小记——基于STM32F103平台的canfestival移植

泡泡的下午茶

于 2024-04-30 09:07:17 发布

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分类专栏： canopen 文章标签： stm32 嵌入式硬件

本文链接：https://blog.csdn.net/m0_73109662/article/details/138072626

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一、准备工作

1、源码下载

canfestival源码下载地址：

https://hg.beremiz.org/canfestival/archive/tip.zip

下表为源码各文件目录说明：

文件路径	说明
/src	与处理器无关的canopen协议栈标准源代码
/include	针对各处理器的头文件
/driver	针对各硬件的驱动
/examples	测试程序
/objdictgen	带有图形界面的对象字典编辑器
/doc	说明文档

2、基于stm32F103平台的基础工程

我自己是基于f103平台开发的，这里就不详细说明了。

3、测试工具

can分析仪及上位机软件。

二、源码移植

1、工程目录

在自己的工程目录下面创建Canfestival文件夹用来存放源码相关文件，文件目录参考如下。

2、源码文件移植

a）下载完的源码解压后，将src文件夹下面所有源文件（除红框圈定外）复制到我们自己基础工程的Festival/Src目录下。

b) 将源码目录中include文件夹下所有被红框圈中的头文件，复制到我们自己基础工程的Festival/Inc目录下。

c)将源码目录中include/AVR文件夹下applicfg.h、config.h、timescfg.h总共三个头文件，复制到我们自己基础工程的Festival/Inc/stm目录下。

d)源码目录中include/AVR文件夹下还有一个canfestival.h的头文件也需要，我这里把这个文件放到我自己工程目录下的Festival/driver目录下了，这个目录的内容后面再说。

至此，我们所有关于canfestival源码移植的文件操作已经完成了，接下来就是对源码文件中具体代码内容的修改和添加了，后面也是在我们自己的基础工程中进行。

3、源码修改

a）在config.h中文件中将如下被红框圈的部分注释掉，消除编译报错。

b) 在timerscfg.h中有三个宏的定义需要注意，分别是TIMEVAL_MAX、MS_TO_TIMEVAL和US_TO_TIMEVAL，我下载的源码里面宏定义如下。

TIMEVAL_MAX和你定时器的重载值有关系。

MS_TO_TIMEVAL和US_TO_TIMEVAL我在这里把单位改成10us了，如下图所示。这个需要和自己定时器频率对应，当然也可以根据这个宏去定义自己的定时器。

c)在Canfestival/driver目录下新建canfestival.c文件，在文件包含头文件canfestival.h，并定义如下函数。可以先定义成空函数，等到编译都通过了之后，再往里面添加内容，这几个函数都是定义来供canfestival源码调用的，如果找不到这几个函数编译会报错。

·setTimer是用户层提供给源码用来更新硬件定时器重载值的，用于模拟canopen中各个软件定时器，如PDO周期发送或SDO超时检测。

·getElapsedTime是用户层提供给源码用来查询定时器事件触发的时间差。

·cansend是用户层提供给源码发送can数据包的接口。

void setTimer(TIMEVAL value)
{
	halTime_setTimer(value);
}

TIMEVAL getElapsedTime(void)
{
	return halTime_getElapsedTime();
}

UNS8 canSend(CAN_PORT notused, Message *m)
{
	uint8_t isRemote = 0;
	uint8_t ret = 0;
	if(m->rtr)
		isRemote = CAN_RTR_REMOTE;
	else
		isRemote = CAN_RTR_DATA;
	ret =  halCan_write(m->cob_id, isRemote , m->data , m->len);
	return ret;
}

d)调试阶段如果想输出源码的打印信息，可以在applicfg.h文件中打开如下宏定义即可通过串口输出源码的日志信息。

e)其它记不太清还有什么修改的了，时间有点久了，反正编译报错的问题逐个解决就行了。

三、底层驱动适配

1、hal库can驱动

a)hal库实现can底层驱动初始化

int MX_CAN_Init(uint8_t nodeID, E_CAN_BAUDRATE rate)
{

    /* USER CODE BEGIN CAN_Init 0 */
	HAL_StatusTypeDef HAL_Status = HAL_OK;
	CAN_FilterTypeDef hCAN_Filter;
    /* USER CODE END CAN_Init 0 */

    /* USER CODE BEGIN CAN_Init 1 */

    /* USER CODE END CAN_Init 1 */
    hcan.Instance = CAN1;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
	//baudrate=APB1Clock/((1+bs1+bs2)*Prescaler)
	switch(rate)
	{
	case BAUDRATE_125K:
		hcan.Init.Prescaler = 18;
		hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
		hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
		break;
	case BAUDRATE_250K:
		hcan.Init.Prescaler = 12;
		hcan.Init.TimeSeg1 = CAN_BS1_9TQ;
		hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
		break;
	case BAUDRATE_500K:
		hcan.Init.Prescaler = 8;
		hcan.Init.TimeSeg1 = CAN_BS1_7TQ;
		hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
		break;
	default://500k
		hcan.Init.Prescaler = 8;
		hcan.Init.TimeSeg1 = CAN_BS1_7TQ;
		hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
		break;
	}
    hcan.Init.TimeTriggeredMode = DISABLE;
    hcan.Init.AutoBusOff = DISABLE;
    hcan.Init.AutoWakeUp = DISABLE;
    hcan.Init.AutoRetransmission = DISABLE;
    hcan.Init.ReceiveFifoLocked = DISABLE;
    hcan.Init.TransmitFifoPriority = DISABLE;
    HAL_Status |= HAL_CAN_Init(&hcan);
    /* USER CODE BEGIN CAN_Init 2 */

    fifo_init(&canRcvFifo, CANRCV_FIFOSIZE);
    /* USER CODE END CAN_Init 2 */

    uint16_t canFilterListStdId1 = 0x600 + nodeID; //SDO
    uint8_t canFilterListRTR1 = 0;

    uint16_t canFilterListStdId2 = 0x80; //sync
    uint8_t canFilterListRTR2 = 0;

    uint16_t canFilterListStdId3 = 0x700 + nodeID; //nmt
    uint8_t canFilterListRTR3 = 1;

    uint16_t canFilterListStdId4 = 0x0; //nmt
    uint8_t canFilterListRTR4 = 0;

	hCAN_Filter.FilterBank = 0;
	hCAN_Filter.FilterMode = CAN_FILTERMODE_IDLIST;
	hCAN_Filter.FilterScale = CAN_FILTERSCALE_16BIT;
	hCAN_Filter.FilterIdHigh = ((canFilterListStdId1 << 5) | (canFilterListRTR1 << 4));
	hCAN_Filter.FilterIdLow = ((canFilterListStdId2 << 5) | (canFilterListRTR2 << 4));;
	hCAN_Filter.FilterMaskIdHigh = ((canFilterListStdId3 << 5) | (canFilterListRTR3 << 4));;
	hCAN_Filter.FilterMaskIdLow = ((canFilterListStdId4 << 5) | (canFilterListRTR4 << 4));;
	hCAN_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	hCAN_Filter.FilterActivation = ENABLE;
	hCAN_Filter.SlaveStartFilterBank = 0;
    HAL_Status |= HAL_CAN_ConfigFilter(&hcan, &hCAN_Filter);

    uint16_t canFilterListStdId5 = 0x200 + nodeID; //PDO1
    uint8_t canFilterListRTR5 = 0;

    uint16_t canFilterListStdId6 = 0x300 + nodeID; //PDO2
    uint8_t canFilterListRTR6 = 0;

    uint16_t canFilterListStdId7 = 0x400 + nodeID; //PDO3
    uint8_t canFilterListRTR7 = 1;

    uint16_t canFilterListStdId8 = 0x500 + nodeID; //PDO4
    uint8_t canFilterListRTR8 = 0;
	hCAN_Filter.FilterBank = 1;
	hCAN_Filter.FilterMode = CAN_FILTERMODE_IDLIST;
	hCAN_Filter.FilterScale = CAN_FILTERSCALE_16BIT;
	hCAN_Filter.FilterIdHigh = ((canFilterListStdId5 << 5) | (canFilterListRTR5 << 4));
	hCAN_Filter.FilterIdLow = ((canFilterListStdId6 << 5) | (canFilterListRTR6 << 4));;
	hCAN_Filter.FilterMaskIdHigh = ((canFilterListStdId7 << 5) | (canFilterListRTR7 << 4));;
	hCAN_Filter.FilterMaskIdLow = ((canFilterListStdId8 << 5) | (canFilterListRTR8 << 4));;
	hCAN_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	hCAN_Filter.FilterActivation = ENABLE;
	hCAN_Filter.SlaveStartFilterBank = 0;
    HAL_Status |= HAL_CAN_ConfigFilter(&hcan, &hCAN_Filter);
    /*-3- 启动CAN ---------------------------------------------------*/
	HAL_Status |= HAL_CAN_Start(&hcan);

    /*-4- 使能中断通知 ----------------------------------------------*/
    HAL_Status = HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
	if(HAL_Status != HAL_OK)
	{
		printf("halCan init fail\r\n");
	}
	return 0;
}

b)can接收中断及回调函数（candispatch是源码中一个非常重要的函数，供用户层调用，此函数主要就是来解析收到各种不同类型的不同报文帧，然后根据canopen协议进行解析和处理）

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    uint8_t aRxData[8];
    struct CAN_MSG_S msg;
	CAN_RxHeaderTypeDef RxHeader;
    if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, aRxData) == HAL_OK)
    {
//    	printf("halCan receive a msg successfully\r\n");
    	if (RxHeader.IDE == CAN_ID_EXT)
    	{
    		return;
    	}
    	if (RxHeader.RTR)
    	{
    		msg.isRemote = 1;
    	}
    	else
    	{
    		msg.isRemote = 0;
    	}
        msg.cobId = RxHeader.StdId;
        msg.len = RxHeader.DLC;
        memcpy(msg.data, aRxData, sizeof(aRxData));
        canDispatch(&slaveTest_Data, &msg); //slaveTest_Data后面再说
    }
}

c)can发送函数halCan_write实现如下:

int halCan_write(uint16_t cobeId, uint8_t isRemote, uint8_t* aTxData, uint8_t len)
{
	CAN_TxHeaderTypeDef TxHeader;
    uint32_t Tx_MailBox;
    TxHeader.StdId = cobeId;
    TxHeader.ExtId = 0;
    if (isRemote)
    {
        TxHeader.RTR = CAN_RTR_REMOTE;
    }
    else
    {
        TxHeader.RTR = CAN_RTR_DATA;
    }
    TxHeader.IDE = CAN_ID_STD;
    TxHeader.DLC = len;
    TxHeader.TransmitGlobalTime = ENABLE;
    if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, &aTxData[0], &Tx_MailBox) != HAL_OK)
    {
    	printf("halCan transmit Failed!!!\r\n");
    	return 1;
    }
	return 0;
}

2、hal库定时器驱动

熟悉canopen的都知道（可能也有人不熟悉）。。哈哈。由于canopen里面如同步信号、心跳报文或SDO超时信号等需要一系列定时信号来提醒系统进行这些工作，所以CANopen节点必须得有定时功能。CanFestival在timer.c中执行了一个微型调度程序，他需要使用一个定时器使该调度建立并管理一个警报表，并且在规定的时间发出信号。所以使用Canfestival需要开启一个硬件定时器，通过设置不同的定时时间来产生定时任务，实现不同时间事件的管理。我这里用的Tim3。

a)定时器初始化，我的F103时钟是72MHZ，时钟基数需要和上述对应设置为10us，所以这里分频系数设置为720-1，TIM3_PERIOD为65536。

void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */
  HAL_StatusTypeDef HAL_Status = HAL_OK;
  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 720 - 1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = TIM3_PERIOD - 1;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  HAL_Status |= HAL_TIM_Base_Init(&htim3);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_Status |= HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_Status |= HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);

  /* USER CODE BEGIN TIM3_Init 2 */
  if(HAL_Status != HAL_OK)
  {
    printf("halTim8 init fail\r\n");
  }
  /* USER CODE END TIM3_Init 2 */

}

b)定时器中断及回调函数实现（定时器中断回调函数中需要调用TimeDispatch，canfestival里面起这个timer机制有时间结合源码再来详解）

/**
  * @brief This function handles TIM3 global interrupt.
  */
void TIM3_IRQHandler(void)
{
  /* USER CODE BEGIN TIM3_IRQn 0 */

  /* USER CODE END TIM3_IRQn 0 */
  HAL_TIM_IRQHandler(&htim3);
  /* USER CODE BEGIN TIM3_IRQn 1 */

  /* USER CODE END TIM3_IRQn 1 */
}

static uint32_t last_counter_val = 0;
static uint32_t elapsed_time = 0;
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if(htim->Instance == TIM3)
    {
    	last_counter_val = 0;
    	elapsed_time = 0;
    	TimeDispatch();
    }
}

c)halTime_setTimer函数实现如下

void halTime_setTimer(uint32_t value)
{
  	uint32_t timer =  __HAL_TIM_GET_COUNTER(&htim3);
	elapsed_time += timer - last_counter_val;
    last_counter_val = TIM3_PERIOD - value;
    __HAL_TIM_SET_COUNTER(&htim3, TIM3_PERIOD - value);
    HAL_TIM_Base_Start_IT(&htim3);
}

d)halTime_getElapsedTime函数实现如下

uint32_t halTime_getElapsedTime(void)
{
    uint32_t timer = __HAL_TIM_GET_COUNTER(&htim3);

    if(timer < last_counter_val)
    {
        timer += TIM3_PERIOD;
    }

    uint32_t elapsed = timer - last_counter_val + elapsed_time;
    return elapsed;
}

四、字典工具

1、环境搭建

对象字典工具的搭建可以参考Canfestival源码中的手册（manual_en.pdf），文件在objdictgen/doc文件下面，具体位置在3.1.1节。

其中Python和wxPython的安装包需要自己在网上下载，Gnosix在canfestival源码包中已经提供，在objdictgen文件目录下。

a）安装python

我安装的是python-2.7.15.amd64，网上其它帖子我看说python3可能有问题，我没有测试。

Python的安装需要注意两点：1.以管理员身份运行； 2.添加（环境变量）路径。

b）安装wxPython

我下载版本的是wxPython3.0-win64-3.0.2.0-py27，

下载链接：https://sourceforge.net/projects/wxpython/files/wxPython/3.0.2.0/

c）安装gnosis

将 Gnosis_Utils-current.tar压缩包解压，后在 Gnosis_Utils-current\Gnosis_Utils-1.2.2中有个 gnosis文件夹，将其拷贝，复制到objdictgen目录中即可。

d）环境验证

在canfestival源码路径中到odjdictgen文件下，双击objdictedit.py文件，出现以下界面就可以了。

2、建立词典

我这里测试的是建立的是一个支持ds-401协议（canopen协议栈中针对一般IO设备的子协议）的从站节点，在profile栏选择DS-401，具体的子协议根据自己需求来选择。

根据canopen标准对象字典分段，在指定区段添加自己的对象字典。

这里我在通信参数区段添加了一个心跳（0x1017-00），心跳周期为100ms。节点会以固定的设置频率来周期性发送当前节点状态。

标准设备子协议区段，因为前面我选择的是DS-401（通用IO设备自协议），这里添加两个对象字典分别是0x6000-01和0x6200-01（关于有写权限的对象字典这里补充一点，在添加对象字典时可以把有回访的选项框勾选上，这样可以在用户代码层通过RegisterSetODentryCallBack接口注册相关对象字典的回调函数，当该对象字典数据被其它节点通过PDO或者SDO写入时，可以直接通过回调函数实现用户层的代码逻辑）。

接下来是PDO映射，TPDO1（相对于自己的节点）这里映射的是0x6000-01，发送节点读取的输入信号状态。

TPDO1通讯参数设置，cob-ID不用修改（如果不用当前PDO可以把cob-ID的最高置1），传输方式配置为异步传输，禁止时间为10ms，异步传输周期为100ms。

RPDO1 映射对象字典0x6200-01，接收需要节点去设置的输出信号状态。

所有配置设置完成后，就可以在菜单栏——文件下拉选项中生成EDS文件和词典了。这里贴一下生成slaveTest.h和salveTest.c（这两个文件也需要放到我们的工程里面，可以放在Festival/driver目录下）。


/* File generated by gen_cfile.py. Should not be modified. */

#ifndef SLAVETEST_H
#define SLAVETEST_H

#include "data.h"

/* Prototypes of function provided by object dictionnary */
UNS32 slaveTest_valueRangeTest (UNS8 typeValue, void * value);
const indextable * slaveTest_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);

/* Master node data struct */
extern CO_Data slaveTest_Data;
extern UNS8 Read_Inputs_8_Bit[1];		/* Mapped at index 0x6000, subindex 0x01 - 0x01 */
extern UNS8 Write_Outputs_8_Bit[1];		/* Mapped at index 0x6200, subindex 0x01 - 0x01 */

#endif // SLAVETEST_H


/* File generated by gen_cfile.py. Should not be modified. */

#include "slaveTest.h"

/**************************************************************************/
/* Declaration of mapped variables                                        */
/**************************************************************************/
UNS8 Read_Inputs_8_Bit[] =		/* Mapped at index 0x6000, subindex 0x01 - 0x01 */
  {
    0x0	/* 0 */
  };
UNS8 Write_Outputs_8_Bit[] =		/* Mapped at index 0x6200, subindex 0x01 - 0x01 */
  {
    0x0	/* 0 */
  };

/**************************************************************************/
/* Declaration of value range types                                       */
/**************************************************************************/

#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */
UNS32 slaveTest_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 slaveTest_bDeviceNodeId = 0x00;

/**************************************************************************/
/* Array of message processing information */

const UNS8 slaveTest_iam_a_slave = 1;

TIMER_HANDLE slaveTest_heartBeatTimers[1];

/*
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

                               OBJECT DICTIONARY

$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
*/

/* index 0x1000 :   Device Type. */
                    UNS32 slaveTest_obj1000 = 0x0;	/* 0 */
                    subindex slaveTest_Index1000[] = 
                     {
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1000 }
                     };

/* index 0x1001 :   Error Register. */
                    UNS8 slaveTest_obj1001 = 0x0;	/* 0 */
                    subindex slaveTest_Index1001[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_obj1001 }
                     };

/* index 0x1003 :   Pre-defined Error Field */
                    UNS8 slaveTest_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1003[] = 
                    {
                      0x0	/* 0 */
                    };
                    ODCallback_t slaveTest_Index1003_callbacks[] = 
                     {
                       NULL,
                       NULL,
                     };
                    subindex slaveTest_Index1003[] = 
                     {
                       { RW, valueRange_EMC, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1003 },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1003[0] }
                     };

/* index 0x1005 :   SYNC COB ID. */
                    UNS32 slaveTest_obj1005 = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1005_callbacks[] = 
                     {
                       NULL,
                     };
                    subindex slaveTest_Index1005[] = 
                     {
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1005 }
                     };

/* index 0x1006 :   Communication / Cycle Period. */
                    UNS32 slaveTest_obj1006 = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1006_callbacks[] = 
                     {
                       NULL,
                     };
                    subindex slaveTest_Index1006[] = 
                     {
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1006 }
                     };

/* index 0x100C :   Guard Time */ 
                    UNS16 slaveTest_obj100C = 0x0;   /* 0 */

/* index 0x100D :   Life Time Factor */ 
                    UNS8 slaveTest_obj100D = 0x0;   /* 0 */

/* index 0x1014 :   Emergency COB ID. */
                    UNS32 slaveTest_obj1014 = 0x80;	/* 128 */
                    subindex slaveTest_Index1014[] = 
                     {
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1014 }
                     };

/* index 0x1016 :   Consumer Heartbeat Time */
                    UNS8 slaveTest_highestSubIndex_obj1016 = 0;
                    UNS32 slaveTest_obj1016[]={0};

/* index 0x1017 :   Producer Heartbeat Time. */
                    UNS16 slaveTest_obj1017 = 0x64;	/* 100 */
                    ODCallback_t slaveTest_Index1017_callbacks[] = 
                     {
                       NULL,
                     };
                    subindex slaveTest_Index1017[] = 
                     {
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1017 }
                     };

/* index 0x1018 :   Identity. */
                    UNS8 slaveTest_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1018_Vendor_ID = 0x0;	/* 0 */
                    UNS32 slaveTest_obj1018_Product_Code = 0x0;	/* 0 */
                    UNS32 slaveTest_obj1018_Revision_Number = 0x0;	/* 0 */
                    UNS32 slaveTest_obj1018_Serial_Number = 0x0;	/* 0 */
                    subindex slaveTest_Index1018[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1018 },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1018_Vendor_ID },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1018_Product_Code },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1018_Revision_Number },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1018_Serial_Number }
                     };

/* index 0x1200 :   Server SDO Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x600;	/* 1536 */
                    UNS32 slaveTest_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x580;	/* 1408 */
                    subindex slaveTest_Index1200[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1200 },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1200_COB_ID_Client_to_Server_Receive_SDO },
                       { RO, uint32, sizeof (UNS32), (void*)&slaveTest_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
                     };

/* index 0x1400 :   Receive PDO 1 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1400 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1400_COB_ID_used_by_PDO = 0x200;	/* 512 */
                    UNS8 slaveTest_obj1400_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1400_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1400_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1400_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1400_SYNC_start_value = 0x0;	/* 0 */
                    subindex slaveTest_Index1400[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1400 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1400_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1400_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1400_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1400_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1400_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1400_SYNC_start_value }
                     };

/* index 0x1401 :   Receive PDO 2 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1401 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1401_COB_ID_used_by_PDO = 0x300;	/* 768 */
                    UNS8 slaveTest_obj1401_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1401_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1401_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1401_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1401_SYNC_start_value = 0x0;	/* 0 */
                    subindex slaveTest_Index1401[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1401 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1401_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1401_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1401_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1401_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1401_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1401_SYNC_start_value }
                     };

/* index 0x1402 :   Receive PDO 3 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1402 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1402_COB_ID_used_by_PDO = 0x400;	/* 1024 */
                    UNS8 slaveTest_obj1402_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1402_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1402_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1402_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1402_SYNC_start_value = 0x0;	/* 0 */
                    subindex slaveTest_Index1402[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1402 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1402_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1402_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1402_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1402_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1402_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1402_SYNC_start_value }
                     };

/* index 0x1403 :   Receive PDO 4 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1403 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1403_COB_ID_used_by_PDO = 0x500;	/* 1280 */
                    UNS8 slaveTest_obj1403_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1403_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1403_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1403_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1403_SYNC_start_value = 0x0;	/* 0 */
                    subindex slaveTest_Index1403[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1403 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1403_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1403_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1403_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1403_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1403_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1403_SYNC_start_value }
                     };

/* index 0x1600 :   Receive PDO 1 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1600 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1600[] = 
                    {
                      0x62000108,	/* 1644167432 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1600[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1600 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1600[7] }
                     };

/* index 0x1601 :   Receive PDO 2 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1601 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1601[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1601[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1601 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1601[7] }
                     };

/* index 0x1602 :   Receive PDO 3 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1602 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1602[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1602[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1602 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1602[7] }
                     };

/* index 0x1603 :   Receive PDO 4 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1603 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1603[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1603[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1603 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1603[7] }
                     };

/* index 0x1800 :   Transmit PDO 1 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1800 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1800_COB_ID_used_by_PDO = 0x180;	/* 384 */
                    UNS8 slaveTest_obj1800_Transmission_Type = 0xFF;	/* 255 */
                    UNS16 slaveTest_obj1800_Inhibit_Time = 0xA;	/* 10 */
                    UNS8 slaveTest_obj1800_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1800_Event_Timer = 0x64;	/* 100 */
                    UNS8 slaveTest_obj1800_SYNC_start_value = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1800_callbacks[] = 
                     {
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                     };
                    subindex slaveTest_Index1800[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1800 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1800_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1800_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1800_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1800_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1800_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1800_SYNC_start_value }
                     };

/* index 0x1801 :   Transmit PDO 2 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1801 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1801_COB_ID_used_by_PDO = 0x280;	/* 640 */
                    UNS8 slaveTest_obj1801_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1801_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1801_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1801_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1801_SYNC_start_value = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1801_callbacks[] = 
                     {
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                     };
                    subindex slaveTest_Index1801[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1801 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1801_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1801_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1801_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1801_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1801_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1801_SYNC_start_value }
                     };

/* index 0x1802 :   Transmit PDO 3 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1802 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1802_COB_ID_used_by_PDO = 0x380;	/* 896 */
                    UNS8 slaveTest_obj1802_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1802_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1802_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1802_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1802_SYNC_start_value = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1802_callbacks[] = 
                     {
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                     };
                    subindex slaveTest_Index1802[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1802 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1802_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1802_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1802_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1802_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1802_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1802_SYNC_start_value }
                     };

/* index 0x1803 :   Transmit PDO 4 Parameter. */
                    UNS8 slaveTest_highestSubIndex_obj1803 = 6; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1803_COB_ID_used_by_PDO = 0x480;	/* 1152 */
                    UNS8 slaveTest_obj1803_Transmission_Type = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1803_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1803_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 slaveTest_obj1803_Event_Timer = 0x0;	/* 0 */
                    UNS8 slaveTest_obj1803_SYNC_start_value = 0x0;	/* 0 */
                    ODCallback_t slaveTest_Index1803_callbacks[] = 
                     {
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                       NULL,
                     };
                    subindex slaveTest_Index1803[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1803 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1803_COB_ID_used_by_PDO },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1803_Transmission_Type },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1803_Inhibit_Time },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1803_Compatibility_Entry },
                       { RW, uint16, sizeof (UNS16), (void*)&slaveTest_obj1803_Event_Timer },
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_obj1803_SYNC_start_value }
                     };

/* index 0x1A00 :   Transmit PDO 1 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1A00 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1A00[] = 
                    {
                      0x60000108,	/* 1610613000 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1A00[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1A00 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A00[7] }
                     };

/* index 0x1A01 :   Transmit PDO 2 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1A01 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1A01[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1A01[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1A01 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A01[7] }
                     };

/* index 0x1A02 :   Transmit PDO 3 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1A02 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1A02[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1A02[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1A02 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A02[7] }
                     };

/* index 0x1A03 :   Transmit PDO 4 Mapping. */
                    UNS8 slaveTest_highestSubIndex_obj1A03 = 8; /* number of subindex - 1*/
                    UNS32 slaveTest_obj1A03[] = 
                    {
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0,	/* 0 */
                      0x0	/* 0 */
                    };
                    subindex slaveTest_Index1A03[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj1A03 },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[0] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[1] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[2] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[3] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[4] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[5] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[6] },
                       { RW, uint32, sizeof (UNS32), (void*)&slaveTest_obj1A03[7] }
                     };

/* index 0x6000 :   Mapped variable Read Inputs 8 Bit */
                    UNS8 slaveTest_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/
                    subindex slaveTest_Index6000[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj6000 },
                       { RO, uint8, sizeof (UNS8), (void*)&Read_Inputs_8_Bit[0] }
                     };

/* index 0x6200 :   Mapped variable Write Outputs 8 Bit */
                    UNS8 slaveTest_highestSubIndex_obj6200 = 1; /* number of subindex - 1*/
                    subindex slaveTest_Index6200[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&slaveTest_highestSubIndex_obj6200 },
                       { RW, uint8, sizeof (UNS8), (void*)&Write_Outputs_8_Bit[0] }
                     };

/**************************************************************************/
/* Declaration of pointed variables                                       */
/**************************************************************************/

const indextable slaveTest_objdict[] = 
{
  { (subindex*)slaveTest_Index1000,sizeof(slaveTest_Index1000)/sizeof(slaveTest_Index1000[0]), 0x1000},
  { (subindex*)slaveTest_Index1001,sizeof(slaveTest_Index1001)/sizeof(slaveTest_Index1001[0]), 0x1001},
  { (subindex*)slaveTest_Index1005,sizeof(slaveTest_Index1005)/sizeof(slaveTest_Index1005[0]), 0x1005},
  { (subindex*)slaveTest_Index1006,sizeof(slaveTest_Index1006)/sizeof(slaveTest_Index1006[0]), 0x1006},
  { (subindex*)slaveTest_Index1014,sizeof(slaveTest_Index1014)/sizeof(slaveTest_Index1014[0]), 0x1014},
  { (subindex*)slaveTest_Index1017,sizeof(slaveTest_Index1017)/sizeof(slaveTest_Index1017[0]), 0x1017},
  { (subindex*)slaveTest_Index1018,sizeof(slaveTest_Index1018)/sizeof(slaveTest_Index1018[0]), 0x1018},
  { (subindex*)slaveTest_Index1200,sizeof(slaveTest_Index1200)/sizeof(slaveTest_Index1200[0]), 0x1200},
  { (subindex*)slaveTest_Index1400,sizeof(slaveTest_Index1400)/sizeof(slaveTest_Index1400[0]), 0x1400},
  { (subindex*)slaveTest_Index1401,sizeof(slaveTest_Index1401)/sizeof(slaveTest_Index1401[0]), 0x1401},
  { (subindex*)slaveTest_Index1402,sizeof(slaveTest_Index1402)/sizeof(slaveTest_Index1402[0]), 0x1402},
  { (subindex*)slaveTest_Index1403,sizeof(slaveTest_Index1403)/sizeof(slaveTest_Index1403[0]), 0x1403},
  { (subindex*)slaveTest_Index1600,sizeof(slaveTest_Index1600)/sizeof(slaveTest_Index1600[0]), 0x1600},
  { (subindex*)slaveTest_Index1601,sizeof(slaveTest_Index1601)/sizeof(slaveTest_Index1601[0]), 0x1601},
  { (subindex*)slaveTest_Index1602,sizeof(slaveTest_Index1602)/sizeof(slaveTest_Index1602[0]), 0x1602},
  { (subindex*)slaveTest_Index1603,sizeof(slaveTest_Index1603)/sizeof(slaveTest_Index1603[0]), 0x1603},
  { (subindex*)slaveTest_Index1800,sizeof(slaveTest_Index1800)/sizeof(slaveTest_Index1800[0]), 0x1800},
  { (subindex*)slaveTest_Index1801,sizeof(slaveTest_Index1801)/sizeof(slaveTest_Index1801[0]), 0x1801},
  { (subindex*)slaveTest_Index1802,sizeof(slaveTest_Index1802)/sizeof(slaveTest_Index1802[0]), 0x1802},
  { (subindex*)slaveTest_Index1803,sizeof(slaveTest_Index1803)/sizeof(slaveTest_Index1803[0]), 0x1803},
  { (subindex*)slaveTest_Index1A00,sizeof(slaveTest_Index1A00)/sizeof(slaveTest_Index1A00[0]), 0x1A00},
  { (subindex*)slaveTest_Index1A01,sizeof(slaveTest_Index1A01)/sizeof(slaveTest_Index1A01[0]), 0x1A01},
  { (subindex*)slaveTest_Index1A02,sizeof(slaveTest_Index1A02)/sizeof(slaveTest_Index1A02[0]), 0x1A02},
  { (subindex*)slaveTest_Index1A03,sizeof(slaveTest_Index1A03)/sizeof(slaveTest_Index1A03[0]), 0x1A03},
  { (subindex*)slaveTest_Index6000,sizeof(slaveTest_Index6000)/sizeof(slaveTest_Index6000[0]), 0x6000},
  { (subindex*)slaveTest_Index6200,sizeof(slaveTest_Index6200)/sizeof(slaveTest_Index6200[0]), 0x6200},
};

const indextable * slaveTest_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
{
	int i;
	*callbacks = NULL;
	switch(wIndex){
		case 0x1000: i = 0;break;
		case 0x1001: i = 1;break;
		case 0x1005: i = 2;*callbacks = slaveTest_Index1005_callbacks; break;
		case 0x1006: i = 3;*callbacks = slaveTest_Index1006_callbacks; break;
		case 0x1014: i = 4;break;
		case 0x1017: i = 5;*callbacks = slaveTest_Index1017_callbacks; break;
		case 0x1018: i = 6;break;
		case 0x1200: i = 7;break;
		case 0x1400: i = 8;break;
		case 0x1401: i = 9;break;
		case 0x1402: i = 10;break;
		case 0x1403: i = 11;break;
		case 0x1600: i = 12;break;
		case 0x1601: i = 13;break;
		case 0x1602: i = 14;break;
		case 0x1603: i = 15;break;
		case 0x1800: i = 16;*callbacks = slaveTest_Index1800_callbacks; break;
		case 0x1801: i = 17;*callbacks = slaveTest_Index1801_callbacks; break;
		case 0x1802: i = 18;*callbacks = slaveTest_Index1802_callbacks; break;
		case 0x1803: i = 19;*callbacks = slaveTest_Index1803_callbacks; break;
		case 0x1A00: i = 20;break;
		case 0x1A01: i = 21;break;
		case 0x1A02: i = 22;break;
		case 0x1A03: i = 23;break;
		case 0x6000: i = 24;break;
		case 0x6200: i = 25;break;
		default:
			*errorCode = OD_NO_SUCH_OBJECT;
			return NULL;
	}
	*errorCode = OD_SUCCESSFUL;
	return &slaveTest_objdict[i];
}

/* 
 * To count at which received SYNC a PDO must be sent.
 * Even if no pdoTransmit are defined, at least one entry is computed
 * for compilations issues.
 */
s_PDO_status slaveTest_PDO_status[4] = {s_PDO_status_Initializer,s_PDO_status_Initializer,s_PDO_status_Initializer,s_PDO_status_Initializer};

const quick_index slaveTest_firstIndex = {
  7, /* SDO_SVR */
  0, /* SDO_CLT */
  8, /* PDO_RCV */
  12, /* PDO_RCV_MAP */
  16, /* PDO_TRS */
  20 /* PDO_TRS_MAP */
};

const quick_index slaveTest_lastIndex = {
  7, /* SDO_SVR */
  0, /* SDO_CLT */
  11, /* PDO_RCV */
  15, /* PDO_RCV_MAP */
  19, /* PDO_TRS */
  23 /* PDO_TRS_MAP */
};

const UNS16 slaveTest_ObjdictSize = sizeof(slaveTest_objdict)/sizeof(slaveTest_objdict[0]); 

CO_Data slaveTest_Data = CANOPEN_NODE_DATA_INITIALIZER(slaveTest);

接下来，来说一下前面的的slaveTest_Data，这其实就是一个结构体类型变量供用户使用。slaveTest_data不需要我们自己去定义和初始化，你在对象字典工具里建立词典的时候，会自动在slaveTest.c源文件中定义并赋值。slaveTest_data的结构体的定义在data.h中。这个也是canfestival中最核心的一个结构体，基本包含节点所有的数据信息。

/**
 * @ingroup od
 * @brief This structure contains all necessary informations to define a CANOpen node 
 */
struct struct_CO_Data {
	/* Object dictionary */
	UNS8 *bDeviceNodeId;
	const indextable *objdict;
	s_PDO_status *PDO_status;
	TIMER_HANDLE *RxPDO_EventTimers;
	void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32);
	const quick_index *firstIndex;
	const quick_index *lastIndex;
	const UNS16 *ObjdictSize;
	const UNS8 *iam_a_slave;
	valueRangeTest_t valueRangeTest;
	
	/* SDO */
	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERS];
	/* s_sdo_parameter *sdo_parameters; */

	/* State machine */
	e_nodeState nodeState;
	s_state_communication CurrentCommunicationState;
	initialisation_t initialisation;
	preOperational_t preOperational;
	operational_t operational;
	stopped_t stopped;
     void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
     void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
     
	/* NMT-heartbeat */
	UNS8 *ConsumerHeartbeatCount;
	UNS32 *ConsumerHeartbeatEntries;
	TIMER_HANDLE *ConsumerHeartBeatTimers;
	UNS16 *ProducerHeartBeatTime;
	TIMER_HANDLE ProducerHeartBeatTimer;
	heartbeatError_t heartbeatError;
	e_nodeState NMTable[NMT_MAX_NODE_ID]; 

	/* NMT-nodeguarding */
	TIMER_HANDLE GuardTimeTimer;
	TIMER_HANDLE LifeTimeTimer;
	nodeguardError_t nodeguardError;
	UNS16 *GuardTime;
	UNS8 *LifeTimeFactor;
	UNS8 nodeGuardStatus[NMT_MAX_NODE_ID];

	/* SYNC */
	TIMER_HANDLE syncTimer;
	UNS32 *COB_ID_Sync;
	UNS32 *Sync_Cycle_Period;
	/*UNS32 *Sync_window_length;;*/
	post_sync_t post_sync;
	post_TPDO_t post_TPDO;
	post_SlaveBootup_t post_SlaveBootup;
    post_SlaveStateChange_t post_SlaveStateChange;
	
	/* General */
	UNS8 toggle;
	CAN_PORT canHandle;	
	scanIndexOD_t scanIndexOD;
	storeODSubIndex_t storeODSubIndex; 
	
	/* DCF concise */
    const indextable* dcf_odentry;
	UNS8* dcf_cursor;
	UNS32 dcf_entries_count;
	UNS8 dcf_status;
    UNS32 dcf_size;
    UNS8* dcf_data;
	
	/* EMCY */
	e_errorState error_state;
	UNS8 error_history_size;
	UNS8* error_number;
	UNS32* error_first_element;
	UNS8* error_register;
    UNS32* error_cobid;
	s_errors error_data[EMCY_MAX_ERRORS];
	post_emcy_t post_emcy;
	
#ifdef CO_ENABLE_LSS
	/* LSS */
	lss_transfer_t lss_transfer;
	lss_StoreConfiguration_t lss_StoreConfiguration;
#endif	
};

写到这里也就差不多了，我自己源码测试没问题的（当然。。这里只是我整理的测试程序可能有遗漏，没有测试）。

最后的最后，请各位大佬评论区展示一下测试结果吧。。哈哈。。

泡泡的下午茶

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小记——基于STM32F103平台的canfestival移植

所以使用Canfestival需要开启一个硬件定时器，通过设置不同的定时时间来产生定时任务，实现不同时间事件的管理。我这里用的Tim3。d)源码目录中include/AVR文件夹下还有一个canfestival.h的头文件也需要，我这里把这个文件放到我自己工程目录下的Festival/driver目录下了，这个目录的内容后面再说。我这里测试的是建立的是一个支持ds-401协议（canopen协议栈中针对一般IO设备的子协议）的从站节点，在profile栏选择DS-401，具体的子协议根据自己需求来选择。
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