177 lines
5.5 KiB
C
177 lines
5.5 KiB
C
/******************************************************************************
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*
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* t y p e s . c
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*
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* EtherCAT-Slave-Typen.
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*
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* $Id$
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*
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*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "types.h"
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/*****************************************************************************/
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/*
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Konfigurationen der Sync-Manager
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Byte 1-2: Physical Start Address
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Byte 3-4: Data Length
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Byte 5: Control Byte
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Byte 6: Status Byte (read only)
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Byte 7-8: Enable
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*/
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unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
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unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
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unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
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unsigned char sm0_20xx[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
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unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
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unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
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unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
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unsigned char sm2_5101[] = {0x00, 0x10, 0x03, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char sm3_5101[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
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/*
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Konfigurationen der Memory-Management-Units
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Byte 1-4: Logical Start Address (is set later)
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Byte 5-6: Length
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Byte 7: Logical start bit
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Byte 8: Logical end bit
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Byte 9-10: Physical start address
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Byte 11: Physical start bit
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Byte 12: Direction (1: in, 2: out)
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Byte 13-14: Channel enable
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Byte 15-16: Reserved
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*/
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unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_20xx[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_5001[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_5101[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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/*****************************************************************************/
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/* Klemmen-Objekte */
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ec_slave_type_t Beckhoff_EK1100 =
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{
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"Beckhoff", "EK1100", "Bus Coupler",
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EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
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};
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ec_slave_type_t Beckhoff_EK1110 =
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{
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"Beckhoff", "EK1110", "Extension terminal",
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EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
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};
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ec_slave_type_t Beckhoff_EL1014 =
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{
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"Beckhoff", "EL1014", "4x Digital Input",
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EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
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};
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ec_slave_type_t Beckhoff_EL2004 =
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{
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"Beckhoff", "EL2004", "4x Digital Output",
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EC_SIMPLE_SLAVE, sm0_20xx, NULL, NULL, NULL, fmmu0_20xx, 1
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};
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ec_slave_type_t Beckhoff_EL2032 =
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{
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"Beckhoff", "EL2032", "2x Digital Output (2A)",
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EC_SIMPLE_SLAVE, sm0_20xx, NULL, NULL, NULL, fmmu0_20xx, 1
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};
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ec_slave_type_t Beckhoff_EL3102 =
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{
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"Beckhoff", "EL3102", "2x Analog Input diff.",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
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};
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ec_slave_type_t Beckhoff_EL3162 =
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{
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"Beckhoff", "EL3162", "2x Analog Input",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
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};
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ec_slave_type_t Beckhoff_EL4102 =
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{
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"Beckhoff", "EL4102", "2x Analog Output",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
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};
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ec_slave_type_t Beckhoff_EL4132 =
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{
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"Beckhoff", "EL4132", "2x Analog Output diff.",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
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};
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ec_slave_type_t Beckhoff_EL5001 =
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{
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"Beckhoff", "EL5001", "SSI-Interface",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5001, sm3_5001, fmmu0_5001, 5
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};
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ec_slave_type_t Beckhoff_EL5101 =
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{
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"Beckhoff", "EL5101", "Incremental Encoder Interface",
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EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5101, sm3_5101, fmmu0_5101, 5
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};
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/*****************************************************************************/
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/**
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Beziehung zwischen Identifikationsnummern und Klemmen-Objekt.
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Diese Tabelle stellt die Beziehungen zwischen bestimmten Kombinationen
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aus Vendor-IDs und Product-Codes und der entsprechenden Klemme her.
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Neue Klemmen müssen hier eingetragen werden.
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*/
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ec_slave_ident_t slave_idents[] =
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{
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{0x00000002, 0x03F63052, &Beckhoff_EL1014},
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{0x00000002, 0x044C2C52, &Beckhoff_EK1100},
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{0x00000002, 0x04562C52, &Beckhoff_EK1110},
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{0x00000002, 0x07D43052, &Beckhoff_EL2004},
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{0x00000002, 0x07F03052, &Beckhoff_EL2032},
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{0x00000002, 0x0C1E3052, &Beckhoff_EL3102},
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{0x00000002, 0x0C5A3052, &Beckhoff_EL3162},
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{0x00000002, 0x10063052, &Beckhoff_EL4102},
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{0x00000002, 0x10243052, &Beckhoff_EL4132},
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{0x00000002, 0x13893052, &Beckhoff_EL5001},
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{0x00000002, 0x13ED3052, &Beckhoff_EL5101}
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};
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unsigned int slave_ident_count = sizeof(slave_idents)
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/ sizeof(ec_slave_ident_t);
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/*****************************************************************************/
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