--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/types.c	Tue Jan 17 18:28:15 2006 +0000
@@ -0,0 +1,186 @@
+/******************************************************************************
+ *
+ *  t y p e s . c
+ *
+ *  EtherCAT-Slave-Typen.
+ *
+ *  $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+
+#include "globals.h"
+#include "types.h"
+
+/*****************************************************************************/
+
+/* Konfigurationen der Sync-Manager */
+
+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_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
+
+/* Konfigurationen der Memory-Management-Units */
+
+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_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
+                              0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
+
+/*****************************************************************************/
+
+/* Lese- und Schreibfunktionen */
+
+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_41xx(unsigned char *data, unsigned int channel, int value)
+{
+  data[channel * 3 + 1] = (value & 0xFF00) >> 8;
+  data[channel * 3 + 2] = value & 0xFF;
+}
+
+/*****************************************************************************/
+
+/* Klemmen-Objekte */
+
+ec_slave_desc_t Beckhoff_EK1100[] =
+{{
+  "Beckhoff", "EK1100", "Bus Coupler",
+  EC_NOSYNC_SLAVE,
+  NULL, NULL, NULL, NULL,
+  NULL,
+  0, 0,
+  NULL, NULL
+}};
+
+ec_slave_desc_t Beckhoff_EL1014[] =
+{{
+  "Beckhoff", "EL1014", "4x Digital Input",
+  EC_SIMPLE_SLAVE,
+  sm0_1014, NULL, NULL, NULL,
+  fmmu0_1014,
+  1, 4,
+  read_1014, NULL
+}};
+
+ec_slave_desc_t Beckhoff_EL2004[] =
+{{
+  "Beckhoff", "EL2004", "4x Digital Output",
+  EC_SIMPLE_SLAVE,
+  sm0_2004, NULL, NULL, NULL,
+  fmmu0_2004,
+  1, 4,
+  NULL, write_2004
+}};
+
+ec_slave_desc_t Beckhoff_EL3102[] =
+{{
+  "Beckhoff", "EL3102", "2x Analog Input diff.",
+  EC_MAILBOX_SLAVE,
+  sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
+  fmmu0_31xx,
+  6, 2,
+  read_31xx, NULL
+}};
+
+ec_slave_desc_t Beckhoff_EL3162[] =
+{{
+  "Beckhoff", "EL3162", "2x Analog Input",
+  EC_MAILBOX_SLAVE,
+  sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
+  fmmu0_31xx,
+  6, 2,
+  read_31xx, NULL
+}};
+
+ec_slave_desc_t Beckhoff_EL4102[] =
+{{
+  "Beckhoff", "EL4102", "2x Analog Output",
+  EC_MAILBOX_SLAVE,
+  sm0_multi, sm1_multi, sm2_41xx, NULL,
+  fmmu0_41xx,
+  4, 2,
+  NULL, write_41xx
+}};
+
+ec_slave_desc_t Beckhoff_EL4132[] =
+{{
+  "Beckhoff", "EL4132", "2x Analog Output diff.",
+  EC_MAILBOX_SLAVE,
+  sm0_multi, sm1_multi, sm2_41xx, NULL,
+  fmmu0_41xx,
+  4, 2,
+  NULL, write_41xx
+}};
+
+ec_slave_desc_t Beckhoff_EL5001[] =
+{{
+  "Beckhoff", "EL5001", "SSI-Interface",
+  EC_SIMPLE_SLAVE,
+  NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
+  NULL,
+  0, 0,
+  NULL, NULL
+}};
+
+/*****************************************************************************/
+
+/**
+   Beziehung zwischen Identifikationsnummern und Klemmen-Objekt.
+
+   Diese Tabelle stellt die Beziehungen zwischen bestimmten Kombinationen
+   aus Vendor-IDs und Product-Codes und der entsprechenden Klemme her.
+   Neue Klemmen müssen hier eingetragen werden.
+*/
+
+ec_slave_ident_t 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, 0x10243052, Beckhoff_EL4132},
+  {0x00000002, 0x13893052, Beckhoff_EL5001}
+};
+
+unsigned int slave_ident_count = sizeof(slave_idents)
+     / sizeof(ec_slave_ident_t);
+
+
+/*****************************************************************************/