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ethercat
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EL5101-Inkrementalgeberklemme hinzugefügt.

This commit is contained in:
Florian Pose 2006-02-14 14:40:47 +00:00
parent efa310c45e
commit 0e547f96aa
2 changed files with 37 additions and 9 deletions
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31
include/EtherCAT_si.h
View File

@ -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

15
master/types.c
View File

@ -40,6 +40,9 @@ unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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_slave_type_t Beckhoff_EL5001 =
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 @@ ec_slave_ident_t slave_idents[] =
{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)