drivers/ec_types.c
author Florian Pose <fp@igh-essen.com>
Mon, 19 Dec 2005 08:13:11 +0000
changeset 39 6965c23a6826
parent 35 ed834aa98f89
permissions -rw-r--r--
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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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 *  $Id$
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include "ec_globals.h"
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#include "ec_types.h"
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/*****************************************************************************/
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/* Konfigurationen der Sync-Manager */
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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_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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/* Konfigurationen der Memory-Management-Units */
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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_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
0
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                              0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
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/*****************************************************************************/
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/* Lese- und Schreibfunktionen */
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0
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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_41xx(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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/* Klemmen-Objekte */
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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_41xx, NULL,
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  fmmu0_41xx,
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  4, 2,
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  NULL, write_41xx
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}};
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EtherCAT_slave_desc_t Beckhoff_EL4132[] =
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{{
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  "Beckhoff", "EL4132", "2x Analog Output diff.",
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  ECAT_ST_MAILBOX,
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  sm0_multi, sm1_multi, sm2_41xx, NULL,
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  fmmu0_41xx,
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  4, 2,
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  NULL, write_41xx
0
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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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/*****************************************************************************/
0
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/**
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   Beziehung zwischen Identifikationsnummern und Klemmen-Objekt.
0
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39
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   Diese Tabelle stellt die Beziehungen zwischen bestimmten Kombinationen
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   aus Vendor-IDs und Product-Codes und der entsprechenden Klemme her.
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   Neue Klemmen müssen hier eingetragen werden.
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*/
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EtherCAT_slave_ident_t slave_idents[] =
0
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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, 0x10243052, Beckhoff_EL4132},
0
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  {0x00000002, 0x13893052, Beckhoff_EL5001}
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};
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unsigned int slave_ident_count = sizeof(slave_idents)
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     / sizeof(EtherCAT_slave_ident_t);
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/*****************************************************************************/
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EXPORT_SYMBOL(Beckhoff_EK1100);
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EXPORT_SYMBOL(Beckhoff_EL1014);
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EXPORT_SYMBOL(Beckhoff_EL2004);
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EXPORT_SYMBOL(Beckhoff_EL3102);
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EXPORT_SYMBOL(Beckhoff_EL3162);
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EXPORT_SYMBOL(Beckhoff_EL4102);
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EXPORT_SYMBOL(Beckhoff_EL4132);
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EXPORT_SYMBOL(Beckhoff_EL5001);
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/*****************************************************************************/