1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT slave descriptions.

    37

   \cond

    38

*/

    39

    40

/*****************************************************************************/

    41

    42

#include <linux/module.h>

    43

    44

#include "globals.h"

    45

#include "types.h"

    46

    47

/*****************************************************************************/

    48

    49

const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}};

    50

const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}};

    51

    52

/******************************************************************************

    53

 *  slave objects

    54

 *****************************************************************************/

    55

    56

const ec_slave_type_t Beckhoff_EK1100 = {

    57

    "Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER,

    58

    {NULL} // no sync managers

    59

};

    60

    61

/*****************************************************************************/

    62

    63

const ec_slave_type_t Beckhoff_EK1110 = {

    64

    "Beckhoff", "EK1110", "Extension terminal", EC_TYPE_NORMAL,

    65

    {NULL} // no sync managers

    66

};

    67

    68

/*****************************************************************************/

    69

    70

const ec_field_t bk1120_in = {"Inputs", 0}; // variable size

    71

    72

const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}};

    73

const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}};

    74

    75

const ec_sync_t bk1120_sm2 = { // outputs

    76

    0x1000, 0, 0x24, // variable size

    77

    {NULL}

    78

};

    79

    80

const ec_sync_t bk1120_sm3 = { // inputs

    81

    0x1600, 0, 0x00, // variable size

    82

    {&bk1120_in, NULL}

    83

};

    84

    85

const ec_slave_type_t Beckhoff_BK1120 = {

    86

    "Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL,

    87

    {&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL}

    88

};

    89

    90

/*****************************************************************************/

    91

    92

const ec_field_t el1014_in = {"InputValue", 1};

    93

    94

const ec_sync_t el1014_sm0 = { // inputs

    95

    0x1000, 1, 0x00,

    96

    {&el1014_in, NULL}

    97

};

    98

    99

const ec_slave_type_t Beckhoff_EL1014 = {

   100

    "Beckhoff", "EL1014", "4x Digital Input", EC_TYPE_NORMAL,

   101

    {&el1014_sm0, NULL}

   102

};

   103

   104

/*****************************************************************************/

   105

   106

const ec_field_t el20XX_out = {"OutputValue", 1};

   107

   108

const ec_sync_t el20XX_sm0 = {

   109

    0x0F00, 1, 0x46,

   110

    {&el20XX_out, NULL}

   111

};

   112

   113

const ec_slave_type_t Beckhoff_EL2004 = {

   114

    "Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL,

   115

    {&el20XX_sm0, NULL}

   116

};

   117

   118

const ec_slave_type_t Beckhoff_EL2032 = {

   119

    "Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL,

   120

    {&el20XX_sm0, NULL}

   121

};

   122

   123

/*****************************************************************************/

   124

   125

const ec_field_t el31X2_st1 = {"Status",     1};

   126

const ec_field_t el31X2_ip1 = {"InputValue", 2};

   127

const ec_field_t el31X2_st2 = {"Status",     1};

   128

const ec_field_t el31X2_ip2 = {"InputValue", 2};

   129

   130

const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}};

   131

   132

const ec_sync_t el31X2_sm3 = {

   133

    0x1100, 6, 0x20,

   134

    {&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL}

   135

};

   136

   137

const ec_slave_type_t Beckhoff_EL3102 = {

   138

    "Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL,

   139

    {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}

   140

};

   141

   142

const ec_slave_type_t Beckhoff_EL3162 = {

   143

    "Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL,

   144

    {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}

   145

};

   146

   147

/*****************************************************************************/

   148

   149

const ec_field_t el41X2_op = {"OutputValue", 2};

   150

   151

const ec_sync_t el41X2_sm2 = {

   152

    0x1000, 4, 0x24,

   153

    {&el41X2_op, &el41X2_op, NULL}

   154

};

   155

   156

const ec_slave_type_t Beckhoff_EL4102 = {

   157

    "Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL,

   158

    {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}

   159

};

   160

   161

const ec_slave_type_t Beckhoff_EL4132 = {

   162

    "Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL,

   163

    {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}

   164

};

   165

   166

/*****************************************************************************/

   167

   168

const ec_field_t el5001_st = {"Status",     1};

   169

const ec_field_t el5001_ip = {"InputValue", 4};

   170

   171

const ec_sync_t el5001_sm2 = {

   172

    0x1000, 4, 0x24,

   173

    {NULL}

   174

};

   175

   176

const ec_sync_t el5001_sm3 = {

   177

    0x1100, 5, 0x20,

   178

    {&el5001_st, &el5001_ip, NULL}

   179

};

   180

   181

const ec_slave_type_t Beckhoff_EL5001 = {

   182

    "Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL,

   183

    {&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}

   184

};

   185

   186

/*****************************************************************************/

   187

   188

const ec_field_t el5101_ct = {"Control",     1};

   189

const ec_field_t el5101_op = {"OutputValue", 2};

   190

const ec_field_t el5101_st = {"Status",      1};

   191

const ec_field_t el5101_ip = {"InputValue",  2};

   192

const ec_field_t el5101_la = {"LatchValue",  2};

   193

   194

const ec_sync_t el5101_sm2 = {

   195

    0x1000, 3, 0x24,

   196

    {&el5101_ct, &el5101_op, NULL}

   197

};

   198

   199

const ec_sync_t el5101_sm3 = {

   200

    0x1100, 5, 0x20,

   201

    {&el5101_st, &el5101_ip, &el5101_la, NULL}

   202

};

   203

   204

const ec_slave_type_t Beckhoff_EL5101 = {

   205

    "Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL,

   206

    {&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}

   207

};

   208

   209

/*****************************************************************************/

   210

   211

const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}};

   212

const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}};

   213

   214

const ec_slave_type_t Beckhoff_EL6601 = {

   215

    "Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE,

   216

    {&el6601_sm0, &el6601_sm1, NULL, NULL, NULL}

   217

};

   218

   219

/*****************************************************************************/

   220

   221

const ec_field_t trlinenc2_st = {"Status",     1};

   222

const ec_field_t trlinenc2_ip = {"InputValue", 4};

   223

   224

const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}};

   225

const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}};

   226

const ec_sync_t trlinenc2_sm2 = {0x1000,   4, 0x24, {NULL}};

   227

   228

const ec_sync_t trlinenc2_sm3 = {

   229

    0x1100, 5, 0x20,

   230

    {&trlinenc2_st, &trlinenc2_ip, NULL}

   231

};

   232

   233

const ec_slave_type_t TR_Electronic_LinEnc2 = {

   234

    "TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL,

   235

    {&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL}

   236

};

   237

   238

/** \endcond */

   239

   240

/*****************************************************************************/

   241

   242

/**

   243

   Mapping between vendor IDs and product codes <=> slave objects.

   244

*/

   245

   246

ec_slave_ident_t slave_idents[] = {

   247

    {0x00000002, 0x03F63052, &Beckhoff_EL1014},

   248

    {0x00000002, 0x044C2C52, &Beckhoff_EK1100},

   249

    {0x00000002, 0x04562C52, &Beckhoff_EK1110},

   250

    {0x00000002, 0x04602C22, &Beckhoff_BK1120},

   251

    {0x00000002, 0x07D43052, &Beckhoff_EL2004},

   252

    {0x00000002, 0x07F03052, &Beckhoff_EL2032},

   253

    {0x00000002, 0x0C1E3052, &Beckhoff_EL3102},

   254

    {0x00000002, 0x0C5A3052, &Beckhoff_EL3162},

   255

    {0x00000002, 0x10063052, &Beckhoff_EL4102},

   256

    {0x00000002, 0x10243052, &Beckhoff_EL4132},

   257

    {0x00000002, 0x13893052, &Beckhoff_EL5001},

   258

    {0x00000002, 0x13ED3052, &Beckhoff_EL5101},

   259

    {0x00000002, 0x19C93052, &Beckhoff_EL6601},

   260

    {0x000000D4, 0x00000017, &TR_Electronic_LinEnc2},

   261

    {}

   262

};

   263

   264

/*****************************************************************************/