/** Configuration for Ethercat Node-type * * @file * @author Niklas Eiling * @author Steffen Vogel * @author Divya Laxetti * @copyright 2018-2020, Institute for Automation of Complex Power Systems, EONERC * @license GNU General Public License (version 3) * * VILLASnode * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . *********************************************************************************/ #pragma once #include #define ETHERCAT_VID_BECKHOFF 0x00000002 #define ETHERCAT_PID_EK1100 0x044c2c52 #define ETHERCAT_PID_EL2004 0x07d43052 #define ETHERCAT_PID_EL2032 0x07f03052 #define ETHERCAT_PID_EL3152 0x0c503052 #define ETHERCAT_PID_EL3102 0x0c1e3052 #define ETHERCAT_PID_EL4102 0x10063052 // CWD Bus #define ETHERCAT_PID_EL4038 0x0fc63052 #define ETHERCAT_PID_EL3008 0x0bc03052 #define ETHERCAT_PID_FC1100 0x044c0c62 /** @todo Make PDO entry tables configurable */ /* Master 0, Slave 3, "EL4038" * Vendor ID: 0x00000002 * Product code: 0x0fc63052 * Revision number: 0x00140000 */ static ec_pdo_entry_info_t slave_3_pdo_entries[] = { {0x7000, 0x01, 16}, /* Analog output */ {0x7010, 0x01, 16}, /* Analog output */ {0x7020, 0x01, 16}, /* Analog output */ {0x7030, 0x01, 16}, /* Analog output */ {0x7040, 0x01, 16}, /* Analog output */ {0x7050, 0x01, 16}, /* Analog output */ {0x7060, 0x01, 16}, /* Analog output */ {0x7070, 0x01, 16}, /* Analog output */ }; static ec_pdo_info_t slave_3_pdos[] = { {0x1600, 1, slave_3_pdo_entries + 0}, /* AO RxPDO-Map Outputs Ch.1 */ {0x1601, 1, slave_3_pdo_entries + 1}, /* AO RxPDO-Map Outputs Ch.2 */ {0x1602, 1, slave_3_pdo_entries + 2}, /* AO RxPDO-Map Outputs Ch.3 */ {0x1603, 1, slave_3_pdo_entries + 3}, /* AO RxPDO-Map Outputs Ch.4 */ {0x1604, 1, slave_3_pdo_entries + 4}, /* AO RxPDO-Map Outputs Ch.5 */ {0x1605, 1, slave_3_pdo_entries + 5}, /* AO RxPDO-Map Outputs Ch.6 */ {0x1606, 1, slave_3_pdo_entries + 6}, /* AO RxPDO-Map Outputs Ch.7 */ {0x1607, 1, slave_3_pdo_entries + 7}, /* AO RxPDO-Map Outputs Ch.8 */ }; static ec_sync_info_t slave_3_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 8, slave_3_pdos + 0, EC_WD_DISABLE}, {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {0xff} }; /* Master 0, Slave 4, "EL3008" * Vendor ID: 0x00000002 * Product code: 0x0bc03052 * Revision number: 0x00150000 */ static ec_pdo_entry_info_t slave_4_pdo_entries[] = { {0x6000, 0x01, 1}, /* Underrange */ {0x6000, 0x02, 1}, /* Overrange */ {0x6000, 0x03, 2}, /* Limit 1 */ {0x6000, 0x05, 2}, /* Limit 2 */ {0x6000, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6000, 0x0f, 1}, /* TxPDO State */ {0x6000, 0x10, 1}, /* TxPDO Toggle */ {0x6000, 0x11, 16}, /* Value */ {0x6010, 0x01, 1}, /* Underrange */ {0x6010, 0x02, 1}, /* Overrange */ {0x6010, 0x03, 2}, /* Limit 1 */ {0x6010, 0x05, 2}, /* Limit 2 */ {0x6010, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6010, 0x0f, 1}, /* TxPDO State */ {0x6010, 0x10, 1}, /* TxPDO Toggle */ {0x6010, 0x11, 16}, /* Value */ {0x6020, 0x01, 1}, /* Underrange */ {0x6020, 0x02, 1}, /* Overrange */ {0x6020, 0x03, 2}, /* Limit 1 */ {0x6020, 0x05, 2}, /* Limit 2 */ {0x6020, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6020, 0x0f, 1}, /* TxPDO State */ {0x6020, 0x10, 1}, /* TxPDO Toggle */ {0x6020, 0x11, 16}, /* Value */ {0x6030, 0x01, 1}, /* Underrange */ {0x6030, 0x02, 1}, /* Overrange */ {0x6030, 0x03, 2}, /* Limit 1 */ {0x6030, 0x05, 2}, /* Limit 2 */ {0x6030, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6030, 0x0f, 1}, /* TxPDO State */ {0x6030, 0x10, 1}, /* TxPDO Toggle */ {0x6030, 0x11, 16}, /* Value */ {0x6040, 0x01, 1}, /* Underrange */ {0x6040, 0x02, 1}, /* Overrange */ {0x6040, 0x03, 2}, /* Limit 1 */ {0x6040, 0x05, 2}, /* Limit 2 */ {0x6040, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6040, 0x0f, 1}, /* TxPDO State */ {0x6040, 0x10, 1}, /* TxPDO Toggle */ {0x6040, 0x11, 16}, /* Value */ {0x6050, 0x01, 1}, /* Underrange */ {0x6050, 0x02, 1}, /* Overrange */ {0x6050, 0x03, 2}, /* Limit 1 */ {0x6050, 0x05, 2}, /* Limit 2 */ {0x6050, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6050, 0x0f, 1}, /* TxPDO State */ {0x6050, 0x10, 1}, /* TxPDO Toggle */ {0x6050, 0x11, 16}, /* Value */ {0x6060, 0x01, 1}, /* Underrange */ {0x6060, 0x02, 1}, /* Overrange */ {0x6060, 0x03, 2}, /* Limit 1 */ {0x6060, 0x05, 2}, /* Limit 2 */ {0x6060, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6060, 0x0f, 1}, /* TxPDO State */ {0x6060, 0x10, 1}, /* TxPDO Toggle */ {0x6060, 0x11, 16}, /* Value */ {0x6070, 0x01, 1}, /* Underrange */ {0x6070, 0x02, 1}, /* Overrange */ {0x6070, 0x03, 2}, /* Limit 1 */ {0x6070, 0x05, 2}, /* Limit 2 */ {0x6070, 0x07, 1}, /* Error */ {0x0000, 0x00, 1}, /* Gap */ {0x0000, 0x00, 6}, /* Gap */ {0x6070, 0x0f, 1}, /* TxPDO State */ {0x6070, 0x10, 1}, /* TxPDO Toggle */ {0x6070, 0x11, 16}, /* Value */ }; static ec_pdo_info_t slave_4_pdos[] = { {0x1a00, 10, slave_4_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ {0x1a02, 10, slave_4_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */ {0x1a04, 10, slave_4_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */ {0x1a06, 10, slave_4_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */ {0x1a08, 10, slave_4_pdo_entries + 40}, /* AI TxPDO-Map Standard Ch.5 */ {0x1a0a, 10, slave_4_pdo_entries + 50}, /* AI TxPDO-Map Standard Ch.6 */ {0x1a0c, 10, slave_4_pdo_entries + 60}, /* AI TxPDO-Map Standard Ch.7 */ {0x1a0e, 10, slave_4_pdo_entries + 70}, /* AI TxPDO-Map Standard Ch.8 */ }; static ec_sync_info_t slave_4_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE}, {0xff} };