canopen festival dictionary pdo解析

canopen festival dictionary pdo解析

/* index 0x1800 : Transmit PDO 1 Parameter. /
UNS8 Master_highestSubIndex_obj1800 = 6; / number of subindex - 1*///有效子索引个数
UNS32 Master_obj1800_COB_ID_used_by_PDO = 0x180; /* 384 ///发送的ID号
UNS8 Master_obj1800_Transmission_Type = 0x0; / 0 / //发送类型，0x00 接收到相应的同步帧数后进行发送
UNS16 Master_obj1800_Inhibit_Time = 0x0; / 0 / //两个pdo 发送的间隔时间
UNS8 Master_obj1800_Compatibility_Entry = 0x0; / 0 / //目前没有作用
UNS16 Master_obj1800_Event_Timer = 0x0; / 0 / //代表触发时间，周期模式下有效，单位为ms
UNS8 Master_obj1800_SYNC_start_value = 0x0; / 0 / //代表同步帧的初始个数，用于同步帧模式下多个pdo错开发送。
subindex Master_Index1800[] =
{
{ RO, uint8, sizeof (UNS8), (void)&Master_highestSubIndex_obj1800, NULL },
{ RW, uint32, sizeof (UNS32), (void*)&Master_obj1800_COB_ID_used_by_PDO, NULL },
{ RW, uint8, sizeof (UNS8), (void*)&Master_obj1800_Transmission_Type, NULL },
{ RW, uint16, sizeof (UNS16), (void*)&Master_obj1800_Inhibit_Time, NULL },
{ RW, uint8, sizeof (UNS8), (void*)&Master_obj1800_Compatibility_Entry, NULL },
{ RW, uint16, sizeof (UNS16), (void*)&Master_obj1800_Event_Timer, NULL },
{ RW, uint8, sizeof (UNS8), (void*)&Master_obj1800_SYNC_start_value, NULL }
};

/* index 0x1A00 : Transmit PDO 1 Mapping. pdo 数据映射，映射到速度上。而速度在字典中的索引为0x60FF0020。
/
UNS8 Master_highestSubIndex_obj1A00 = 1; / number of subindex - 1*/
UNS32 Master_obj1A00[] =
{
0x60FF0020
};
subindex Master_Index1A00[] =
{
{ RW, uint8, sizeof (UNS8), (void*)&Master_highestSubIndex_obj1A00, NULL }
};