--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ec_types.c	Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,157 @@
+/****************************************************************
+ *
+ *  e c _ t y p e s . c
+ *
+ *  EtherCAT-Slave-Typen.
+ *
+ *  $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $
+ *  $Author: fp $
+ *
+ ***************************************************************/
+
+#include "ec_globals.h"
+#include "ec_types.h"
+
+/***************************************************************/
+
+unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
+unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
+
+unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
+
+unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
+
+unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
+unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
+
+unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
+
+
+unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
+                              0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
+
+unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
+                              0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
+
+unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
+                              0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
+
+unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
+                              0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
+
+int read_1014(unsigned char *data, unsigned int channel)
+{
+  return (data[0] >> channel) & 0x01;
+}
+
+void write_2004(unsigned char *data, unsigned int channel, int value)
+{
+  if (value)
+  {
+    data[0] |= (1 << channel);
+  }
+  else
+  {
+    data[0] &= ~(1 << channel);
+  }
+}
+
+int read_31xx(unsigned char *data, unsigned int channel)
+{
+  return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
+}
+
+void write_4102(unsigned char *data, unsigned int channel, int value)
+{
+  data[channel * 3 + 1] = (value & 0xFF00) >> 8;
+  data[channel * 3 + 2] = value & 0xFF;
+}
+
+/***************************************************************/
+
+EtherCAT_slave_desc_t Beckhoff_EK1100[] =
+{{
+  "Beckhoff", "EK1100", "Bus Coupler",
+  ECAT_ST_SIMPLE_NOSYNC,
+  NULL, NULL, NULL, NULL,
+  NULL,
+  0, 0,
+  NULL, NULL
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL1014[] =
+{{
+  "Beckhoff", "EL1014", "4x Digital Input",
+  ECAT_ST_SIMPLE,
+  sm0_1014, NULL, NULL, NULL,
+  fmmu0_1014,
+  1, 4,
+  read_1014, NULL
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL2004[] =
+{{
+  "Beckhoff", "EL2004", "4x Digital Output",
+  ECAT_ST_SIMPLE,
+  sm0_2004, NULL, NULL, NULL,
+  fmmu0_2004,
+  1, 4,
+  NULL, write_2004
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL3102[] =
+{{
+  "Beckhoff", "EL3102", "2x Analog Input Diff",
+  ECAT_ST_MAILBOX,
+  sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
+  fmmu0_31xx,
+  6, 2,
+  read_31xx, NULL
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL3162[] =
+{{
+  "Beckhoff", "EL3162", "2x Analog Input",
+  ECAT_ST_MAILBOX,
+  sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
+  fmmu0_31xx,
+  6, 2,
+  read_31xx, NULL
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL4102[] =
+{{
+  "Beckhoff", "EL4102", "2x Analog Output",
+  ECAT_ST_MAILBOX,
+  sm0_multi, sm1_multi, sm2_4102, NULL,
+  fmmu0_4102,
+  4, 2,
+  NULL, write_4102
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL5001[] =
+{{
+  "Beckhoff", "EL5001", "SSI-Interface",
+  ECAT_ST_SIMPLE,
+  NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
+  NULL,
+  0, 0,
+  NULL, NULL
+}};
+
+/***************************************************************/
+
+unsigned int slave_idents_count = 7;
+
+struct slave_ident slave_idents[] = 
+{
+  {0x00000002, 0x03F63052, Beckhoff_EL1014},
+  {0x00000002, 0x044C2C52, Beckhoff_EK1100},
+  {0x00000002, 0x07D43052, Beckhoff_EL2004},
+  {0x00000002, 0x0C1E3052, Beckhoff_EL3102},
+  {0x00000002, 0x0C5A3052, Beckhoff_EL3162},
+  {0x00000002, 0x10063052, Beckhoff_EL4102},
+  {0x00000002, 0x13893052, Beckhoff_EL5001}
+};
+
+/***************************************************************/