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//---------------------------------------------------------------
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//
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// e c _ s l a v e . c
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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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#include <stdlib.h>
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#include "ec_globals.h"
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#include "ec_slave.h"
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//---------------------------------------------------------------
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void EtherCAT_slave_init(EtherCAT_slave_t *slave)
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{
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slave->type = 0;
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slave->revision = 0;
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slave->build = 0;
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slave->ring_position = 0;
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slave->station_address = 0;
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slave->vendor_id = 0;
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slave->product_code = 0;
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slave->revision_number = 0;
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slave->desc = NULL;
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slave->logical_address0 = 0;
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slave->current_state = EC_STATE_UNKNOWN;
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slave->requested_state = EC_STATE_UNKNOWN;
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}
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//---------------------------------------------------------------
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void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
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{
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// Nothing yet...
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}
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//---------------------------------------------------------------
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void EtherCAT_slave_print(EtherCAT_slave_t *slave)
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{
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}
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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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//---------------------------------------------------------------
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EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
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SIMPLE,
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NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
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NULL,
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0};
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EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
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SIMPLE,
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sm0_1014, NULL, NULL, NULL,
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fmmu0_1014,
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1};
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EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
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SIMPLE,
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sm0_2004, NULL, NULL, NULL,
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fmmu0_2004,
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1};
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EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
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MAILBOX,
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
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fmmu0_31xx,
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6};
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EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
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MAILBOX,
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
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fmmu0_31xx,
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6};
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EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
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MAILBOX,
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sm0_multi, sm1_multi, sm2_4102, NULL,
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fmmu0_4102,
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4};
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EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
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SIMPLE,
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NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
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NULL,
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0};
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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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