| author | Florian Pose <fp@igh-essen.com> |
| Fri, 23 Dec 2005 08:20:10 +0000 | |
| changeset 40 | d07ebafe62dd |
| parent 39 | 6965c23a6826 |
| permissions | -rw-r--r-- |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
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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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likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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* $Id$ |
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* |
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likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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*****************************************************************************/ |
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parents:
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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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Florian Pose <fp@igh-essen.com>
parents:
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/*****************************************************************************/ |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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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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Florian Pose <fp@igh-essen.com>
parents:
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unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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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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Florian Pose <fp@igh-essen.com>
parents:
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unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}; |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
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/*****************************************************************************/ |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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/* Lese- und Schreibfunktionen */ |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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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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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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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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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
|
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/*****************************************************************************/ |
|
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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changeset
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/* Klemmen-Objekte */ |
| 0 | 81 |
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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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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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"Beckhoff", "EL3102", "2x Analog Input diff.", |
| 0 | 115 |
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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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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136 |
sm0_multi, sm1_multi, sm2_41xx, NULL, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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fmmu0_41xx, |
| 0 | 138 |
4, 2, |
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ed834aa98f89
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parents:
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NULL, write_41xx |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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140 |
}}; |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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141 |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
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parents:
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EtherCAT_slave_desc_t Beckhoff_EL4132[] = |
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ed834aa98f89
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parents:
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{{
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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144 |
"Beckhoff", "EL4132", "2x Analog Output diff.", |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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changeset
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145 |
ECAT_ST_MAILBOX, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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146 |
sm0_multi, sm1_multi, sm2_41xx, NULL, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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147 |
fmmu0_41xx, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
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parents:
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148 |
4, 2, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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NULL, write_41xx |
| 0 | 150 |
}}; |
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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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161 |
||
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39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
|
162 |
/*****************************************************************************/ |
| 0 | 163 |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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164 |
/** |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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Beziehung zwischen Identifikationsnummern und Klemmen-Objekt. |
| 0 | 166 |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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167 |
Diese Tabelle stellt die Beziehungen zwischen bestimmten Kombinationen |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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168 |
aus Vendor-IDs und Product-Codes und der entsprechenden Klemme her. |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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169 |
Neue Klemmen müssen hier eingetragen werden. |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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170 |
*/ |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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changeset
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171 |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
|
172 |
EtherCAT_slave_ident_t slave_idents[] = |
| 0 | 173 |
{
|
174 |
{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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parents:
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{0x00000002, 0x10243052, Beckhoff_EL4132},
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| 0 | 181 |
{0x00000002, 0x13893052, Beckhoff_EL5001}
|
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}; |
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||
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likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
diff
changeset
|
184 |
unsigned int slave_ident_count = sizeof(slave_idents) |
|
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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185 |
/ sizeof(EtherCAT_slave_ident_t); |
|
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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parents:
35
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186 |
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likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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parents:
35
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187 |
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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|
188 |
/*****************************************************************************/ |
|
24
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Florian Pose <fp@igh-essen.com>
parents:
23
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|
189 |
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Wilhelms ?nderungen ?bernommen.
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parents:
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|
190 |
EXPORT_SYMBOL(Beckhoff_EK1100); |
|
d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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|
191 |
EXPORT_SYMBOL(Beckhoff_EL1014); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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192 |
EXPORT_SYMBOL(Beckhoff_EL2004); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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193 |
EXPORT_SYMBOL(Beckhoff_EL3102); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
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|
194 |
EXPORT_SYMBOL(Beckhoff_EL3162); |
|
d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
diff
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|
195 |
EXPORT_SYMBOL(Beckhoff_EL4102); |
|
35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
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|
196 |
EXPORT_SYMBOL(Beckhoff_EL4132); |
|
24
d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
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|
197 |
EXPORT_SYMBOL(Beckhoff_EL5001); |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
35
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198 |
|
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6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
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|
199 |
/*****************************************************************************/ |