1 //---------------------------------------------------------------

     2 //

     3 //  e c _ s l a v e . h

     4 //

     5 //  $LastChangedDate$

     6 //  $Author$

     7 //

     8 //---------------------------------------------------------------

     9 

    10 #define SIMPLE 0

    11 #define MAILBOX 1

    12 

    13 //---------------------------------------------------------------

    14 

    15 typedef struct slave_desc EtherCAT_slave_desc_t;

    16 

    17 typedef struct

    18 {

    19   // Base data

    20   unsigned char type;

    21   unsigned char revision;

    22   unsigned short build;

    23 

    24   // Addresses

    25   short ring_position;

    26   unsigned short station_address;

    27 

    28   // Slave information interface

    29   unsigned int vendor_id;

    30   unsigned int product_code;

    31   unsigned int revision_number;

    32 

    33   const EtherCAT_slave_desc_t *desc;

    34 

    35   unsigned int logical_address0;

    36 

    37   unsigned int current_state;

    38   unsigned int requested_state;

    39 

    40   unsigned char *process_data;

    41 }

    42 EtherCAT_slave_t;

    43 

    44 #define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}

    45 

    46 //---------------------------------------------------------------

    47 

    48 // Slave construction and deletion

    49 void EtherCAT_slave_init(EtherCAT_slave_t *);

    50 void EtherCAT_slave_clear(EtherCAT_slave_t *);

    51 

    52 // Debug

    53 void EtherCAT_slave_print(EtherCAT_slave_t *);

    54 

    55 //---------------------------------------------------------------

    56 

    57 typedef struct slave_desc

    58 {

    59   const char *vendor_name;

    60   const char *product_name;

    61   const char *product_desc;

    62 

    63   const int type;

    64 

    65   const unsigned char *sm0;

    66   const unsigned char *sm1;

    67   const unsigned char *sm2;

    68   const unsigned char *sm3;

    69 

    70   const unsigned char *fmmu0;

    71 

    72   const unsigned int data_length;

    73 }

    74 EtherCAT_slave_desc_t;

    75 

    76 extern EtherCAT_slave_desc_t Beckhoff_EK1100[];

    77 extern EtherCAT_slave_desc_t Beckhoff_EL1014[];

    78 extern EtherCAT_slave_desc_t Beckhoff_EL2004[];

    79 extern EtherCAT_slave_desc_t Beckhoff_EL3102[];

    80 extern EtherCAT_slave_desc_t Beckhoff_EL3162[];

    81 extern EtherCAT_slave_desc_t Beckhoff_EL4102[];

    82 extern EtherCAT_slave_desc_t Beckhoff_EL5001[];

    83 

    84 //---------------------------------------------------------------

    85 

    86 struct slave_ident

    87 {

    88   const unsigned int vendor_id;

    89   const unsigned int product_code;

    90   const EtherCAT_slave_desc_t *desc;

    91 };

    92 

    93 extern struct slave_ident slave_idents[];

    94 extern unsigned int slave_idents_count;

    95 

    96 //---------------------------------------------------------------