# HG changeset patch # User Florian Pose # Date 1139928047 0 # Node ID 56964b20c15d4a5e463db1fd3b6d1f82ea55fcb7 # Parent cab9cc6a27210a5c2798ff7500d04c75877554f5 EL5101-Inkrementalgeberklemme hinzugef?gt. diff -r cab9cc6a2721 -r 56964b20c15d include/EtherCAT_si.h --- a/include/EtherCAT_si.h Mon Feb 13 14:11:33 2006 +0000 +++ b/include/EtherCAT_si.h Tue Feb 14 14:40:47 2006 +0000 @@ -17,12 +17,6 @@ /*****************************************************************************/ -#define EC_READ_EL31XX(SLAVE, CHANNEL) \ - ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \ - EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1])) - -/*****************************************************************************/ - #define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \ do { \ if (VALUE) EC_PROC_DATA(SLAVE)[0] |= (1 << (CHANNEL)); \ @@ -31,6 +25,12 @@ /*****************************************************************************/ +#define EC_READ_EL31XX(SLAVE, CHANNEL) \ + ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \ + EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1])) + +/*****************************************************************************/ + #define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \ do { \ EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \ @@ -39,15 +39,30 @@ /*****************************************************************************/ -#define EC_READ_EL5001(SLAVE) \ +#define EC_CONF_EL5001_BAUD (0x4067) + +#define EC_READ_EL5001_STATE(SLAVE) \ + ((unsigned char) EC_PROC_DATA(SLAVE)[0]) + +#define EC_READ_EL5001_VALUE(SLAVE) \ ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \ (EC_PROC_DATA(SLAVE)[2] << 8) | \ (EC_PROC_DATA(SLAVE)[3] << 16) | \ (EC_PROC_DATA(SLAVE)[4] << 24))) -#define EC_READ_EL5001_STATE(SLAVE) \ +/*****************************************************************************/ + +#define EC_READ_EL5101_STATE(SLAVE) \ ((unsigned char) EC_PROC_DATA(SLAVE)[0]) +#define EC_READ_EL5101_VALUE(SLAVE) \ + ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \ + (EC_PROC_DATA(SLAVE)[2] << 8))) + +#define EC_READ_EL5101_LATCH(SLAVE) \ + ((unsigned int) (EC_PROC_DATA(SLAVE)[3] | \ + (EC_PROC_DATA(SLAVE)[4] << 8))) + /*****************************************************************************/ /* Emacs-Konfiguration diff -r cab9cc6a2721 -r 56964b20c15d master/types.c --- a/master/types.c Mon Feb 13 14:11:33 2006 +0000 +++ b/master/types.c Tue Feb 14 14:40:47 2006 +0000 @@ -40,6 +40,9 @@ unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00}; unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00}; +unsigned char sm2_5101[] = {0x00, 0x10, 0x03, 0x00, 0x24, 0x00, 0x01, 0x00}; +unsigned char sm3_5101[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00}; + /* Konfigurationen der Memory-Management-Units @@ -69,6 +72,9 @@ unsigned char fmmu0_5001[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07, 0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; +unsigned char fmmu0_5101[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07, + 0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; + /*****************************************************************************/ /* Klemmen-Objekte */ @@ -127,6 +133,12 @@ EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5001, sm3_5001, fmmu0_5001, 5 }; +ec_slave_type_t Beckhoff_EL5101 = +{ + "Beckhoff", "EL5101", "Incremental Encoder Interface", + EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5101, sm3_5101, fmmu0_5101, 5 +}; + /*****************************************************************************/ /** @@ -147,7 +159,8 @@ {0x00000002, 0x0C5A3052, &Beckhoff_EL3162}, {0x00000002, 0x10063052, &Beckhoff_EL4102}, {0x00000002, 0x10243052, &Beckhoff_EL4132}, - {0x00000002, 0x13893052, &Beckhoff_EL5001} + {0x00000002, 0x13893052, &Beckhoff_EL5001}, + {0x00000002, 0x13ED3052, &Beckhoff_EL5101} }; unsigned int slave_ident_count = sizeof(slave_idents)