1 /****************************************************************

     2  *

     3  *  e c _ t y p e s . c

     4  *

     5  *  EtherCAT-Slave-Typen.

     6  *

     7  *  $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $

     8  *  $Author: fp $

     9  *

    10  ***************************************************************/

    11 

    12 #include "ec_globals.h"

    13 #include "ec_types.h"

    14 

    15 /***************************************************************/

    16 

    17 unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};

    18 unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};

    19 

    20 unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};

    21 

    22 unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};

    23 

    24 unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};

    25 unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};

    26 

    27 unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};

    28 

    29 

    30 unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,

    31                               0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};

    32 

    33 unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,

    34                               0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};

    35 

    36 unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,

    37                               0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};

    38 

    39 unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,

    40                               0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};

    41 

    42 int read_1014(unsigned char *data, unsigned int channel)

    43 {

    44   return (data[0] >> channel) & 0x01;

    45 }

    46 

    47 void write_2004(unsigned char *data, unsigned int channel, int value)

    48 {

    49   if (value)

    50   {

    51     data[0] |= (1 << channel);

    52   }

    53   else

    54   {

    55     data[0] &= ~(1 << channel);

    56   }

    57 }

    58 

    59 int read_31xx(unsigned char *data, unsigned int channel)

    60 {

    61   return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);

    62 }

    63 

    64 void write_4102(unsigned char *data, unsigned int channel, int value)

    65 {

    66   data[channel * 3 + 1] = (value & 0xFF00) >> 8;

    67   data[channel * 3 + 2] = value & 0xFF;

    68 }

    69 

    70 /***************************************************************/

    71 

    72 EtherCAT_slave_desc_t Beckhoff_EK1100[] =

    73 {{

    74   "Beckhoff", "EK1100", "Bus Coupler",

    75   ECAT_ST_SIMPLE_NOSYNC,

    76   NULL, NULL, NULL, NULL,

    77   NULL,

    78   0, 0,

    79   NULL, NULL

    80 }};

    81 

    82 EtherCAT_slave_desc_t Beckhoff_EL1014[] =

    83 {{

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

    85   ECAT_ST_SIMPLE,

    86   sm0_1014, NULL, NULL, NULL,

    87   fmmu0_1014,

    88   1, 4,

    89   read_1014, NULL

    90 }};

    91 

    92 EtherCAT_slave_desc_t Beckhoff_EL2004[] =

    93 {{

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

    95   ECAT_ST_SIMPLE,

    96   sm0_2004, NULL, NULL, NULL,

    97   fmmu0_2004,

    98   1, 4,

    99   NULL, write_2004

   100 }};

   101 

   102 EtherCAT_slave_desc_t Beckhoff_EL3102[] =

   103 {{

   104   "Beckhoff", "EL3102", "2x Analog Input Diff",

   105   ECAT_ST_MAILBOX,

   106   sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,

   107   fmmu0_31xx,

   108   6, 2,

   109   read_31xx, NULL

   110 }};

   111 

   112 EtherCAT_slave_desc_t Beckhoff_EL3162[] =

   113 {{

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

   115   ECAT_ST_MAILBOX,

   116   sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,

   117   fmmu0_31xx,

   118   6, 2,

   119   read_31xx, NULL

   120 }};

   121 

   122 EtherCAT_slave_desc_t Beckhoff_EL4102[] =

   123 {{

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

   125   ECAT_ST_MAILBOX,

   126   sm0_multi, sm1_multi, sm2_4102, NULL,

   127   fmmu0_4102,

   128   4, 2,

   129   NULL, write_4102

   130 }};

   131 

   132 EtherCAT_slave_desc_t Beckhoff_EL5001[] =

   133 {{

   134   "Beckhoff", "EL5001", "SSI-Interface",

   135   ECAT_ST_SIMPLE,

   136   NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...

   137   NULL,

   138   0, 0,

   139   NULL, NULL

   140 }};

   141 

   142 /***************************************************************/

   143 

   144 unsigned int slave_idents_count = 7;

   145 

   146 struct slave_ident slave_idents[] = 

   147 {

   148   {0x00000002, 0x03F63052, Beckhoff_EL1014},

   149   {0x00000002, 0x044C2C52, Beckhoff_EK1100},

   150   {0x00000002, 0x07D43052, Beckhoff_EL2004},

   151   {0x00000002, 0x0C1E3052, Beckhoff_EL3102},

   152   {0x00000002, 0x0C5A3052, Beckhoff_EL3162},

   153   {0x00000002, 0x10063052, Beckhoff_EL4102},

   154   {0x00000002, 0x13893052, Beckhoff_EL5001}

   155 };

   156 

   157 /***************************************************************/