New named folder, first DS401 profile module, Makefile

diff --git a/examples/AVR/Slave/AVR-Studio/SlaveAVR.aps b/examples/AVR/Slave/AVR-Studio/SlaveAVR.aps
new file mode 100644 (file)
index 0000000..3cf4ff9
--- /dev/null
+++ b/examples/AVR/Slave/AVR-Studio/SlaveAVR.aps
@@ -0,0 +1 @@
+<AVRStudio><MANAGEMENT><ProjectName>SlaveAVR</ProjectName><Created>16-Dec-2007 22:17:10</Created><LastEdit>07-Mar-2008 15:45:15</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>16-Dec-2007 22:17:10</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\SlaveAVR.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>JTAGICE mkII</CURRENT_TARGET><CURRENT_PART>AT90CAN128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0><Variables>Read_Inputs_8_Bit</Variables><Variables>Interrupt_Mask_Any_Change_8_Bit</Variables><Variables>Interrupt_Mask_Low_to_High_8_Bit</Variables><Variables>Interrupt_Mask_High_to_Low_8_Bit</Variables><Variables>transmission</Variables></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><modules><module></module></modules><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\can_AVR.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\dcf.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\timer.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\emcy.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lifegrd.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lss.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtMaster.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtSlave.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\objacces.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\pdo.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sdo.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\states.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sync.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\timer_AVR.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c</SOURCEFILE><SOURCEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ds401.c</SOURCEFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\timers_driver.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\can.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\can_driver.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\data.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\dcf.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\def.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\emcy.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\lifegrd.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\lss.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\nmtMaster.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\nmtSlave.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\objacces.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\objdictdef.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\pdo.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\sdo.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\states.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\sync.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\sysdep.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\timer.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\timerscfg.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\applicfg.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\can_AVR.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\can_drv.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\canfestival.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\config.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\include\AVR\iar.h</HEADERFILE><HEADERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.h</HEADERFILE><OTHERFILE>default\SlaveAVR.lss</OTHERFILE><OTHERFILE>default\SlaveAVR.map</OTHERFILE><OTHERFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</EXTERNALMAKEFILE><PART>at90can128</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>SlaveAVR.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\can_AVR.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\drivers\AVR\timer_AVR.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\ObjDict.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\dcf.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\emcy.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lifegrd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\lss.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtMaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\nmtSlave.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\objacces.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\pdo.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sdo.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\states.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\sync.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>I:\Entwicklung\Firmware\CAN\CanFestival-3\src\timer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS><INCLUDE>..\..\..\..\include\</INCLUDE><INCLUDE>..\..\..\..\include\AVR\</INCLUDE><INCLUDE>.\</INCLUDE></INCDIRS><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2                              -Os -fsigned-char -fpack-struct</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\programme\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\programme\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><JTAGICEmkII><DAISY_CHAIN>0</DAISY_CHAIN><DEVS_BEFORE>0</DEVS_BEFORE><DEVS_AFTER>0</DEVS_AFTER><INSTRBITS_BEFORE>0</INSTRBITS_BEFORE><INSTRBITS_AFTER>0</INSTRBITS_AFTER><BAUDRATE>19200</BAUDRATE><JTAG_FREQ>8000000</JTAG_FREQ><TIMERS_RUNNING>0</TIMERS_RUNNING><PRESERVE_EEPROM>1</PRESERVE_EEPROM><ALWAYS_EXT_RESET>0</ALWAYS_EXT_RESET><PRINT_BRK_CAUSE>0</PRINT_BRK_CAUSE><ENABLE_IDR_IN_RUN_MODE>0</ENABLE_IDR_IN_RUN_MODE><ALLOW_BRK_INSTR>1</ALLOW_BRK_INSTR><STOPIF_ENTRYFUNC_NOTFOUND>1</STOPIF_ENTRYFUNC_NOTFOUND><ENTRY_FUNCTION>main</ENTRY_FUNCTION><REPROGRAM>2</REPROGRAM></JTAGICEmkII><AVRSimulator><FuseExt>0</FuseExt><FuseHigh>138</FuseHigh><FuseLow>56</FuseLow><LockBits>123</LockBits><Frequency>8000000</Frequency><ExtSRAM>0</ExtSRAM><SimBoot>1</SimBoot><SimBootnew>1</SimBootnew></AVRSimulator><IOView><usergroups/><sort sorted="1" column="1" ordername="1" orderaddress="0" ordergroup="1"/></IOView><Files><File00000><FileId>00000</FileId><FileName>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>default\Makefile</FileName><Status>1</Status></File00002></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>

diff --git a/examples/AVR/Slave/AVR-Studio/default/Makefile b/examples/AVR/Slave/AVR-Studio/default/Makefile
new file mode 100644 (file)
index 0000000..df03911
--- /dev/null
+++ b/examples/AVR/Slave/AVR-Studio/default/Makefile
@@ -0,0 +1,126 @@
+###############################################################################
+# Makefile for the project SlaveAVR
+###############################################################################
+
+## General Flags
+PROJECT = SlaveAVR
+MCU = at90can128
+TARGET = SlaveAVR.elf
+CC = avr-gcc.exe
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2                              -Os -fsigned-char -fpack-struct
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS +=  -Wl,-Map=SlaveAVR.map
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+
+## Include Directories
+INCLUDES = -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\..\..\..\..\include" -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\..\..\..\..\include\AVR" -I"I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\." 
+
+## Objects that must be built in order to link
+OBJECTS = can_AVR.o dcf.o timer.o emcy.o lifegrd.o lss.o nmtMaster.o nmtSlave.o objacces.o pdo.o sdo.o states.o sync.o timer_AVR.o ObjDict.o main.o ds401.o 
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS = 
+
+## Build
+all: $(TARGET) SlaveAVR.hex SlaveAVR.eep SlaveAVR.lss size
+
+## Compile
+can_AVR.o: ../../../../../drivers/AVR/can_AVR.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+dcf.o: ../../../../../src/dcf.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+timer.o: ../../../../../src/timer.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+emcy.o: ../../../../../src/emcy.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+lifegrd.o: ../../../../../src/lifegrd.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+lss.o: ../../../../../src/lss.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+nmtMaster.o: ../../../../../src/nmtMaster.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+nmtSlave.o: ../../../../../src/nmtSlave.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+objacces.o: ../../../../../src/objacces.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+pdo.o: ../../../../../src/pdo.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+sdo.o: ../../../../../src/sdo.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+states.o: ../../../../../src/states.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+sync.o: ../../../../../src/sync.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+timer_AVR.o: ../../../../../drivers/AVR/timer_AVR.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+ObjDict.o: ../../ObjDict.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+main.o: ../../main.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+ds401.o: ../../ds401.c
+       $(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+##Link
+$(TARGET): $(OBJECTS)
+        $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+       avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(TARGET)
+       -avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET)
+       avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+       @echo
+       @avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+       -rm -rf $(OBJECTS) SlaveAVR.elf dep/* SlaveAVR.hex SlaveAVR.eep SlaveAVR.lss SlaveAVR.map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+

diff --git a/examples/AVR/Slave/AVR-Studio/slaveavr.aws b/examples/AVR/Slave/AVR-Studio/slaveavr.aws
new file mode 100644 (file)
index 0000000..3e224a0
--- /dev/null
+++ b/examples/AVR/Slave/AVR-Studio/slaveavr.aws
@@ -0,0 +1 @@
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="AT90CAN128"/><Files><File00000 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\main.c" Position="332 160 1009 573" LineCol="47 0" State="Maximized"/><File00001 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\Makefile" Position="262 71 1119 661" LineCol="18 46" State="Maximized"/><File00002 Name="I:\Entwicklung\Firmware\CAN\CanFestival-3\examples\AVR\Slave\AVR-Studio\default\Makefile" Position="266 94 939 481" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace>

diff --git a/examples/AVR/Slave/Makefile b/examples/AVR/Slave/Makefile
new file mode 100644 (file)
index 0000000..53c48e5
--- /dev/null
+++ b/examples/AVR/Slave/Makefile
@@ -0,0 +1,101 @@
+###############################################################################
+# Makefile for the project SlaveAVR
+###############################################################################
+
+## General Flags
+PROJECT = SlaveAVR
+MCU = at90can128
+TARGET = AVR
+CC = avr-gcc.exe
+SRC = ../../../src
+DRV = ../../../drivers/AVR
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -Os -fsigned-char -fpack-struct
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS +=  -Wl,-Map=$(PROJECT).map
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+## Include Directories
+INCLUDES = -I../../../include -I../../../include/AVR
+
+## Objects that must be built in order to link
+OBJECTS =      $(DRV)/can_AVR.o\
+               $(DRV)/timer_AVR.o\
+               $(SRC)/dcf.o\
+               $(SRC)/timer.o\
+               $(SRC)/emcy.o\
+               $(SRC)/lifegrd.o\
+               $(SRC)/lss.o\
+               $(SRC)/nmtMaster.o\
+               $(SRC)/nmtSlave.o\
+               $(SRC)/objacces.o\
+               $(SRC)/pdo.o\
+               $(SRC)/sdo.o\
+               $(SRC)/states.o\
+               $(SRC)/sync.o\
+               ObjDict.o\
+               ds401.o\
+               main.o
+
+## Build
+all: $(PROJECT).elf $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss size
+
+## Compile
+%.o: %.c
+#      @echo " "
+       @echo "---------------------------------------------------------------------------"
+       @echo "**Compiling $< -> $@"
+#      @echo "*********************************************"
+       $(CC) $(INCLUDES) $(CFLAGS) -c $<
+#      $(CC) $(INCLUDES) $(CFLAGS) -c -o $@ $< 
+
+
+##Link
+$(PROJECT).elf: $(OBJECTS)
+#      @echo " "
+       @echo "---------------------------------------------------------------------------"
+       @echo "**Linking :  $@"
+#      @echo "*********************************************"
+       $(CC) $(LDFLAGS) $(LIBDIRS) $(LIBS) $(^F) -o $@
+
+%.hex: $(PROJECT).elf
+       avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(PROJECT).elf
+       -avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(PROJECT).elf
+       avr-objdump -h -S $< > $@
+
+size: $(PROJECT).elf
+       @echo
+       @avr-size -C --mcu=${MCU} $(PROJECT).elf
+
+## Clean target
+.PHONY: clean
+clean:
+       -rm -rf *.o $(PROJECT).elf dep/* $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss $(PROJECT).map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+

diff --git a/examples/AVR/Slave/ObjDict.c b/examples/AVR/Slave/ObjDict.c
new file mode 100644 (file)
index 0000000..508fa29
--- /dev/null
+++ b/examples/AVR/Slave/ObjDict.c
@@ -0,0 +1,495 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "ObjDict.h"
+
+/**************************************************************************/
+/* Declaration of the mapped variables                                    */
+/**************************************************************************/
+UNS8 Read_Inputs_8_Bit[] =             /* Mapped at index 0x6000, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Polarity_Input_8_Bit[] =          /* Mapped at index 0x6002, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Filter_Constant_Input_8_Bit[] =           /* Mapped at index 0x6003, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Global_Interrupt_Enable_Digital = 0x1;            /* Mapped at index 0x6005, subindex 0x00 */
+UNS8 Interrupt_Mask_Any_Change_8_Bit[] =               /* Mapped at index 0x6006, subindex 0x01 - 0x01 */
+  {
+    0xFF       /* 255 */
+  };
+UNS8 Interrupt_Mask_Low_to_High_8_Bit[] =              /* Mapped at index 0x6007, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Interrupt_Mask_High_to_Low_8_Bit[] =              /* Mapped at index 0x6008, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Write_Outputs_8_Bit[] =           /* Mapped at index 0x6200, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Change_Polarity_Outputs_8_Bit[] =         /* Mapped at index 0x6202, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Error_Mode_Outputs_8_Bit[] =              /* Mapped at index 0x6206, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+UNS8 Error_Value_Outputs_8_Bit[] =             /* Mapped at index 0x6207, subindex 0x01 - 0x01 */
+  {
+    0x0        /* 0 */
+  };
+
+/**************************************************************************/
+/* Declaration of the value range types                                   */
+/**************************************************************************/
+
+#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */
+UNS32 ObjDict_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 ObjDict_bDeviceNodeId = 0x00;
+
+/**************************************************************************/
+/* Array of message processing information */
+
+const UNS8 ObjDict_iam_a_slave = 1;
+
+TIMER_HANDLE ObjDict_heartBeatTimers[1] = {TIMER_NONE,};
+
+/*
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+
+                               OBJECT DICTIONARY
+
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+*/
+
+/* index 0x1000 :   Device Type. */
+                    UNS32 ObjDict_obj1000 = 0x30191;   /* 197009 */
+                    subindex ObjDict_Index1000[] = 
+                     {
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1000 }
+                     };
+
+/* index 0x1001 :   Error Register. */
+                    UNS8 ObjDict_obj1001 = 0x0;        /* 0 */
+                    subindex ObjDict_Index1001[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_obj1001 }
+                     };
+
+/* index 0x1003 :   Pre-defined Error Field. */
+                    UNS8 ObjDict_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1003[] = 
+                    {
+                      0x0      /* 0 */
+                    };
+                    ODCallback_t ObjDict_Index1003_callbacks[] = 
+                     {
+                       NULL,
+                       NULL,
+                     };
+                    subindex ObjDict_Index1003[] = 
+                     {
+                       { RW, valueRange_EMC, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1003 },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1003[0] }
+                     };
+
+/* index 0x1005 :   SYNC COB ID. */
+                    UNS32 ObjDict_obj1005 = 0x80;      /* 128 */
+                    ODCallback_t ObjDict_Index1005_callbacks[] = 
+                     {
+                       NULL,
+                     };
+                    subindex ObjDict_Index1005[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1005 }
+                     };
+
+/* index 0x1006 :   Communication / Cycle Period */
+                    UNS32 ObjDict_obj1006 = 0x0;   /* 0 */
+
+/* index 0x1008 :   Manufacturer Device Name. */
+                    UNS8 ObjDict_obj1008[10] = "";
+                    subindex ObjDict_Index1008[] = 
+                     {
+                       { RO, visible_string, 0, (void*)&ObjDict_obj1008 }
+                     };
+
+/* index 0x1009 :   Manufacturer Hardware Version. */
+                    UNS8 ObjDict_obj1009[10] = "";
+                    subindex ObjDict_Index1009[] = 
+                     {
+                       { RO, visible_string, 0, (void*)&ObjDict_obj1009 }
+                     };
+
+/* index 0x100A :   Manufacturer Software Version. */
+                    UNS8 ObjDict_obj100A[10] = "";
+                    subindex ObjDict_Index100A[] = 
+                     {
+                       { RO, visible_string, 0, (void*)&ObjDict_obj100A }
+                     };
+
+/* index 0x1010 :   Store parameters. */
+                    UNS8 ObjDict_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1010_Save_All_Parameters = 0x0;   /* 0 */
+                    UNS32 ObjDict_obj1010_Save_Communication_Parameters = 0x0; /* 0 */
+                    UNS32 ObjDict_obj1010_Save_Application_Parameters = 0x0;   /* 0 */
+                    UNS32 ObjDict_obj1010_Save_Manufacturer_Parameters = 0x0;  /* 0 */
+                    subindex ObjDict_Index1010[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1010 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_All_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Communication_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Application_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1010_Save_Manufacturer_Parameters }
+                     };
+
+/* index 0x1011 :   Restore Default Parameters. */
+                    UNS8 ObjDict_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1011_Restore_All_Default_Parameters = 0x0;        /* 0 */
+                    UNS32 ObjDict_obj1011_Restore_Communication_Default_Parameters = 0x0;      /* 0 */
+                    UNS32 ObjDict_obj1011_Restore_Application_Default_Parameters = 0x0;        /* 0 */
+                    UNS32 ObjDict_obj1011_Restore_Manufacturer_Default_Parameters = 0x0;       /* 0 */
+                    subindex ObjDict_Index1011[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1011 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_All_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Communication_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Application_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_Manufacturer_Default_Parameters }
+                     };
+
+/* index 0x1014 :   Emergency COB ID. */
+                    UNS32 ObjDict_obj1014 = 0x80;      /* 128 */
+                    subindex ObjDict_Index1014[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1014 }
+                     };
+
+/* index 0x1016 :   Consumer Heartbeat Time. */
+                    UNS8 ObjDict_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1016[] = 
+                    {
+                      0x0      /* 0 */
+                    };
+                    subindex ObjDict_Index1016[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1016 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1016[0] }
+                     };
+
+/* index 0x1017 :   Producer Heartbeat Time. */
+                    UNS16 ObjDict_obj1017 = 0x2710;    /* 10000 */
+                    ODCallback_t ObjDict_Index1017_callbacks[] = 
+                     {
+                       NULL,
+                     };
+                    subindex ObjDict_Index1017[] = 
+                     {
+                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1017 }
+                     };
+
+/* index 0x1018 :   Identity. */
+                    UNS8 ObjDict_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1018_Vendor_ID = 0x0;     /* 0 */
+                    UNS32 ObjDict_obj1018_Product_Code = 0x0;  /* 0 */
+                    UNS32 ObjDict_obj1018_Revision_Number = 0x0;       /* 0 */
+                    UNS32 ObjDict_obj1018_Serial_Number = 0x0; /* 0 */
+                    subindex ObjDict_Index1018[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1018 },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Vendor_ID },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Product_Code },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Revision_Number },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1018_Serial_Number }
+                     };
+
+/* index 0x1200 :   Server SDO Parameter. */
+                    UNS8 ObjDict_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x600; /* 1536 */
+                    UNS32 ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x580;        /* 1408 */
+                    subindex ObjDict_Index1200[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1200 },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Client_to_Server_Receive_SDO },
+                       { RO, uint32, sizeof (UNS32), (void*)&ObjDict_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
+                     };
+
+/* index 0x1400 :   Receive PDO 1 Parameter. */
+                    UNS8 ObjDict_highestSubIndex_obj1400 = 5; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1400_COB_ID_used_by_PDO = 0x200;  /* 512 */
+                    UNS8 ObjDict_obj1400_Transmission_Type = 0x1;      /* 1 */
+                    UNS16 ObjDict_obj1400_Inhibit_Time = 0x0;  /* 0 */
+                    UNS8 ObjDict_obj1400_Compatibility_Entry = 0x0;    /* 0 */
+                    UNS16 ObjDict_obj1400_Event_Timer = 0x0;   /* 0 */
+                    subindex ObjDict_Index1400[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1400 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1400_COB_ID_used_by_PDO },
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Transmission_Type },
+                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Inhibit_Time },
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1400_Compatibility_Entry },
+                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1400_Event_Timer }
+                     };
+
+/* index 0x1600 :   Receive PDO 1 Mapping. */
+                    UNS8 ObjDict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1600[] = 
+                    {
+                      0x62000108       /* 1644167432 */
+                    };
+                    subindex ObjDict_Index1600[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1600 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1600[0] }
+                     };
+
+/* index 0x1800 :   Transmit PDO 1 Parameter. */
+                    UNS8 ObjDict_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1800_COB_ID_used_by_PDO = 0x180;  /* 384 */
+                    UNS8 ObjDict_obj1800_Transmission_Type = 0xFF;     /* 255 */
+                    UNS16 ObjDict_obj1800_Inhibit_Time = 0x0;  /* 0 */
+                    UNS8 ObjDict_obj1800_Compatibility_Entry = 0x0;    /* 0 */
+                    UNS16 ObjDict_obj1800_Event_Timer = 0x0;   /* 0 */
+                    ODCallback_t ObjDict_Index1800_callbacks[] = 
+                     {
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                     };
+                    subindex ObjDict_Index1800[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1800 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1800_COB_ID_used_by_PDO },
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Transmission_Type },
+                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Inhibit_Time },
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_obj1800_Compatibility_Entry },
+                       { RW, uint16, sizeof (UNS16), (void*)&ObjDict_obj1800_Event_Timer }
+                     };
+
+/* index 0x1A00 :   Transmit PDO 1 Mapping. */
+                    UNS8 ObjDict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
+                    UNS32 ObjDict_obj1A00[] = 
+                    {
+                      0x60000108       /* 1610613000 */
+                    };
+                    subindex ObjDict_Index1A00[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj1A00 },
+                       { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1A00[0] }
+                     };
+
+/* index 0x6000 :   Mapped variable Read Inputs 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6000 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6000[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6000 },
+                       { RO, uint8, sizeof (UNS8), (void*)&Read_Inputs_8_Bit[0] }
+                     };
+
+/* index 0x6002 :   Mapped variable Polarity Input 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6002 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6002[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6002 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Polarity_Input_8_Bit[0] }
+                     };
+
+/* index 0x6003 :   Mapped variable Filter Constant Input 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6003 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6003[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6003 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Filter_Constant_Input_8_Bit[0] }
+                     };
+
+/* index 0x6005 :   Mapped variable Global Interrupt Enable Digital */
+                    subindex ObjDict_Index6005[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&Global_Interrupt_Enable_Digital }
+                     };
+
+/* index 0x6006 :   Mapped variable Interrupt Mask Any Change 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6006 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6006[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6006 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Any_Change_8_Bit[0] }
+                     };
+
+/* index 0x6007 :   Mapped variable Interrupt Mask Low to High 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6007 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6007[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6007 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_Low_to_High_8_Bit[0] }
+                     };
+
+/* index 0x6008 :   Mapped variable Interrupt Mask High to Low 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6008 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6008[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6008 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Interrupt_Mask_High_to_Low_8_Bit[0] }
+                     };
+
+/* index 0x6200 :   Mapped variable Write Outputs 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6200 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6200[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6200 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Write_Outputs_8_Bit[0] }
+                     };
+
+/* index 0x6202 :   Mapped variable Change Polarity Outputs 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6202 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6202[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6202 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Change_Polarity_Outputs_8_Bit[0] }
+                     };
+
+/* index 0x6206 :   Mapped variable Error Mode Outputs 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6206 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6206[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6206 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Error_Mode_Outputs_8_Bit[0] }
+                     };
+
+/* index 0x6207 :   Mapped variable Error Value Outputs 8 Bit */
+                    UNS8 ObjDict_highestSubIndex_obj6207 = 1; /* number of subindex - 1*/
+                    subindex ObjDict_Index6207[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&ObjDict_highestSubIndex_obj6207 },
+                       { RW, uint8, sizeof (UNS8), (void*)&Error_Value_Outputs_8_Bit[0] }
+                     };
+
+const indextable ObjDict_objdict[] = 
+{
+  { (subindex*)ObjDict_Index1000,sizeof(ObjDict_Index1000)/sizeof(ObjDict_Index1000[0]), 0x1000},
+  { (subindex*)ObjDict_Index1001,sizeof(ObjDict_Index1001)/sizeof(ObjDict_Index1001[0]), 0x1001},
+  { (subindex*)ObjDict_Index1003,sizeof(ObjDict_Index1003)/sizeof(ObjDict_Index1003[0]), 0x1003},
+  { (subindex*)ObjDict_Index1005,sizeof(ObjDict_Index1005)/sizeof(ObjDict_Index1005[0]), 0x1005},
+  { (subindex*)ObjDict_Index1008,sizeof(ObjDict_Index1008)/sizeof(ObjDict_Index1008[0]), 0x1008},
+  { (subindex*)ObjDict_Index1009,sizeof(ObjDict_Index1009)/sizeof(ObjDict_Index1009[0]), 0x1009},
+  { (subindex*)ObjDict_Index100A,sizeof(ObjDict_Index100A)/sizeof(ObjDict_Index100A[0]), 0x100A},
+  { (subindex*)ObjDict_Index1010,sizeof(ObjDict_Index1010)/sizeof(ObjDict_Index1010[0]), 0x1010},
+  { (subindex*)ObjDict_Index1011,sizeof(ObjDict_Index1011)/sizeof(ObjDict_Index1011[0]), 0x1011},
+  { (subindex*)ObjDict_Index1014,sizeof(ObjDict_Index1014)/sizeof(ObjDict_Index1014[0]), 0x1014},
+  { (subindex*)ObjDict_Index1016,sizeof(ObjDict_Index1016)/sizeof(ObjDict_Index1016[0]), 0x1016},
+  { (subindex*)ObjDict_Index1017,sizeof(ObjDict_Index1017)/sizeof(ObjDict_Index1017[0]), 0x1017},
+  { (subindex*)ObjDict_Index1018,sizeof(ObjDict_Index1018)/sizeof(ObjDict_Index1018[0]), 0x1018},
+  { (subindex*)ObjDict_Index1200,sizeof(ObjDict_Index1200)/sizeof(ObjDict_Index1200[0]), 0x1200},
+  { (subindex*)ObjDict_Index1400,sizeof(ObjDict_Index1400)/sizeof(ObjDict_Index1400[0]), 0x1400},
+  { (subindex*)ObjDict_Index1600,sizeof(ObjDict_Index1600)/sizeof(ObjDict_Index1600[0]), 0x1600},
+  { (subindex*)ObjDict_Index1800,sizeof(ObjDict_Index1800)/sizeof(ObjDict_Index1800[0]), 0x1800},
+  { (subindex*)ObjDict_Index1A00,sizeof(ObjDict_Index1A00)/sizeof(ObjDict_Index1A00[0]), 0x1A00},
+  { (subindex*)ObjDict_Index6000,sizeof(ObjDict_Index6000)/sizeof(ObjDict_Index6000[0]), 0x6000},
+  { (subindex*)ObjDict_Index6002,sizeof(ObjDict_Index6002)/sizeof(ObjDict_Index6002[0]), 0x6002},
+  { (subindex*)ObjDict_Index6003,sizeof(ObjDict_Index6003)/sizeof(ObjDict_Index6003[0]), 0x6003},
+  { (subindex*)ObjDict_Index6005,sizeof(ObjDict_Index6005)/sizeof(ObjDict_Index6005[0]), 0x6005},
+  { (subindex*)ObjDict_Index6006,sizeof(ObjDict_Index6006)/sizeof(ObjDict_Index6006[0]), 0x6006},
+  { (subindex*)ObjDict_Index6007,sizeof(ObjDict_Index6007)/sizeof(ObjDict_Index6007[0]), 0x6007},
+  { (subindex*)ObjDict_Index6008,sizeof(ObjDict_Index6008)/sizeof(ObjDict_Index6008[0]), 0x6008},
+  { (subindex*)ObjDict_Index6200,sizeof(ObjDict_Index6200)/sizeof(ObjDict_Index6200[0]), 0x6200},
+  { (subindex*)ObjDict_Index6202,sizeof(ObjDict_Index6202)/sizeof(ObjDict_Index6202[0]), 0x6202},
+  { (subindex*)ObjDict_Index6206,sizeof(ObjDict_Index6206)/sizeof(ObjDict_Index6206[0]), 0x6206},
+  { (subindex*)ObjDict_Index6207,sizeof(ObjDict_Index6207)/sizeof(ObjDict_Index6207[0]), 0x6207},
+};
+
+const indextable * ObjDict_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 0x1003: i = 2;*callbacks = ObjDict_Index1003_callbacks; break;
+               case 0x1005: i = 3;*callbacks = ObjDict_Index1005_callbacks; break;
+               case 0x1008: i = 4;break;
+               case 0x1009: i = 5;break;
+               case 0x100A: i = 6;break;
+               case 0x1010: i = 7;break;
+               case 0x1011: i = 8;break;
+               case 0x1014: i = 9;break;
+               case 0x1016: i = 10;break;
+               case 0x1017: i = 11;*callbacks = ObjDict_Index1017_callbacks; break;
+               case 0x1018: i = 12;break;
+               case 0x1200: i = 13;break;
+               case 0x1400: i = 14;break;
+               case 0x1600: i = 15;break;
+               case 0x1800: i = 16;*callbacks = ObjDict_Index1800_callbacks; break;
+               case 0x1A00: i = 17;break;
+               case 0x6000: i = 18;break;
+               case 0x6002: i = 19;break;
+               case 0x6003: i = 20;break;
+               case 0x6005: i = 21;break;
+               case 0x6006: i = 22;break;
+               case 0x6007: i = 23;break;
+               case 0x6008: i = 24;break;
+               case 0x6200: i = 25;break;
+               case 0x6202: i = 26;break;
+               case 0x6206: i = 27;break;
+               case 0x6207: i = 28;break;
+               default:
+                       *errorCode = OD_NO_SUCH_OBJECT;
+                       return NULL;
+       }
+       *errorCode = OD_SUCCESSFUL;
+       return &ObjDict_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 ObjDict_PDO_status[1] = {s_PDO_status_Initializer};
+
+quick_index ObjDict_firstIndex = {
+  13, /* SDO_SVR */
+  0, /* SDO_CLT */
+  14, /* PDO_RCV */
+  15, /* PDO_RCV_MAP */
+  16, /* PDO_TRS */
+  17 /* PDO_TRS_MAP */
+};
+
+quick_index ObjDict_lastIndex = {
+  13, /* SDO_SVR */
+  0, /* SDO_CLT */
+  14, /* PDO_RCV */
+  15, /* PDO_RCV_MAP */
+  16, /* PDO_TRS */
+  17 /* PDO_TRS_MAP */
+};
+
+UNS16 ObjDict_ObjdictSize = sizeof(ObjDict_objdict)/sizeof(ObjDict_objdict[0]); 
+
+CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict);
+

diff --git a/examples/AVR/Slave/ObjDict.h b/examples/AVR/Slave/ObjDict.h
new file mode 100644 (file)
index 0000000..c0387eb
--- /dev/null
+++ b/examples/AVR/Slave/ObjDict.h
@@ -0,0 +1,28 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#ifndef OBJDICT_H
+#define OBJDICT_H
+
+#include "data.h"
+
+/* Prototypes of function provided by object dictionnary */
+UNS32 ObjDict_valueRangeTest (UNS8 typeValue, void * value);
+const indextable * ObjDict_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
+
+/* Master node data struct */
+extern CO_Data ObjDict_Data;
+extern ODCallback_t Transmit_PDO_1_Parameter_callbacks[];              /* Callbacks of index0x1800 */
+extern UNS8 Read_Inputs_8_Bit[1];              /* Mapped at index 0x6000, subindex 0x01 - 0x01 */
+extern UNS8 Polarity_Input_8_Bit[1];           /* Mapped at index 0x6002, subindex 0x01 - 0x01 */
+extern UNS8 Filter_Constant_Input_8_Bit[1];            /* Mapped at index 0x6003, subindex 0x01 - 0x01 */
+extern UNS8 Global_Interrupt_Enable_Digital;           /* Mapped at index 0x6005, subindex 0x00*/
+extern UNS8 Interrupt_Mask_Any_Change_8_Bit[1];                /* Mapped at index 0x6006, subindex 0x01 - 0x01 */
+extern UNS8 Interrupt_Mask_Low_to_High_8_Bit[1];               /* Mapped at index 0x6007, subindex 0x01 - 0x01 */
+extern UNS8 Interrupt_Mask_High_to_Low_8_Bit[1];               /* Mapped at index 0x6008, subindex 0x01 - 0x01 */
+extern UNS8 Write_Outputs_8_Bit[1];            /* Mapped at index 0x6200, subindex 0x01 - 0x01 */
+extern UNS8 Change_Polarity_Outputs_8_Bit[1];          /* Mapped at index 0x6202, subindex 0x01 - 0x01 */
+extern UNS8 Error_Mode_Outputs_8_Bit[1];               /* Mapped at index 0x6206, subindex 0x01 - 0x01 */
+extern UNS8 Error_Value_Outputs_8_Bit[1];              /* Mapped at index 0x6207, subindex 0x01 - 0x01 */
+
+#endif // OBJDICT_H

diff --git a/examples/AVR/Slave/ObjDict.od b/examples/AVR/Slave/ObjDict.od
new file mode 100644 (file)
index 0000000..e03727f
--- /dev/null
+++ b/examples/AVR/Slave/ObjDict.od
@@ -0,0 +1,5220 @@
+<?xml version="1.0"?>
+<!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
+<PyObject module="node" class="Node" id="57840904">
+<attr name="Profile" type="dict" id="57810992" >
+  <entry>
+    <key type="numeric" value="24576" />
+    <val type="dict" id="57811136" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57840704" >
+          <item type="dict" id="57811280" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57811424" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24832" />
+    <val type="dict" id="57811568" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57840944" >
+          <item type="dict" id="57811712" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 16 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57811856" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24578" />
+    <val type="dict" id="57812000" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57840984" >
+          <item type="dict" id="57812144" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57812288" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Polarity Input 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Polarity Input 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
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+    <val type="dict" id="57812432" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841024" >
+          <item type="dict" id="57812576" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57812720" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Filter Constant Input 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Filter Constant Input 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
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+    <key type="numeric" value="25604" />
+    <val type="dict" id="57812864" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841064" >
+          <item type="dict" id="57813008" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Input" />
+            </entry>
+          </item>
+          <item type="dict" id="57813152" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="17" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Manufacturer specific Analogue Input" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
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+    <val type="dict" id="57813296" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841104" >
+          <item type="dict" id="57813440" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Global Interrupt Enable Digital" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Global Interrupt Enable Digital" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24582" />
+    <val type="dict" id="57813584" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841144" >
+          <item type="dict" id="57813728" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57813872" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Any Change 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Any Change 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24583" />
+    <val type="dict" id="57814016" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841184" >
+          <item type="dict" id="57814160" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
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+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
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+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Low to High 8 Bit" />
+      </entry>
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+    <val type="dict" id="57814448" >
+      <entry>
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+        <key type="string" value="values" />
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+          <item type="dict" id="57814592" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+              <key type="string" value="type" />
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
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+            <entry>
+              <key type="string" value="access" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt High to Low 0x%X to 0x%X[(sub*8-7,sub*8)]" />
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+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask High to Low 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
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+    <val type="dict" id="57814880" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841264" >
+          <item type="dict" id="57843760" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 16 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57843904" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Polarity Input 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
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+        <key type="string" value="name" />
+        <val type="string" value="Polarity Input 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
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+    <val type="dict" id="57844048" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="57841304" >
+          <item type="dict" id="57844192" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Input 8 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57844336" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
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+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Write Analogue Output 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 1 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="57899024" >
+            <entry>
+              <key type="string" value="access" />
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+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Mask Any Change Input bit 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
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+      </entry>
+    </val>
+  </entry>
+</attr>
+<attr name="Description" type="string">Slave AVR Test</attr>
+<attr name="Dictionary" type="dict" id="57899168" >
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+      <item type="string" value="&quot;$NODEID+0x600&quot;" />
+      <item type="string" value="&quot;$NODEID+0x580&quot;" />
+    </val>
+  </entry>
+</attr>
+<attr name="SpecificMenu" type="list" id="57889976" >
+  <item type="tuple" id="57770592" >
+    <item type="string" value="Read Input Bit" />
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+      <item type="numeric" value="24608" />
+      <item type="numeric" value="24624" />
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+      <item type="numeric" value="24656" />
+      <item type="numeric" value="24672" />
+      <item type="numeric" value="24688" />
+    </item>
+  </item>
+  <item type="tuple" id="57766616" >
+    <item type="string" value="Write Output Bit" />
+    <item type="list" id="57890176" >
+      <item type="numeric" value="25120" />
+      <item type="numeric" value="25152" />
+      <item type="numeric" value="25168" />
+      <item type="numeric" value="25184" />
+      <item type="numeric" value="25200" />
+    </item>
+  </item>
+</attr>
+<attr name="ParamsDictionary" type="dict" id="59044896" >
+</attr>
+<attr name="UserMapping" type="dict" id="57899456" >
+</attr>
+<attr name="DS302" type="dict" id="57899600" >
+</attr>
+<attr name="ProfileName" type="string">DS-401</attr>
+<attr name="Type" type="string">slave</attr>
+<attr name="ID" type="numeric" value="0" />
+<attr name="Name" type="string">ObjDict</attr>
+</PyObject>

diff --git a/examples/AVR/Slave/ds401.c b/examples/AVR/Slave/ds401.c
new file mode 100644 (file)
index 0000000..7c9a93e
--- /dev/null
+++ b/examples/AVR/Slave/ds401.c
@@ -0,0 +1,89 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Andreas GLAUSER
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
+
+// Includes for the Canfestival
+#include "ds401.h"
+
+unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size)
+{
+  unsigned char loops, i, input, transmission = 0;
+
+  loops = (sizeof(Read_Inputs_8_Bit) <= size) ? sizeof(Read_Inputs_8_Bit) : size;
+
+  for (i=0; i < loops; i++)
+  {
+    input = *newInput ^ Polarity_Input_8_Bit[i];
+    if (Read_Inputs_8_Bit[i] != input)
+    {
+      if (Global_Interrupt_Enable_Digital)
+      {
+        if ((Interrupt_Mask_Any_Change_8_Bit[i] & (Read_Inputs_8_Bit[i] ^ input)) 
+        || (Interrupt_Mask_Low_to_High_8_Bit[i] & ~Read_Inputs_8_Bit[i] & input)
+        || (Interrupt_Mask_High_to_Low_8_Bit[i] & Read_Inputs_8_Bit[i] & ~input))
+          transmission = 1;
+      }
+      // update object dict
+      Read_Inputs_8_Bit[i] = input;
+    }
+    newInput++;
+  }
+  if (transmission)
+    sendPDOevent(d);
+
+  return 1;
+}
+
+unsigned char digital_output_handler(CO_Data* d, unsigned char *newOutput, unsigned char size)
+{
+  unsigned char loops, i, error, type;
+  unsigned char varsize = 1;
+
+  loops = (sizeof(Write_Outputs_8_Bit) <= size) ? sizeof(Write_Outputs_8_Bit) : size;
+
+  for (i=0; i < loops; i++)
+  {
+    getODentry(d, 0x1001, 0x0, &error, &varsize, &type, RO);
+    if ((getState(d) == Stopped) || (error != 0))      // node stopped or error
+    {
+      Write_Outputs_8_Bit[i] &= (~Error_Mode_Outputs_8_Bit[i] | Error_Value_Outputs_8_Bit[i]);
+      Write_Outputs_8_Bit[i] |= (Error_Mode_Outputs_8_Bit[i] & Error_Value_Outputs_8_Bit[i]);
+    }
+    *newOutput = Write_Outputs_8_Bit[i] ^ Change_Polarity_Outputs_8_Bit[i];
+    newOutput++;
+  }
+  return 1;
+}
+
+unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size)
+{
+  return 0;
+}
+
+unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size)
+{
+  return 0;
+}
+
+
+

diff --git a/examples/AVR/Slave/ds401.h b/examples/AVR/Slave/ds401.h
new file mode 100644 (file)
index 0000000..ddf610c
--- /dev/null
+++ b/examples/AVR/Slave/ds401.h
@@ -0,0 +1,42 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Andreas GLAUSER
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+// DS 401 Digital IO handling according DS 401 V2.1 "Device Profile for Generic I/O Modules"
+
+#ifndef __DS_401_h__
+#define __DS_401_h__
+
+// Includes for the Canfestival
+#include "canfestival.h"
+#include "timer.h"
+#include "objdict.h"
+
+
+unsigned char digital_input_handler(CO_Data* d, unsigned char *newInput, unsigned char size);
+
+unsigned char digital_output_handler(CO_Data* d, unsigned char *newOuput, unsigned char size);
+
+unsigned char analog_input_handler(CO_Data* d, unsigned int *newInput, unsigned char size);
+
+unsigned char analog_output_handler(CO_Data* d, unsigned int *newOutput, unsigned char size);
+
+#endif //__DS_401_h__

diff --git a/examples/AVR/Slave/hardware.h b/examples/AVR/Slave/hardware.h
new file mode 100644 (file)
index 0000000..0a97c67
--- /dev/null
+++ b/examples/AVR/Slave/hardware.h
@@ -0,0 +1,52 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+/******************************************************************************
+MCU ports and Bits
+Makros for access on hardware
+******************************************************************************/
+
+#ifndef _HARDWARE_INCLUDED
+#define _HARDWARE_INCLUDED
+
+/******************************************************************************
+Makros for bit access on the ports and registers
+******************************************************************************/
+// Macros for set and clear bits in I/O registers
+#define setbit(address,bit) ((address) |= (1<<(bit)))
+#define clearbit(address,bit) ((address) &= ~(1<<(bit)))
+#define togglebit(address,bit) ((address) ^= (1<<(bit)))
+
+// Macro for testing of a single bit in an I/O location
+#define checkbit(address,bit) ((address) & (1<<(bit)))
+
+/************************** Hardware Makros **********************************/
+
+// Read the inputs
+#define get_inputs()           (~PINA)
+#define read_bcd()             (~PINC & 0x0F)
+// Write the outputs
+#define set_outputs(val)       PORTB = ~(val)
+
+#endif // _HARDWARE_INCLUDED
+
+

diff --git a/examples/AVR/Slave/main.c b/examples/AVR/Slave/main.c
new file mode 100644 (file)
index 0000000..57a74a2
--- /dev/null
+++ b/examples/AVR/Slave/main.c
@@ -0,0 +1,149 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+/******************************************************************************
+Project description:
+Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128
+Short description:
+  PORTA:       Inputs (Keys, low active)
+  PORTB:       Outputs (LEDs, low active)
+  PORTC:       Node ID (1 BCD switch)
+
+******************************************************************************/
+#include "hardware.h"
+#include "canfestival.h"
+#include "can_AVR.h"
+#include "objdict.h"
+#include "ds401.h"
+
+
+unsigned char timer_interrupt = 0;             // Set if timer interrupt eclapsed
+unsigned char inputs;
+
+// CAN
+unsigned char nodeID;
+unsigned char digital_input[1] = {0};
+unsigned char digital_output[1] = {0};
+
+static Message m = Message_Initializer;                // contain a CAN message
+
+void sys_init();
+
+// macros to handle the schedule timer
+#define sys_timer                      timer_interrupt
+#define reset_sys_timer()              timer_interrupt = 0
+#define CYCLE_TIME                     1000            // Sample Timebase [us]
+
+int main(void)
+{
+  sys_init();                                   // Initialize system
+  canInit(CAN_BAUDRATE);                       // Initialize the CANopen bus
+  initTimer();                                         // Start timer for the CANopen stack
+  nodeID = read_bcd();                         // Read node ID first
+  setNodeId (&ObjDict_Data, nodeID);
+  setState(&ObjDict_Data, Initialisation);     // Init the state
+
+  for(;;)                                      // forever loop
+  {
+    if (sys_timer)                             // Cycle timer, invoke action on every time slice
+    {
+      reset_sys_timer();                       // Reset timer
+      digital_input[0] = get_inputs();
+      digital_input_handler(&ObjDict_Data, digital_input, sizeof(digital_input));
+      digital_output_handler(&ObjDict_Data, digital_output, sizeof(digital_output));
+      set_outputs(digital_output[0]);
+
+      // Check if CAN address has been changed
+      if(!( nodeID == read_bcd()))
+      {
+        nodeID = read_bcd();                    // Save the new CAN adress
+        setState(&ObjDict_Data, Stopped);         // Stop the node, to change the node ID
+        setNodeId(&ObjDict_Data, nodeID);         // Now the CAN adress is changed
+        setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again
+      }
+    }
+
+    // a message was received pass it to the CANstack
+    if (canReceive(&m))                        // a message reveived
+      canDispatch(&ObjDict_Data, &m);         // process it
+    else
+    {
+      // Enter sleep mode
+      #ifdef WD_SLEEP          // Watchdog and Sleep
+      wdt_reset();
+      sleep_enable();
+      sleep_cpu();
+      #endif                           // Watchdog and Sleep
+    }
+  }
+}
+
+void sys_init()
+/******************************************************************************
+Initialize the relays, the main states and the modbus protocol stack.
+INPUT  LOCK_STATES *lock_states
+OUTPUT void
+******************************************************************************/
+{
+  OSCCAL = 0x43;
+  
+  PORTA = 0xFF;                                // Inputs (Keys, low active) with pullup
+  DDRA  = 0x00;                                // 
+  PORTB = 0xFF;                                // Outputs (LEDs, low active) all 1
+  DDRB  = 0xFF;                                // 
+  PORTC = 0xFF;                                // 1 BCD switch with pullup
+  DDRC  = 0x00;                                // 
+  PORTD = 0x2C;                                // 2xCOM, unused, CAN, unused
+  DDRD  = 0x2A;                                // All init 0 or without pullup
+  PORTE = 0x00;                                // Output
+  DDRE  = 0x3C;                                // 2x not used, 2x not used
+  PORTF = 0x00;                                // Not used
+  DDRF  = 0xFF;                                // All output
+  PORTG = 0x00;                                // Not used
+  DDRG  = 0x1F;                                // Output for debug (only 5 pins)
+
+// Set timer 0 for main schedule time
+  TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten
+  TIMSK0 = 1 << OCIE0A;                        // Timer Interrupts: Timer 0 Compare
+  OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1);        // Reloadvalue for timer 0
+  #ifdef WD_SLEEP              // Watchdog and Sleep
+  wdt_reset();
+  wdt_enable(WDTO_15MS);       // Watchdogtimer start with 16 ms timeout
+  #endif                       // Watchdog and Sleep
+  sei();         // Enable Interrupts
+}
+
+
+#ifdef  __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=TIMER0_COMP_vect
+void TIMER0_COMP_interrupt(void)
+#else  // GCC
+ISR(TIMER0_COMP_vect)
+#endif // GCC
+/******************************************************************************
+Interruptserviceroutine Timer 2 Compare A for the main cycle
+******************************************************************************/
+
+{
+  timer_interrupt = 1; // Set flag
+}