/*
* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
* The corresponding license agreement applies. This hint shall not be removed.
* https://www.beckhoff.com/media/downloads/slave-stack-code/ethercat_ssc_license.pdf
*/

/**
 * \addtogroup CiA402appl CiA402 Sample Application
 * @{
 */

/**
\file cia402appl.h
\author EthercatSSC@beckhoff.com
\brief CiA402 specific defines; objects; Axes structure

\version 5.13

<br>Changes to version V5.12:<br>
V5.13 CIA402 1: update names and pdo mapping flags according ETG.6010<br>
<br>Changes to version V5.11:<br>
V5.12 CIA402 1: change define value STATUSWORD_STATE_SWITCHEDONDISABLED<br>
V5.12 CIA402 2: update control word mask for transition 3 (Ready to switch on  to Switched on)<br>
V5.12 CiA402 3: add 16bit padding to process data of csv and csp mode<br>
<br>Changes to version V5.01:<br>
V5.11 CiA402 1: "append padding byte to ""csv/csp"" process data (basic process data has odd word length), add pack directive"<br>
V5.11 COE1: update invalid end entry in the object dictionaries (error with some compilers)<br>
<br>Changes to version - :<br>
V5.01 : Start file change log
 */

/*-----------------------------------------------------------------------------------------
------
------    Includes
------
-----------------------------------------------------------------------------------------*/
#include "objdef.h"

#ifndef _CIA402_H_
#define _CIA402_H_

/*-----------------------------------------------------------------------------------------
------
------    Defines and Types
------
-----------------------------------------------------------------------------------------*/
/*---------------------------------------------
-    ControlWord Commands Mask (IEC61800_184e)
-----------------------------------------------*/
#define CONTROLWORD_COMMAND_SHUTDOWN_MASK                    0x0087 /**< \brief Shutdown command mask*/
#define CONTROLWORD_COMMAND_SWITCHON_MASK                    0x008F /**< \brief Switch on command mask*/
#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION_MASK    0x008F /**< \brief Switch on & Enable command mask*/
#define CONTROLWORD_COMMAND_DISABLEVOLTAGE_MASK              0x0082 /**< \brief Disable voltage command mask*/
#define CONTROLWORD_COMMAND_QUICKSTOP_MASK                   0x0086 /**< \brief Quickstop command mask*/
#define CONTROLWORD_COMMAND_DISABLEOPERATION_MASK            0x008F /**< \brief Disable operation command mask*/
#define CONTROLWORD_COMMAND_ENABLEOPERATION_MASK             0x008F /**< \brief Enable operation command mask*/
#define CONTROLWORD_COMMAND_FAULTRESET_MASK                  0x0080 /**< \brief Fault reset command mask*/


/*---------------------------------------------
-    ControlWord Commands (IEC61800_184e)
-----------------------------------------------*/
#define CONTROLWORD_COMMAND_SHUTDOWN                         0x0006 /**< \brief Shutdown command*/
#define CONTROLWORD_COMMAND_SWITCHON                         0x0007 /**< \brief Switch on command*/
#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION         0x000F /**< \brief Switch on & Enable command*/
#define CONTROLWORD_COMMAND_DISABLEVOLTAGE                   0x0000 /**< \brief Disable voltage command*/
#define CONTROLWORD_COMMAND_QUICKSTOP                        0x0002 /**< \brief Quickstop command*/
#define CONTROLWORD_COMMAND_DISABLEOPERATION                 0x0007 /**< \brief Disable operation command*/
#define CONTROLWORD_COMMAND_ENABLEOPERATION                  0x000F /**< \brief Enable operation command*/
#define CONTROLWORD_COMMAND_FAULTRESET                       0x0080 /**< \brief Fault reset command*/


/*---------------------------------------------
-    StatusWord Masks and Flags
-----------------------------------------------*/
#define STATUSWORD_STATE_MASK                                0x006F /**< \brief State mask*/
#define STATUSWORD_VOLTAGE_ENABLED                           0x0010 /**< \brief Indicate high voltage enabled*/
#define STATUSWORD_WARNING                                   0x0080 /**< \brief Warning active*/
#define STATUSWORD_MANUFACTORSPECIFIC                        0x0100 /**< \brief Manufacturer specific*/
#define STATUSWORD_INTERNAL_LIMIT                            0x0800 /**< \brief Internal limit*/
#define STATUSWORD_REMOTE                                    0x0200 /**< \brief Set if the control word is processed*/
#define STATUSWORD_TARGET_REACHED                            0x0400 /**< \brief Target reached*/
#define STATUSWORD_INTERNALLIMITACTIVE                       0x0800 /**< \brief Internal limit active*/
#define STATUSWORD_DRIVE_FOLLOWS_COMMAND                     0x1000 /**< \brief Drive follows command (used in cyclic synchronous modes)*/


/*---------------------------------------------
-    StatusWord
-----------------------------------------------*/
#define STATUSWORD_STATE_NOTREADYTOSWITCHON                  0x0000 /**< \brief Not ready to switch on*/
#define STATUSWORD_STATE_SWITCHEDONDISABLED                  0x0040 /**< \brief Switched on but disabled*/
#define STATUSWORD_STATE_READYTOSWITCHON                     0x0021 /**< \brief Ready to switch on*/
#define STATUSWORD_STATE_SWITCHEDON                          0x0023 /**< \brief Switched on*/
#define STATUSWORD_STATE_OPERATIONENABLED                    0x0027 /**< \brief Operation enabled*/
#define STATUSWORD_STATE_QUICKSTOPACTIVE                     0x0007 /**< \brief Quickstop active*/
#define STATUSWORD_STATE_FAULTREACTIONACTIVE                 0x000F /**< \brief Fault reaction active*/
#define STATUSWORD_STATE_FAULT                               0x0008 /**< \brief Fault state*/


/*---------------------------------------------
-    CiA402 State machine
-----------------------------------------------*/
#define STATE_NOT_READY_TO_SWITCH_ON        0x0001 /**< \brief Not ready to switch on (optional)*/
#define STATE_SWITCH_ON_DISABLED            0x0002 /**< \brief Switch on but disabled (optional)*/
#define STATE_READY_TO_SWITCH_ON            0x0004 /**< \brief Ready to switch on (mandatory)*/
#define STATE_SWITCHED_ON                   0x0008 /**< \brief Switch on (mandatory)*/
#define STATE_OPERATION_ENABLED             0x0010 /**< \brief Operation enabled (mandatory)*/
#define STATE_QUICK_STOP_ACTIVE             0x0020 /**< \brief Quick stop active (optional)*/
#define STATE_FAULT_REACTION_ACTIVE         0x0040 /**< \brief Fault reaction active (mandatory)*/
#define STATE_FAULT                         0x0080 /**< \brief Fault state (mandatory)*/


/*---------------------------------------------
-    CiA402 Modes of Operation (object 0x6060) (IEC61800_184e)
-----------------------------------------------*/
// -128 to -1 Manufacturer-specific operation modes
#define NO_MODE                     0 /**< \brief No mode*/
#define PROFILE_POSITION_MODE       1 /**< \brief Position Profile mode*/
#define VELOCITY_MODE               2 /**< \brief Velocity mode*/
#define PROFILE_VELOCITY_MOCE       3 /**< \brief Velocity Profile mode*/
#define PROFILE_TORQUE_MODE         4 /**< \brief Torque Profile mode*/
//5 reserved                          
#define HOMING_MODE                 6 /**< \brief Homing mode*/
#define INTERPOLATION_POSITION_MODE 7 /**< \brief Interpolation Position mode*/
#define CYCLIC_SYNC_POSITION_MODE   8 /**< \brief Cyclic Synchronous Position mode*/
#define CYCLIC_SYNC_VELOCITY_MODE   9 /**< \brief Cyclic Synchronous Velocity mode*/
#define CYCLIC_SYNC_TORQUE_MODE     10/**< \brief Cyclic Synchronous Torque mode*/
//+11 to +127 reserved


/***************************************
 CiA402 Error Codes (object 0x603F) (IEC61800_184e)
 ***************************************/
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_INPUT             0x2110 /**< \brief Short circuit/earth leakage (input)*/
#define ERROR_EARTH_LEAKAGE_INPUT                           0x2120 /**< \brief Earth leakage (input)*/
#define ERROR_EARTH_LEAKAGE_PHASE_L1                        0x2121 /**< \brief Earth leakage phase L1*/
#define ERROR_EARTH_LEAKAGE_PHASE_L2                        0x2122 /**< \brief Earth leakage phase L2*/
#define ERROR_EARTH_LEAKAGE_PHASE_L3                        0x2123 /**< \brief Earth leakage phase L3*/
#define ERROR_SHORT_CIRCUIT_INPUT                           0x2130 /**< \brief Short circuit (input)*/
#define ERROR_SHORT_CIRCUIT_PHASES_L1_L2                    0x2131 /**< \brief Short circuit phases L1-L2*/
#define ERROR_SHORT_CIRCUIT_PHASES_L2_L3                    0x2132 /**< \brief Short circuit phases L2-L3*/
#define ERROR_SHORT_CIRCUIT_PHASES_L3_L1                    0x2133 /**< \brief Short circuit phases L3-L1*/
#define ERROR_INTERNAL_CURRENT_NO1                          0x2211 /**< \brief Internal current no 1*/
#define ERROR_INTERNAL_CURRENT_NO2                          0x2212 /**< \brief Internal current no 2*/
#define ERROR_OVER_CURRENT_IN_RAMP_FUNCTION                 0x2213 /**< \brief Over-current in ramp function*/
#define ERROR_OVER_CURRENT_IN_THE_SEQUENCE                  0x2214 /**< \brief Over-current in the sequence*/
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL       0x2220 /**< \brief Continuous over current (device internal)*/
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO1   0x2221 /**< \brief Continuous over current no 1*/
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO2   0x2222 /**< \brief Continuous over current no 2*/
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_DEVICE_INTERNAL   0x2230 /**< \brief Short circuit/earth leakage (device internal)*/
#define ERROR_EARTH_LEAKAGE_DEVICE_INTERNAL                 0x2240 /**< \brief Earth leakage (device internal)*/
#define ERROR_SHORT_CIRCUIT_DEVICE_INTERNAL                 0x2250 /**< \brief Short circuit (device internal)*/
#define ERROR_CONTINUOUS_OVER_CURRENT                       0x2310 /**< \brief Continuous over current*/
#define ERROR_CONTINUOUS_OVER_CURRENT_NO1                   0x2311 /**< \brief Continuous over current no 1*/
#define ERROR_CONTINUOUS_OVER_CURRENT_NO2                   0x2312 /**< \brief Continuous over current no 2*/
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_MOTOR_SIDE        0x2320 /**< \brief Short circuit/earth leakage (motor-side)*/
#define ERROR_EARTH_LEAKAGE_MOTOR_SIDE                      0x2330 /**< \brief Earth leakage (motor-side)*/
#define ERROR_EARTH_LEAKAGE_PHASE_U                         0x2331 /**< \brief Earth leakage phase U*/
#define ERROR_EARTH_LEAKAGE_PHASE_V                         0x2332 /**< \brief Earth leakage phase V*/
#define ERROR_EARTH_LEAKAGE_PHASE_W                         0x2333 /**< \brief Earth leakage phase W*/
#define ERROR_SHORT_CIRCUIT_MOTOR_SIDE                      0x2340 /**< \brief Short circuit (motor-side)*/
#define ERROR_SHORT_CIRCUIT_PHASES_U_V                      0x2341 /**< \brief Short circuit phases U-V*/
#define ERROR_EARTH_LEAKAGE_PHASE_V_W                       0x2342 /**< \brief Earth leakage phase V-W*/
#define ERROR_EARTH_LEAKAGE_PHASE_W_U                       0x2343 /**< \brief Earth leakage phase W-U*/
#define ERROR_LOAD_LEVEL_FAULT_I2T_THERMAL_STATE            0x2350 /**< \brief Load level fault (I2t, thermal state)*/
#define ERROR_LOAD_LEVEL_WARNING_I2T_THERMAL_STATE          0x2351 /**< \brief Load level warning (I2t, thermal state)*/
#define ERROR_MAINS_OVER_VOLTAGE                            0x3110 /**< \brief Mains over-voltage*/
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L1                   0x3111 /**< \brief Mains over-voltage phase L1*/
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L2                   0x3112 /**< \brief Mains over-voltage phase L2 */
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L3                   0x3113 /**< \brief Mains over-voltage phase L3*/
#define ERROR_MAINS_UNDER_VOLTAGE                           0x3120 /**< \brief Mains under-voltage*/
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L1                  0x3121 /**< \brief Mains under-voltage phase L1*/
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L2                  0x3122 /**< \brief Mains under-voltage phase L2*/
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L3                  0x3123 /**< \brief Mains under-voltage phase L3*/
#define ERROR_PHASE_FAILURE                                 0x3130 /**< \brief Phase failure*/
#define ERROR_PHASE_FAILURE_L1                              0x3131 /**< \brief Phase failure L1*/
#define ERROR_PHASE_FAILURE_L2                              0x3132 /**< \brief Phase failure L2*/
#define ERROR_PHASE_FAILURE_L3                              0x3133 /**< \brief Phase failure L3*/
#define ERROR_PHASE_SEQUENCE                                0x3134 /**< \brief Phase sequence*/
#define ERROR_MAINS_FREQUENCY                               0x3140 /**< \brief Mains frequency*/
#define ERROR_MAINS_FREQUENCY_TOO_GREAT                     0x3141 /**< \brief Mains frequency too great*/
#define ERROR_MAINS_FREQUENCY_TOO_SMALL                     0x3142 /**< \brief Mains frequency too small*/
#define ERROR_DC_LINK_OVER_VOLTAGE                          0x3210 /**< \brief DC link over-voltage*/
#define ERROR_OVER_VOLTAGE_NO_1                             0x3211 /**< \brief Over-voltage no  1*/
#define ERROR_OVER_VOLTAGE_NO_2                             0x3212 /**< \brief Over voltage no  2 */
#define ERROR_DC_LINK_UNDER_VOLTAGE                         0x3220 /**< \brief DC link under-voltage*/
#define ERROR_UNDER_VOLTAGE_NO_1                            0x3221 /**< \brief Under-voltage no  1*/
#define ERROR_UNDER_VOLTAGE_NO_2                            0x3222 /**< \brief Under-voltage no  2*/
#define ERROR_LOAD_ERROR                                    0x3230 /**< \brief Load error*/
#define ERROR_OUTPUT_OVER_VOLTAGE                           0x3310 /**< \brief Output over-voltage*/
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_U                   0x3311 /**< \brief Output over-voltage phase U*/
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_V                   0x3312 /**< \brief Output over-voltage phase V*/
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_W                   0x3313 /**< \brief Output over-voltage phase W*/
#define ERROR_ARMATURE_CIRCUIT                              0x3320 /**< \brief Armature circuit*/
#define ERROR_ARMATURE_CIRCUIT_INTERRUPTED                  0x3321 /**< \brief Armature circuit interrupted*/
#define ERROR_FIELD_CIRCUIT                                 0x3330 /**< \brief Field circuit error */
#define ERROR_FIELD_CIRCUIT_INTERRUPTED                     0x3331 /**< \brief Field circuit interrupted*/
#define ERROR_EXCESS_AMBIENT_TEMPERATURE                    0x4110 /**< \brief Excess ambient temperature*/
#define ERROR_TOO_LOW_AMBIENT_TEMPERATURE                   0x4120 /**< \brief Too low ambient temperature*/
#define ERROR_TEMPERATURE_SUPPLY_AIR                        0x4130 /**< \brief Temperature supply air*/
#define ERROR_TEMPERATURE_AIR_OUTLET                        0x4140 /**< \brief Temperature air outlet*/
#define ERROR_EXCESS_TEMPERATURE_DEVICE                     0x4210 /**< \brief Excess temperature device*/
#define ERROR_TOO_LOW_TEMPERATURE_DEVICE                    0x4220 /**< \brief Too low temperature device*/
#define ERROR_TEMPERATURE_DRIVE                             0x4300 /**< \brief Temperature drive error*/
#define ERROR_EXCESS_TEMPERATURE_DRIVE                      0x4310 /**< \brief Excess temperature drive error*/
#define ERROR_TOO_LOW_TEMPERATURE_DRIVE                     0x4320 /**< \brief Too low temperature drive error*/
#define ERROR_TEMPERATURE_SUPPLY                            0x4400 /**< \brief Temperature supply error*/
#define ERROR_EXCESS_TEMPERATURE_SUPPLY                     0x4410 /**< \brief Excess temperature supply*/
#define ERROR_TOO_LOW_TEMPERATURE_SUPPLY                    0x4420 /**< \brief Too low temperature supply*/
#define ERROR_SUPPLY_ERROR                                  0x5100 /**< \brief Supply error*/
#define ERROR_SUPPLY_LOW_VOLTAGE                            0x5110 /**< \brief Supply low voltage*/
#define ERROR_U1_SUPPLY_15V                                 0x5111 /**< \brief U1 = supply +15V/-15V*/
#define ERROR_U2_SUPPLY_24_V                                0x5112 /**< \brief U2 = supply +24 V*/
#define ERROR_U3_SUPPLY_5_V                                 0x5113 /**< \brief U3 = supply +5 V*/
#define ERROR_U4_MANUFACTURER_SPECIFIC                      0x5114 /**< \brief U4 = manufacturer-specific error*/
#define ERROR_U5_MANUFACTURER_SPECIFIC                      0x5115 /**< \brief U5 = manufacturer-specific error*/
#define ERROR_U6_MANUFACTURER_SPECIFIC                      0x5116 /**< \brief U6 = manufacturer-specific error*/
#define ERROR_U7_MANUFACTURER_SPECIFIC                      0x5117 /**< \brief U7 = manufacturer-specific error*/
#define ERROR_U8_MANUFACTURER_SPECIFIC                      0x5118 /**< \brief U8 = manufacturer-specific error*/
#define ERROR_U9_MANUFACTURER_SPECIFIC                      0x5119 /**< \brief U9 = manufacturer-specific error*/
#define ERROR_SUPPLY_INTERMEDIATE_CIRCUIT                   0x5120 /**< \brief Supply intermediate circuit*/
//#define ERROR_CONTROL                                     0x5200
#define ERROR_CONTROL_MEASUREMENT_CIRCUIT                   0x5210 /**< \brief Measurement circuit*/
#define ERROR_CONTROL_COMPUTING_CIRCUIT                     0x5220 /**< \brief Computing circuit*/
#define ERROR_OPERATING_UNIT                                0x5300 /**< \brief Operating unit error*/
#define ERROR_POWER_SECTION                                 0x5400 /**< \brief Power section error*/
#define ERROR_OUTPUT_STAGES                                 0x5410 /**< \brief Output stages error*/
#define ERROR_CHOPPER                                       0x5420 /**< \brief Chopper error*/
#define ERROR_INPUT_STAGES                                  0x5430 /**< \brief Input stages error*/
#define ERROR_CONTACTS_ERROR                                0x5440 /**< \brief Contacts error*/
#define ERROR_CONTACT_1_MANUFACTURER_SPECIFIC               0x5441 /**< \brief Contact 1 = manufacturer-specific error*/
#define ERROR_CONTACT_2_MANUFACTURER_SPECIFIC               0x5442 /**< \brief Contact 2 = manufacturer-specific error*/
#define ERROR_CONTACT_3_MANUFACTURER_SPECIFIC               0x5443 /**< \brief Contact 3 = manufacturer-specific error*/
#define ERROR_CONTACT_4_MANUFACTURER_SPECIFIC               0x5444 /**< \brief Contact 4 = manufacturer-specific error*/
#define ERROR_CONTACT_5_MANUFACTURER_SPECIFIC               0x5445 /**< \brief Contact 5 = manufacturer-specific error*/
#define ERROR_FUSES_ERROR                                   0x5450 /**< \brief Fuses error*/
#define ERROR_S1_L1                                         0x5451 /**< \brief S1 = l1 error*/
#define ERROR_S2_L2                                         0x5452 /**< \brief S2 = l2 error*/
#define ERROR_S3_L3                                         0x5453 /**< \brief S3 = l3 error*/
#define ERROR_S4_MANUFACTURER_SPECIFIC                      0x5454 /**< \brief S4 = manufacturer-specific error*/
#define ERROR_S5_MANUFACTURER_SPECIFIC                      0x5455 /**< \brief S5 = manufacturer-specific error*/
#define ERROR_S6_MANUFACTURER_SPECIFIC                      0x5456 /**< \brief S6 = manufacturer-specific error*/
#define ERROR_S7_MANUFACTURER_SPECIFIC                      0x5457 /**< \brief S7 = manufacturer-specific error*/
#define ERROR_S8_MANUFACTURER_SPECIFIC                      0x5458 /**< \brief S8 = manufacturer-specific error*/
#define ERROR_S9_MANUFACTURER_SPECIFIC                      0x5459 /**< \brief S9 = manufacturer-specific error*/
#define ERROR_HARDWARE_MEMORY                               0x5500 /**< \brief Hardware memory error*/
#define ERROR_RAM                                           0x5510 /**< \brief RAM error*/
#define ERROR_ROM_EPROM                                     0x5520 /**< \brief ROM/EPROM error*/
#define ERROR_EEPROM                                        0x5530 /**< \brief EEPROM error*/
#define ERROR_SOFTWARE_RESET_WATCHDOG                       0x6010 /**< \brief Software reset (watchdog)*/
//0x6301_TO_0x630F        ERROR_DATA_RECORD_NO_1_TO_NO_15          
#define ERROR_LOSS_OF_PARAMETERS                            0x6310 /**< \brief Loss of parameters*/
#define ERROR_PARAMETER_ERROR                               0x6320 /**< \brief Parameter error*/
#define ERROR_POWER_ERROR                                   0x7100 /**< \brief Power error*/
#define ERROR_BRAKE_CHOPPER                                 0x7110 /**< \brief Brake chopper*/
#define ERROR_FAILURE_BRAKE_CHOPPER                         0x7111 /**< \brief Failure brake chopper*/
#define ERROR_OVER_CURRENT_BRAKE_CHOPPER                    0x7112 /**< \brief Over current brake chopper*/
#define ERROR_PROTECTIVE_CIRCUIT_BRAKE_CHOPPER              0x7113 /**< \brief Protective circuit brake chopper error*/
#define ERROR_MOTOR_ERROR                                   0x7120 /**< \brief Motor error*/
#define ERROR_MOTOR_BLOCKED                                 0x7121 /**< \brief Motor blocked error*/
#define ERROR_MOTOR_ERROR_OR_COMMUTATION_MALFUNC            0x7122 /**< \brief Motor error or commutation malfunc */
#define ERROR_MOTOR_TILTED                                  0x7123 /**< \brief Motor tilted*/
#define ERROR_MEASUREMENT_CIRCUIT                           0x7200 /**< \brief Measurement circuit*/
#define ERROR_SENSOR_ERROR                                  0x7300 /**< \brief Sensor error*/
#define ERROR_TACHO_FAULT                                   0x7301 /**< \brief Tacho fault*/
#define ERROR_TACHO_WRONG_POLARITY                          0x7302 /**< \brief Tacho wrong polarity*/
#define ERROR_RESOLVER_1_FAULT                              0x7303 /**< \brief Resolver 1 fault*/
#define ERROR_RESOLVER_2_FAULT                              0x7304 /**< \brief Resolver 2 fault*/
#define ERROR_INCREMENTAL_SENSOR_1_FAULT                    0x7305 /**< \brief Incremental sensor 1 fault*/
#define ERROR_INCREMENTAL_SENSOR_2_FAULT                    0x7306 /**< \brief Incremental sensor 2 fault*/
#define ERROR_INCREMENTAL_SENSOR_3_FAULT                    0x7307 /**< \brief Incremental sensor 3 fault*/
#define ERROR_SPEED                                         0x7310 /**< \brief Speed error*/
#define ERROR_POSITION                                      0x7320 /**< \brief Position error*/
#define ERROR_COMPUTATION_CIRCUIT                           0x7400 /**< \brief Computation circuit*/
#define ERROR_COMMUNICATION                                 0x7500 /**< \brief Communication error*/
#define ERROR_SERIAL_INTERFACE_NO_1                         0x7510 /**< \brief Serial interface no  1 error*/
#define ERROR_SERIAL_INTERFACE_NO_2                         0x7520 /**< \brief Serial interface no  2 error*/
#define ERROR_DATA_STORAGE_EXTERNAL                         0x7600 /**< \brief Data storage (external) error*/
#define ERROR_TORQUE_CONTROL                                0x8300 /**< \brief Torque control error*/
#define ERROR_EXCESS_TORQUE                                 0x8311 /**< \brief Excess torque error*/
#define ERROR_DIFFICULT_START_UP                            0x8312 /**< \brief Difficult start up error*/
#define ERROR_STANDSTILL_TORQUE                             0x8313 /**< \brief Standstill torque error*/
#define ERROR_INSUFFICIENT_TORQUE                           0x8321 /**< \brief Insufficient torque error*/
#define ERROR_TORQUE_FAULT                                  0x8331 /**< \brief Torque fault*/
#define ERROR_VELOCITY_SPEED_CONTROLLER                     0x8400 /**< \brief Velocity speed controller*/
#define ERROR_POSITION_CONTROLLER                           0x8500 /**< \brief Position controller*/
#define ERROR_POSITIONING_CONTROLLER                        0x8600 /**< \brief Positioning controller*/
#define ERROR_FOLLOWING_ERROR                               0x8611 /**< \brief Following error*/
#define ERROR_REFERENCE_LIMIT                               0x8612 /**< \brief Reference limit*/
#define ERROR_SYNC_CONTROLLER                               0x8700 /**< \brief Sync controller*/
#define ERROR_WINDING_CONTROLLER                            0x8800 /**< \brief Winding controller*/
#define ERROR_PROCESS_DATA_MONITORING                       0x8900 /**< \brief Process data monitoring*/
//#define ERROR_CONTROL                                     0x8A00
#define ERROR_DECELERATION                                  0xF001 /**< \brief Deceleration error*/
#define ERROR_SUB_SYNCHRONOUS_RUN                           0xF002 /**< \brief Sub-synchronous run error*/
#define ERROR_STROKE_OPERATION                              0xF003 /**< \brief Stroke operation error*/
//#define ERROR_CONTROL                                     0xF004
//0xFF00_TO_0xFFFF        MANUFACTURER_SPECIFIC                   


/*---------------------------------------------
-    CiA402 generic error option code values
        Note: Not all values are valid for each error option code.
        A detailed description of the option code values are listed in the specification IEC 61800-7-200
        0x605B    : action in state transition 8
        0x605C    : action in state transition 5
-----------------------------------------------*/
#define DISABLE_DRIVE                    0 /**< \brief Disable drive (options: 0x605B; 0x605C; 0x605E)*/
#define SLOW_DOWN_RAMP                   1 /**< \brief Slow down ramp (options: 0x605B; 0x605C; 0x605E)*/
#define QUICKSTOP_RAMP                   2 /**< \brief Quick stop ramp (options: 0x605E)*/
#define STOP_ON_CURRENT_LIMIT            3 /**< \brief Stop on current limit (options: 0x605E)*/
#define STOP_ON_VOLTAGE_LIMIT            4 /**< \brief Stop on voltage limit (options: 0x605E)*/


/*---------------------------------------------
-    Specific values for Quick stop option code (object 0x605A) (IEC61800_184e)
        indicated the quick stop function
-----------------------------------------------*/
//-32768 to -1        MANUFACTURER_SPECIFIC
#define SLOWDOWN_RAMP_NO_TRANSIT                5 /**< \brief Slow down on slow down ramp and stay in Quick Stop Active*/
#define QUICKSTOP_RAMP_NO_TRANSIT               6 /**< \brief Slow down on quick stop ramp and stay in Quick Stop Active*/
#define CURRENT_LIMIT_NO_TRANSIT                7 /**< \brief Slow down on current limit and stay in Quick Stop Active*/
#define VOLTAGE_LIMIT_NO_TRANSIT                8 /**< \brief Slow down on voltage limit and stay in Quick Stop Active*/
//9 to 32767        RESERVED


#define MAX_AXES    2 /**< \brief Number of supported axes*/

/*ET9300 Project Handler :(#if FC1100_HW) lines 329 to 331 deleted*/


/*---------------------------------------------
-    Module Identifications (each supported operation mode has a module)
-----------------------------------------------*/
#define CSV_CSP_MODULE_ID       0x00119800 /**< \brief Module Id for cyclic synchronous position/velocity mode (dynamic switching supported)*/
#define CSP_MODULE_ID           0x00219800 /**< \brief Module Id for cyclic synchronous position mode*/
#define CSV_MODULE_ID           0x00319800 /**< \brief Module Id for cyclic synchronous velocity mode*/


/**
 * \addtogroup PdoMappingObjects PDO Mapping Objects
 * csp/csv mode RxPDO mapping : 0x1600<br>
 * csp     mode RxPDO mapping : 0x1601<br>
 * csv     mode RxPDO mapping : 0x1602<br>
 * csp/csv mode TxPDO mapping : 0x1A00<br>
 * csp     mode TxPDO mapping : 0x1A01<br>
 * csv     mode TxPDO mapping : 0x1A02
 * @{
 */
/** \brief 0x1600 (csp/csv RxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[5]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1600;


/** \brief 0x1601 (csp RxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[3]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1601;


/** \brief 0x1602 (csv RxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[3]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1602;


/** \brief 0x1A00 (csp/csv TxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[5]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1A00;


/** \brief 0x1A01 (csp TxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[3]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1A01;


/** \brief 0x1A02 (csv TxPDO) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT32   aEntries[3]; /**< \brief Entry buffer*/
} OBJ_STRUCT_PACKED_END
TOBJ1A02;
/** @}*/


/**
 * \addtogroup SmAssignObjects SyncManager Assignment Objects
 * SyncManager 2 : 0x1C12<br>
 * SyncManager 3 : 0x1C13
 * @{
 */
/** \brief 0x1C12 (SyncManager 2 assignment) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT16   aEntries[MAX_AXES]; /**< \brief Entry buffer (number of entries depends on the supported axis, each axis requires one entry)*/
} OBJ_STRUCT_PACKED_END
TOBJ1C12;


/** \brief 0x1C13 (SyncManager 3 assignment) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT16   aEntries[MAX_AXES]; /**< \brief Entry buffer (number of entries depends on the supported axis, each axis requires one entry)*/
} OBJ_STRUCT_PACKED_END
TOBJ1C13;
/** @}*/


/**
 * \addtogroup CiA402Objects CiA402 Axis Objects
 * @{
 */
/** \brief 0x607D (Software Position Limit) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   INT32    i32MinLimit; /**< \brief Minimum limit*/
   INT32    i32MaxLimit; /**< \brief Maximum limit*/
} OBJ_STRUCT_PACKED_END
TOBJ607D;


/** \brief Object 0x60C2 (Interpolation Time Period) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex 0*/
   UINT8    u8InterpolationPeriod; /**< \brief Interpolation period*/
   INT8     i8InterpolationIndex; /**< \brief Interpolation index*/
} OBJ_STRUCT_PACKED_END
TOBJ60C2;
/** @}*/


/**
 * \addtogroup DeviceParaObjects Device Parameter Objects
 * Modular Device Profile : 0xF000<br>
 * Module Profile List : 0xF010<br>
 * Configured Modules Ident List : 0xF030<br>
 * Detected Modules Ident List : 0xF050<br>
 * @{
 */
/** \brief 0xF000 (Modular Device Profile) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex0*/
   UINT16   u16Moduleindexdistance; /**< \brief Module Index distance
                                     * 
                                     * Index distance between two modules.<br>
                                     * According to ETG.6010 the object index distance is 0x800*/
   UINT16   u16Maximumnumberofmodules; /**< \brief Maximum number of modules*/
} OBJ_STRUCT_PACKED_END
TOBJF000;


/** \brief 0xF010 (Module Profile List) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex0*/
   UINT32   aEntries[MAX_AXES];/**< \brief Module profile information buffer
                                  * 
                                  * Bit 00..15: Profile number of the module on position 1<br>
                                  * Bit 16..31: Profile specific<br>
                                  * The number of entries depends on the number of supported axes.
                                  */
} OBJ_STRUCT_PACKED_END
TOBJF010;


/** \brief 0xF030 (Configured Modules Ident List) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex0*/
   UINT32   aEntries[MAX_AXES];/**< \brief Module Ident List buffer
                                  * The number of entries depends on the number of supported axes.
                                  */
} OBJ_STRUCT_PACKED_END
TOBJF030;


/** \brief 0xF050 (Detected Modules Ident List) data structure*/
typedef struct OBJ_STRUCT_PACKED_START {
   UINT16   u16SubIndex0; /**< \brief SubIndex0*/
   UINT32   aEntries[MAX_AXES];/**< \brief Module Ident List buffer
                                  * The number of entries depends on the number of supported axes.
                                  */
} OBJ_STRUCT_PACKED_END
TOBJF050;
/** @}*/


/*---------------------------------------------
-    Generic Axis structure
-----------------------------------------------*/
/**
 * \addtogroup PDO Process Data Objects
 * @{
 */
/** \brief Data structure to handle the process data transmitted via 0x1A00 (csp/csv TxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
    INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
    INT32 ObjVelocityActualValue; /**< \brief Actual velocity (0x606C)*/
    INT16 ObjModesOfOperationDisplay; /**< \brief Current mode of operation (0x6061)*/
}STRUCT_PACKED_END
TCiA402PDO1A00;


/** \brief Data structure to handle the process data transmitted via 0x1A01 (csp TxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
    INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
    UINT16 Padding16Bit; /**< \brief 16bit padding*/
}STRUCT_PACKED_END
TCiA402PDO1A01;


/** \brief Data structure to handle the process data transmitted via 0x1A02 (csv TxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
    INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
    UINT16 Padding16Bit; /**< \brief 16bit padding*/
}STRUCT_PACKED_END
TCiA402PDO1A02;


/** \brief Data structure to handle the process data transmitted via 0x1600 (csp/csv RxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
    INT32 ObjTargetPosition; /**< \brief Target position (0x607A)*/
    INT32 ObjTargetVelocity; /**< \brief Target velocity (0x60FF)*/
    INT16 ObjModesOfOperation; /**< \brief Mode of operation (0x6060)*/
}STRUCT_PACKED_END
TCiA402PDO1600;


/** \brief Data structure to handle the process data transmitted via 0x1601 (csp RxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
    INT32 ObjTargetPosition; /**< \brief Target position (0x607A)*/
    UINT16 Padding16Bit; /**< \brief 16bit padding*/
}STRUCT_PACKED_END
TCiA402PDO1601;


/** \brief Data structure to handle the process data transmitted via 0x1602 (csv RxPDO)*/
typedef struct STRUCT_PACKED_START
{
    UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
    INT32 ObjTargetVelocity; /**< \brief Target velocity (0x60FF)*/
    UINT16 Padding16Bit; /**< \brief 16bit padding*/
}STRUCT_PACKED_END
TCiA402PDO1602;
/** @}*/


/*ET9300 Project Handler :(#if FC1100_HW) lines 573 to 575 deleted*/

/**
 * \addtogroup CiA402Objects CiA402 Axis Objects
 * @{
 */
/** \brief Data structure to handle the axis specific object data*/
typedef struct OBJ_STRUCT_PACKED_START
{
    TOBJ1600 sRxPDOMap0; /**< \brief csv/csp RxPDO (0x1600)*/
    TOBJ1601 sRxPDOMap1; /**< \brief csp RxPDO (0x1601)*/
    TOBJ1602 sRxPDOMap2; /**< \brief csv RxPDO (0x1602)*/
    TOBJ1A00 sTxPDOMap0; /**< \brief csv/csp TxPDO (0x1A00)*/
    TOBJ1A01 sTxPDOMap1; /**< \brief csp TxPDO (0x1A01)*/
    TOBJ1A02 sTxPDOMap2; /**< \brief csv TxPDO (0x1A02)*/

    UINT16 objErrorCode; /**< \brief Error Code (0x603F)*/
    UINT16 objControlWord; /**< \brief Control Word (0x6040)*/
    UINT16 objStatusWord; /**< \brief Status Word (0x6041)*/
    INT16 objQuickStopOptionCode; /**< \brief Quick Stop Option Code (0x605A)*/
    INT16 objShutdownOptionCode; /**< \brief Shutdown Option Code (0x605B)*/
    INT16 objDisableOperationOptionCode; /**< \brief Disable Operation Option Code (0x605C)*/
    INT16 objFaultReactionCode; /**< \brief Fault Reaction Code (0x605E)*/
    INT16 objModesOfOperation; /**< \brief Modes of Operation (0x6060)*/
    INT16 objModesOfOperationDisplay; /**< \brief Mode of Operation Display (0x6061)*/
    INT32 objPositionActualValue; /**< \brief Position Actual Value (0x6064)*/
    INT32 objVelocityActualValue; /**< \brief Actual Velocity Value (0x606C)*/
    INT16 objTorqueActualValue; /**< \brief Torque Actual Value (0x6077)*/
    INT32 objTargetPosition; /**< \brief Target Position (0x607A)*/
    TOBJ607D objSoftwarePositionLimit; /**< \brief Software Position limit (0x607D)*/
    UINT32 objQuickStopDeclaration; /**< \brief Quick Stop Declaration (0x6085)*/
    TOBJ60C2 objInterpolationTimePeriod; /**< \brief Interpolation Time Period (0x60C2)*/
    INT32 objTargetVelocity; /**< \brief Target Velocity (0x60FF)*/
    UINT32 objSupportedDriveModes; /**< \brief Supported Drive Modes (0x6502)*/
}OBJ_STRUCT_PACKED_END
CiA402Objects;



#define CIA402_OBJECTS_SIZE     SIZEOF(CiA402Objects) /**< \brief Size of CiA402 object structure*/


/** \brief Data structure to handle an Cia402 axis*/
typedef struct
{
    BOOL        bAxisIsActive; /**< \brief Indicates if active is active*/
    BOOL        bBrakeApplied; /**< \brief Motor break is applied*/
    BOOL        bLowLevelPowerApplied; /**< \brief Low Level Power applied*/
    BOOL        bHighLevelPowerApplied; /**< \brief High Level Power applied*/
    BOOL        bAxisFunctionEnabled; /**< \brief Axis functions enabled*/
    BOOL        bConfigurationAllowed; /**< \brief Configuration allowed*/

    UINT16      i16State; /**< \brief Axis state*/
    UINT16      u16PendingOptionCode; /**< \brief Pending operation code*/
    double      fCurPosition; /**< \brief Current position within control loop*/
    UINT32      u32CycleTime; /**< \brief Motion controller cycletime in us*/


    CiA402Objects        Objects; /**< \brief CiA402 Axis object variable*/
    TOBJECT OBJMEM        * ObjDic; /**< \brief Pointer to Axis specific object dictionary*/
}
TCiA402Axis, *pTCiA402Axis;
/** @}*/

#endif //_CIA402_H_

#ifdef _CiA402_
    #define PROTO
#else
    #define PROTO extern
#endif


/*---------------------------------------------
-    Entry Descriptions and object names
-----------------------------------------------*/
#ifdef _CiA402_
/**
 * \addtogroup SmAssignObjects SyncManager Assignment Objects
 * @{
 */

/**
 * \brief Entry descriptions of SyncManager assign objects
 *
 * SubIndex0<br>
 * SubIndex1 (for all other entries the same description will be used (because the object code is ARRAY))
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asPDOAssignEntryDesc[] = {
   {DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READ|ACCESS_WRITE_PREOP)},
   {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ|ACCESS_WRITE_PREOP)}};

   
/**
 * \brief Object 0x1C12 (Sync Manager 2 assign) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */   
OBJCONST UCHAR OBJMEM aName0x1C12[] = "RxPDO assign";

/**
 * \brief Object 0x1C13 (Sync Manager 3 assign) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */
OBJCONST UCHAR OBJMEM aName0x1C13[] = "TxPDO assign";
/** @}*/


/**
* \addtogroup PdoMappingObjects PDO Mapping Objects
* @{
*/
/**
 * \brief Object 0x1600 (csp/csv RxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1600[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 003*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 004*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 005*/


/**
 * \brief Object 0x1600 (csp/csv RxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */   
OBJCONST UCHAR OBJMEM aName0x1600[] = "csp/csv RxPDO\000\377";


/**
 * \brief Object 0x1601 (csp RxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1601[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   { DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/


/**
 * \brief Object 0x1601 (csp RxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */   
OBJCONST UCHAR OBJMEM aName0x1601[] = "csp RxPDO\000\377";


/**
 * \brief Object 0x1602 (csv RxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1602[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   { DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/


/**
 * \brief Object 0x1602 (csv RxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */      
OBJCONST UCHAR OBJMEM aName0x1602[] = "csv RxPDO\000\377";



/**
 * \brief Object 0x1A00 (csp/csv TxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1A00[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 003*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 004*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 005 */

   
/**
 * \brief Object 0x1A00 (csp/csv TxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */      
OBJCONST UCHAR OBJMEM aName0x1A00[] = "csp/csv TxPDO\000\377";


/**
 * \brief Object 0x1A01 (csp RxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1A01[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   { DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003 */


/**
 * \brief Object 0x1A01 (csp TxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */      
OBJCONST UCHAR OBJMEM aName0x1A01[] = "csp TxPDO\000\377";



/**
 * \brief Object 0x1A02 (csv RxPDO) entry descriptions
 */
OBJCONST TSDOINFOENTRYDESC	OBJMEM asEntryDesc0x1A02[] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
   { DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/

   
/**
 * \brief Object 0x1A02 (csv TxPDO) object and entry names
 *
 * In this example no specific entry name is defined ("SubIndex xxx" is used)
 */      
OBJCONST UCHAR OBJMEM aName0x1A02[] = "csv TxPDO\000\377";
/** @}*/



/**
 * \addtogroup CiA402Objects CiA402 Axis Objects
 * @{
 */
 /*ECATCHANGE_START(V5.13) CIA402 1*/

/** \brief Object 0x603F (Error Code) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x603F = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ | OBJACCESS_TXPDOMAPPING) };

/** \brief Object 0x603F (Error Code) object name*/
OBJCONST UCHAR OBJMEM aName0x603F[] = "Error Code";

/** \brief Object 0x6040 (Control Word) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6040 = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READWRITE|OBJACCESS_RXPDOMAPPING)};

/** \brief Object 0x6040 (Control Word) object name*/
OBJCONST UCHAR OBJMEM aName0x6040[] = "Control Word";

/** \brief Object 0x6041 (Status Word) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6041 = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ|OBJACCESS_TXPDOMAPPING)};

/** \brief Object 0x6041 (Status Word) object name*/
OBJCONST UCHAR OBJMEM aName0x6041[] = "Status Word";

/** \brief Object 0x605A (Quickstop Option Code) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x605A = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};

/** \brief Object 0x605A (Quickstop Option Code) object name*/
OBJCONST UCHAR OBJMEM aName0x605A[] = "Quick stop option code";

/** \brief Object 0x605B (Shutdown Option Code) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x605B = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};

/** \brief Object 0x605B (Shutdown Option Code) object name*/
OBJCONST UCHAR OBJMEM aName0x605B[] = "Shutdown Option Code";


/** \brief Object 0x605C (Disable Operation Option Code) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x605C = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};

/** \brief Object 0x605C (Disable Operation Option Code) object name*/
OBJCONST UCHAR OBJMEM aName0x605C[] = "Disable Operation Option Code";

/** \brief Object 0x605E (Fault Reaction Code) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x605E = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};

/** \brief Object 0x605E (Fault Reaction Code) object name*/
OBJCONST UCHAR OBJMEM aName0x605E[] = "Fault reaction option code";

/** \brief Object 0x6060 (Modes of Operation) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6060 = {DEFTYPE_INTEGER8, 0x08, (ACCESS_READWRITE|OBJACCESS_RXPDOMAPPING)};

/** \brief Object 0x6060 (Modes of Operation) object name*/
OBJCONST UCHAR OBJMEM aName0x6060[] = "Modes of Operation";

/** \brief Object 0x6061 (Modes of Operation Display) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6061 = {DEFTYPE_INTEGER8, 0x08, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};

/** \brief Object 0x6061 (Modes of Operation Display) object name*/
OBJCONST UCHAR OBJMEM aName0x6061[] = "Modes of Operation Display";

/** \brief Object 0x6064 (Position Actual Value) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6064 = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};

/** \brief Object 0x6064 (Position Actual Value) object name*/
OBJCONST UCHAR OBJMEM aName0x6064[] = "Position Actual Value";

/** \brief Object 0x606C (Velocity Actual Value) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x606C = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};

/** \brief Object 0x606C (Velocity Actual Value) object name*/
OBJCONST UCHAR OBJMEM aName0x606C[] = "Velocity Actual Value";

/** \brief Object 0x6077 (Torque Actual Value) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6077 = {DEFTYPE_INTEGER16, 0x10, (ACCESS_READ | OBJACCESS_TXPDOMAPPING) };

/** \brief Object 0x6077 (Torque Actual Value) object name*/
OBJCONST UCHAR OBJMEM aName0x6077[] = "Torque Actual Value";

/** \brief Object 0x607A (Target Position) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x607A = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};

/** \brief Object 0x607A (Target Position) object name*/
OBJCONST UCHAR OBJMEM aName0x607A[] = "Target Position";

/** 
 * \brief Object 0x607D (Software Position Limit) entry description
 * 
 * Subindex 0<br>
 * Subindex 1 : Min Position range limit<br>
 * Subindex 2 : Max Position range limit
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0x607D[] = {
    {DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},   
    {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)},
    {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)}};


/** \brief Object 0x607D (Software Position Limit) object and entry names*/
OBJCONST UCHAR OBJMEM aName0x607D[] = "Software Position Limit\000Min position limit\000Max position limit\000\377";


/** \brief Object 0x6085 (Quickstop Declaration) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6085 = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};

/** \brief Object 0x6085 (Quickstop Declaration) object name*/
OBJCONST UCHAR OBJMEM aName0x6085[] = "Quick stop deceleration";


/** 
 * \brief Object 0x60C2 (Interpolation Time Period) entry description
 *
 * Subindex 0<br>
 * Subindex 1 : Interpolation time period value<br>
 * Subindex 2 : Interpolation time index
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0x60C2[] = {
    {DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
    {DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)},
    {DEFTYPE_INTEGER8, 0x08, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)}};

/** \brief Object 0x60C2 (Interpolation Time Period) object and entry names*/
OBJCONST UCHAR OBJMEM aName0x60C2[] = "Interpolation Time Period\000Interpolation time period value\000Interpolation time index\000\377";


/** \brief Object 0x60FF (Target Velocity) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x60FF = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};

/** \brief Object 0x60FF (Target Velocity) object name*/
OBJCONST UCHAR OBJMEM aName0x60FF[] = "Target Velocity";


/** \brief Object 0x6502 (Supported Drive Modes) entry description*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM sEntryDesc0x6502 = {DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING )};

/*ECATCHANGE_END(V5.13) CIA402 1*/
/** \brief Object 0x6502 (Supported Drive Modes) object name*/
OBJCONST UCHAR OBJMEM aName0x6502[] = "Supported Drive Modes";
/** @}*/


/**
 * \addtogroup DeviceParaObjects Device Parameter Objects
 * @{
 */
/** 
 * \brief Object 0xF000 (Modular Device Profile) entry description
 *
 * Subindex 000 <br>
 * SubIndex 001: Module index distance<br>
 * SubIndex 002: Maximum number of modules
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0xF000[3] = {
   {DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ },
   {DEFTYPE_UNSIGNED16, 0x10, ACCESS_READ},
   {DEFTYPE_UNSIGNED16, 0x10, ACCESS_READ}};

/** \brief Object 0xF000 (Modular Device Profile) object and entry names*/
OBJCONST UCHAR OBJMEM aName0xF000[] = "Modular Device Profile\000Index distance\000Maximum number of modules\000\377";


/** 
 * \brief 0xF010 (Module profile list) entry descriptions
 *
 * Subindex 0<br>
 * SubIndex x
 * (x > 0)
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0xF010[3] = {
   {DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ},
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}};

/**
 * \brief 0xF010 (Module profile list) object name
 *
 * no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
 */   
OBJCONST UCHAR OBJMEM aName0xF010[] = "Module Profile List";


/** 
 * \brief 0xF030 (Configured Modules Ident) entry descriptions
 *
 * Subindex 0<br>
 * SubIndex x
 * (x > 0)
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0xF030[] = {
   {DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READ|ACCESS_WRITE_PREOP)},
   {DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ|ACCESS_WRITE_PREOP)},
   {DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ|ACCESS_WRITE_PREOP)}};

/**
 * \brief 0xF030 (Configured Modules Ident) object name
 *
 * no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
 */    
OBJCONST UCHAR OBJMEM aName0xF030[] = "Configured Module Ident List";


/** 
 * \brief 0xF050 (Module detected list) entry descriptions
 *
 * Subindex 0<br>
 * SubIndex x
 * (x > 0)
 */
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0xF050[] = {
   {DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ},
   {DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}};

   
/**
 * \brief 0xF050 (Module detected list) object name
 *
 * no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
 */       
OBJCONST UCHAR OBJMEM aName0xF050[] = "Module detected list";
/** @}*/
#endif


/**
 * \addtogroup SmAssignObjects SyncManager Assignment Objects
 * @{
 */

/**
 * \brief 0x1C12 (SyncManager 2 assignment) variable to handle object data
 * 
 * SubIndex 0 : 1<br>
 * SubIndex 1 : 0x1602
 * SubIndex 2 : 0
 */
PROTO TOBJ1C12 sRxPDOassign
#ifdef _CiA402_
= {1,{0x1602,0x0}}
#endif
;


/**
 * \brief 0x1C13 (SyncManager 3 assignment) variable to handle object data
 * 
 * SubIndex 0 : 1<br>
 * SubIndex 1 : 0x1A02<br>
 * SubIndex 2 : 0
 */
PROTO TOBJ1C13 sTxPDOassign
#ifdef _CiA402_
= {1,{0x1A02,0x0}}
#endif
;
/** @}*/


/**
 * \addtogroup DeviceParaObjects Device Parameter Objects
 * @{
 */
/** 
 * \brief Object 0xF000 (Modular Device Profile) variable to handle object data
 *
 * SubIndex 0 : 2<br>
 * SubIndex 1 : 0x800 (index distance)<br>
 * SubIndex 2 : MAX_AXES (number of modules depends on the number of axes)
 */
PROTO TOBJF000 sModulardeviceprofile
#ifdef _CiA402_
= {2, 0x800, MAX_AXES}
#endif
;


/** 
 * \brief Object 0xF010 (Module profile list) variable to handle object data
 *
 * SubIndex 0 : 1<br>
 * SubIndex 1 :2 (Low Word)<br>
 * SubIndex 2 : 0
 */
PROTO TOBJF010 sModuleProfileInfo
#ifdef _CiA402_
= {1,{2,0}}
#endif
;

/** 
 * \brief Object 0xF030 (Configured Module List) variable to handle object data
 *
 * SubIndex 0 : 1<br>
 * SubIndex 1 : csv Module is set by default<br>
 * SubIndex 2 : 0
 */
PROTO TOBJF030 sConfiguredModuleIdentList
#ifdef _CiA402_
= {1,{0x319800,0}}
#endif
;

PROTO UINT8 Write0xF030( UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess );


/** 
 * \brief Object 0xF050 (Detected Module List) variable to handle object data
 *
 * SubIndex 0 : 1<br>
 * SubIndex 1 : csv Module is set by default<br>
 * SubIndex 2 : 0
 */
PROTO TOBJF050 sDetectedModuleIdentList
#ifdef _CiA402_
= {1,{0x319800,0}}
#endif
;
/** @}*/


/**
 * \addtogroup CiA402Objects CiA402 Axis Objects
 * @{
 */
/**
 * \brief Axis objects default values
 *
 */
PROTO CiA402Objects DefCiA402ObjectValues
#ifdef _CiA402_
= {
{5, {0x60400010,0x607A0020,0x60FF0020,0x60600008,0x00000008}},    /* TOBJ1600*/
{3, {0x60400010,0x607A0020,0x00000010 }}, /*TOBJ1601*/
{3, {0x60400010,0x60FF0020,0x00000010 }}, /*TOBJ1602*/
{5, {0x60410010,0x60640020,0x606C0020,0x60610008,0x00000008}}, /*TOBJ1A00*/
{3, {0x60410010,0x60640020,0x00000010 }}, /*TOBJ1A01*/
{3, {0x60410010,0x60640020,0x00000010 }},/*TOBJ1A02*/
0x0,/*(UINT16) ErrorCode 0x1001*/
0x0,/*(UINT16) ControlWord 0x6040*/
0x0,/*(UINT16) StatusWord 0x6041*/
0x2,/*(INT16) QuickStopOptionCode 0x605A*/
DISABLE_DRIVE,/*(INT16)ShutdownOptionCode 0x605B*/
SLOW_DOWN_RAMP, /*(INT16) DisableOperationCode 0x605C*/
QUICKSTOP_RAMP,/*(INT16) FaultReactionCode 0x605E*/
0x0,/*(INT16) ModeOfOperation 0x6060*/
0x0,/*(INT16) Mode Of Operation Display 0x6061*/
0x0,/*(INT32) Position Actual Value 0x6064*/
0x0,/*(INT32) Velocity Actual Value 0x606C*/
0x0,/*(INT16) Torque Actual Value 0x6077*/
0x0,/*(INT32) Target Position 0x607A*/
{2,0x88CA6C00,0x77359400},/*TOBJ607D Software Position Limit (minLimit: -2000000000 / maxLimit: 2000000000)*/
0x0,/*(UINT32) QuickStopDeclaration 0x6085*/
{2,1,-3},/*TOBJ60C2 Interpolation Time Period*/
0x0,/*(INT32) Target Velocity    0x60FF*/
0x0/*(UINT32) Supported Drive Modes 0x6502*/
}
#endif
;
/** @}*/


/**
 *\brief Base CiA402 device object dictionary
 */
PROTO TOBJECT    OBJMEM ApplicationObjDic[]
#ifdef _CiA402_
= {/* Object 0x1C12 */
   {NULL,NULL, 0x1C12, {DEFTYPE_UNSIGNED16, MAX_AXES | (OBJCODE_ARR << 8)}, asPDOAssignEntryDesc, aName0x1C12, &sRxPDOassign, NULL, NULL, 0x0000 },
   /* Object 0x1C13 */
   {NULL,NULL, 0x1C13, {DEFTYPE_UNSIGNED16, MAX_AXES | (OBJCODE_ARR << 8)}, asPDOAssignEntryDesc, aName0x1C13, &sTxPDOassign, NULL, NULL, 0x0000 },
    /* Object 0xF000 */
   {NULL,NULL,   0xF000, {DEFTYPE_RECORD, 2 | (OBJCODE_REC << 8)}, asEntryDesc0xF000, aName0xF000, &sModulardeviceprofile, NULL, NULL, 0x0000 },
    /* Object 0xF010 */
   {NULL,NULL,   0xF010, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF010, aName0xF010, &sModuleProfileInfo, NULL, NULL, 0x0000 },
    /* Object 0xF030 */
   {NULL,NULL,   0xF030, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF030, aName0xF030, &sConfiguredModuleIdentList, NULL, Write0xF030, 0x0000 },
   /* Object 0xF050 */
   {NULL,NULL, 0xF050, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF050, aName0xF050, &sDetectedModuleIdentList, NULL, NULL, 0x0000 },
   {NULL,NULL, 0xFFFF, {0, 0}, NULL, NULL, NULL, NULL, NULL, 0x000}}
#endif
;



/**
 *\brief Object dictionary related to on CiA402 Axis
 */
PROTO TOBJECT    OBJMEM DefCiA402AxisObjDic[]
#ifdef _CiA402_
= {
    /* Object 0x1600 */
    {NULL,NULL, 0x1600, {DEFTYPE_PDOMAPPING, 5 | (OBJCODE_REC << 8)}, asEntryDesc0x1600, aName0x1600, NULL, NULL, NULL, 0x0000 },
    /* Object 0x1601 */
   {NULL,NULL, 0x1601, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1601, aName0x1601,NULL, NULL, NULL, 0x0000 },
    /* Object 0x1602 */
   {NULL,NULL, 0x1602, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1602, aName0x1602, NULL, NULL, NULL, 0x0000 },
   /* Object 0x1A00 */
   {NULL,NULL, 0x1A00, {DEFTYPE_PDOMAPPING, 5 | (OBJCODE_REC << 8)}, asEntryDesc0x1A00, aName0x1A00, NULL, NULL, NULL, 0x0000 },	
   /* Object 0x1A01 */
   {NULL,NULL, 0x1A01, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1A01, aName0x1A01, NULL, NULL, NULL, 0x0000 },	
   /* Object 0x1A02 */
   {NULL,NULL, 0x1A02, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1A02, aName0x1A02, NULL, NULL, NULL, 0x0000 },	
   /* Object 0x603F */
   {NULL,NULL, 0x603F, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x603F, aName0x603F, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6040 */
   {NULL,NULL, 0x6040, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6040, aName0x6040, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6041 */
   {NULL,NULL, 0x6041, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6041, aName0x6041, NULL, NULL, NULL, 0x0000 },
   /* Object 0x605A */
   {NULL,NULL, 0x605A, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605A, aName0x605A, NULL, NULL, NULL, 0x0000 },
   /* Object 0x605B */
   {NULL,NULL, 0x605B, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605B, aName0x605B, NULL, NULL, NULL, 0x0000 },
   /* Object 0x605C */
   {NULL,NULL, 0x605C, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605C, aName0x605C, NULL, NULL, NULL, 0x0000 },
   /* Object 0x605E */
   {NULL,NULL, 0x605E, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605E, aName0x605E, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6060 */
    {NULL,NULL, 0x6060, {DEFTYPE_INTEGER8 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6060, aName0x6060, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6061 */
   {NULL,NULL, 0x6061, {DEFTYPE_INTEGER8 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6061, aName0x6061, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6064 */
   {NULL,NULL, 0x6064, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6064, aName0x6064, NULL, NULL, NULL, 0x0000 },
   /* Object 0x606C */
   {NULL,NULL, 0x606C, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x606C, aName0x606C, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6077 */
   {NULL,NULL, 0x6077, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6077, aName0x6077, NULL, NULL, NULL, 0x0000 },
   /* Object 0x607D */
   {NULL,NULL, 0x607D, {DEFTYPE_INTEGER32 , 2 | (OBJCODE_ARR << 8)}, asEntryDesc0x607D, aName0x607D, NULL, NULL, NULL, 0x0000 },
   /* Object 0x607A */
   {NULL,NULL, 0x607A, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x607A, aName0x607A, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6085 */
   {NULL,NULL, 0x6085, {DEFTYPE_UNSIGNED32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6085, aName0x6085, NULL, NULL, NULL, 0x0000 },
   /* Object 0x60C2 */
   {NULL,NULL, 0x60C2, {DEFTYPE_RECORD , 2 | (OBJCODE_REC << 8)}, asEntryDesc0x60C2, aName0x60C2, NULL, NULL, NULL, 0x0000 },
   /* Object 0x60FF */
   {NULL,NULL, 0x60FF, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x60FF, aName0x60FF, NULL, NULL, NULL, 0x0000 },
   /* Object 0x6502 */
   {NULL,NULL, 0x6502, {DEFTYPE_UNSIGNED32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6502, aName0x6502, NULL, NULL, NULL, 0x0000 },
   {NULL,NULL, 0xFFFF, {0, 0}, NULL, NULL, NULL, NULL, NULL, 0x000}}
#endif
;

PROTO void APPL_Application(void);
/*ET9300 Project Handler :(#if EXPLICIT_DEVICE_ID) lines 1248 to 1250 deleted*/

PROTO void   APPL_AckErrorInd(UINT16 stateTrans);
PROTO UINT16 APPL_StartMailboxHandler(void);
PROTO UINT16 APPL_StopMailboxHandler(void);
PROTO UINT16 APPL_StartInputHandler(UINT16 *pIntMask);
PROTO UINT16 APPL_StopInputHandler(void);
PROTO UINT16 APPL_StartOutputHandler(void);
PROTO UINT16 APPL_StopOutputHandler(void);

PROTO UINT16 APPL_GenerateMapping(UINT16 *pInputSize,UINT16 *pOutputSize);
PROTO void APPL_InputMapping(UINT16* pData);
PROTO void APPL_OutputMapping(UINT16* pData);

PROTO void CiA402_LocalError(UINT16 ErrorCode);
PROTO void CiA402_StateMachine(void);

#undef PROTO
/** @}*/