fp@0: /****************************************************************
fp@0:  *
fp@0:  *  e c _ t y p e s . c
fp@0:  *
fp@0:  *  EtherCAT-Slave-Typen.
fp@0:  *
fp@0:  *  $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $
fp@0:  *  $Author: fp $
fp@0:  *
fp@0:  ***************************************************************/
fp@0: 
fp@24: #include <linux/module.h>
fp@24: 
fp@0: #include "ec_globals.h"
fp@0: #include "ec_types.h"
fp@0: 
fp@0: /***************************************************************/
fp@0: 
fp@0: unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
fp@0: unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
fp@0: 
fp@0: unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
fp@0: 
fp@0: unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
fp@0: 
fp@0: unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
fp@0: unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
fp@0: 
fp@35: unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
fp@0: 
fp@0: 
fp@0: unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
fp@0:                               0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
fp@0: 
fp@0: unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
fp@0:                               0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
fp@0: 
fp@0: unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
fp@0:                               0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
fp@0: 
fp@35: unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
fp@0:                               0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
fp@0: 
fp@0: int read_1014(unsigned char *data, unsigned int channel)
fp@0: {
fp@0:   return (data[0] >> channel) & 0x01;
fp@0: }
fp@0: 
fp@0: void write_2004(unsigned char *data, unsigned int channel, int value)
fp@0: {
fp@0:   if (value)
fp@0:   {
fp@0:     data[0] |= (1 << channel);
fp@0:   }
fp@0:   else
fp@0:   {
fp@0:     data[0] &= ~(1 << channel);
fp@0:   }
fp@0: }
fp@0: 
fp@0: int read_31xx(unsigned char *data, unsigned int channel)
fp@0: {
fp@0:   return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
fp@0: }
fp@0: 
fp@35: void write_41xx(unsigned char *data, unsigned int channel, int value)
fp@0: {
fp@0:   data[channel * 3 + 1] = (value & 0xFF00) >> 8;
fp@0:   data[channel * 3 + 2] = value & 0xFF;
fp@0: }
fp@0: 
fp@0: /***************************************************************/
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EK1100[] =
fp@0: {{
fp@0:   "Beckhoff", "EK1100", "Bus Coupler",
fp@0:   ECAT_ST_SIMPLE_NOSYNC,
fp@0:   NULL, NULL, NULL, NULL,
fp@0:   NULL,
fp@0:   0, 0,
fp@0:   NULL, NULL
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL1014[] =
fp@0: {{
fp@0:   "Beckhoff", "EL1014", "4x Digital Input",
fp@0:   ECAT_ST_SIMPLE,
fp@0:   sm0_1014, NULL, NULL, NULL,
fp@0:   fmmu0_1014,
fp@0:   1, 4,
fp@0:   read_1014, NULL
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL2004[] =
fp@0: {{
fp@0:   "Beckhoff", "EL2004", "4x Digital Output",
fp@0:   ECAT_ST_SIMPLE,
fp@0:   sm0_2004, NULL, NULL, NULL,
fp@0:   fmmu0_2004,
fp@0:   1, 4,
fp@0:   NULL, write_2004
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL3102[] =
fp@0: {{
fp@35:   "Beckhoff", "EL3102", "2x Analog Input diff.",
fp@0:   ECAT_ST_MAILBOX,
fp@0:   sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fp@0:   fmmu0_31xx,
fp@0:   6, 2,
fp@0:   read_31xx, NULL
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL3162[] =
fp@0: {{
fp@0:   "Beckhoff", "EL3162", "2x Analog Input",
fp@0:   ECAT_ST_MAILBOX,
fp@0:   sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fp@0:   fmmu0_31xx,
fp@0:   6, 2,
fp@0:   read_31xx, NULL
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL4102[] =
fp@0: {{
fp@0:   "Beckhoff", "EL4102", "2x Analog Output",
fp@0:   ECAT_ST_MAILBOX,
fp@35:   sm0_multi, sm1_multi, sm2_41xx, NULL,
fp@35:   fmmu0_41xx,
fp@0:   4, 2,
fp@35:   NULL, write_41xx
fp@35: }};
fp@35: 
fp@35: EtherCAT_slave_desc_t Beckhoff_EL4132[] =
fp@35: {{
fp@35:   "Beckhoff", "EL4132", "2x Analog Output diff.",
fp@35:   ECAT_ST_MAILBOX,
fp@35:   sm0_multi, sm1_multi, sm2_41xx, NULL,
fp@35:   fmmu0_41xx,
fp@35:   4, 2,
fp@35:   NULL, write_41xx
fp@0: }};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL5001[] =
fp@0: {{
fp@0:   "Beckhoff", "EL5001", "SSI-Interface",
fp@0:   ECAT_ST_SIMPLE,
fp@0:   NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
fp@0:   NULL,
fp@0:   0, 0,
fp@0:   NULL, NULL
fp@0: }};
fp@0: 
fp@0: /***************************************************************/
fp@0: 
fp@0: unsigned int slave_idents_count = 7;
fp@0: 
fp@17: struct slave_ident slave_idents[] =
fp@0: {
fp@0:   {0x00000002, 0x03F63052, Beckhoff_EL1014},
fp@0:   {0x00000002, 0x044C2C52, Beckhoff_EK1100},
fp@0:   {0x00000002, 0x07D43052, Beckhoff_EL2004},
fp@0:   {0x00000002, 0x0C1E3052, Beckhoff_EL3102},
fp@0:   {0x00000002, 0x0C5A3052, Beckhoff_EL3162},
fp@0:   {0x00000002, 0x10063052, Beckhoff_EL4102},
fp@35:   {0x00000002, 0x10243052, Beckhoff_EL4132},
fp@0:   {0x00000002, 0x13893052, Beckhoff_EL5001}
fp@0: };
fp@0: 
fp@0: /***************************************************************/
fp@24: 
fp@24: EXPORT_SYMBOL(Beckhoff_EK1100);
fp@24: EXPORT_SYMBOL(Beckhoff_EL1014);
fp@24: EXPORT_SYMBOL(Beckhoff_EL2004);
fp@24: EXPORT_SYMBOL(Beckhoff_EL3102);
fp@24: EXPORT_SYMBOL(Beckhoff_EL3162);
fp@24: EXPORT_SYMBOL(Beckhoff_EL4102);
fp@35: EXPORT_SYMBOL(Beckhoff_EL4132);
fp@24: EXPORT_SYMBOL(Beckhoff_EL5001);