/****************************************************************
 *
 *  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}
};

/***************************************************************/