fp@39: /****************************************************************************** fp@0: * fp@39: * $Id$ fp@0: * fp@1618: * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH fp@1618: * fp@1618: * This file is part of the IgH EtherCAT Master. fp@1618: * fp@1618: * The IgH EtherCAT Master is free software; you can redistribute it fp@1618: * and/or modify it under the terms of the GNU General Public License fp@1619: * as published by the Free Software Foundation; either version 2 of the fp@1619: * License, or (at your option) any later version. fp@1618: * fp@1618: * The IgH EtherCAT Master is distributed in the hope that it will be fp@1618: * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of fp@1618: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the fp@1618: * GNU General Public License for more details. fp@1618: * fp@1618: * You should have received a copy of the GNU General Public License fp@1618: * along with the IgH EtherCAT Master; if not, write to the Free Software fp@1618: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@1618: * fp@1619: * The right to use EtherCAT Technology is granted and comes free of fp@1619: * charge under condition of compatibility of product made by fp@1619: * Licensee. People intending to distribute/sell products based on the fp@1619: * code, have to sign an agreement to guarantee that products using fp@1619: * software based on IgH EtherCAT master stay compatible with the actual fp@1619: * EtherCAT specification (which are released themselves as an open fp@1619: * standard) as the (only) precondition to have the right to use EtherCAT fp@1619: * Technology, IP and trade marks. fp@1619: * fp@39: *****************************************************************************/ fp@0: fp@1618: /** fp@1618: \file fp@1618: EtherCAT slave descriptions. fp@1618: \cond fp@1618: */ fp@1618: fp@1618: /*****************************************************************************/ fp@1618: fp@24: #include fp@24: fp@54: #include "globals.h" fp@54: #include "types.h" fp@0: fp@39: /*****************************************************************************/ fp@39: fp@73: const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}}; fp@73: const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}}; fp@67: fp@195: /****************************************************************************** fp@195: * slave objects fp@195: *****************************************************************************/ fp@73: fp@73: const ec_slave_type_t Beckhoff_EK1100 = { fp@145: "Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER, fp@195: {NULL} // no sync managers fp@63: }; fp@0: fp@73: /*****************************************************************************/ fp@73: fp@73: const ec_slave_type_t Beckhoff_EK1110 = { fp@1624: "Beckhoff", "EK1110", "Extension terminal", EC_TYPE_INFRA, fp@195: {NULL} // no sync managers fp@63: }; fp@55: fp@73: /*****************************************************************************/ fp@73: fp@1621: const ec_field_t bk1120_out = {"Outputs", 0}; // variable size fp@1621: const ec_field_t bk1120_in = {"Inputs", 0}; // variable size fp@1621: fp@1621: const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}}; fp@1621: const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}}; fp@1621: fp@1621: const ec_sync_t bk1120_sm2 = { // outputs fp@1621: 0x1000, 0, 0x24, // variable size fp@1621: {&bk1120_out, NULL} fp@1621: }; fp@1621: fp@1621: const ec_sync_t bk1120_sm3 = { // inputs fp@1621: 0x1600, 0, 0x00, // variable size fp@1621: {&bk1120_in, NULL} fp@1621: }; fp@1621: fp@153: const ec_slave_type_t Beckhoff_BK1120 = { fp@153: "Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL, fp@1621: {&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL} fp@1621: }; fp@1621: fp@1621: /*****************************************************************************/ fp@1621: fp@1621: const ec_field_t el1004_in = {"InputValue", 1}; fp@1621: fp@1621: const ec_sync_t el1004_sm0 = { // inputs fp@1621: 0x1000, 1, 0x00, fp@1621: {&el1004_in, NULL} fp@1621: }; fp@1621: fp@1621: const ec_slave_type_t Beckhoff_EL1004 = { fp@1621: "Beckhoff", "EL1004", "4x Digital Input, 3ms", EC_TYPE_NORMAL, fp@1621: {&el1004_sm0, NULL} fp@153: }; fp@153: fp@153: /*****************************************************************************/ fp@153: fp@104: const ec_field_t el1014_in = {"InputValue", 1}; fp@73: fp@195: const ec_sync_t el1014_sm0 = { // inputs fp@73: 0x1000, 1, 0x00, fp@73: {&el1014_in, NULL} fp@63: }; fp@0: fp@73: const ec_slave_type_t Beckhoff_EL1014 = { fp@1621: "Beckhoff", "EL1014", "4x Digital Input, 10us", EC_TYPE_NORMAL, fp@73: {&el1014_sm0, NULL} fp@72: }; fp@72: fp@73: /*****************************************************************************/ fp@73: fp@104: const ec_field_t el20XX_out = {"OutputValue", 1}; fp@73: fp@73: const ec_sync_t el20XX_sm0 = { fp@73: 0x0F00, 1, 0x46, fp@73: {&el20XX_out, NULL} fp@63: }; fp@0: fp@73: const ec_slave_type_t Beckhoff_EL2004 = { fp@145: "Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL, fp@73: {&el20XX_sm0, NULL} fp@63: }; fp@0: fp@73: const ec_slave_type_t Beckhoff_EL2032 = { fp@145: "Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL, fp@73: {&el20XX_sm0, NULL} fp@63: }; fp@0: fp@73: /*****************************************************************************/ fp@73: fp@104: const ec_field_t el31X2_st1 = {"Status", 1}; fp@104: const ec_field_t el31X2_ip1 = {"InputValue", 2}; fp@104: const ec_field_t el31X2_st2 = {"Status", 1}; fp@104: const ec_field_t el31X2_ip2 = {"InputValue", 2}; fp@73: fp@153: const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}}; fp@35: fp@73: const ec_sync_t el31X2_sm3 = { fp@73: 0x1100, 6, 0x20, fp@73: {&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL} fp@63: }; fp@0: fp@73: const ec_slave_type_t Beckhoff_EL3102 = { fp@145: "Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL, fp@76: {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} fp@63: }; fp@0: fp@73: const ec_slave_type_t Beckhoff_EL3162 = { fp@145: "Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL, fp@76: {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} fp@73: }; fp@73: fp@73: /*****************************************************************************/ fp@73: fp@104: const ec_field_t el41X2_op = {"OutputValue", 2}; fp@73: fp@73: const ec_sync_t el41X2_sm2 = { fp@73: 0x1000, 4, 0x24, fp@73: {&el41X2_op, &el41X2_op, NULL} fp@73: }; fp@73: fp@73: const ec_slave_type_t Beckhoff_EL4102 = { fp@145: "Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL, fp@73: {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} fp@73: }; fp@73: fp@73: const ec_slave_type_t Beckhoff_EL4132 = { fp@145: "Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL, fp@73: {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} fp@73: }; fp@73: fp@73: /*****************************************************************************/ fp@73: fp@104: const ec_field_t el5001_st = {"Status", 1}; fp@104: const ec_field_t el5001_ip = {"InputValue", 4}; fp@73: fp@73: const ec_sync_t el5001_sm2 = { fp@73: 0x1000, 4, 0x24, fp@73: {NULL} fp@73: }; fp@73: fp@73: const ec_sync_t el5001_sm3 = { fp@73: 0x1100, 5, 0x20, fp@73: {&el5001_st, &el5001_ip, NULL} fp@73: }; fp@73: fp@73: const ec_slave_type_t Beckhoff_EL5001 = { fp@145: "Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL, fp@73: {&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL} fp@73: }; fp@73: fp@73: /*****************************************************************************/ fp@73: fp@104: const ec_field_t el5101_ct = {"Control", 1}; fp@104: const ec_field_t el5101_op = {"OutputValue", 2}; fp@104: const ec_field_t el5101_st = {"Status", 1}; fp@104: const ec_field_t el5101_ip = {"InputValue", 2}; fp@104: const ec_field_t el5101_la = {"LatchValue", 2}; fp@73: fp@73: const ec_sync_t el5101_sm2 = { fp@73: 0x1000, 3, 0x24, fp@73: {&el5101_ct, &el5101_op, NULL} fp@73: }; fp@73: fp@73: const ec_sync_t el5101_sm3 = { fp@73: 0x1100, 5, 0x20, fp@73: {&el5101_st, &el5101_ip, &el5101_la, NULL} fp@73: }; fp@73: fp@1621: const ec_slave_type_t Beckhoff_EL5101 = { fp@145: "Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL, fp@73: {&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL} fp@67: }; fp@67: fp@39: /*****************************************************************************/ fp@0: fp@145: const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}}; fp@145: const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}}; fp@145: fp@153: const ec_slave_type_t Beckhoff_EL6601 = { fp@145: "Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE, fp@145: {&el6601_sm0, &el6601_sm1, NULL, NULL, NULL} fp@145: }; fp@145: fp@145: /*****************************************************************************/ fp@145: fp@153: const ec_field_t trlinenc2_st = {"Status", 1}; fp@153: const ec_field_t trlinenc2_ip = {"InputValue", 4}; fp@153: fp@153: const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}}; fp@153: const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}}; fp@153: const ec_sync_t trlinenc2_sm2 = {0x1000, 4, 0x24, {NULL}}; fp@153: fp@153: const ec_sync_t trlinenc2_sm3 = { fp@153: 0x1100, 5, 0x20, fp@153: {&trlinenc2_st, &trlinenc2_ip, NULL} fp@153: }; fp@153: fp@153: const ec_slave_type_t TR_Electronic_LinEnc2 = { fp@153: "TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL, fp@153: {&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL} fp@153: }; fp@153: fp@1618: /** \endcond */ fp@1618: fp@153: /*****************************************************************************/ fp@153: fp@39: /** fp@195: Mapping between vendor IDs and product codes <=> slave objects. fp@39: */ fp@39: fp@195: ec_slave_ident_t slave_idents[] = { fp@1621: {0x00000002, 0x03EC3052, &Beckhoff_EL1004}, fp@63: {0x00000002, 0x03F63052, &Beckhoff_EL1014}, fp@63: {0x00000002, 0x044C2C52, &Beckhoff_EK1100}, fp@63: {0x00000002, 0x04562C52, &Beckhoff_EK1110}, fp@1621: {0x00000002, 0x04602C22, &Beckhoff_BK1120}, fp@63: {0x00000002, 0x07D43052, &Beckhoff_EL2004}, fp@72: {0x00000002, 0x07F03052, &Beckhoff_EL2032}, fp@63: {0x00000002, 0x0C1E3052, &Beckhoff_EL3102}, fp@63: {0x00000002, 0x0C5A3052, &Beckhoff_EL3162}, fp@63: {0x00000002, 0x10063052, &Beckhoff_EL4102}, fp@63: {0x00000002, 0x10243052, &Beckhoff_EL4132}, fp@67: {0x00000002, 0x13893052, &Beckhoff_EL5001}, fp@73: {0x00000002, 0x13ED3052, &Beckhoff_EL5101}, fp@145: {0x00000002, 0x19C93052, &Beckhoff_EL6601}, fp@153: {0x000000D4, 0x00000017, &TR_Electronic_LinEnc2}, fp@73: {} fp@0: }; fp@0: fp@73: /*****************************************************************************/