diff -r 9aa51cbdbfae -r 7833cf70c4f2 master/types.c --- a/master/types.c Wed Aug 02 23:16:10 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,280 +0,0 @@ -/****************************************************************************** - * - * $Id$ - * - * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH - * - * This file is part of the IgH EtherCAT Master. - * - * The IgH EtherCAT Master is free software; you can redistribute it - * and/or modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 of the - * License, or (at your option) any later version. - * - * The IgH EtherCAT Master is distributed in the hope that it will be - * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with the IgH EtherCAT Master; if not, write to the Free Software - * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - * - * The right to use EtherCAT Technology is granted and comes free of - * charge under condition of compatibility of product made by - * Licensee. People intending to distribute/sell products based on the - * code, have to sign an agreement to guarantee that products using - * software based on IgH EtherCAT master stay compatible with the actual - * EtherCAT specification (which are released themselves as an open - * standard) as the (only) precondition to have the right to use EtherCAT - * Technology, IP and trade marks. - * - *****************************************************************************/ - -/** - \file - EtherCAT slave descriptions. - \cond -*/ - -/*****************************************************************************/ - -#include - -#include "globals.h" -#include "types.h" - -/*****************************************************************************/ - -const ec_sync_t mailbox_sm0 = {0x1800, 246, 0x26, {NULL}}; -const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}}; - -/****************************************************************************** - * slave objects - *****************************************************************************/ - -const ec_slave_type_t Beckhoff_EK1100 = { - "Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER, - {NULL} // no sync managers -}; - -/*****************************************************************************/ - -const ec_slave_type_t Beckhoff_EK1110 = { - "Beckhoff", "EK1110", "Extension terminal", EC_TYPE_INFRA, - {NULL} // no sync managers -}; - -/*****************************************************************************/ - -const ec_field_t bk1120_out = {"Outputs", 0}; // variable size -const ec_field_t bk1120_in = {"Inputs", 0}; // variable size - -const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}}; -const ec_sync_t bk1120_sm1 = {0x1E00, 264, 0x22, {NULL}}; - -const ec_sync_t bk1120_sm2 = { // outputs - 0x1000, 0, 0x24, // variable size - {&bk1120_out, NULL} -}; - -const ec_sync_t bk1120_sm3 = { // inputs - 0x1600, 0, 0x00, // variable size - {&bk1120_in, NULL} -}; - -const ec_slave_type_t Beckhoff_BK1120 = { - "Beckhoff", "BK1120", "KBUS Coupler", EC_TYPE_NORMAL, - {&bk1120_sm0, &bk1120_sm1, &bk1120_sm2, &bk1120_sm3, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el1004_in = {"InputValue", 1}; - -const ec_sync_t el1004_sm0 = { // inputs - 0x1000, 1, 0x00, - {&el1004_in, NULL} -}; - -const ec_slave_type_t Beckhoff_EL1004 = { - "Beckhoff", "EL1004", "4x Digital Input, 3ms", EC_TYPE_NORMAL, - {&el1004_sm0, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el1014_in = {"InputValue", 1}; - -const ec_sync_t el1014_sm0 = { // inputs - 0x1000, 1, 0x00, - {&el1014_in, NULL} -}; - -const ec_slave_type_t Beckhoff_EL1014 = { - "Beckhoff", "EL1014", "4x Digital Input, 10us", EC_TYPE_NORMAL, - {&el1014_sm0, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el20XX_out = {"OutputValue", 1}; - -const ec_sync_t el20XX_sm0 = { - 0x0F00, 1, 0x46, - {&el20XX_out, NULL} -}; - -const ec_slave_type_t Beckhoff_EL2004 = { - "Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL, - {&el20XX_sm0, NULL} -}; - -const ec_slave_type_t Beckhoff_EL2032 = { - "Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL, - {&el20XX_sm0, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el31X2_st1 = {"Status", 1}; -const ec_field_t el31X2_ip1 = {"InputValue", 2}; -const ec_field_t el31X2_st2 = {"Status", 1}; -const ec_field_t el31X2_ip2 = {"InputValue", 2}; - -const ec_sync_t el31X2_sm2 = {0x1000, 4, 0x24, {NULL}}; - -const ec_sync_t el31X2_sm3 = { - 0x1100, 6, 0x20, - {&el31X2_st1, &el31X2_ip1, &el31X2_st2, &el31X2_ip2, NULL} -}; - -const ec_slave_type_t Beckhoff_EL3102 = { - "Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} -}; - -const ec_slave_type_t Beckhoff_EL3162 = { - "Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el41X2_op = {"OutputValue", 2}; - -const ec_sync_t el41X2_sm2 = { - 0x1000, 4, 0x24, - {&el41X2_op, &el41X2_op, NULL} -}; - -const ec_slave_type_t Beckhoff_EL4102 = { - "Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} -}; - -const ec_slave_type_t Beckhoff_EL4132 = { - "Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el5001_st = {"Status", 1}; -const ec_field_t el5001_ip = {"InputValue", 4}; - -const ec_sync_t el5001_sm2 = { - 0x1000, 4, 0x24, - {NULL} -}; - -const ec_sync_t el5001_sm3 = { - 0x1100, 5, 0x20, - {&el5001_st, &el5001_ip, NULL} -}; - -const ec_slave_type_t Beckhoff_EL5001 = { - "Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t el5101_ct = {"Control", 1}; -const ec_field_t el5101_op = {"OutputValue", 2}; -const ec_field_t el5101_st = {"Status", 1}; -const ec_field_t el5101_ip = {"InputValue", 2}; -const ec_field_t el5101_la = {"LatchValue", 2}; - -const ec_sync_t el5101_sm2 = { - 0x1000, 3, 0x24, - {&el5101_ct, &el5101_op, NULL} -}; - -const ec_sync_t el5101_sm3 = { - 0x1100, 5, 0x20, - {&el5101_st, &el5101_ip, &el5101_la, NULL} -}; - -const ec_slave_type_t Beckhoff_EL5101 = { - "Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL, - {&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL} -}; - -/*****************************************************************************/ - -const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}}; -const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}}; - -const ec_slave_type_t Beckhoff_EL6601 = { - "Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE, - {&el6601_sm0, &el6601_sm1, NULL, NULL, NULL} -}; - -/*****************************************************************************/ - -const ec_field_t trlinenc2_st = {"Status", 1}; -const ec_field_t trlinenc2_ip = {"InputValue", 4}; - -const ec_sync_t trlinenc2_sm0 = {0x1800, 192, 0x26, {NULL}}; -const ec_sync_t trlinenc2_sm1 = {0x1C00, 192, 0x22, {NULL}}; -const ec_sync_t trlinenc2_sm2 = {0x1000, 4, 0x24, {NULL}}; - -const ec_sync_t trlinenc2_sm3 = { - 0x1100, 5, 0x20, - {&trlinenc2_st, &trlinenc2_ip, NULL} -}; - -const ec_slave_type_t TR_Electronic_LinEnc2 = { - "TR-Electronic", "LinEnc2", "SSI-Encoder", EC_TYPE_NORMAL, - {&trlinenc2_sm0, &trlinenc2_sm1, &trlinenc2_sm2, &trlinenc2_sm3, NULL} -}; - -/** \endcond */ - -/*****************************************************************************/ - -/** - Mapping between vendor IDs and product codes <=> slave objects. -*/ - -ec_slave_ident_t slave_idents[] = { - {0x00000002, 0x03EC3052, &Beckhoff_EL1004}, - {0x00000002, 0x03F63052, &Beckhoff_EL1014}, - {0x00000002, 0x044C2C52, &Beckhoff_EK1100}, - {0x00000002, 0x04562C52, &Beckhoff_EK1110}, - {0x00000002, 0x04602C22, &Beckhoff_BK1120}, - {0x00000002, 0x07D43052, &Beckhoff_EL2004}, - {0x00000002, 0x07F03052, &Beckhoff_EL2032}, - {0x00000002, 0x0C1E3052, &Beckhoff_EL3102}, - {0x00000002, 0x0C5A3052, &Beckhoff_EL3162}, - {0x00000002, 0x10063052, &Beckhoff_EL4102}, - {0x00000002, 0x10243052, &Beckhoff_EL4132}, - {0x00000002, 0x13893052, &Beckhoff_EL5001}, - {0x00000002, 0x13ED3052, &Beckhoff_EL5101}, - {0x00000002, 0x19C93052, &Beckhoff_EL6601}, - {0x000000D4, 0x00000017, &TR_Electronic_LinEnc2}, - {} -}; - -/*****************************************************************************/