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/****************************************************************
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*
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* e c _ t y p e s . c
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*
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* EtherCAT-Slave-Typen.
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*
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* $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $
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* $Author: fp $
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*
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***************************************************************/
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#include "ec_globals.h"
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#include "ec_types.h"
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/***************************************************************/
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unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
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unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
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unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
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unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
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unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
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unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
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unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
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int read_1014(unsigned char *data, unsigned int channel)
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{
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return (data[0] >> channel) & 0x01;
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}
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void write_2004(unsigned char *data, unsigned int channel, int value)
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{
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if (value)
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{
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data[0] |= (1 << channel);
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}
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else
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{
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data[0] &= ~(1 << channel);
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}
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}
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int read_31xx(unsigned char *data, unsigned int channel)
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{
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return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
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}
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void write_4102(unsigned char *data, unsigned int channel, int value)
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{
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data[channel * 3 + 1] = (value & 0xFF00) >> 8;
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data[channel * 3 + 2] = value & 0xFF;
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}
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/***************************************************************/
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EtherCAT_slave_desc_t Beckhoff_EK1100[] =
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{{
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"Beckhoff", "EK1100", "Bus Coupler",
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ECAT_ST_SIMPLE_NOSYNC,
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NULL, NULL, NULL, NULL,
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NULL,
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0, 0,
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NULL, NULL
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}};
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EtherCAT_slave_desc_t Beckhoff_EL1014[] =
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{{
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"Beckhoff", "EL1014", "4x Digital Input",
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ECAT_ST_SIMPLE,
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sm0_1014, NULL, NULL, NULL,
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fmmu0_1014,
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1, 4,
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read_1014, NULL
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}};
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EtherCAT_slave_desc_t Beckhoff_EL2004[] =
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{{
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"Beckhoff", "EL2004", "4x Digital Output",
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ECAT_ST_SIMPLE,
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sm0_2004, NULL, NULL, NULL,
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fmmu0_2004,
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1, 4,
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NULL, write_2004
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}};
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EtherCAT_slave_desc_t Beckhoff_EL3102[] =
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{{
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"Beckhoff", "EL3102", "2x Analog Input Diff",
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ECAT_ST_MAILBOX,
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
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fmmu0_31xx,
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6, 2,
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read_31xx, NULL
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}};
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EtherCAT_slave_desc_t Beckhoff_EL3162[] =
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{{
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"Beckhoff", "EL3162", "2x Analog Input",
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ECAT_ST_MAILBOX,
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
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fmmu0_31xx,
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6, 2,
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read_31xx, NULL
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}};
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EtherCAT_slave_desc_t Beckhoff_EL4102[] =
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{{
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"Beckhoff", "EL4102", "2x Analog Output",
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ECAT_ST_MAILBOX,
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sm0_multi, sm1_multi, sm2_4102, NULL,
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fmmu0_4102,
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4, 2,
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NULL, write_4102
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}};
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EtherCAT_slave_desc_t Beckhoff_EL5001[] =
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{{
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"Beckhoff", "EL5001", "SSI-Interface",
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ECAT_ST_SIMPLE,
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NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
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NULL,
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0, 0,
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NULL, NULL
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}};
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/***************************************************************/
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unsigned int slave_idents_count = 7;
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struct slave_ident slave_idents[] =
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{
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{0x00000002, 0x03F63052, Beckhoff_EL1014},
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{0x00000002, 0x044C2C52, Beckhoff_EK1100},
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{0x00000002, 0x07D43052, Beckhoff_EL2004},
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{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
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{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
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{0x00000002, 0x10063052, Beckhoff_EL4102},
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{0x00000002, 0x13893052, Beckhoff_EL5001}
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};
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/***************************************************************/
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