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CO_Data ObjDict_Data = CANOPEN_NODE_DATA_INITIALIZER(ObjDict); IAR编译提示Error[Pe253]: expected a "," 错误指向CO_Data Error[Pe253]: expected a "," 错误指向CO_Data Error[Pe253]: expected a "," 错误指向CANOPEN_NODE_DATA_INITIALIZER(ObjDict) 自己比对发现并没有什么问题，但一直编译不过，希望可以指出来什么问题！什么感谢！ 其中CO_Data 为如下结构体： struct struct_CO_Data { //* Object dictionary UNS8 *bDeviceNodeId; //节点地址 const indextable *objdict; s_PDO_status *PDO_status; //PDO传输类型 INTEGER16 *RxPDO_EventTimers; void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32); const quick_index *firstIndex;//起始索引 const quick_index *lastIndex;//终止索引 const UNS16 *ObjdictSize; const UNS8 *iam_a_slave; valueRangeTest_t valueRangeTest; // SDO s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS]; // State machine e_nodeState nodeState; s_state_communication CurrentCommunicationState; initialisation_t initialisation; preOperational_t preOperational; operational_t operational; stopped_t stopped; void (*NMT_Slave_Node_Reset_Callback)(CO_Data*); void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*); // NMT-heartbeat UNS8 *ConsumerHeartbeatCount; UNS32 *ConsumerHeartbeatEntries; INTEGER16 *ConsumerHeartBeatTimers; UNS16 *ProducerHeartBeatTime; INTEGER16 ProducerHeartBeatTimer; heartbeatError_t heartbeatError; e_nodeState NMTable[NMT_MAX_NODE_ID]; // /* NMT-nodeguarding */ INTEGER16 GuardTimeTimer; INTEGER16 LifeTimeTimer; nodeguardError_t nodeguardError; UNS16 *GuardTime; UNS8 *LifeTimeFactor; UNS8 nodeGuardStatus[NMT_MAX_NODE_ID]; // SYNC INTEGER16 syncTimer; UNS32 *COB_ID_Sync;//只可写入0x80(同步器不工作)与0x40000080（激活同步发生器） UNS32 *Sync_Cycle_Period;//同步周期 post_sync_t post_sync; post_TPDO_t post_TPDO; post_SlaveBootup_t post_SlaveBootup; post_SlaveStateChange_t post_SlaveStateChange; //General UNS8 toggle; CAN_PORT canHandle; //选择CAN1或者CAN2 scanIndexOD_t scanIndexOD; // storeODSubIndex_t storeODSubIndex; // DCF concise const indextable* dcf_odentry; UNS8* dcf_cursor; UNS32 dcf_entries_count; UNS8 dcf_status; UNS32 dcf_size; UNS8* dcf_data; // EMCY e_errorState error_state; UNS8 error_history_size; UNS8* error_number; UNS32* error_first_element; UNS8* error_register; UNS32* error_cobid; s_errors error_data[EMCY_MAX_ERRORS]; post_emcy_t post_emcy; }; CANOPEN_NODE_DATA_INITIALIZER(ObjDict);为如下宏定义 #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX){\ /* Object dictionary*/\ & NODE_PREFIX ## _bDeviceNodeId, /* bDeviceNodeId */\ NODE_PREFIX ## _objdict, /* objdict */\ NODE_PREFIX ## _PDO_status, /* PDO_status */\ NULL, /* RxPDO_EventTimers */\ _RxPDO_EventTimers_Handler, /* RxPDO_EventTimers_Handler */\ & NODE_PREFIX ## _firstIndex, /* firstIndex */\ & NODE_PREFIX ## _lastIndex, /* lastIndex */\ & NODE_PREFIX ## _ObjdictSize, /* ObjdictSize */\ & NODE_PREFIX ## _iam_a_slave, /* iam_a_slave */\ NODE_PREFIX ## _valueRangeTest, /* valueRangeTest */\ \ /* SDO, structure s_transfer */\ {\ REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERS_TIMES(s_transfer_Initializer)\ },\ \ /* State machine*/\ Unknown_state, /* nodeState */\ /* structure s_state_communication */\ {\ 0, /* csBoot_Up */\ 0, /* csSDO */\ 0, /* csEmergency */\ 0, /* csSYNC */\ 0, /* csHeartbeat */\ 0, /* csPDO */\ 0 /* csLSS */\ },\ _initialisation, /* initialisation */\ _preOperational, /* preOperational */\ _operational, /* operational */\ _stopped, /* stopped */\ NULL, /* NMT node reset callback */\ NULL, /* NMT communications reset callback */\ \ /* NMT-heartbeat */\ & NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\ NODE_PREFIX ## _obj1016, /* ConsumerHeartbeatEntries */\ NODE_PREFIX ## _heartBeatTimers, /* ConsumerHeartBeatTimers */\ & NODE_PREFIX ## _obj1017, /* ProducerHeartBeatTime */\ TIMER_NONE, /* ProducerHeartBeatTimer */\ _heartbeatError, /* heartbeatError */\ \ {REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\ /* is well initialized at "Unknown_state". Is it ok ? (FD)*/\ \ /* NMT-nodeguarding */\ TIMER_NONE, /* GuardTimeTimer */\ TIMER_NONE, /* LifeTimeTimer */\ _nodeguardError, /* nodeguardError */\ & NODE_PREFIX ## _obj100C, /* GuardTime */\ & NODE_PREFIX ## _obj100D, /* LifeTimeFactor */\ {REPEAT_NMT_MAX_NODE_ID_TIMES(nodeGuardStatus_Initializer)},\ \ /* SYNC */\ TIMER_NONE, /* syncTimer */\ & NODE_PREFIX ## _obj1005, /* COB_ID_Sync */\ & NODE_PREFIX ## _obj1006, /* Sync_Cycle_Period */\ /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\ _post_sync, /* post_sync */\ _post_TPDO, /* post_TPDO */\ _post_SlaveBootup, /* post_SlaveBootup */\ _post_SlaveStateChange, /* post_SlaveStateChange */\ \ /* General */\ 0, /* toggle */\ NULL, /* canSend */\ NODE_PREFIX ## _scanIndexOD, /* scanIndexOD */\ _storeODSubIndex, /* storeODSubIndex */\ /* DCF concise */\ NULL, /*dcf_odentry*/\ NULL, /*dcf_cursor*/\ 1, /*dcf_entries_count*/\ 0, /* dcf_status*/\ 0, /* dcf_size */\ NULL, /* dcf_data */\ \ /* EMCY */\ Error_free, /* error_state */\ sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]), /* error_history_size */\ & NODE_PREFIX ## _highestSubIndex_obj1003, /* error_number */\ & NODE_PREFIX ## _obj1003[0], /* error_first_element */\ & NODE_PREFIX ## _obj1001, /* error_register */\ & NODE_PREFIX ## _obj1014, /* error_cobid */\ /* error_data: structure s_errors */\ {\ REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\ },\ _post_emcy, /* post_emcy */\ } |
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