/*CANopen read-only (constant) Object Dictionary (OD) entries
Used with Expedited SDO only. Lengths = 1/2/4 bytes */
CAN_ODCONSTENTRY myConstOD [] =
{
/* index, subindex,length,value */
{ 0x1000, 0x00, 4, 0x00000000UL },
{ 0x1018, 0x00, 1, 0x00000001UL },/* only vendor ID is specified */
{ 0x1018, 0x01, 4, 0x000002DCUL },/* NXP vendor ID for CANopen */
};
uint32_t NumberOfmyConstODEntries = sizeof(myConstOD)/sizeof(myConstOD[0]);
/*CANopen list of variable Object Dictionary (OD) entries
Expedited SDO with length=1/2/4 bytes and segmented SDO */
CAN_ODENTRY myOD [] =
{
/* index, subindex,access_type | length,value_pointer */
{ 0x1001, 0x00, OD_EXP_RO | 1,(uint8_t *)&Error_Register },
{ 0x1016, 0x00, OD_EXP_RO | 1, (uint8_t *)&WatchListLength},
{ 0x1016, 0x01, OD_EXP_RW | 4, (uint8_t *)&WatchList[0].value},
{ 0x1016, 0x02, OD_EXP_RW | 4, (uint8_t *)&WatchList[1].value},
{ 0x1017, 0x00, OD_EXP_RW | 2, (uint8_t *)&CANopen_Heartbeat_Producer_Value},
}; |