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1 /****************************************************************************** |
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2 * |
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3 * t y p e s . c |
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4 * |
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5 * EtherCAT-Slave-Typen. |
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6 * |
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7 * $Id$ |
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8 * |
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9 *****************************************************************************/ |
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10 |
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11 #include <linux/module.h> |
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12 |
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13 #include "globals.h" |
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14 #include "types.h" |
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15 |
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16 /*****************************************************************************/ |
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17 |
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18 /* Konfigurationen der Sync-Manager */ |
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19 |
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20 unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00}; |
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21 unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00}; |
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22 |
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23 unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00}; |
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24 |
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25 unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00}; |
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26 |
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27 unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00}; |
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28 unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00}; |
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29 |
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30 unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00}; |
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31 |
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32 /* Konfigurationen der Memory-Management-Units */ |
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33 |
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34 unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07, |
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35 0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; |
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36 |
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37 unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07, |
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38 0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}; |
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39 |
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40 unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07, |
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41 0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; |
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42 |
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43 unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07, |
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44 0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}; |
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45 |
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46 /*****************************************************************************/ |
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47 |
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48 /* Lese- und Schreibfunktionen */ |
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49 |
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50 int read_1014(unsigned char *data, unsigned int channel) |
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51 { |
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52 return (data[0] >> channel) & 0x01; |
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53 } |
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54 |
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55 void write_2004(unsigned char *data, unsigned int channel, int value) |
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56 { |
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57 if (value) { |
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58 data[0] |= (1 << channel); |
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59 } |
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60 else { |
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61 data[0] &= ~(1 << channel); |
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62 } |
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63 } |
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64 |
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65 int read_31xx(unsigned char *data, unsigned int channel) |
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66 { |
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67 return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]); |
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68 } |
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69 |
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70 void write_41xx(unsigned char *data, unsigned int channel, int value) |
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71 { |
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72 data[channel * 3 + 1] = (value & 0xFF00) >> 8; |
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73 data[channel * 3 + 2] = value & 0xFF; |
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74 } |
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75 |
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76 /*****************************************************************************/ |
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77 |
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78 /* Klemmen-Objekte */ |
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79 |
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80 ec_slave_desc_t Beckhoff_EK1100[] = |
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81 {{ |
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82 "Beckhoff", "EK1100", "Bus Coupler", |
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83 EC_NOSYNC_SLAVE, |
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84 NULL, NULL, NULL, NULL, |
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85 NULL, |
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86 0, 0, |
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87 NULL, NULL |
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88 }}; |
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89 |
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90 ec_slave_desc_t Beckhoff_EL1014[] = |
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91 {{ |
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92 "Beckhoff", "EL1014", "4x Digital Input", |
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93 EC_SIMPLE_SLAVE, |
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94 sm0_1014, NULL, NULL, NULL, |
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95 fmmu0_1014, |
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96 1, 4, |
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97 read_1014, NULL |
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98 }}; |
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99 |
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100 ec_slave_desc_t Beckhoff_EL2004[] = |
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101 {{ |
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102 "Beckhoff", "EL2004", "4x Digital Output", |
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103 EC_SIMPLE_SLAVE, |
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104 sm0_2004, NULL, NULL, NULL, |
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105 fmmu0_2004, |
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106 1, 4, |
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107 NULL, write_2004 |
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108 }}; |
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109 |
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110 ec_slave_desc_t Beckhoff_EL3102[] = |
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111 {{ |
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112 "Beckhoff", "EL3102", "2x Analog Input diff.", |
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113 EC_MAILBOX_SLAVE, |
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114 sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, |
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115 fmmu0_31xx, |
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116 6, 2, |
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117 read_31xx, NULL |
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118 }}; |
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119 |
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120 ec_slave_desc_t Beckhoff_EL3162[] = |
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121 {{ |
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122 "Beckhoff", "EL3162", "2x Analog Input", |
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123 EC_MAILBOX_SLAVE, |
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124 sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, |
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125 fmmu0_31xx, |
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126 6, 2, |
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127 read_31xx, NULL |
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128 }}; |
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129 |
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130 ec_slave_desc_t Beckhoff_EL4102[] = |
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131 {{ |
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132 "Beckhoff", "EL4102", "2x Analog Output", |
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133 EC_MAILBOX_SLAVE, |
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134 sm0_multi, sm1_multi, sm2_41xx, NULL, |
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135 fmmu0_41xx, |
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136 4, 2, |
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137 NULL, write_41xx |
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138 }}; |
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139 |
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140 ec_slave_desc_t Beckhoff_EL4132[] = |
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141 {{ |
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142 "Beckhoff", "EL4132", "2x Analog Output diff.", |
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143 EC_MAILBOX_SLAVE, |
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144 sm0_multi, sm1_multi, sm2_41xx, NULL, |
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145 fmmu0_41xx, |
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146 4, 2, |
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147 NULL, write_41xx |
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148 }}; |
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149 |
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150 ec_slave_desc_t Beckhoff_EL5001[] = |
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151 {{ |
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152 "Beckhoff", "EL5001", "SSI-Interface", |
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153 EC_SIMPLE_SLAVE, |
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154 NULL, NULL, NULL, NULL, // Noch nicht eingepflegt... |
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155 NULL, |
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156 0, 0, |
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157 NULL, NULL |
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158 }}; |
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159 |
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160 /*****************************************************************************/ |
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161 |
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162 /** |
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163 Beziehung zwischen Identifikationsnummern und Klemmen-Objekt. |
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164 |
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165 Diese Tabelle stellt die Beziehungen zwischen bestimmten Kombinationen |
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166 aus Vendor-IDs und Product-Codes und der entsprechenden Klemme her. |
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167 Neue Klemmen müssen hier eingetragen werden. |
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168 */ |
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169 |
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170 ec_slave_ident_t slave_idents[] = |
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171 { |
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172 {0x00000002, 0x03F63052, Beckhoff_EL1014}, |
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173 {0x00000002, 0x044C2C52, Beckhoff_EK1100}, |
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174 {0x00000002, 0x07D43052, Beckhoff_EL2004}, |
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175 {0x00000002, 0x0C1E3052, Beckhoff_EL3102}, |
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176 {0x00000002, 0x0C5A3052, Beckhoff_EL3162}, |
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177 {0x00000002, 0x10063052, Beckhoff_EL4102}, |
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178 {0x00000002, 0x10243052, Beckhoff_EL4132}, |
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179 {0x00000002, 0x13893052, Beckhoff_EL5001} |
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180 }; |
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181 |
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182 unsigned int slave_ident_count = sizeof(slave_idents) |
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183 / sizeof(ec_slave_ident_t); |
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184 |
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185 |
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186 /*****************************************************************************/ |