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//---------------------------------------------------------------

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//

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//  e c _ s l a v e . h

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//

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//  $LastChangedDate$

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//  $Author$

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//

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//---------------------------------------------------------------

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#define SIMPLE 0

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#define MAILBOX 1

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//---------------------------------------------------------------

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typedef struct slave_desc EtherCAT_slave_desc_t;

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typedef struct

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{

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  // Base data

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  unsigned char type;

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  unsigned char revision;

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  unsigned short build;

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  // Addresses

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  short ring_position;

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  unsigned short station_address;

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  // Slave information interface

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  unsigned int vendor_id;

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  unsigned int product_code;

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  unsigned int revision_number;

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  const EtherCAT_slave_desc_t *desc;

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  unsigned int logical_address0;

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  unsigned int current_state;

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  unsigned int requested_state;

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  unsigned char *process_data;

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}

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EtherCAT_slave_t;

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#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}

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//---------------------------------------------------------------

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// Slave construction and deletion

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void EtherCAT_slave_init(EtherCAT_slave_t *);

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void EtherCAT_slave_clear(EtherCAT_slave_t *);

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// Debug

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void EtherCAT_slave_print(EtherCAT_slave_t *);

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//---------------------------------------------------------------

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typedef struct slave_desc

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{

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  const char *vendor_name;

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  const char *product_name;

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  const char *product_desc;

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  const int type;

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  const unsigned char *sm0;

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  const unsigned char *sm1;

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  const unsigned char *sm2;

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  const unsigned char *sm3;

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  const unsigned char *fmmu0;

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  const unsigned int data_length;

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}

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EtherCAT_slave_desc_t;

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extern EtherCAT_slave_desc_t Beckhoff_EK1100[];

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extern EtherCAT_slave_desc_t Beckhoff_EL1014[];

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extern EtherCAT_slave_desc_t Beckhoff_EL2004[];

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extern EtherCAT_slave_desc_t Beckhoff_EL3102[];

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extern EtherCAT_slave_desc_t Beckhoff_EL3162[];

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extern EtherCAT_slave_desc_t Beckhoff_EL4102[];

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extern EtherCAT_slave_desc_t Beckhoff_EL5001[];

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//---------------------------------------------------------------

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struct slave_ident

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{

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  const unsigned int vendor_id;

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  const unsigned int product_code;

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  const EtherCAT_slave_desc_t *desc;

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};

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extern struct slave_ident slave_idents[];

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extern unsigned int slave_idents_count;

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//---------------------------------------------------------------