--- a/drivers/ec_types.c Fri Dec 16 14:16:54 2005 +0000
+++ b/drivers/ec_types.c Fri Dec 16 15:23:56 2005 +0000
@@ -26,7 +26,7 @@
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_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
+unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
@@ -38,7 +38,7 @@
unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
-unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
+unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
int read_1014(unsigned char *data, unsigned int channel)
@@ -63,7 +63,7 @@
return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
}
-void write_4102(unsigned char *data, unsigned int channel, int value)
+void write_41xx(unsigned char *data, unsigned int channel, int value)
{
data[channel * 3 + 1] = (value & 0xFF00) >> 8;
data[channel * 3 + 2] = value & 0xFF;
@@ -103,7 +103,7 @@
EtherCAT_slave_desc_t Beckhoff_EL3102[] =
{{
- "Beckhoff", "EL3102", "2x Analog Input Diff",
+ "Beckhoff", "EL3102", "2x Analog Input diff.",
ECAT_ST_MAILBOX,
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fmmu0_31xx,
@@ -125,10 +125,20 @@
{{
"Beckhoff", "EL4102", "2x Analog Output",
ECAT_ST_MAILBOX,
- sm0_multi, sm1_multi, sm2_4102, NULL,
- fmmu0_4102,
+ sm0_multi, sm1_multi, sm2_41xx, NULL,
+ fmmu0_41xx,
4, 2,
- NULL, write_4102
+ NULL, write_41xx
+}};
+
+EtherCAT_slave_desc_t Beckhoff_EL4132[] =
+{{
+ "Beckhoff", "EL4132", "2x Analog Output diff.",
+ ECAT_ST_MAILBOX,
+ sm0_multi, sm1_multi, sm2_41xx, NULL,
+ fmmu0_41xx,
+ 4, 2,
+ NULL, write_41xx
}};
EtherCAT_slave_desc_t Beckhoff_EL5001[] =
@@ -153,6 +163,7 @@
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
{0x00000002, 0x10063052, Beckhoff_EL4102},
+ {0x00000002, 0x10243052, Beckhoff_EL4132},
{0x00000002, 0x13893052, Beckhoff_EL5001}
};
@@ -164,4 +175,5 @@
EXPORT_SYMBOL(Beckhoff_EL3102);
EXPORT_SYMBOL(Beckhoff_EL3162);
EXPORT_SYMBOL(Beckhoff_EL4102);
+EXPORT_SYMBOL(Beckhoff_EL4132);
EXPORT_SYMBOL(Beckhoff_EL5001);