424 lines
15 KiB
C
424 lines
15 KiB
C
/*******************************************************************************
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CANopen Object Dictionary definition for CANopenNode V4
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This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab
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https://github.com/CANopenNode/CANopenNode
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https://github.com/CANopenNode/CANopenEditor
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DON'T EDIT THIS FILE MANUALLY !!!!
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********************************************************************************
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File info:
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File Names: OD.h; OD.c
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Project File: NodeSlave.xdd
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File Version: 1
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Created: 2026/1/30 14:35:40
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Created By:
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Modified: 2026/3/2 16:53:20
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Modified By:
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Device Info:
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Vendor Name:
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Vendor ID:
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Product Name: NodeSlave
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Product ID:
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Description:
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*******************************************************************************/
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#ifndef OD_H
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#define OD_H
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/*******************************************************************************
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Counters of OD objects
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*******************************************************************************/
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#define OD_CNT_NMT 1
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#define OD_CNT_EM 1
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#define OD_CNT_SYNC 1
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#define OD_CNT_SYNC_PROD 1
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#define OD_CNT_STORAGE 1
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#define OD_CNT_TIME 1
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#define OD_CNT_EM_PROD 1
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#define OD_CNT_HB_CONS 1
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#define OD_CNT_HB_PROD 1
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#define OD_CNT_SDO_SRV 1
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#define OD_CNT_SDO_CLI 1
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#define OD_CNT_RPDO 4
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#define OD_CNT_TPDO 4
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/*******************************************************************************
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Sizes of OD arrays
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*******************************************************************************/
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#define OD_CNT_ARR_1003 16
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#define OD_CNT_ARR_1010 4
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#define OD_CNT_ARR_1011 4
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#define OD_CNT_ARR_1016 8
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/*******************************************************************************
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OD data declaration of all groups
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*******************************************************************************/
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typedef struct {
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uint32_t x1000_deviceType;
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uint32_t x1005_COB_ID_SYNCMessage;
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uint32_t x1006_communicationCyclePeriod;
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uint32_t x1007_synchronousWindowLength;
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uint32_t x1012_COB_IDTimeStampObject;
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uint32_t x1014_COB_ID_EMCY;
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uint16_t x1015_inhibitTimeEMCY;
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uint8_t x1016_consumerHeartbeatTime_sub0;
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uint32_t x1016_consumerHeartbeatTime[OD_CNT_ARR_1016];
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uint16_t x1017_producerHeartbeatTime;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t vendor_ID;
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uint32_t productCode;
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uint32_t revisionNumber;
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uint32_t serialNumber;
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} x1018_identity;
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uint8_t x1019_synchronousCounterOverflowValue;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDClientToServerTx;
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uint32_t COB_IDServerToClientRx;
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uint8_t node_IDOfTheSDOServer;
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} x1280_SDOClientParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByRPDO;
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uint8_t transmissionType;
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uint16_t eventTimer;
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} x1400_RPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByRPDO;
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uint8_t transmissionType;
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uint16_t eventTimer;
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} x1401_RPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByRPDO;
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uint8_t transmissionType;
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uint16_t eventTimer;
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} x1402_RPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByRPDO;
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uint8_t transmissionType;
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uint16_t eventTimer;
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} x1403_RPDOCommunicationParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1600_RPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1601_RPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1602_RPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1603_RPDOMappingParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByTPDO;
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uint8_t transmissionType;
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uint16_t inhibitTime;
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uint16_t eventTimer;
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uint8_t SYNCStartValue;
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} x1800_TPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByTPDO;
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uint8_t transmissionType;
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uint16_t inhibitTime;
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uint16_t eventTimer;
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uint8_t SYNCStartValue;
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} x1801_TPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByTPDO;
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uint8_t transmissionType;
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uint16_t inhibitTime;
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uint16_t eventTimer;
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uint8_t SYNCStartValue;
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} x1802_TPDOCommunicationParameter;
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDUsedByTPDO;
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uint8_t transmissionType;
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uint16_t inhibitTime;
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uint16_t eventTimer;
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uint8_t SYNCStartValue;
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} x1803_TPDOCommunicationParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1A00_TPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1A01_TPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1A02_TPDOMappingParameter;
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struct {
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uint8_t numberOfMappedApplicationObjectsInPDO;
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uint32_t applicationObject1;
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uint32_t applicationObject2;
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uint32_t applicationObject3;
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uint32_t applicationObject4;
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uint32_t applicationObject5;
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uint32_t applicationObject6;
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uint32_t applicationObject7;
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uint32_t applicationObject8;
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} x1A03_TPDOMappingParameter;
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} OD_PERSIST_COMM_t;
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typedef struct {
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uint8_t x1001_errorRegister;
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uint8_t x1010_storeParameters_sub0;
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uint32_t x1010_storeParameters[OD_CNT_ARR_1010];
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uint8_t x1011_restoreDefaultParameters_sub0;
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uint32_t x1011_restoreDefaultParameters[OD_CNT_ARR_1011];
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struct {
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uint8_t highestSub_indexSupported;
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uint32_t COB_IDClientToServerRx;
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uint32_t COB_IDServerToClientTx;
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} x1200_SDOServerParameter;
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uint16_t x6040_controlword;
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uint16_t x6041_statusword;
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int8_t x6060_modesOfOperation;
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int8_t x6061_modesOfOperationDisplay;
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int32_t x6064_positionActualValue;
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float32_t x6065_followingErrorWindow;
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int32_t x606C_velocityActualValue;
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uint32_t x607A_targetPosition;
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uint32_t x6083_acceleration;
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uint32_t x6084_deceleration;
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float32_t x60F4_followingErrorActualValue;
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int32_t x60FF_targetVelocity;
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} OD_RAM_t;
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#ifndef OD_ATTR_PERSIST_COMM
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#define OD_ATTR_PERSIST_COMM
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#endif
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extern OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM;
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#ifndef OD_ATTR_RAM
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#define OD_ATTR_RAM
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#endif
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extern OD_ATTR_RAM OD_RAM_t OD_RAM;
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#ifndef OD_ATTR_OD
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#define OD_ATTR_OD
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#endif
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extern OD_ATTR_OD OD_t *OD;
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/*******************************************************************************
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Object dictionary entries - shortcuts
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*******************************************************************************/
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#define OD_ENTRY_H1000 &OD->list[0]
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#define OD_ENTRY_H1001 &OD->list[1]
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#define OD_ENTRY_H1003 &OD->list[2]
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#define OD_ENTRY_H1005 &OD->list[3]
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#define OD_ENTRY_H1006 &OD->list[4]
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#define OD_ENTRY_H1007 &OD->list[5]
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#define OD_ENTRY_H1010 &OD->list[6]
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#define OD_ENTRY_H1011 &OD->list[7]
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#define OD_ENTRY_H1012 &OD->list[8]
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#define OD_ENTRY_H1014 &OD->list[9]
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#define OD_ENTRY_H1015 &OD->list[10]
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#define OD_ENTRY_H1016 &OD->list[11]
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#define OD_ENTRY_H1017 &OD->list[12]
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#define OD_ENTRY_H1018 &OD->list[13]
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#define OD_ENTRY_H1019 &OD->list[14]
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#define OD_ENTRY_H1200 &OD->list[15]
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#define OD_ENTRY_H1280 &OD->list[16]
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#define OD_ENTRY_H1400 &OD->list[17]
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#define OD_ENTRY_H1401 &OD->list[18]
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#define OD_ENTRY_H1402 &OD->list[19]
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#define OD_ENTRY_H1403 &OD->list[20]
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#define OD_ENTRY_H1600 &OD->list[21]
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#define OD_ENTRY_H1601 &OD->list[22]
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#define OD_ENTRY_H1602 &OD->list[23]
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#define OD_ENTRY_H1603 &OD->list[24]
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#define OD_ENTRY_H1800 &OD->list[25]
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#define OD_ENTRY_H1801 &OD->list[26]
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#define OD_ENTRY_H1802 &OD->list[27]
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#define OD_ENTRY_H1803 &OD->list[28]
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#define OD_ENTRY_H1A00 &OD->list[29]
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#define OD_ENTRY_H1A01 &OD->list[30]
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#define OD_ENTRY_H1A02 &OD->list[31]
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#define OD_ENTRY_H1A03 &OD->list[32]
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#define OD_ENTRY_H6040 &OD->list[33]
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#define OD_ENTRY_H6041 &OD->list[34]
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#define OD_ENTRY_H6060 &OD->list[35]
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#define OD_ENTRY_H6061 &OD->list[36]
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#define OD_ENTRY_H6064 &OD->list[37]
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#define OD_ENTRY_H6065 &OD->list[38]
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#define OD_ENTRY_H606C &OD->list[39]
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#define OD_ENTRY_H607A &OD->list[40]
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#define OD_ENTRY_H6083 &OD->list[41]
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#define OD_ENTRY_H6084 &OD->list[42]
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#define OD_ENTRY_H60F4 &OD->list[43]
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#define OD_ENTRY_H60FF &OD->list[44]
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/*******************************************************************************
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Object dictionary entries - shortcuts with names
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*******************************************************************************/
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#define OD_ENTRY_H1000_deviceType &OD->list[0]
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#define OD_ENTRY_H1001_errorRegister &OD->list[1]
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#define OD_ENTRY_H1003_pre_definedErrorField &OD->list[2]
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#define OD_ENTRY_H1005_COB_ID_SYNCMessage &OD->list[3]
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#define OD_ENTRY_H1006_communicationCyclePeriod &OD->list[4]
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#define OD_ENTRY_H1007_synchronousWindowLength &OD->list[5]
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#define OD_ENTRY_H1010_storeParameters &OD->list[6]
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#define OD_ENTRY_H1011_restoreDefaultParameters &OD->list[7]
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#define OD_ENTRY_H1012_COB_IDTimeStampObject &OD->list[8]
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#define OD_ENTRY_H1014_COB_ID_EMCY &OD->list[9]
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#define OD_ENTRY_H1015_inhibitTimeEMCY &OD->list[10]
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#define OD_ENTRY_H1016_consumerHeartbeatTime &OD->list[11]
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#define OD_ENTRY_H1017_producerHeartbeatTime &OD->list[12]
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#define OD_ENTRY_H1018_identity &OD->list[13]
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#define OD_ENTRY_H1019_synchronousCounterOverflowValue &OD->list[14]
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#define OD_ENTRY_H1200_SDOServerParameter &OD->list[15]
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#define OD_ENTRY_H1280_SDOClientParameter &OD->list[16]
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#define OD_ENTRY_H1400_RPDOCommunicationParameter &OD->list[17]
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#define OD_ENTRY_H1401_RPDOCommunicationParameter &OD->list[18]
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#define OD_ENTRY_H1402_RPDOCommunicationParameter &OD->list[19]
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#define OD_ENTRY_H1403_RPDOCommunicationParameter &OD->list[20]
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#define OD_ENTRY_H1600_RPDOMappingParameter &OD->list[21]
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#define OD_ENTRY_H1601_RPDOMappingParameter &OD->list[22]
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#define OD_ENTRY_H1602_RPDOMappingParameter &OD->list[23]
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#define OD_ENTRY_H1603_RPDOMappingParameter &OD->list[24]
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#define OD_ENTRY_H1800_TPDOCommunicationParameter &OD->list[25]
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#define OD_ENTRY_H1801_TPDOCommunicationParameter &OD->list[26]
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#define OD_ENTRY_H1802_TPDOCommunicationParameter &OD->list[27]
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#define OD_ENTRY_H1803_TPDOCommunicationParameter &OD->list[28]
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#define OD_ENTRY_H1A00_TPDOMappingParameter &OD->list[29]
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#define OD_ENTRY_H1A01_TPDOMappingParameter &OD->list[30]
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#define OD_ENTRY_H1A02_TPDOMappingParameter &OD->list[31]
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#define OD_ENTRY_H1A03_TPDOMappingParameter &OD->list[32]
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#define OD_ENTRY_H6040_controlword &OD->list[33]
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#define OD_ENTRY_H6041_statusword &OD->list[34]
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#define OD_ENTRY_H6060_modesOfOperation &OD->list[35]
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#define OD_ENTRY_H6061_modesOfOperationDisplay &OD->list[36]
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#define OD_ENTRY_H6064_positionActualValue &OD->list[37]
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#define OD_ENTRY_H6065_followingErrorWindow &OD->list[38]
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#define OD_ENTRY_H606C_velocityActualValue &OD->list[39]
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#define OD_ENTRY_H607A_targetPosition &OD->list[40]
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#define OD_ENTRY_H6083_acceleration &OD->list[41]
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#define OD_ENTRY_H6084_deceleration &OD->list[42]
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#define OD_ENTRY_H60F4_followingErrorActualValue &OD->list[43]
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#define OD_ENTRY_H60FF_targetVelocity &OD->list[44]
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/*******************************************************************************
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OD config structure
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*******************************************************************************/
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#ifdef CO_MULTIPLE_OD
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#define OD_INIT_CONFIG(config) {\
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(config).CNT_NMT = OD_CNT_NMT;\
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(config).ENTRY_H1017 = OD_ENTRY_H1017;\
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(config).CNT_HB_CONS = OD_CNT_HB_CONS;\
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(config).CNT_ARR_1016 = OD_CNT_ARR_1016;\
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(config).ENTRY_H1016 = OD_ENTRY_H1016;\
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(config).CNT_EM = OD_CNT_EM;\
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(config).ENTRY_H1001 = OD_ENTRY_H1001;\
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(config).ENTRY_H1014 = OD_ENTRY_H1014;\
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(config).ENTRY_H1015 = OD_ENTRY_H1015;\
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(config).CNT_ARR_1003 = OD_CNT_ARR_1003;\
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(config).ENTRY_H1003 = OD_ENTRY_H1003;\
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(config).CNT_SDO_SRV = OD_CNT_SDO_SRV;\
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(config).ENTRY_H1200 = OD_ENTRY_H1200;\
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(config).CNT_SDO_CLI = OD_CNT_SDO_CLI;\
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(config).ENTRY_H1280 = OD_ENTRY_H1280;\
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(config).CNT_TIME = OD_CNT_TIME;\
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(config).ENTRY_H1012 = OD_ENTRY_H1012;\
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(config).CNT_SYNC = OD_CNT_SYNC;\
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(config).ENTRY_H1005 = OD_ENTRY_H1005;\
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(config).ENTRY_H1006 = OD_ENTRY_H1006;\
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(config).ENTRY_H1007 = OD_ENTRY_H1007;\
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(config).ENTRY_H1019 = OD_ENTRY_H1019;\
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(config).CNT_RPDO = OD_CNT_RPDO;\
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(config).ENTRY_H1400 = OD_ENTRY_H1400;\
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(config).ENTRY_H1600 = OD_ENTRY_H1600;\
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(config).CNT_TPDO = OD_CNT_TPDO;\
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(config).ENTRY_H1800 = OD_ENTRY_H1800;\
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(config).ENTRY_H1A00 = OD_ENTRY_H1A00;\
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(config).CNT_LEDS = 0;\
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(config).CNT_GFC = 0;\
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(config).ENTRY_H1300 = NULL;\
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(config).CNT_SRDO = 0;\
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(config).ENTRY_H1301 = NULL;\
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(config).ENTRY_H1381 = NULL;\
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(config).ENTRY_H13FE = NULL;\
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(config).ENTRY_H13FF = NULL;\
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(config).CNT_LSS_SLV = 0;\
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(config).CNT_LSS_MST = 0;\
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(config).CNT_GTWA = 0;\
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(config).CNT_TRACE = 0;\
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}
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#endif
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#endif /* OD_H */
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