1 /****************************************************************************** |
|
2 * |
|
3 * $Id$ |
|
4 * |
|
5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
|
6 * |
|
7 * This file is part of the IgH EtherCAT Master. |
|
8 * |
|
9 * The IgH EtherCAT Master is free software; you can redistribute it |
|
10 * and/or modify it under the terms of the GNU General Public License |
|
11 * as published by the Free Software Foundation; either version 2 of the |
|
12 * License, or (at your option) any later version. |
|
13 * |
|
14 * The IgH EtherCAT Master is distributed in the hope that it will be |
|
15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
17 * GNU General Public License for more details. |
|
18 * |
|
19 * You should have received a copy of the GNU General Public License |
|
20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
|
21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
22 * |
|
23 * The right to use EtherCAT Technology is granted and comes free of |
|
24 * charge under condition of compatibility of product made by |
|
25 * Licensee. People intending to distribute/sell products based on the |
|
26 * code, have to sign an agreement to guarantee that products using |
|
27 * software based on IgH EtherCAT master stay compatible with the actual |
|
28 * EtherCAT specification (which are released themselves as an open |
|
29 * standard) as the (only) precondition to have the right to use EtherCAT |
|
30 * Technology, IP and trade marks. |
|
31 * |
|
32 *****************************************************************************/ |
|
33 |
|
34 /** |
|
35 \file |
|
36 EtherCAT slave descriptions. |
|
37 \cond |
|
38 */ |
|
39 |
|
40 /*****************************************************************************/ |
|
41 |
|
42 #include <linux/module.h> |
|
43 |
|
44 #include "globals.h" |
|
45 #include "types.h" |
|
46 |
|
47 /*****************************************************************************/ |
|
48 |
|
49 const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}}; |
|
50 const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}}; |
|
51 |
|
52 /****************************************************************************** |
|
53 * slave objects |
|
54 *****************************************************************************/ |
|
55 |
|
56 const ec_slave_type_t Beckhoff_EK1100 = { |
|
57 "Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER, |
|
58 {NULL} // no sync managers |
|
59 }; |
|
60 |
|
61 /*****************************************************************************/ |
|
62 |
|
63 const ec_slave_type_t Beckhoff_EK1110 = { |
|
64 "Beckhoff", "EK1110", "Extension terminal", EC_TYPE_INFRA, |
|
65 {NULL} // no sync managers |
|
66 }; |
|
67 |
|
68 /*****************************************************************************/ |
|
69 |
|
70 const ec_field_t bk1120_out = {"Outputs", 0}; // variable size |
|
71 const ec_field_t bk1120_in = {"Inputs", 0}; // variable size |
|
72 |
|
73 const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}}; |
|
74 const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}}; |
|
75 |
|
76 const ec_sync_t bk1120_sm2 = { // outputs |
|
77 0x1000, 0, 0x24, // variable size |
|
78 {&bk1120_out, NULL} |
|
79 }; |
|
80 |
|
81 const ec_sync_t bk1120_sm3 = { // inputs |
|
82 0x1600, 0, 0x00, // variable size |
|
83 {&bk1120_in, NULL} |
|
84 }; |
|
85 |
|
86 const ec_slave_type_t Beckhoff_BK1120 = { |
|
87 "Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL, |
|
88 {&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL} |
|
89 }; |
|
90 |
|
91 /*****************************************************************************/ |
|
92 |
|
93 const ec_field_t el1004_in = {"InputValue", 1}; |
|
94 |
|
95 const ec_sync_t el1004_sm0 = { // inputs |
|
96 0x1000, 1, 0x00, |
|
97 {&el1004_in, NULL} |
|
98 }; |
|
99 |
|
100 const ec_slave_type_t Beckhoff_EL1004 = { |
|
101 "Beckhoff", "EL1004", "4x Digital Input, 3ms", EC_TYPE_NORMAL, |
|
102 {&el1004_sm0, NULL} |
|
103 }; |
|
104 |
|
105 /*****************************************************************************/ |
|
106 |
|
107 const ec_field_t el1014_in = {"InputValue", 1}; |
|
108 |
|
109 const ec_sync_t el1014_sm0 = { // inputs |
|
110 0x1000, 1, 0x00, |
|
111 {&el1014_in, NULL} |
|
112 }; |
|
113 |
|
114 const ec_slave_type_t Beckhoff_EL1014 = { |
|
115 "Beckhoff", "EL1014", "4x Digital Input, 10us", EC_TYPE_NORMAL, |
|
116 {&el1014_sm0, NULL} |
|
117 }; |
|
118 |
|
119 /*****************************************************************************/ |
|
120 |
|
121 const ec_field_t el20XX_out = {"OutputValue", 1}; |
|
122 |
|
123 const ec_sync_t el20XX_sm0 = { |
|
124 0x0F00, 1, 0x46, |
|
125 {&el20XX_out, NULL} |
|
126 }; |
|
127 |
|
128 const ec_slave_type_t Beckhoff_EL2004 = { |
|
129 "Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL, |
|
130 {&el20XX_sm0, NULL} |
|
131 }; |
|
132 |
|
133 const ec_slave_type_t Beckhoff_EL2032 = { |
|
134 "Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL, |
|
135 {&el20XX_sm0, NULL} |
|
136 }; |
|
137 |
|
138 /*****************************************************************************/ |
|
139 |
|
140 const ec_field_t el31X2_st1 = {"Status", 1}; |
|
141 const ec_field_t el31X2_ip1 = {"InputValue", 2}; |
|
142 const ec_field_t el31X2_st2 = {"Status", 1}; |
|
143 const ec_field_t el31X2_ip2 = {"InputValue", 2}; |
|
144 |
|
145 const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}}; |
|
146 |
|
147 const ec_sync_t el31X2_sm3 = { |
|
148 0x1100, 6, 0x20, |
|
149 {&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL} |
|
150 }; |
|
151 |
|
152 const ec_slave_type_t Beckhoff_EL3102 = { |
|
153 "Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL, |
|
154 {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} |
|
155 }; |
|
156 |
|
157 const ec_slave_type_t Beckhoff_EL3162 = { |
|
158 "Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL, |
|
159 {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} |
|
160 }; |
|
161 |
|
162 /*****************************************************************************/ |
|
163 |
|
164 const ec_field_t el41X2_op = {"OutputValue", 2}; |
|
165 |
|
166 const ec_sync_t el41X2_sm2 = { |
|
167 0x1000, 4, 0x24, |
|
168 {&el41X2_op, &el41X2_op, NULL} |
|
169 }; |
|
170 |
|
171 const ec_slave_type_t Beckhoff_EL4102 = { |
|
172 "Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL, |
|
173 {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} |
|
174 }; |
|
175 |
|
176 const ec_slave_type_t Beckhoff_EL4132 = { |
|
177 "Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL, |
|
178 {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} |
|
179 }; |
|
180 |
|
181 /*****************************************************************************/ |
|
182 |
|
183 const ec_field_t el5001_st = {"Status", 1}; |
|
184 const ec_field_t el5001_ip = {"InputValue", 4}; |
|
185 |
|
186 const ec_sync_t el5001_sm2 = { |
|
187 0x1000, 4, 0x24, |
|
188 {NULL} |
|
189 }; |
|
190 |
|
191 const ec_sync_t el5001_sm3 = { |
|
192 0x1100, 5, 0x20, |
|
193 {&el5001_st, &el5001_ip, NULL} |
|
194 }; |
|
195 |
|
196 const ec_slave_type_t Beckhoff_EL5001 = { |
|
197 "Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL, |
|
198 {&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL} |
|
199 }; |
|
200 |
|
201 /*****************************************************************************/ |
|
202 |
|
203 const ec_field_t el5101_ct = {"Control", 1}; |
|
204 const ec_field_t el5101_op = {"OutputValue", 2}; |
|
205 const ec_field_t el5101_st = {"Status", 1}; |
|
206 const ec_field_t el5101_ip = {"InputValue", 2}; |
|
207 const ec_field_t el5101_la = {"LatchValue", 2}; |
|
208 |
|
209 const ec_sync_t el5101_sm2 = { |
|
210 0x1000, 3, 0x24, |
|
211 {&el5101_ct, &el5101_op, NULL} |
|
212 }; |
|
213 |
|
214 const ec_sync_t el5101_sm3 = { |
|
215 0x1100, 5, 0x20, |
|
216 {&el5101_st, &el5101_ip, &el5101_la, NULL} |
|
217 }; |
|
218 |
|
219 const ec_slave_type_t Beckhoff_EL5101 = { |
|
220 "Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL, |
|
221 {&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL} |
|
222 }; |
|
223 |
|
224 /*****************************************************************************/ |
|
225 |
|
226 const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}}; |
|
227 const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}}; |
|
228 |
|
229 const ec_slave_type_t Beckhoff_EL6601 = { |
|
230 "Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE, |
|
231 {&el6601_sm0, &el6601_sm1, NULL, NULL, NULL} |
|
232 }; |
|
233 |
|
234 /*****************************************************************************/ |
|
235 |
|
236 const ec_field_t trlinenc2_st = {"Status", 1}; |
|
237 const ec_field_t trlinenc2_ip = {"InputValue", 4}; |
|
238 |
|
239 const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}}; |
|
240 const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}}; |
|
241 const ec_sync_t trlinenc2_sm2 = {0x1000, 4, 0x24, {NULL}}; |
|
242 |
|
243 const ec_sync_t trlinenc2_sm3 = { |
|
244 0x1100, 5, 0x20, |
|
245 {&trlinenc2_st, &trlinenc2_ip, NULL} |
|
246 }; |
|
247 |
|
248 const ec_slave_type_t TR_Electronic_LinEnc2 = { |
|
249 "TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL, |
|
250 {&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL} |
|
251 }; |
|
252 |
|
253 /** \endcond */ |
|
254 |
|
255 /*****************************************************************************/ |
|
256 |
|
257 /** |
|
258 Mapping between vendor IDs and product codes <=> slave objects. |
|
259 */ |
|
260 |
|
261 ec_slave_ident_t slave_idents[] = { |
|
262 {0x00000002, 0x03EC3052, &Beckhoff_EL1004}, |
|
263 {0x00000002, 0x03F63052, &Beckhoff_EL1014}, |
|
264 {0x00000002, 0x044C2C52, &Beckhoff_EK1100}, |
|
265 {0x00000002, 0x04562C52, &Beckhoff_EK1110}, |
|
266 {0x00000002, 0x04602C22, &Beckhoff_BK1120}, |
|
267 {0x00000002, 0x07D43052, &Beckhoff_EL2004}, |
|
268 {0x00000002, 0x07F03052, &Beckhoff_EL2032}, |
|
269 {0x00000002, 0x0C1E3052, &Beckhoff_EL3102}, |
|
270 {0x00000002, 0x0C5A3052, &Beckhoff_EL3162}, |
|
271 {0x00000002, 0x10063052, &Beckhoff_EL4102}, |
|
272 {0x00000002, 0x10243052, &Beckhoff_EL4132}, |
|
273 {0x00000002, 0x13893052, &Beckhoff_EL5001}, |
|
274 {0x00000002, 0x13ED3052, &Beckhoff_EL5101}, |
|
275 {0x00000002, 0x19C93052, &Beckhoff_EL6601}, |
|
276 {0x000000D4, 0x00000017, &TR_Electronic_LinEnc2}, |
|
277 {} |
|
278 }; |
|
279 |
|
280 /*****************************************************************************/ |
|