diff -r 6b3b8acb71b5 -r 7506e67dd122 master/types.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/types.c Tue Jan 17 18:28:15 2006 +0000 @@ -0,0 +1,186 @@ +/****************************************************************************** + * + * t y p e s . c + * + * EtherCAT-Slave-Typen. + * + * $Id$ + * + *****************************************************************************/ + +#include + +#include "globals.h" +#include "types.h" + +/*****************************************************************************/ + +/* Konfigurationen der Sync-Manager */ + +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}; + +/* Konfigurationen der Memory-Management-Units */ + +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}; + +/*****************************************************************************/ + +/* Lese- und Schreibfunktionen */ + +int read_1014(unsigned char *data, unsigned int channel) +{ + return (data[0] >> channel) & 0x01; +} + +void write_2004(unsigned char *data, unsigned int channel, int value) +{ + if (value) { + data[0] |= (1 << channel); + } + else { + data[0] &= ~(1 << channel); + } +} + +int read_31xx(unsigned char *data, unsigned int channel) +{ + return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]); +} + +void write_41xx(unsigned char *data, unsigned int channel, int value) +{ + data[channel * 3 + 1] = (value & 0xFF00) >> 8; + data[channel * 3 + 2] = value & 0xFF; +} + +/*****************************************************************************/ + +/* Klemmen-Objekte */ + +ec_slave_desc_t Beckhoff_EK1100[] = +{{ + "Beckhoff", "EK1100", "Bus Coupler", + EC_NOSYNC_SLAVE, + NULL, NULL, NULL, NULL, + NULL, + 0, 0, + NULL, NULL +}}; + +ec_slave_desc_t Beckhoff_EL1014[] = +{{ + "Beckhoff", "EL1014", "4x Digital Input", + EC_SIMPLE_SLAVE, + sm0_1014, NULL, NULL, NULL, + fmmu0_1014, + 1, 4, + read_1014, NULL +}}; + +ec_slave_desc_t Beckhoff_EL2004[] = +{{ + "Beckhoff", "EL2004", "4x Digital Output", + EC_SIMPLE_SLAVE, + sm0_2004, NULL, NULL, NULL, + fmmu0_2004, + 1, 4, + NULL, write_2004 +}}; + +ec_slave_desc_t Beckhoff_EL3102[] = +{{ + "Beckhoff", "EL3102", "2x Analog Input diff.", + EC_MAILBOX_SLAVE, + sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, + fmmu0_31xx, + 6, 2, + read_31xx, NULL +}}; + +ec_slave_desc_t Beckhoff_EL3162[] = +{{ + "Beckhoff", "EL3162", "2x Analog Input", + EC_MAILBOX_SLAVE, + sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, + fmmu0_31xx, + 6, 2, + read_31xx, NULL +}}; + +ec_slave_desc_t Beckhoff_EL4102[] = +{{ + "Beckhoff", "EL4102", "2x Analog Output", + EC_MAILBOX_SLAVE, + sm0_multi, sm1_multi, sm2_41xx, NULL, + fmmu0_41xx, + 4, 2, + NULL, write_41xx +}}; + +ec_slave_desc_t Beckhoff_EL4132[] = +{{ + "Beckhoff", "EL4132", "2x Analog Output diff.", + EC_MAILBOX_SLAVE, + sm0_multi, sm1_multi, sm2_41xx, NULL, + fmmu0_41xx, + 4, 2, + NULL, write_41xx +}}; + +ec_slave_desc_t Beckhoff_EL5001[] = +{{ + "Beckhoff", "EL5001", "SSI-Interface", + EC_SIMPLE_SLAVE, + NULL, NULL, NULL, NULL, // Noch nicht eingepflegt... + NULL, + 0, 0, + NULL, NULL +}}; + +/*****************************************************************************/ + +/** + 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, 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); + + +/*****************************************************************************/