/**************************************************************************
MODULE:????MCO
CONTAINS:??MicroCANopen?implementation
COPYRIGHT:?embedded?Systems?Academy?Inc.?2002-2007.
???????????All?rights?reserved.?www.microcanopen.com
???????????This?software?was?written?in?accordance?to?the?guidelines?at
???????????www.esacademy.com/software/softwarestyleguide.pdf
DISCLAIM:??Read?and?understand?our?disclaimer?before?using?this?code!
???????????www.esacademy.com/disclaim.htm
LICENSE:???THIS?IS?THE?EDUCATIONAL?VERSION?OF?MICROCANOPEN
???????????See?file?license_educational.txt?or
???????????www.microcanopen.com/license_educational.txt
???????????A?commercial?MicroCANopen?license?is?available?at
???????????www.CANopenStore.com
VERSION:???3.30?ESA?30-JAN-07
???????????$LastChangedDate:?2007-01-30?10:38:13?-0800?（Tue?30?Jan?2007）?$
???????????$LastChangedRevision:?232?$
***************************************************************************/?

#include?“mco.h“
#include?“mcohw.h“
#include?

#if?USE_MICROLSS?==?1
#include?“mlss.h“
#endif

/**************************************************************************
GLOBAL?VARIABLES
***************************************************************************/?

//?this?structure?holds?all?node?specific?configuration
MCO_CONFIG?MEM_FAR?gMCOConfig;

#if?NR_OF_TPDOS?>?0
//?this?structure?holds?all?the?TPDO?configuration?data?for?up?to?4?TPDOs
TPDO_CONFIG?MEM_FAR?gTPDOConfig[NR_OF_TPDOS];
#endif

//?this?is?the?next?TPDO?to?be?checked?in?MCO_ProcessStack
UNSIGNED8?MEM_FAR?gTPDONr?=?NR_OF_TPDOS;

#if?NR_OF_RPDOS?>?0
//?this?structure?holds?all?the?RPDO?configuration?data?for?up?to?4?RPDOs
RPDO_CONFIG?MEM_FAR?gRPDOConfig[NR_OF_RPDOS];
#endif

//?this?structure?holds?the?current?receive?message
CAN_MSG?MEM_FAR?gRxCAN;

//?this?structure?holds?the?CAN?message?for?SDO?responses?or?aborts
CAN_MSG?MEM_FAR?gTxSDO;

//?process?image?from?user_xxxx.c
extern?UNSIGNED8?MEM_NEAR?gProcImg[];

//?table?with?SDO?Responses?for?read?requests?to?OD?-?defined?in?user_xxx.c
extern?UNSIGNED8?MEM_CONST?SDOResponseTable[];


/**************************************************************************
LOCAL?FUNCTIONS
***************************************************************************/

//?SDO?Abort?Messages
#define?SDO_ABORT_UNSUPPORTED?????0x06010000UL
#define?SDO_ABORT_NOT_EXISTS??????0x06020000UL
#define?SDO_ABORT_READONLY????????0x06010002UL
#define?SDO_ABORT_TYPEMISMATCH????0x06070010UL
#define?SDO_ABORT_UNKNOWN_COMMAND?0x05040001UL
#define?SDO_ABORT_UNKNOWNSUB??????0x06090011UL

/**************************************************************************
DOES:????Search?the?SDO?Response?table?for?a?specifc?index?and?subindex.
RETURNS:?255?if?not?found?otherwise?the?number?of?the?record?found
?????????（staring?at?zero）
**************************************************************************/
UNSIGNED8?MCO_Search_OD
??（
??UNSIG

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2007-02-02?09:45??Doc\
?????文件????????7645??2007-01-29?21:22??Doc\LPC2000BootloaderDemo.pdf
?????文件???????72392??2007-01-29?21:22??Doc\MicroCANopen?Manual?Edu.pdf
?????文件???????39198??2007-01-29?21:22??Doc\MicroLSS_Generic.pdf
?????文件???????10622??2007-01-29?21:22??Doc\UsingCANopenArchitectEDS.pdf
?????文件????????3567??2007-01-30?10:25??license_educational.txt
?????目錄???????????0??2007-02-02?09:45??MCO\
?????文件???????26127??2007-01-30?10:34??MCO\mco.c
?????文件????????9951??2007-01-30?10:34??MCO\mco.h
?????文件????????9630??2007-01-30?10:34??MCO\mcohw.h
?????文件????????3022??2007-01-30?20:01??MCO\mcohw_nvol_sim.c
?????文件????????3699??2007-01-30?10:25??MCO\mlss.h
?????文件???????13631??2007-01-30?10:25??MCO\mlssslv.c
?????目錄???????????0??2007-02-02?09:45??MCO_ExampleCC01\
?????目錄???????????0??2007-02-02?09:45??MCO_ExampleCC01\lst\
?????文件????????2676??2007-01-30?10:34??MCO_ExampleCC01\mainCC01.c
?????文件???????12155??2007-01-30?10:34??MCO_ExampleCC01\mcohwCC01.c
?????文件????????1902??2007-01-30?20:13??MCO_ExampleCC01\MCO_CC01.Opt
?????文件????????2857??2007-01-30?20:13??MCO_ExampleCC01\MCO_CC01.Uv2
?????文件???????22080??2007-01-29?21:22??MCO_ExampleCC01\mco_cc01_r.prj
?????文件????????3143??2007-01-30?10:34??MCO_ExampleCC01\nodecfg.h
?????目錄???????????0??2007-02-02?09:45??MCO_ExampleCC01\obj\
?????文件???????18189??2007-01-30?20:12??MCO_ExampleCC01\obj\MCO_CC01.hex
?????文件????????1939??2007-01-30?20:46??MCO_ExampleCC01\procimg.h
?????文件????????3974??2007-01-30?20:01??MCO_ExampleCC01\rCC01io.c
?????文件????????3055??2007-01-30?20:01??MCO_ExampleCC01\rCC01io.h
?????文件????????1909??2007-01-30?10:25??MCO_ExampleCC01\read_me.txt
?????文件????????4795??2007-01-30?20:46??MCO_ExampleCC01\user_CC01.c
?????目錄???????????0??2007-02-02?09:45??MCO_ExampleLPC2129\
?????目錄???????????0??2007-02-02?09:45??MCO_ExampleLPC2129\Flash\
?????文件????????3417??2006-08-22?23:24??MCO_ExampleLPC2129\Flash.ld
............此處省略63個(gè)文件信息