/******************************************************************************* CANopen Object Dictionary definition for CANopenNode V4 This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab https://github.com/CANopenNode/CANopenNode https://github.com/CANopenNode/CANopenEditor DON'T EDIT THIS FILE MANUALLY, UNLESS YOU KNOW WHAT YOU ARE DOING !!!! *******************************************************************************/ #define OD_DEFINITION #include "301/CO_ODinterface.h" #include "OD.h" #if CO_VERSION_MAJOR < 4 #error This Object dictionary is compatible with CANopenNode V4.0 and above! #endif /******************************************************************************* OD data initialization of all groups *******************************************************************************/ OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM = { .x1000_deviceType = 0x00000000, .x1005_COB_ID_SYNCMessage = 0x00000080, .x1006_communicationCyclePeriod = 0x00000000, .x1007_synchronousWindowLength = 0x00000000, .x1012_COB_IDTimeStampObject = 0x00000100, .x1014_COB_ID_EMCY = 0x00000080, .x1015_inhibitTimeEMCY = 0x0000, .x1016_consumerHeartbeatTime_sub0 = 0x08, .x1016_consumerHeartbeatTime = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000}, .x1017_producerHeartbeatTime = 0x07D0, .x1018_identity = { .highestSub_indexSupported = 0x04, .vendor_ID = 0x00000625, .productCode = 0x00000625, .revisionNumber = 0x00000000, .serialNumber = 0x00000000 }, .x1019_synchronousCounterOverflowValue = 0x00, .x1280_SDOClientParameter = { .highestSub_indexSupported = 0x03, .COB_IDClientToServerTx = 0x80000000, .COB_IDServerToClientRx = 0x80000000, .node_IDOfTheSDOServer = 0x01 }, .x1400_RPDOCommunicationParameter = { .highestSub_indexSupported = 0x05, .COB_IDUsedByRPDO = 0x00000200, .transmissionType = 0xFE, .eventTimer = 0x0000 }, .x1401_RPDOCommunicationParameter = { .highestSub_indexSupported = 0x05, .COB_IDUsedByRPDO = 0x00000300, .transmissionType = 0xFE, .eventTimer = 0x0000 }, .x1402_RPDOCommunicationParameter = { .highestSub_indexSupported = 0x05, .COB_IDUsedByRPDO = 0x80000400, .transmissionType = 0xFE, .eventTimer = 0x0000 }, .x1403_RPDOCommunicationParameter = { .highestSub_indexSupported = 0x05, .COB_IDUsedByRPDO = 0x80000500, .transmissionType = 0xFE, .eventTimer = 0x0000 }, .x1600_RPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x02, .applicationObject1 = 0x60400010, .applicationObject2 = 0x60600008, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1601_RPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x02, .applicationObject1 = 0x607A0020, .applicationObject2 = 0x60FF0020, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1602_RPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x00, .applicationObject1 = 0x00000000, .applicationObject2 = 0x00000000, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1603_RPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x00, .applicationObject1 = 0x00000000, .applicationObject2 = 0x00000000, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1800_TPDOCommunicationParameter = { .highestSub_indexSupported = 0x06, .COB_IDUsedByTPDO = 0x40000180, .transmissionType = 0xFE, .inhibitTime = 0x0000, .eventTimer = 0x0064, .SYNCStartValue = 0x00 }, .x1801_TPDOCommunicationParameter = { .highestSub_indexSupported = 0x06, .COB_IDUsedByTPDO = 0x40000280, .transmissionType = 0xFE, .inhibitTime = 0x0000, .eventTimer = 0x0064, .SYNCStartValue = 0x00 }, .x1802_TPDOCommunicationParameter = { .highestSub_indexSupported = 0x06, .COB_IDUsedByTPDO = 0xC0000380, .transmissionType = 0xFE, .inhibitTime = 0x0000, .eventTimer = 0x03E8, .SYNCStartValue = 0x00 }, .x1803_TPDOCommunicationParameter = { .highestSub_indexSupported = 0x06, .COB_IDUsedByTPDO = 0xC0000480, .transmissionType = 0xFE, .inhibitTime = 0x0000, .eventTimer = 0x03E8, .SYNCStartValue = 0x00 }, .x1A00_TPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x02, .applicationObject1 = 0x60410010, .applicationObject2 = 0x60610008, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1A01_TPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x02, .applicationObject1 = 0x60640020, .applicationObject2 = 0x606C0020, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1A02_TPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x00, .applicationObject1 = 0x00000000, .applicationObject2 = 0x00000000, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 }, .x1A03_TPDOMappingParameter = { .numberOfMappedApplicationObjectsInPDO = 0x00, .applicationObject1 = 0x00000000, .applicationObject2 = 0x00000000, .applicationObject3 = 0x00000000, .applicationObject4 = 0x00000000, .applicationObject5 = 0x00000000, .applicationObject6 = 0x00000000, .applicationObject7 = 0x00000000, .applicationObject8 = 0x00000000 } }; OD_ATTR_RAM OD_RAM_t OD_RAM = { .x1001_errorRegister = 0x00, .x1010_storeParameters_sub0 = 0x04, .x1010_storeParameters = {0x00000001, 0x00000001, 0x00000001, 0x00000001}, .x1011_restoreDefaultParameters_sub0 = 0x04, .x1011_restoreDefaultParameters = {0x00000001, 0x00000001, 0x00000001, 0x00000001}, .x1200_SDOServerParameter = { .highestSub_indexSupported = 0x02, .COB_IDClientToServerRx = 0x00000600, .COB_IDServerToClientTx = 0x00000580 }, .x6040_controlword = 0x0000, .x6041_statusword = 0x0000, .x6060_modesOfOperation = 1, .x6061_modesOfOperationDisplay = 0, .x6064_positionActualValue = 0, .x6065_followingErrorWindow = 0, .x606C_velocityActualValue = 0, .x607A_targetPosition = 0x00000000, .x6083_acceleration = 0x00000064, .x6084_deceleration = 0x00000064, .x60F4_followingErrorActualValue = 0, .x60FF_targetVelocity = 0 }; /******************************************************************************* All OD objects (constant definitions) *******************************************************************************/ typedef struct { OD_obj_var_t o_1000_deviceType; OD_obj_var_t o_1001_errorRegister; OD_obj_array_t o_1003_pre_definedErrorField; OD_obj_var_t o_1005_COB_ID_SYNCMessage; OD_obj_var_t o_1006_communicationCyclePeriod; OD_obj_var_t o_1007_synchronousWindowLength; OD_obj_array_t o_1010_storeParameters; OD_obj_array_t o_1011_restoreDefaultParameters; OD_obj_var_t o_1012_COB_IDTimeStampObject; OD_obj_var_t o_1014_COB_ID_EMCY; OD_obj_var_t o_1015_inhibitTimeEMCY; OD_obj_array_t o_1016_consumerHeartbeatTime; OD_obj_var_t o_1017_producerHeartbeatTime; OD_obj_record_t o_1018_identity[5]; OD_obj_var_t o_1019_synchronousCounterOverflowValue; OD_obj_record_t o_1200_SDOServerParameter[3]; OD_obj_record_t o_1280_SDOClientParameter[4]; OD_obj_record_t o_1400_RPDOCommunicationParameter[4]; OD_obj_record_t o_1401_RPDOCommunicationParameter[4]; OD_obj_record_t o_1402_RPDOCommunicationParameter[4]; OD_obj_record_t o_1403_RPDOCommunicationParameter[4]; OD_obj_record_t o_1600_RPDOMappingParameter[9]; OD_obj_record_t o_1601_RPDOMappingParameter[9]; OD_obj_record_t o_1602_RPDOMappingParameter[9]; OD_obj_record_t o_1603_RPDOMappingParameter[9]; OD_obj_record_t o_1800_TPDOCommunicationParameter[6]; OD_obj_record_t o_1801_TPDOCommunicationParameter[6]; OD_obj_record_t o_1802_TPDOCommunicationParameter[6]; OD_obj_record_t o_1803_TPDOCommunicationParameter[6]; OD_obj_record_t o_1A00_TPDOMappingParameter[9]; OD_obj_record_t o_1A01_TPDOMappingParameter[9]; OD_obj_record_t o_1A02_TPDOMappingParameter[9]; OD_obj_record_t o_1A03_TPDOMappingParameter[9]; OD_obj_var_t o_6040_controlword; OD_obj_var_t o_6041_statusword; OD_obj_var_t o_6060_modesOfOperation; OD_obj_var_t o_6061_modesOfOperationDisplay; OD_obj_var_t o_6064_positionActualValue; OD_obj_var_t o_6065_followingErrorWindow; OD_obj_var_t o_606C_velocityActualValue; OD_obj_var_t o_607A_targetPosition; OD_obj_var_t o_6083_acceleration; OD_obj_var_t o_6084_deceleration; OD_obj_var_t o_60F4_followingErrorActualValue; OD_obj_var_t o_60FF_targetVelocity; } ODObjs_t; static CO_PROGMEM ODObjs_t ODObjs = { .o_1000_deviceType = { .dataOrig = &OD_PERSIST_COMM.x1000_deviceType, .attribute = ODA_SDO_R | ODA_MB, .dataLength = 4 }, .o_1001_errorRegister = { .dataOrig = &OD_RAM.x1001_errorRegister, .attribute = ODA_SDO_R | ODA_TPDO, .dataLength = 1 }, .o_1003_pre_definedErrorField = { .dataOrig0 = NULL, .dataOrig = NULL, .attribute0 = ODA_SDO_RW, .attribute = ODA_SDO_R | ODA_MB, .dataElementLength = 4, .dataElementSizeof = sizeof(uint32_t) }, .o_1005_COB_ID_SYNCMessage = { .dataOrig = &OD_PERSIST_COMM.x1005_COB_ID_SYNCMessage, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_1006_communicationCyclePeriod = { .dataOrig = &OD_PERSIST_COMM.x1006_communicationCyclePeriod, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_1007_synchronousWindowLength = { .dataOrig = &OD_PERSIST_COMM.x1007_synchronousWindowLength, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_1010_storeParameters = { .dataOrig0 = &OD_RAM.x1010_storeParameters_sub0, .dataOrig = &OD_RAM.x1010_storeParameters[0], .attribute0 = ODA_SDO_R, .attribute = ODA_SDO_RW | ODA_MB, .dataElementLength = 4, .dataElementSizeof = sizeof(uint32_t) }, .o_1011_restoreDefaultParameters = { .dataOrig0 = &OD_RAM.x1011_restoreDefaultParameters_sub0, .dataOrig = &OD_RAM.x1011_restoreDefaultParameters[0], .attribute0 = ODA_SDO_R, .attribute = ODA_SDO_RW | ODA_MB, .dataElementLength = 4, .dataElementSizeof = sizeof(uint32_t) }, .o_1012_COB_IDTimeStampObject = { .dataOrig = &OD_PERSIST_COMM.x1012_COB_IDTimeStampObject, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_1014_COB_ID_EMCY = { .dataOrig = &OD_PERSIST_COMM.x1014_COB_ID_EMCY, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_1015_inhibitTimeEMCY = { .dataOrig = &OD_PERSIST_COMM.x1015_inhibitTimeEMCY, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, .o_1016_consumerHeartbeatTime = { .dataOrig0 = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime_sub0, .dataOrig = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime[0], .attribute0 = ODA_SDO_R, .attribute = ODA_SDO_RW | ODA_MB, .dataElementLength = 4, .dataElementSizeof = sizeof(uint32_t) }, .o_1017_producerHeartbeatTime = { .dataOrig = &OD_PERSIST_COMM.x1017_producerHeartbeatTime, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, .o_1018_identity = { { .dataOrig = &OD_PERSIST_COMM.x1018_identity.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1018_identity.vendor_ID, .subIndex = 1, .attribute = ODA_SDO_R | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1018_identity.productCode, .subIndex = 2, .attribute = ODA_SDO_R | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1018_identity.revisionNumber, .subIndex = 3, .attribute = ODA_SDO_R | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1018_identity.serialNumber, .subIndex = 4, .attribute = ODA_SDO_R | ODA_MB, .dataLength = 4 } }, .o_1019_synchronousCounterOverflowValue = { .dataOrig = &OD_PERSIST_COMM.x1019_synchronousCounterOverflowValue, .attribute = ODA_SDO_RW, .dataLength = 1 }, .o_1200_SDOServerParameter = { { .dataOrig = &OD_RAM.x1200_SDOServerParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDClientToServerRx, .subIndex = 1, .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDServerToClientTx, .subIndex = 2, .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, .dataLength = 4 } }, .o_1280_SDOClientParameter = { { .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDClientToServerTx, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDServerToClientRx, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.node_IDOfTheSDOServer, .subIndex = 3, .attribute = ODA_SDO_RW, .dataLength = 1 } }, .o_1400_RPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.COB_IDUsedByRPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 } }, .o_1401_RPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.COB_IDUsedByRPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 } }, .o_1402_RPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.COB_IDUsedByRPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 } }, .o_1403_RPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.COB_IDUsedByRPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 } }, .o_1600_RPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1601_RPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1602_RPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1603_RPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1800_TPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.COB_IDUsedByTPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.inhibitTime, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.SYNCStartValue, .subIndex = 6, .attribute = ODA_SDO_RW, .dataLength = 1 } }, .o_1801_TPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.COB_IDUsedByTPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.inhibitTime, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.SYNCStartValue, .subIndex = 6, .attribute = ODA_SDO_RW, .dataLength = 1 } }, .o_1802_TPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.COB_IDUsedByTPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.inhibitTime, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.SYNCStartValue, .subIndex = 6, .attribute = ODA_SDO_RW, .dataLength = 1 } }, .o_1803_TPDOCommunicationParameter = { { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.highestSub_indexSupported, .subIndex = 0, .attribute = ODA_SDO_R, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.COB_IDUsedByTPDO, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.transmissionType, .subIndex = 2, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.inhibitTime, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.eventTimer, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 2 }, { .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.SYNCStartValue, .subIndex = 6, .attribute = ODA_SDO_RW, .dataLength = 1 } }, .o_1A00_TPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1A01_TPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1A02_TPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_1A03_TPDOMappingParameter = { { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, .subIndex = 0, .attribute = ODA_SDO_RW, .dataLength = 1 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject1, .subIndex = 1, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject2, .subIndex = 2, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject3, .subIndex = 3, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject4, .subIndex = 4, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject5, .subIndex = 5, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject6, .subIndex = 6, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject7, .subIndex = 7, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, { .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject8, .subIndex = 8, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 } }, .o_6040_controlword = { .dataOrig = &OD_RAM.x6040_controlword, .attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB, .dataLength = 2 }, .o_6041_statusword = { .dataOrig = &OD_RAM.x6041_statusword, .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, .dataLength = 2 }, .o_6060_modesOfOperation = { .dataOrig = &OD_RAM.x6060_modesOfOperation, .attribute = ODA_SDO_RW | ODA_RPDO, .dataLength = 1 }, .o_6061_modesOfOperationDisplay = { .dataOrig = &OD_RAM.x6061_modesOfOperationDisplay, .attribute = ODA_SDO_R | ODA_TPDO, .dataLength = 1 }, .o_6064_positionActualValue = { .dataOrig = &OD_RAM.x6064_positionActualValue, .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, .dataLength = 4 }, .o_6065_followingErrorWindow = { .dataOrig = &OD_RAM.x6065_followingErrorWindow, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_606C_velocityActualValue = { .dataOrig = &OD_RAM.x606C_velocityActualValue, .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, .dataLength = 4 }, .o_607A_targetPosition = { .dataOrig = &OD_RAM.x607A_targetPosition, .attribute = ODA_SDO_RW | ODA_RPDO | ODA_MB, .dataLength = 4 }, .o_6083_acceleration = { .dataOrig = &OD_RAM.x6083_acceleration, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_6084_deceleration = { .dataOrig = &OD_RAM.x6084_deceleration, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_60F4_followingErrorActualValue = { .dataOrig = &OD_RAM.x60F4_followingErrorActualValue, .attribute = ODA_SDO_RW | ODA_MB, .dataLength = 4 }, .o_60FF_targetVelocity = { .dataOrig = &OD_RAM.x60FF_targetVelocity, .attribute = ODA_SDO_RW | ODA_RPDO | ODA_MB, .dataLength = 4 } }; /******************************************************************************* Object dictionary *******************************************************************************/ static OD_ATTR_OD OD_entry_t ODList[] = { {0x1000, 0x01, ODT_VAR, &ODObjs.o_1000_deviceType, NULL}, {0x1001, 0x01, ODT_VAR, &ODObjs.o_1001_errorRegister, NULL}, {0x1003, 0x11, ODT_ARR, &ODObjs.o_1003_pre_definedErrorField, NULL}, {0x1005, 0x01, ODT_VAR, &ODObjs.o_1005_COB_ID_SYNCMessage, NULL}, {0x1006, 0x01, ODT_VAR, &ODObjs.o_1006_communicationCyclePeriod, NULL}, {0x1007, 0x01, ODT_VAR, &ODObjs.o_1007_synchronousWindowLength, NULL}, {0x1010, 0x05, ODT_ARR, &ODObjs.o_1010_storeParameters, NULL}, {0x1011, 0x05, ODT_ARR, &ODObjs.o_1011_restoreDefaultParameters, NULL}, {0x1012, 0x01, ODT_VAR, &ODObjs.o_1012_COB_IDTimeStampObject, NULL}, {0x1014, 0x01, ODT_VAR, &ODObjs.o_1014_COB_ID_EMCY, NULL}, {0x1015, 0x01, ODT_VAR, &ODObjs.o_1015_inhibitTimeEMCY, NULL}, {0x1016, 0x09, ODT_ARR, &ODObjs.o_1016_consumerHeartbeatTime, NULL}, {0x1017, 0x01, ODT_VAR, &ODObjs.o_1017_producerHeartbeatTime, NULL}, {0x1018, 0x05, ODT_REC, &ODObjs.o_1018_identity, NULL}, {0x1019, 0x01, ODT_VAR, &ODObjs.o_1019_synchronousCounterOverflowValue, NULL}, {0x1200, 0x03, ODT_REC, &ODObjs.o_1200_SDOServerParameter, NULL}, {0x1280, 0x04, ODT_REC, &ODObjs.o_1280_SDOClientParameter, NULL}, {0x1400, 0x04, ODT_REC, &ODObjs.o_1400_RPDOCommunicationParameter, NULL}, {0x1401, 0x04, ODT_REC, &ODObjs.o_1401_RPDOCommunicationParameter, NULL}, {0x1402, 0x04, ODT_REC, &ODObjs.o_1402_RPDOCommunicationParameter, NULL}, {0x1403, 0x04, ODT_REC, &ODObjs.o_1403_RPDOCommunicationParameter, NULL}, {0x1600, 0x09, ODT_REC, &ODObjs.o_1600_RPDOMappingParameter, NULL}, {0x1601, 0x09, ODT_REC, &ODObjs.o_1601_RPDOMappingParameter, NULL}, {0x1602, 0x09, ODT_REC, &ODObjs.o_1602_RPDOMappingParameter, NULL}, {0x1603, 0x09, ODT_REC, &ODObjs.o_1603_RPDOMappingParameter, NULL}, {0x1800, 0x06, ODT_REC, &ODObjs.o_1800_TPDOCommunicationParameter, NULL}, {0x1801, 0x06, ODT_REC, &ODObjs.o_1801_TPDOCommunicationParameter, NULL}, {0x1802, 0x06, ODT_REC, &ODObjs.o_1802_TPDOCommunicationParameter, NULL}, {0x1803, 0x06, ODT_REC, &ODObjs.o_1803_TPDOCommunicationParameter, NULL}, {0x1A00, 0x09, ODT_REC, &ODObjs.o_1A00_TPDOMappingParameter, NULL}, {0x1A01, 0x09, ODT_REC, &ODObjs.o_1A01_TPDOMappingParameter, NULL}, {0x1A02, 0x09, ODT_REC, &ODObjs.o_1A02_TPDOMappingParameter, NULL}, {0x1A03, 0x09, ODT_REC, &ODObjs.o_1A03_TPDOMappingParameter, NULL}, {0x6040, 0x01, ODT_VAR, &ODObjs.o_6040_controlword, NULL}, {0x6041, 0x01, ODT_VAR, &ODObjs.o_6041_statusword, NULL}, {0x6060, 0x01, ODT_VAR, &ODObjs.o_6060_modesOfOperation, NULL}, {0x6061, 0x01, ODT_VAR, &ODObjs.o_6061_modesOfOperationDisplay, NULL}, {0x6064, 0x01, ODT_VAR, &ODObjs.o_6064_positionActualValue, NULL}, {0x6065, 0x01, ODT_VAR, &ODObjs.o_6065_followingErrorWindow, NULL}, {0x606C, 0x01, ODT_VAR, &ODObjs.o_606C_velocityActualValue, NULL}, {0x607A, 0x01, ODT_VAR, &ODObjs.o_607A_targetPosition, NULL}, {0x6083, 0x01, ODT_VAR, &ODObjs.o_6083_acceleration, NULL}, {0x6084, 0x01, ODT_VAR, &ODObjs.o_6084_deceleration, NULL}, {0x60F4, 0x01, ODT_VAR, &ODObjs.o_60F4_followingErrorActualValue, NULL}, {0x60FF, 0x01, ODT_VAR, &ODObjs.o_60FF_targetVelocity, NULL}, {0x0000, 0x00, 0, NULL, NULL} }; static OD_t _OD = { (sizeof(ODList) / sizeof(ODList[0])) - 1, &ODList[0] }; OD_t *OD = &_OD;