From 41cc152a67c44bf8d5f799bfa260f6b9c04c689e Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 14 Feb 2006 14:40:47 +0000
Subject: [PATCH] =?UTF-8?q?EL5101-Inkrementalgeberklemme=20hinzugef=C3=BCg?=
=?UTF-8?q?t.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
include/EtherCAT_si.h | 31 +++++++++++++++++++++++--------
master/types.c | 15 ++++++++++++++-
2 files changed, 37 insertions(+), 9 deletions(-)
diff --git a/include/EtherCAT_si.h b/include/EtherCAT_si.h
index 1390a12b..582bfb80 100644
--- a/include/EtherCAT_si.h
+++ b/include/EtherCAT_si.h
@@ -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 --git a/master/types.c b/master/types.c
index 06e340ef..baf68f71 100644
--- a/master/types.c
+++ b/master/types.c
@@ -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)
--
GitLab