author | Florian Pose <fp@igh-essen.com> |
Wed, 19 Jul 2006 13:18:35 +0000 | |
changeset 307 | ffec9aae50a5 |
parent 290 | 57a4201cbb0f |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave descriptions. |
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\cond |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "globals.h" |
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#include "types.h" |
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/*****************************************************************************/ |
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const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}}; |
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const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}}; |
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/****************************************************************************** |
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* slave objects |
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*****************************************************************************/ |
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const ec_slave_type_t Beckhoff_EK1100 = { |
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"Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER, |
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{NULL} // no sync managers |
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}; |
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/*****************************************************************************/ |
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const ec_slave_type_t Beckhoff_EK1110 = { |
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"Beckhoff", "EK1110", "Extension terminal", EC_TYPE_INFRA, |
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{NULL} // no sync managers |
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}; |
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/*****************************************************************************/ |
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const ec_field_t bk1120_out = {"Outputs", 0}; // variable size |
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const ec_field_t bk1120_in = {"Inputs", 0}; // variable size |
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const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}}; |
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const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}}; |
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const ec_sync_t bk1120_sm2 = { // outputs |
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0x1000, 0, 0x24, // variable size |
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{&bk1120_out, NULL} |
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}; |
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const ec_sync_t bk1120_sm3 = { // inputs |
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0x1600, 0, 0x00, // variable size |
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{&bk1120_in, NULL} |
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}; |
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const ec_slave_type_t Beckhoff_BK1120 = { |
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"Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL, |
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{&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL} |
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}; |
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/*****************************************************************************/ |
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const ec_field_t el1004_in = {"InputValue", 1}; |
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const ec_sync_t el1004_sm0 = { // inputs |
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0x1000, 1, 0x00, |
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{&el1004_in, NULL} |
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}; |
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const ec_slave_type_t Beckhoff_EL1004 = { |
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"Beckhoff", "EL1004", "4x Digital Input, 3ms", EC_TYPE_NORMAL, |
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{&el1004_sm0, NULL} |
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}; |
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/*****************************************************************************/ |
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MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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const ec_field_t el1014_in = {"InputValue", 1}; |
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const ec_sync_t el1014_sm0 = { // inputs |
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0x1000, 1, 0x00, |
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{&el1014_in, NULL} |
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}; |
0 | 113 |
|
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const ec_slave_type_t Beckhoff_EL1014 = { |
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115 |
"Beckhoff", "EL1014", "4x Digital Input, 10us", EC_TYPE_NORMAL, |
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{&el1014_sm0, NULL} |
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|
117 |
}; |
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|
118 |
|
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119 |
/*****************************************************************************/ |
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120 |
|
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121 |
const ec_field_t el20XX_out = {"OutputValue", 1}; |
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|
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const ec_sync_t el20XX_sm0 = { |
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124 |
0x0F00, 1, 0x46, |
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125 |
{&el20XX_out, NULL} |
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|
126 |
}; |
0 | 127 |
|
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|
128 |
const ec_slave_type_t Beckhoff_EL2004 = { |
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|
129 |
"Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL, |
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130 |
{&el20XX_sm0, NULL} |
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|
131 |
}; |
0 | 132 |
|
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133 |
const ec_slave_type_t Beckhoff_EL2032 = { |
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|
134 |
"Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL, |
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|
135 |
{&el20XX_sm0, NULL} |
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|
136 |
}; |
0 | 137 |
|
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|
138 |
/*****************************************************************************/ |
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|
139 |
|
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140 |
const ec_field_t el31X2_st1 = {"Status", 1}; |
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|
141 |
const ec_field_t el31X2_ip1 = {"InputValue", 2}; |
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const ec_field_t el31X2_st2 = {"Status", 1}; |
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const ec_field_t el31X2_ip2 = {"InputValue", 2}; |
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|
144 |
|
153
32446a24c322
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|
145 |
const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}}; |
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|
146 |
|
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|
147 |
const ec_sync_t el31X2_sm3 = { |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
148 |
0x1100, 6, 0x20, |
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149 |
{&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL} |
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|
150 |
}; |
0 | 151 |
|
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|
152 |
const ec_slave_type_t Beckhoff_EL3102 = { |
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|
153 |
"Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL, |
76 | 154 |
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} |
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|
155 |
}; |
0 | 156 |
|
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|
157 |
const ec_slave_type_t Beckhoff_EL3162 = { |
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|
158 |
"Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL, |
76 | 159 |
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} |
73
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|
160 |
}; |
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|
161 |
|
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|
162 |
/*****************************************************************************/ |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
163 |
|
104
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|
164 |
const ec_field_t el41X2_op = {"OutputValue", 2}; |
73
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|
165 |
|
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|
166 |
const ec_sync_t el41X2_sm2 = { |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
167 |
0x1000, 4, 0x24, |
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|
168 |
{&el41X2_op, &el41X2_op, NULL} |
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|
169 |
}; |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
170 |
|
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|
171 |
const ec_slave_type_t Beckhoff_EL4102 = { |
145
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changeset
|
172 |
"Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL, |
73
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|
173 |
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} |
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|
174 |
}; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
175 |
|
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|
176 |
const ec_slave_type_t Beckhoff_EL4132 = { |
145
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changeset
|
177 |
"Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL, |
73
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|
178 |
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} |
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|
179 |
}; |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
180 |
|
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|
181 |
/*****************************************************************************/ |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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changeset
|
182 |
|
104
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|
183 |
const ec_field_t el5001_st = {"Status", 1}; |
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|
184 |
const ec_field_t el5001_ip = {"InputValue", 4}; |
73
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changeset
|
185 |
|
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
186 |
const ec_sync_t el5001_sm2 = { |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
187 |
0x1000, 4, 0x24, |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
188 |
{NULL} |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
189 |
}; |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
190 |
|
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|
191 |
const ec_sync_t el5001_sm3 = { |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
192 |
0x1100, 5, 0x20, |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
193 |
{&el5001_st, &el5001_ip, NULL} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
194 |
}; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
195 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
196 |
const ec_slave_type_t Beckhoff_EL5001 = { |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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changeset
|
197 |
"Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL, |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
198 |
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
199 |
}; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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changeset
|
200 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
201 |
/*****************************************************************************/ |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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changeset
|
202 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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|
203 |
const ec_field_t el5101_ct = {"Control", 1}; |
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MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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|
204 |
const ec_field_t el5101_op = {"OutputValue", 2}; |
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|
205 |
const ec_field_t el5101_st = {"Status", 1}; |
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|
206 |
const ec_field_t el5101_ip = {"InputValue", 2}; |
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|
207 |
const ec_field_t el5101_la = {"LatchValue", 2}; |
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const ec_sync_t el5101_sm2 = { |
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0x1000, 3, 0x24, |
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{&el5101_ct, &el5101_op, NULL} |
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}; |
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const ec_sync_t el5101_sm3 = { |
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0x1100, 5, 0x20, |
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{&el5101_st, &el5101_ip, &el5101_la, NULL} |
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}; |
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|
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const ec_slave_type_t Beckhoff_EL5101 = { |
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"Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL, |
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{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL} |
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}; |
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|
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/*****************************************************************************/ |
0 | 225 |
|
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const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}}; |
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const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}}; |
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|
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const ec_slave_type_t Beckhoff_EL6601 = { |
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"Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE, |
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{&el6601_sm0, &el6601_sm1, NULL, NULL, NULL} |
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}; |
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|
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/*****************************************************************************/ |
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const ec_field_t trlinenc2_st = {"Status", 1}; |
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const ec_field_t trlinenc2_ip = {"InputValue", 4}; |
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|
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const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}}; |
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const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}}; |
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const ec_sync_t trlinenc2_sm2 = {0x1000, 4, 0x24, {NULL}}; |
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|
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const ec_sync_t trlinenc2_sm3 = { |
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0x1100, 5, 0x20, |
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{&trlinenc2_st, &trlinenc2_ip, NULL} |
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}; |
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|
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const ec_slave_type_t TR_Electronic_LinEnc2 = { |
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"TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL, |
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{&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL} |
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}; |
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|
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/** \endcond */ |
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/*****************************************************************************/ |
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/** |
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Mapping between vendor IDs and product codes <=> slave objects. |
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*/ |
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|
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ec_slave_ident_t slave_idents[] = { |
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{0x00000002, 0x03EC3052, &Beckhoff_EL1004}, |
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{0x00000002, 0x03F63052, &Beckhoff_EL1014}, |
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{0x00000002, 0x044C2C52, &Beckhoff_EK1100}, |
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{0x00000002, 0x04562C52, &Beckhoff_EK1110}, |
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{0x00000002, 0x04602C22, &Beckhoff_BK1120}, |
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267 |
{0x00000002, 0x07D43052, &Beckhoff_EL2004}, |
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{0x00000002, 0x07F03052, &Beckhoff_EL2032}, |
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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}, |
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273 |
{0x00000002, 0x13893052, &Beckhoff_EL5001}, |
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274 |
{0x00000002, 0x13ED3052, &Beckhoff_EL5101}, |
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{0x00000002, 0x19C93052, &Beckhoff_EL6601}, |
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276 |
{0x000000D4, 0x00000017, &TR_Electronic_LinEnc2}, |
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277 |
{} |
0 | 278 |
}; |
279 |
||
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280 |
/*****************************************************************************/ |