fp@0: //---------------------------------------------------------------
fp@0: //
fp@0: //  e c _ s l a v e . h
fp@0: //
fp@0: //  $LastChangedDate$
fp@0: //  $Author$
fp@0: //
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: #define SIMPLE 0
fp@0: #define MAILBOX 1
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: typedef struct slave_desc EtherCAT_slave_desc_t;
fp@0: 
fp@0: typedef struct
fp@0: {
fp@0:   // Base data
fp@0:   unsigned char type;
fp@0:   unsigned char revision;
fp@0:   unsigned short build;
fp@0: 
fp@0:   // Addresses
fp@0:   short ring_position;
fp@0:   unsigned short station_address;
fp@0: 
fp@0:   // Slave information interface
fp@0:   unsigned int vendor_id;
fp@0:   unsigned int product_code;
fp@0:   unsigned int revision_number;
fp@0: 
fp@0:   const EtherCAT_slave_desc_t *desc;
fp@0: 
fp@0:   unsigned int logical_address0;
fp@0: 
fp@0:   unsigned int current_state;
fp@0:   unsigned int requested_state;
fp@0: 
fp@0:   unsigned char *process_data;
fp@0: }
fp@0: EtherCAT_slave_t;
fp@0: 
fp@0: #define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: // Slave construction and deletion
fp@0: void EtherCAT_slave_init(EtherCAT_slave_t *);
fp@0: void EtherCAT_slave_clear(EtherCAT_slave_t *);
fp@0: 
fp@0: // Debug
fp@0: void EtherCAT_slave_print(EtherCAT_slave_t *);
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: typedef struct slave_desc
fp@0: {
fp@0:   const char *vendor_name;
fp@0:   const char *product_name;
fp@0:   const char *product_desc;
fp@0: 
fp@0:   const int type;
fp@0: 
fp@0:   const unsigned char *sm0;
fp@0:   const unsigned char *sm1;
fp@0:   const unsigned char *sm2;
fp@0:   const unsigned char *sm3;
fp@0: 
fp@0:   const unsigned char *fmmu0;
fp@0: 
fp@0:   const unsigned int data_length;
fp@0: }
fp@0: EtherCAT_slave_desc_t;
fp@0: 
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
fp@0: extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: struct slave_ident
fp@0: {
fp@0:   const unsigned int vendor_id;
fp@0:   const unsigned int product_code;
fp@0:   const EtherCAT_slave_desc_t *desc;
fp@0: };
fp@0: 
fp@0: extern struct slave_ident slave_idents[];
fp@0: extern unsigned int slave_idents_count;
fp@0: 
fp@0: //---------------------------------------------------------------