/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT slave descriptions.
\cond
*/
/*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "types.h"
/*****************************************************************************/
const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}};
const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}};
/******************************************************************************
* slave objects
*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1100 = {
"Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER,
{NULL} // no sync managers
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1110 = {
"Beckhoff", "EK1110", "Extension terminal", EC_TYPE_NORMAL,
{NULL} // no sync managers
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_BK1120 = {
"Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL,
{NULL} // no sync managers
};
/*****************************************************************************/
const ec_field_t el1014_in = {"InputValue", 1};
const ec_sync_t el1014_sm0 = { // inputs
0x1000, 1, 0x00,
{&el1014_in, NULL}
};
const ec_slave_type_t Beckhoff_EL1014 = {
"Beckhoff", "EL1014", "4x Digital Input", EC_TYPE_NORMAL,
{&el1014_sm0, NULL}
};
/*****************************************************************************/
const ec_field_t el20XX_out = {"OutputValue", 1};
const ec_sync_t el20XX_sm0 = {
0x0F00, 1, 0x46,
{&el20XX_out, NULL}
};
const ec_slave_type_t Beckhoff_EL2004 = {
"Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
const ec_slave_type_t Beckhoff_EL2032 = {
"Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
/*****************************************************************************/
const ec_field_t el31X2_st1 = {"Status", 1};
const ec_field_t el31X2_ip1 = {"InputValue", 2};
const ec_field_t el31X2_st2 = {"Status", 1};
const ec_field_t el31X2_ip2 = {"InputValue", 2};
const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}};
const ec_sync_t el31X2_sm3 = {
0x1100, 6, 0x20,
{&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL}
};
const ec_slave_type_t Beckhoff_EL3102 = {
"Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
const ec_slave_type_t Beckhoff_EL3162 = {
"Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
/*****************************************************************************/
const ec_field_t el41X2_op = {"OutputValue", 2};
const ec_sync_t el41X2_sm2 = {
0x1000, 4, 0x24,
{&el41X2_op, &el41X2_op, NULL}
};
const ec_slave_type_t Beckhoff_EL4102 = {
"Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
const ec_slave_type_t Beckhoff_EL4132 = {
"Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
/*****************************************************************************/
const ec_field_t el5001_st = {"Status", 1};
const ec_field_t el5001_ip = {"InputValue", 4};
const ec_sync_t el5001_sm2 = {
0x1000, 4, 0x24,
{NULL}
};
const ec_sync_t el5001_sm3 = {
0x1100, 5, 0x20,
{&el5001_st, &el5001_ip, NULL}
};
const ec_slave_type_t Beckhoff_EL5001 = {
"Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}
};
/*****************************************************************************/
const ec_field_t el5101_ct = {"Control", 1};
const ec_field_t el5101_op = {"OutputValue", 2};
const ec_field_t el5101_st = {"Status", 1};
const ec_field_t el5101_ip = {"InputValue", 2};
const ec_field_t el5101_la = {"LatchValue", 2};
const ec_sync_t el5101_sm2 = {
0x1000, 3, 0x24,
{&el5101_ct, &el5101_op, NULL}
};
const ec_sync_t el5101_sm3 = {
0x1100, 5, 0x20,
{&el5101_st, &el5101_ip, &el5101_la, NULL}
};
const ec_slave_type_t Beckhoff_EL5101 =
{
"Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};
/*****************************************************************************/
const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}};
const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}};
const ec_slave_type_t Beckhoff_EL6601 = {
"Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE,
{&el6601_sm0, &el6601_sm1, NULL, NULL, NULL}
};
/*****************************************************************************/
const ec_field_t trlinenc2_st = {"Status", 1};
const ec_field_t trlinenc2_ip = {"InputValue", 4};
const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}};
const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}};
const ec_sync_t trlinenc2_sm2 = {0x1000, 4, 0x24, {NULL}};
const ec_sync_t trlinenc2_sm3 = {
0x1100, 5, 0x20,
{&trlinenc2_st, &trlinenc2_ip, NULL}
};
const ec_slave_type_t TR_Electronic_LinEnc2 = {
"TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL,
{&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL}
};
/** \endcond */
/*****************************************************************************/
/**
Mapping between vendor IDs and product codes <=> slave objects.
*/
ec_slave_ident_t slave_idents[] = {
{0x00000002, 0x03F63052, &Beckhoff_EL1014},
{0x00000002, 0x044C2C52, &Beckhoff_EK1100},
{0x00000002, 0x04562C52, &Beckhoff_EK1110},
//{0x00000002, 0x04602C22, &Beckhoff_BK1120},
{0x00000002, 0x07D43052, &Beckhoff_EL2004},
{0x00000002, 0x07F03052, &Beckhoff_EL2032},
{0x00000002, 0x0C1E3052, &Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, &Beckhoff_EL3162},
{0x00000002, 0x10063052, &Beckhoff_EL4102},
{0x00000002, 0x10243052, &Beckhoff_EL4132},
{0x00000002, 0x13893052, &Beckhoff_EL5001},
{0x00000002, 0x13ED3052, &Beckhoff_EL5101},
{0x00000002, 0x19C93052, &Beckhoff_EL6601},
{0x000000D4, 0x00000017, &TR_Electronic_LinEnc2},
{}
};
/*****************************************************************************/