x04 */
UNS16 sensor1_accel_accel_y_raw = 0x0; /* Mapped at index 0x2014, subindex 0x05 */
UNS16 sensor1_accel_accel_z_raw = 0x0; /* Mapped at index 0x2014, subindex 0x06 */
REAL32 sensor1_gyro_gyro_x_norm = 0.000000; /* Mapped at index 0x2015, subindex 0x01 */
REAL32 sensor1_gyro_gyro_y_norm = 0.000000; /* Mapped at index 0x2015, subindex 0x02 */
REAL32 sensor1_gyro_gyro_z_norm = 0.000000; /* Mapped at index 0x2015, subindex 0x03 */
UNS16 sensor1_gyro_gyro_x_raw = 0x0; /* Mapped at index 0x2015, subindex 0x04 */
UNS16 sensor1_gyro_gyro_y_raw = 0x0; /* Mapped at index 0x2015, subindex 0x05 */
UNS16 sensor1_gyro_gyro_z_raw = 0x0; /* Mapped at index 0x2015, subindex 0x06 */
REAL32 sensor1_mag_mag_x_norm = 0.000000; /* Mapped at index 0x2016, subindex 0x01 */
REAL32 sensor1_mag_mag_y_norm = 0.000000; /* Mapped at index 0x2016, subindex 0x02 */
REAL32 sensor1_mag_mag_z_norm = 0.000000; /* Mapped at index 0x2016, subindex 0x03 */
UNS16 sensor1_mag_mag_x_raw = 0x0; /* Mapped at index 0x2016, subindex 0x04 */
UNS16 sensor1_mag_mag_y_raw = 0x0; /* Mapped at index 0x2016, subindex 0x05 */
UNS16 sensor1_mag_mag_z_raw = 0x0; /* Mapped at index 0x2016, subindex 0x06 */
UNS8 motor2_configuration_Current_Control_Type = 0x0; /* Mapped at index 0x2020, subindex 0x01 */
UNS32 motor2_configuration_Main_Loop_Update_Frequency = 0x0; /* Mapped at index 0x2020, subindex 0x02 */
UNS32 motor2_configuration_PWM_Frequency = 0x0; /* Mapped at index 0x2020, subindex 0x03 */
UNS32 motor2_configuration_Gear_Ratio_1000 = 0x0; /* Mapped at index 0x2020, subindex 0x04 */
INTEGER32 motor2_state_Current_Postition = 0x0; /* Mapped at index 0x2021, subindex 0x01 */
INTEGER32 motor2_state_Current_Velocity = 0x0; /* Mapped at index 0x2021, subindex 0x02 */
INTEGER32 motor2_state_Current_Torque = 0x0; /* Mapped at index 0x2021, subindex 0x03 */
INTEGER32 motor2_state_Current_Motor_Voltage = 0x0; /* Mapped at index 0x2021, subindex 0x04 */
INTEGER32 motor2_state_Current_Motor_Current = 0x0; /* Mapped at index 0x2021, subindex 0x05 */
UNS8 motor2_state_Undefined = 0x0; /* Mapped at index 0x2021, subindex 0x06 */
UNS8 motor2_state_Undefined = 0x0; /* Mapped at index 0x2021, subindex 0x07 */
UNS8 motor2_state_Undefined = 0x0; /* Mapped at index 0x2021, subindex 0x08 */
INTEGER32 motor2_position_control_Commanded_Position = 0x0; /* Mapped at index 0x2022, subindex 0x01 */
UNS16 motor2_position_control_P_Gain = 0x0; /* Mapped at index 0x2022, subindex 0x02 */
UNS16 motor2_position_control_I_Gain = 0x0; /* Mapped at index 0x2022, subindex 0x03 */
UNS16 motor2_position_control_D_Gain = 0x0; /* Mapped at index 0x2022, subindex 0x04 */
REAL32 motor2_position_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x05 */
REAL32 motor2_position_control_SS_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x06 */
REAL32 motor2_position_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x07 */
REAL32 motor2_position_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x08 */
REAL32 motor2_position_control_O_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x09 */
REAL32 motor2_position_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2022, subindex 0x0A */
INTEGER40 motor2_velocity_control_Commanded_Velocity = 0x0; /* Mapped at index 0x2023, subindex 0x01 */
UNS16 motor2_velocity_control_P_Gain = 0x0; /* Mapped at index 0x2023, subindex 0x02 */
UNS16 motor2_velocity_control_I_Gain = 0x0; /* Mapped at index 0x2023, subindex 0x03 */
UNS16 motor2_velocity_control_D_Gain = 0x0; /* Mapped at index 0x2023, subindex 0x04 */
REAL32 motor2_velocity_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x05 */
REAL32 motor2_velocity_control_SS_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x06 */
REAL32 motor2_velocity_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x07 */
REAL32 motor2_velocity_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x08 */
REAL32 motor2_velocity_control_O_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x09 */
REAL32 motor2_velocity_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2023, subindex 0x0A */
INTEGER32 motor2_torque_control_Commanded_Torque = 0x0; /* Mapped at index 0x2024, subindex 0x01 */
UNS16 motor2_torque_control_P_Gain = 0x0; /* Mapped at index 0x2024, subindex 0x02 */
UNS16 motor2_torque_control_I_Gain = 0x0; /* Mapped at index 0x2024, subindex 0x03 */
UNS16 motor2_torque_control_D_Gain = 0x0; /* Mapped at index 0x2024, subindex 0x04 */
REAL32 motor2_torque_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x05 */
REAL32 motor2_torque_control_SS_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x06 */
REAL32 motor2_torque_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x07 */
REAL32 motor2_torque_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x08 */
REAL32 motor2_torque_control_O_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x09 */
REAL32 motor2_torque_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2024, subindex 0x0A */
INTEGER32 motor2_impedance_control_Commanded_Torque = 0x0; /* Mapped at index 0x2025, subindex 0x01 */
INTEGER32 motor2_impedance_control_Actual_Length = 0x0; /* Mapped at index 0x2025, subindex 0x02 */
INTEGER32 motor2_impedance_control_Actual_Velocity = 0x0; /* Mapped at index 0x2025, subindex 0x03 */
INTEGER32 motor2_impedance_control_Length_Offset = 0x0; /* Mapped at index 0x2025, subindex 0x04 */
INTEGER32 motor2_impedance_control_Velocity_Offset = 0x0; /* Mapped at index 0x2025, subindex 0x05 */
INTEGER32 motor2_impedance_control_Tension_Offset = 0x0; /* Mapped at index 0x2025, subindex 0x06 */
UNS16 motor2_impedance_control_Velocity_Gain = 0x0; /* Mapped at index 0x2025, subindex 0x07 */
UNS16 motor2_impedance_control_Length_Gain = 0x0; /* Mapped at index 0x2025, subindex 0x08 */
UNS32 power3_adc_state_mV_5V5_out = 0x0; /* Mapped at index 0x2030, subindex 0x01 */
UNS32 power3_adc_state_mA_5V5_out = 0x0; /* Mapped at index 0x2030, subindex 0x02 */
UNS32 power3_adc_state_mW_5V5_out = 0x0; /* Mapped at index 0x2030, subindex 0x03 */
UNS32 power3_adc_state_mV_main_battery = 0x0; /* Mapped at index 0x2030, subindex 0x04 */
UNS32 power3_adc_state_mV_vbackup_battery = 0x0; /* Mapped at index 0x2030, subindex 0x05 */
INTEGER32 power3_adc_state_mA_motor_current = 0x0; /* Mapped at index 0x2030, subindex 0x06 */
UNS32 power3_adc_state_mV_motor_voltage = 0x0; /* Mapped at index 0x2030, subindex 0x07 */
INTEGER32 power3_adc_state_mW_motor_power = 0x0; /* Mapped at index 0x2030, subindex 0x08 */
INTEGER8 power3_adc_state_C_temp = 0x0; /* Mapped at index 0x2030, subindex 0x09 */
UNS8 power3_killswitches_24_killswitch = 0x0; /* Mapped at index 0x2031, subindex 0x01 */
UNS8 power3_killswitches_5V5_Out_1 = 0x0; /* Mapped at index 0x2031, subindex 0x02 */
UNS8 power3_killswitches_5V5_Out_2 = 0x0; /* Mapped at index 0x2031, subindex 0x03 */
UNS8 power3_killswitches_5V5_Out_3 = 0x0; /* Mapped at index 0x2031, subindex 0x04 */
UNS8 power3_killswitches_5V5_Out_4 = 0x0; /* Mapped at index 0x2031, subindex 0x05 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_1P = 0x0; /* Mapped at index 0x2710, subindex 0x01 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_2P = 0x0; /* Mapped at index 0x2710, subindex 0x02 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_3P = 0x0; /* Mapped at index 0x2710, subindex 0x03 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_4P = 0x0; /* Mapped at index 0x2710, subindex 0x04 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_5P = 0x0; /* Mapped at index 0x2710, subindex 0x05 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_6P = 0x0; /* Mapped at index 0x2710, subindex 0x06 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_7P = 0x0; /* Mapped at index 0x2710, subindex 0x07 */
INTEGER32 sensor71_strain_gauge_processed_Strain_Gauge_8P = 0x0; /* Mapped at index 0x2710, subindex 0x08 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_1R = 0x0; /* Mapped at index 0x2711, subindex 0x01 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_2R = 0x0; /* Mapped at index 0x2711, subindex 0x02 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_3R = 0x0; /* Mapped at index 0x2711, subindex 0x03 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_4R = 0x0; /* Mapped at index 0x2711, subindex 0x04 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_5R = 0x0; /* Mapped at index 0x2711, subindex 0x05 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_6R = 0x0; /* Mapped at index 0x2711, subindex 0x06 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_7R = 0x0; /* Mapped at index 0x2711, subindex 0x07 */
INTEGER32 sensor71_strain_gauge_raw_Strain_Gauge_8R = 0x0; /* Mapped at index 0x2711, subindex 0x08 */
REAL32 sensor71_ahrs_quaternion_Quaternion_ahrs_1 = 0.000000; /* Mapped at index 0x2712, subindex 0x01 */
REAL32 sensor71_ahrs_quaternion_Quaternion_ahrs_2 = 0.000000; /* Mapped at index 0x2712, subindex 0x02 */
REAL32 sensor71_ahrs_quaternion_Quaternion_ahrs_3 = 0.000000; /* Mapped at index 0x2712, subindex 0x03 */
REAL32 sensor71_ahrs_quaternion_Quaternion_ahrs_4 = 0.000000; /* Mapped at index 0x2712, subindex 0x04 */
REAL32 sensor71_imu_quaternion_Quaternion_imu_1 = 0.000000; /* Mapped at index 0x2713, subindex 0x01 */
REAL32 sensor71_imu_quaternion_Quaternion_imu_2 = 0.000000; /* Mapped at index 0x2713, subindex 0x02 */
REAL32 sensor71_imu_quaternion_Quaternion_imu_3 = 0.000000; /* Mapped at index 0x2713, subindex 0x03 */
REAL32 sensor71_imu_quaternion_Quaternion_imu_4 = 0.000000; /* Mapped at index 0x2713, subindex 0x04 */
REAL32 senso71_accel_accel_x_norm = 0.000000; /* Mapped at index 0x2714, subindex 0x01 */
REAL32 senso71_accel_accel_y_norm = 0.000000; /* Mapped at index 0x2714, subindex 0x02 */
REAL32 senso71_accel_accel_z_norm = 0.000000; /* Mapped at index 0x2714, subindex 0x03 */
UNS16 senso71_accel_accel_x_raw = 0x0; /* Mapped at index 0x2714, subindex 0x04 */
UNS16 senso71_accel_accel_y_raw = 0x0; /* Mapped at index 0x2714, subindex 0x05 */
UNS16 senso71_accel_accel_z_raw = 0x0; /* Mapped at index 0x2714, subindex 0x06 */
REAL32 sensor71_gyro_gyro_x_norm = 0.000000; /* Mapped at index 0x2715, subindex 0x01 */
REAL32 sensor71_gyro_gyro_y_norm = 0.000000; /* Mapped at index 0x2715, subindex 0x02 */
REAL32 sensor71_gyro_gyro_z_norm = 0.000000; /* Mapped at index 0x2715, subindex 0x03 */
UNS16 sensor71_gyro_gyro_x_raw = 0x0; /* Mapped at index 0x2715, subindex 0x04 */
UNS16 sensor71_gyro_gyro_y_raw = 0x0; /* Mapped at index 0x2715, subindex 0x05 */
UNS16 sensor71_gyro_gyro_z_raw = 0x0; /* Mapped at index 0x2715, subindex 0x06 */
REAL32 sensor71_mag_mag_x_norm = 0.000000; /* Mapped at index 0x2716, subindex 0x01 */
REAL32 sensor71_mag_mag_y_norm = 0.000000; /* Mapped at index 0x2716, subindex 0x02 */
REAL32 sensor71_mag_mag_z_norm = 0.000000; /* Mapped at index 0x2716, subindex 0x03 */
UNS16 sensor71_mag_mag_x_raw = 0x0; /* Mapped at index 0x2716, subindex 0x04 */
UNS16 sensor71_mag_mag_y_raw = 0x0; /* Mapped at index 0x2716, subindex 0x05 */
UNS16 sensor71_mag_mag_z_raw = 0x0; /* Mapped at index 0x2716, subindex 0x06 */
UNS8 motor72_configuration_Current_Control_Type = 0x0; /* Mapped at index 0x2720, subindex 0x01 */
UNS32 motor72_configuration_Main_Loop_Update_Frequency = 0x0; /* Mapped at index 0x2720, subindex 0x02 */
UNS32 motor72_configuration_PWM_Frequency = 0x0; /* Mapped at index 0x2720, subindex 0x03 */
UNS32 motor72_configuration_Gear_Ratio_1000 = 0x0; /* Mapped at index 0x2720, subindex 0x04 */
INTEGER32 motor72_state_Current_Postition = 0x0; /* Mapped at index 0x2721, subindex 0x01 */
INTEGER32 motor72_state_Current_Velocity = 0x0; /* Mapped at index 0x2721, subindex 0x02 */
INTEGER32 motor72_state_Current_Torque = 0x0; /* Mapped at index 0x2721, subindex 0x03 */
INTEGER32 motor72_state_Current_Motor_Voltage = 0x0; /* Mapped at index 0x2721, subindex 0x04 */
INTEGER32 motor72_state_Current_Motor_Current = 0x0; /* Mapped at index 0x2721, subindex 0x05 */
UNS8 motor72_state_Undefined = 0x0; /* Mapped at index 0x2721, subindex 0x06 */
UNS8 motor72_state_Undefined = 0x0; /* Mapped at index 0x2721, subindex 0x07 */
UNS8 motor72_state_Undefined = 0x0; /* Mapped at index 0x2721, subindex 0x08 */
INTEGER32 motor72_position_control_Commanded_Position = 0x0; /* Mapped at index 0x2722, subindex 0x01 */
UNS16 motor72_position_control_P_Gain = 0x0; /* Mapped at index 0x2722, subindex 0x02 */
UNS16 motor72_position_control_I_Gain = 0x0; /* Mapped at index 0x2722, subindex 0x03 */
UNS16 motor72_position_control_D_Gain = 0x0; /* Mapped at index 0x2722, subindex 0x04 */
REAL32 motor72_position_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x05 */
REAL32 motor72_position_control_SS_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x06 */
REAL32 motor72_position_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x07 */
REAL32 motor72_position_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x08 */
REAL32 motor72_position_control_O_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x09 */
REAL32 motor72_position_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2722, subindex 0x0A */
INTEGER32 motor72_velocity_control_Commanded_Velocity = 0x0; /* Mapped at index 0x2723, subindex 0x01 */
UNS16 motor72_velocity_control_P_Gain = 0x0; /* Mapped at index 0x2723, subindex 0x02 */
UNS16 motor72_velocity_control_I_Gain = 0x0; /* Mapped at index 0x2723, subindex 0x03 */
UNS16 motor72_velocity_control_D_Gain = 0x0; /* Mapped at index 0x2723, subindex 0x04 */
REAL32 motor72_velocity_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x05 */
REAL32 motor72_velocity_control_SS_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x06 */
REAL32 motor72_velocity_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x07 */
REAL32 motor72_velocity_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x08 */
REAL32 motor72_velocity_control_O_Gain_2nd_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x09 */
REAL32 motor72_velocity_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2723, subindex 0x0A */
INTEGER32 motor72_torque_control_Commanded_Torque = 0x0; /* Mapped at index 0x2724, subindex 0x01 */
UNS16 motor72_torque_control_P_Gain = 0x0; /* Mapped at index 0x2724, subindex 0x02 */
UNS16 motor72_torque_control_I_Gain = 0x0; /* Mapped at index 0x2724, subindex 0x03 */
UNS16 motor72_torque_control_D_Gain = 0x0; /* Mapped at index 0x2724, subindex 0x04 */
REAL32 motor72_torque_control_SS_Gain_1st_Order = 0.000000; /* Mapped at index 0x2724, subindex 0x05 */
REAL32 motor72_torque_control_SS_Gain_2ndOrder = 0.000000; /* Mapped at index 0x2724, subindex 0x06 */
REAL32 motor72_torque_control_SS_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2724, subindex 0x07 */
REAL32 motor72_torque_control_O_Gain_1st_Order = 0.000000; /* Mapped at index 0x2724, subindex 0x08 */
REAL32 motor72_torque_control_O_Gain_2ndOrder = 0.000000; /* Mapped at index 0x2724, subindex 0x09 */
REAL32 motor72_torque_control_O_Gain_3rd_Order = 0.000000; /* Mapped at index 0x2724, subindex 0x0A */
INTEGER32 motor72_impedance_control_Commanded_Torque = 0x0; /* Mapped at index 0x2725, subindex 0x01 */
INTEGER32 motor72_impedance_control_Actual_Length = 0x0; /* Mapped at index 0x2725, subindex 0x02 */
INTEGER32 motor72_impedance_control_Actual_Velocity = 0x0; /* Mapped at index 0x2725, subindex 0x03 */
INTEGER32 motor72_impedance_control_Length_Offset = 0x0; /* Mapped at index 0x2725, subindex 0x04 */
INTEGER32 motor72_impedance_control_Velocity_Offset = 0x0; /* Mapped at index 0x2725, subindex 0x05 */
INTEGER32 motor72_impedance_control_Tension_Offset = 0x0; /* Mapped at index 0x2725, subindex 0x06 */
UNS16 motor72_impedance_control_Velocity_Gain = 0x0; /* Mapped at index 0x2725, subindex 0x07 */
UNS16 motor72_impedance_control_Undefined = 0x0; /* Mapped at index 0x2725, subindex 0x08 */
UNS32 power73_adc_state_mV_5V5_out = 0x0; /* Mapped at index 0x2730, subindex 0x01 */
UNS32 power73_adc_state_mA_5V5_out = 0x0; /* Mapped at index 0x2730, subindex 0x02 */
UNS32 power73_adc_state_mW_5V5_out = 0x0; /* Mapped at index 0x2730, subindex 0x03 */
UNS32 power73_adc_state_mV_main_battery = 0x0; /* Mapped at index 0x2730, subindex 0x04 */
UNS32 power73_adc_state_mV_vbackup_battery = 0x0; /* Mapped at index 0x2730, subindex 0x05 */
INTEGER32 power73_adc_state_mA_motor_current = 0x0; /* Mapped at index 0x2730, subindex 0x06 */
UNS32 power73_adc_state_mV_motor_voltage = 0x0; /* Mapped at index 0x2730, subindex 0x07 */
INTEGER32 power73_adc_state_mW_motor_power = 0x0; /* Mapped at index 0x2730, subindex 0x08 */
INTEGER8 power73_adc_state_C_temp = 0x0; /* Mapped at index 0x2730, subindex 0x09 */
UNS8 power73_killswitches_24_killswitch = 0x0; /* Mapped at index 0x2731, subindex 0x01 */
UNS8 power73_killswitches_5V5_Out_1 = 0x0; /* Mapped at index 0x2731, subindex 0x02 */
UNS8 power73_killswitches_5V5_Out_2 = 0x0; /* Mapped at index 0x2731, subindex 0x03 */
UNS8 power73_killswitches_5V5_Out_3 = 0x0; /* Mapped at index 0x2731, subindex 0x04 */
UNS8 power73_killswitches_5V5_Out_4 = 0x0; /* Mapped at index 0x2731, subindex 0x05 */
/**************************************************************************/
/* Declaration of value range types */
/**************************************************************************/
#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */
UNS32 CANOpenShellSlaveOD_valueRangeTest (UNS8 typeValue, void * value)
{
switch (typeValue) {
case valueRange_EMC:
if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
break;
}
return 0;
}
/**************************************************************************/
/* The node id */
/**************************************************************************/
/* node_id default value.*/
UNS8 CANOpenShellSlaveOD_bDeviceNodeId = 0x00;
/**************************************************************************/
/* Array of message processing information */
const UNS8 CANOpenShellSlaveOD_iam_a_slave = 1;
TIMER_HANDLE CANOpenShellSlaveOD_heartBeatTimers[1];
/*
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
OBJECT DICTIONARY
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
*/
/* index 0x1000 : Device Type. */
UNS32 CANOpenShellSlaveOD_obj1000 = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1000[] =
{
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1000 }
};
/* index 0x1001 : Error Register. */
UNS8 CANOpenShellSlaveOD_obj1001 = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1001[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1001 }
};
/* index 0x1003 : Pre-defined Error Field */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1003[] =
{
0x0 /* 0 */
};
ODCallback_t CANOpenShellSlaveOD_Index1003_callbacks[] =
{
NULL,
NULL,
};
subindex CANOpenShellSlaveOD_Index1003[] =
{
{ RW, valueRange_EMC, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1003 },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1003[0] }
};
/* index 0x1005 : SYNC COB ID */
UNS32 CANOpenShellSlaveOD_obj1005 = 0x0; /* 0 */
/* index 0x1006 : Communication / Cycle Period */
UNS32 CANOpenShellSlaveOD_obj1006 = 0x0; /* 0 */
/* index 0x100C : Guard Time */
UNS16 CANOpenShellSlaveOD_obj100C = 0x0; /* 0 */
/* index 0x100D : Life Time Factor */
UNS8 CANOpenShellSlaveOD_obj100D = 0x0; /* 0 */
/* index 0x1014 : Emergency COB ID */
UNS32 CANOpenShellSlaveOD_obj1014 = 0x80 + 0x00; /* 128 + NodeID */
/* index 0x1016 : Consumer Heartbeat Time */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1016 = 0;
UNS32 CANOpenShellSlaveOD_obj1016[]={0};
/* index 0x1017 : Producer Heartbeat Time. */
UNS16 CANOpenShellSlaveOD_obj1017 = 0x0; /* 0 */
ODCallback_t CANOpenShellSlaveOD_Index1017_callbacks[] =
{
NULL,
};
subindex CANOpenShellSlaveOD_Index1017[] =
{
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1017 }
};
/* index 0x1018 : Identity. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1018_Vendor_ID = 0x0; /* 0 */
UNS32 CANOpenShellSlaveOD_obj1018_Product_Code = 0x0; /* 0 */
UNS32 CANOpenShellSlaveOD_obj1018_Revision_Number = 0x0; /* 0 */
UNS32 CANOpenShellSlaveOD_obj1018_Serial_Number = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1018[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1018 },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1018_Vendor_ID },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1018_Product_Code },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1018_Revision_Number },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1018_Serial_Number }
};
/* index 0x1200 : Server SDO Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x604; /* 1540 */
UNS32 CANOpenShellSlaveOD_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x584; /* 1412 */
subindex CANOpenShellSlaveOD_Index1200[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1200 },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1200_COB_ID_Client_to_Server_Receive_SDO },
{ RO, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
};
/* index 0x1280 : Client SDO 1 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1280 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x601; /* 1537 */
UNS32 CANOpenShellSlaveOD_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x581; /* 1409 */
UNS8 CANOpenShellSlaveOD_obj1280_Node_ID_of_the_SDO_Server = 0x1; /* 1 */
subindex CANOpenShellSlaveOD_Index1280[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1280 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1280_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1280_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1280_Node_ID_of_the_SDO_Server }
};
/* index 0x1281 : Client SDO 2 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1281 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1281_COB_ID_Client_to_Server_Transmit_SDO = 0x602; /* 1538 */
UNS32 CANOpenShellSlaveOD_obj1281_COB_ID_Server_to_Client_Receive_SDO = 0x582; /* 1410 */
UNS8 CANOpenShellSlaveOD_obj1281_Node_ID_of_the_SDO_Server = 0x2; /* 2 */
subindex CANOpenShellSlaveOD_Index1281[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1281 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1281_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1281_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1281_Node_ID_of_the_SDO_Server }
};
/* index 0x1282 : Client SDO 3 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1282 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1282_COB_ID_Client_to_Server_Transmit_SDO = 0x603; /* 1539 */
UNS32 CANOpenShellSlaveOD_obj1282_COB_ID_Server_to_Client_Receive_SDO = 0x583; /* 1411 */
UNS8 CANOpenShellSlaveOD_obj1282_Node_ID_of_the_SDO_Server = 0x3; /* 3 */
subindex CANOpenShellSlaveOD_Index1282[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1282 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1282_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1282_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1282_Node_ID_of_the_SDO_Server }
};
/* index 0x1283 : Client SDO 4 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1283 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1283_COB_ID_Client_to_Server_Transmit_SDO = 0x671; /* 1649 */
UNS32 CANOpenShellSlaveOD_obj1283_COB_ID_Server_to_Client_Receive_SDO = 0x651; /* 1617 */
UNS8 CANOpenShellSlaveOD_obj1283_Node_ID_of_the_SDO_Server = 0x71; /* 113 */
subindex CANOpenShellSlaveOD_Index1283[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1283 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1283_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1283_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1283_Node_ID_of_the_SDO_Server }
};
/* index 0x1284 : Client SDO 5 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1284 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1284_COB_ID_Client_to_Server_Transmit_SDO = 0x672; /* 1650 */
UNS32 CANOpenShellSlaveOD_obj1284_COB_ID_Server_to_Client_Receive_SDO = 0x652; /* 1618 */
UNS8 CANOpenShellSlaveOD_obj1284_Node_ID_of_the_SDO_Server = 0x72; /* 114 */
subindex CANOpenShellSlaveOD_Index1284[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1284 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1284_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1284_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1284_Node_ID_of_the_SDO_Server }
};
/* index 0x1285 : Client SDO 6 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1285 = 3; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1285_COB_ID_Client_to_Server_Transmit_SDO = 0x673; /* 1651 */
UNS32 CANOpenShellSlaveOD_obj1285_COB_ID_Server_to_Client_Receive_SDO = 0x653; /* 1619 */
UNS8 CANOpenShellSlaveOD_obj1285_Node_ID_of_the_SDO_Server = 0x73; /* 115 */
subindex CANOpenShellSlaveOD_Index1285[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1285 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1285_COB_ID_Client_to_Server_Transmit_SDO },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1285_COB_ID_Server_to_Client_Receive_SDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1285_Node_ID_of_the_SDO_Server }
};
/* index 0x1400 : Receive PDO 1 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1400 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1400_COB_ID_used_by_PDO = 0x200; /* 512 */
UNS8 CANOpenShellSlaveOD_obj1400_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1400_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1400_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1400_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1400_SYNC_start_value = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1400[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1400 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1400_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1400_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1400_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1400_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1400_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1400_SYNC_start_value }
};
/* index 0x1401 : Receive PDO 2 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1401 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1401_COB_ID_used_by_PDO = 0x300; /* 768 */
UNS8 CANOpenShellSlaveOD_obj1401_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1401_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1401_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1401_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1401_SYNC_start_value = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1401[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1401 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1401_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1401_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1401_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1401_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1401_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1401_SYNC_start_value }
};
/* index 0x1402 : Receive PDO 3 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1402 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1402_COB_ID_used_by_PDO = 0x400; /* 1024 */
UNS8 CANOpenShellSlaveOD_obj1402_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1402_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1402_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1402_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1402_SYNC_start_value = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1402[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1402 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1402_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1402_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1402_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1402_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1402_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1402_SYNC_start_value }
};
/* index 0x1403 : Receive PDO 4 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1403 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1403_COB_ID_used_by_PDO = 0x500; /* 1280 */
UNS8 CANOpenShellSlaveOD_obj1403_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1403_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1403_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1403_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1403_SYNC_start_value = 0x0; /* 0 */
subindex CANOpenShellSlaveOD_Index1403[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1403 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1403_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1403_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1403_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1403_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1403_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1403_SYNC_start_value }
};
/* index 0x1600 : Receive PDO 1 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1600 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1600[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1600[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1600 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1600[7] }
};
/* index 0x1601 : Receive PDO 2 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1601 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1601[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1601[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1601 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1601[7] }
};
/* index 0x1602 : Receive PDO 3 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1602 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1602[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1602[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1602 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1602[7] }
};
/* index 0x1603 : Receive PDO 4 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1603 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1603[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1603[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1603 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1603[7] }
};
/* index 0x1800 : Transmit PDO 1 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1800 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1800_COB_ID_used_by_PDO = 0x180; /* 384 */
UNS8 CANOpenShellSlaveOD_obj1800_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1800_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1800_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1800_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1800_SYNC_start_value = 0x0; /* 0 */
ODCallback_t CANOpenShellSlaveOD_Index1800_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex CANOpenShellSlaveOD_Index1800[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1800 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1800_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1800_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1800_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1800_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1800_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1800_SYNC_start_value }
};
/* index 0x1801 : Transmit PDO 2 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1801 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1801_COB_ID_used_by_PDO = 0x280; /* 640 */
UNS8 CANOpenShellSlaveOD_obj1801_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1801_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1801_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1801_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1801_SYNC_start_value = 0x0; /* 0 */
ODCallback_t CANOpenShellSlaveOD_Index1801_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex CANOpenShellSlaveOD_Index1801[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1801 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1801_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1801_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1801_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1801_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1801_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1801_SYNC_start_value }
};
/* index 0x1802 : Transmit PDO 3 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1802 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1802_COB_ID_used_by_PDO = 0x380; /* 896 */
UNS8 CANOpenShellSlaveOD_obj1802_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1802_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1802_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1802_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1802_SYNC_start_value = 0x0; /* 0 */
ODCallback_t CANOpenShellSlaveOD_Index1802_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex CANOpenShellSlaveOD_Index1802[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1802 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1802_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1802_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1802_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1802_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1802_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1802_SYNC_start_value }
};
/* index 0x1803 : Transmit PDO 4 Parameter. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1803 = 6; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1803_COB_ID_used_by_PDO = 0x480; /* 1152 */
UNS8 CANOpenShellSlaveOD_obj1803_Transmission_Type = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1803_Inhibit_Time = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1803_Compatibility_Entry = 0x0; /* 0 */
UNS16 CANOpenShellSlaveOD_obj1803_Event_Timer = 0x0; /* 0 */
UNS8 CANOpenShellSlaveOD_obj1803_SYNC_start_value = 0x0; /* 0 */
ODCallback_t CANOpenShellSlaveOD_Index1803_callbacks[] =
{
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
NULL,
};
subindex CANOpenShellSlaveOD_Index1803[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1803 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1803_COB_ID_used_by_PDO },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1803_Transmission_Type },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1803_Inhibit_Time },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1803_Compatibility_Entry },
{ RW, uint16, sizeof (UNS16), (void*)&CANOpenShellSlaveOD_obj1803_Event_Timer },
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_obj1803_SYNC_start_value }
};
/* index 0x1A00 : Transmit PDO 1 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1A00 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1A00[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1A00[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1A00 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A00[7] }
};
/* index 0x1A01 : Transmit PDO 2 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1A01 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1A01[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1A01[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1A01 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A01[7] }
};
/* index 0x1A02 : Transmit PDO 3 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1A02 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1A02[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1A02[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1A02 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A02[7] }
};
/* index 0x1A03 : Transmit PDO 4 Mapping. */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj1A03 = 8; /* number of subindex - 1*/
UNS32 CANOpenShellSlaveOD_obj1A03[] =
{
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0, /* 0 */
0x0 /* 0 */
};
subindex CANOpenShellSlaveOD_Index1A03[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj1A03 },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[0] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[1] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[2] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[3] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[4] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[5] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[6] },
{ RW, uint32, sizeof (UNS32), (void*)&CANOpenShellSlaveOD_obj1A03[7] }
};
/* index 0x2010 : Mapped variable sensor1_strain_gauge_processed */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2010 = 8; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2010[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2010 },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_1P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_2P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_3P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_4P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_5P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_6P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_7P },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_processed_Strain_Gauge_8P }
};
/* index 0x2011 : Mapped variable sensor1_strain_gauge_raw */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2011 = 8; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2011[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2011 },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_1R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_2R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_3R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_4R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_5R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_6R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_7R },
{ RW, int32, sizeof (INTEGER32), (void*)&sensor1_strain_gauge_raw_Strain_Gauge_8R }
};
/* index 0x2012 : Mapped variable sensor1_ahrs_quaternion */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2012 = 4; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2012[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2012 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_ahrs_quaternion_Quaternion_ahrs_1 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_ahrs_quaternion_Quaternion_ahrs_2 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_ahrs_quaternion_Quaternion_ahrs_3 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_ahrs_quaternion_Quaternion_ahrs_4 }
};
/* index 0x2013 : Mapped variable sensor1_imu_quaternion */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2013 = 4; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2013[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2013 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_imu_quaternion_Quaternion_imu_1 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_imu_quaternion_Quaternion_imu_2 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_imu_quaternion_Quaternion_imu_3 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_imu_quaternion_Quaternion_imu_4 }
};
/* index 0x2014 : Mapped variable sensor1_accel */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2014 = 6; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2014[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2014 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_accel_accel_x_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_accel_accel_y_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_accel_accel_z_norm },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_accel_accel_x_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_accel_accel_y_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_accel_accel_z_raw }
};
/* index 0x2015 : Mapped variable sensor1_gyro */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2015 = 6; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2015[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2015 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_gyro_gyro_x_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_gyro_gyro_y_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_gyro_gyro_z_norm },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_gyro_gyro_x_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_gyro_gyro_y_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_gyro_gyro_z_raw }
};
/* index 0x2016 : Mapped variable sensor1_mag */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2016 = 6; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2016[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2016 },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_mag_mag_x_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_mag_mag_y_norm },
{ RW, real32, sizeof (REAL32), (void*)&sensor1_mag_mag_z_norm },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_mag_mag_x_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_mag_mag_y_raw },
{ RW, uint16, sizeof (UNS16), (void*)&sensor1_mag_mag_z_raw }
};
/* index 0x2020 : Mapped variable motor2_configuration */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2020 = 4; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2020[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2020 },
{ RW, uint8, sizeof (UNS8), (void*)&motor2_configuration_Current_Control_Type },
{ RW, uint32, sizeof (UNS32), (void*)&motor2_configuration_Main_Loop_Update_Frequency },
{ RW, uint32, sizeof (UNS32), (void*)&motor2_configuration_PWM_Frequency },
{ RW, uint32, sizeof (UNS32), (void*)&motor2_configuration_Gear_Ratio_1000 }
};
/* index 0x2021 : Mapped variable motor2_state */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2021 = 8; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2021[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2021 },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_state_Current_Postition },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_state_Current_Velocity },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_state_Current_Torque },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_state_Current_Motor_Voltage },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_state_Current_Motor_Current },
{ RW, uint8, sizeof (UNS8), (void*)&motor2_state_Undefined },
{ RW, uint8, sizeof (UNS8), (void*)&motor2_state_Undefined },
{ RW, uint8, sizeof (UNS8), (void*)&motor2_state_Undefined }
};
/* index 0x2022 : Mapped variable motor2_position_control */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2022 = 10; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2022[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2022 },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_position_control_Commanded_Position },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_position_control_P_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_position_control_I_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_position_control_D_Gain },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_SS_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_SS_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_SS_Gain_3rd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_O_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_O_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_position_control_O_Gain_3rd_Order }
};
/* index 0x2023 : Mapped variable motor2_velocity_control */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2023 = 10; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2023[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2023 },
{ RW, int40, sizeof (INTEGER40), (void*)&motor2_velocity_control_Commanded_Velocity },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_velocity_control_P_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_velocity_control_I_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_velocity_control_D_Gain },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_SS_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_SS_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_SS_Gain_3rd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_O_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_O_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_velocity_control_O_Gain_3rd_Order }
};
/* index 0x2024 : Mapped variable motor2_torque_control */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2024 = 10; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2024[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2024 },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_torque_control_Commanded_Torque },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_torque_control_P_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_torque_control_I_Gain },
{ RW, uint16, sizeof (UNS16), (void*)&motor2_torque_control_D_Gain },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_SS_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_SS_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_SS_Gain_3rd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_O_Gain_1st_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_O_Gain_2nd_Order },
{ RW, real32, sizeof (REAL32), (void*)&motor2_torque_control_O_Gain_3rd_Order }
};
/* index 0x2025 : Mapped variable motor2_impedance_control */
UNS8 CANOpenShellSlaveOD_highestSubIndex_obj2025 = 8; /* number of subindex - 1*/
subindex CANOpenShellSlaveOD_Index2025[] =
{
{ RO, uint8, sizeof (UNS8), (void*)&CANOpenShellSlaveOD_highestSubIndex_obj2025 },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_impedance_control_Commanded_Torque },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_impedance_control_Actual_Length },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_impedance_control_Actual_Velocity },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_impedance_control_Length_Offset },
{ RW, int32, sizeof (INTEGER32), (void*)&motor2_impedance_control_Velocity_Offset },