CANopen over EtherCAT.
/******************************************************************************
*
* t y p e s . c
*
* EtherCAT-Slave-Typen.
*
* $Id$
*
*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "types.h"
/*****************************************************************************/
/*
Konfigurationen der Sync-Manager
Byte 1-2: Physical Start Address
Byte 3-4: Data Length
Byte 5: Control Byte
Byte 6: Status Byte (read only)
Byte 7-8: Enable
*/
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};
unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
/*
Konfigurationen der Memory-Management-Units
Byte 1-4: Logical Start Address (is set later)
Byte 5-6: Length
Byte 7: Logical start bit
Byte 8: Logical end bit
Byte 9-10: Physical start address
Byte 11: Physical start bit
Byte 12: Direction (1: in, 2: out)
Byte 13-14: Channel enable
Byte 15-16: Reserved
*/
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};
unsigned char fmmu0_5001[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07,
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
/*****************************************************************************/
/* Klemmen-Objekte */
ec_slave_type_t Beckhoff_EK1100 =
{
"Beckhoff", "EK1100", "Bus Coupler",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
};
ec_slave_type_t Beckhoff_EK1110 =
{
"Beckhoff", "EK1110", "Extension terminal",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
};
ec_slave_type_t Beckhoff_EL1014 =
{
"Beckhoff", "EL1014", "4x Digital Input",
EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
};
ec_slave_type_t Beckhoff_EL2004 =
{
"Beckhoff", "EL2004", "4x Digital Output",
EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
};
ec_slave_type_t Beckhoff_EL3102 =
{
"Beckhoff", "EL3102", "2x Analog Input diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
};
ec_slave_type_t Beckhoff_EL3162 =
{
"Beckhoff", "EL3162", "2x Analog Input",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
};
ec_slave_type_t Beckhoff_EL4102 =
{
"Beckhoff", "EL4102", "2x Analog Output",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
};
ec_slave_type_t Beckhoff_EL4132 =
{
"Beckhoff", "EL4132", "2x Analog Output diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
};
ec_slave_type_t Beckhoff_EL5001 =
{
"Beckhoff", "EL5001", "SSI-Interface",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5001, sm3_5001, fmmu0_5001, 5
};
/*****************************************************************************/
/**
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, 0x04562C52, &Beckhoff_EK1110},
{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);
/*****************************************************************************/