fp@0: //---------------------------------------------------------------
fp@0: //
fp@0: //  e c _ s l a v e . c
fp@0: //
fp@0: //  $LastChangedDate$
fp@0: //  $Author$
fp@0: //
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: #include <stdlib.h>
fp@0: 
fp@0: #include "ec_globals.h"
fp@0: #include "ec_slave.h"
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_slave_init(EtherCAT_slave_t *slave)
fp@0: {
fp@0:   slave->type = 0;
fp@0:   slave->revision = 0;
fp@0:   slave->build = 0;
fp@0: 
fp@0:   slave->ring_position = 0;
fp@0:   slave->station_address = 0;
fp@0: 
fp@0:   slave->vendor_id = 0;
fp@0:   slave->product_code = 0;
fp@0:   slave->revision_number = 0;
fp@0:   
fp@0:   slave->desc = NULL;
fp@0:   
fp@0:   slave->logical_address0 = 0;
fp@0: 
fp@0:   slave->current_state = EC_STATE_UNKNOWN;
fp@0:   slave->requested_state = EC_STATE_UNKNOWN;
fp@0: }
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
fp@0: {
fp@0:   // Nothing yet...
fp@0: }
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_slave_print(EtherCAT_slave_t *slave)
fp@0: {
fp@0: }
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@0: unsigned char sm2_4102[] = {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@0: unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
fp@0:                               0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
fp@0:                                            SIMPLE,
fp@0:                                            NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
fp@0:                                            NULL,
fp@0:                                            0};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
fp@0:                                            SIMPLE,
fp@0:                                            sm0_1014, NULL, NULL, NULL,
fp@0:                                            fmmu0_1014,
fp@0:                                            1};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
fp@0:                                            SIMPLE,
fp@0:                                            sm0_2004, NULL, NULL, NULL,
fp@0:                                            fmmu0_2004,
fp@0:                                            1};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
fp@0:                                            MAILBOX,
fp@0:                                            sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fp@0:                                            fmmu0_31xx,
fp@0:                                            6};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
fp@0:                                            MAILBOX,
fp@0:                                            sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fp@0:                                            fmmu0_31xx,
fp@0:                                            6};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
fp@0:                                            MAILBOX,
fp@0:                                            sm0_multi, sm1_multi, sm2_4102, NULL,
fp@0:                                            fmmu0_4102,
fp@0:                                            4};
fp@0: 
fp@0: EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
fp@0:                                            SIMPLE,
fp@0:                                            NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
fp@0:                                            NULL,
fp@0:                                            0};
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: unsigned int slave_idents_count = 7;
fp@0: 
fp@0: 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@0:   {0x00000002, 0x13893052, Beckhoff_EL5001}
fp@0: };
fp@0: 
fp@0: //---------------------------------------------------------------