/******************************************************************************
 *
 *  E t h e r C A T _ s i . h
 *
 *  EtherCAT Slave-Interface.
 *
 *  $Id$
 *
 *****************************************************************************/

/*****************************************************************************/

// Bitwise read/write macros

#define EC_READ_BIT(PD, CH) (*((uint8_t *) (PD)) >> (CH)) & 0x01)

#define EC_WRITE_BIT(PD, CH, VAL) \
    do { \
        if (VAL) *((uint8_t *) (PD)) |=  (1 << (CH)); \
        else     *((uint8_t *) (PD)) &= ~(1 << (CH)); \
    } while (0)

/*****************************************************************************/

// Read macros

#define EC_READ_U8(PD) \
    (*((uint8_t *) (PD)))

#define EC_READ_S8(PD) \
    ((int8_t) *((uint8_t *) (PD)))

#define EC_READ_U16(PD) \
    ((uint16_t) (*((uint8_t *) (PD) + 0) << 0 | \
                 *((uint8_t *) (PD) + 1) << 8))

#define EC_READ_S16(PD) \
    ((int16_t) (*((uint8_t *) (PD) + 0) << 0 | \
                *((uint8_t *) (PD) + 1) << 8))

#define EC_READ_U32(PD) \
    ((uint32_t) (*((uint8_t *) (PD) + 0) <<  0 | \
                 *((uint8_t *) (PD) + 1) <<  8 | \
                 *((uint8_t *) (PD) + 2) << 16 | \
                 *((uint8_t *) (PD) + 3) << 24))

#define EC_READ_S32(PD) \
    ((int32_t) (*((uint8_t *) (PD) + 0) <<  0 | \
                *((uint8_t *) (PD) + 1) <<  8 | \
                *((uint8_t *) (PD) + 2) << 16 | \
                *((uint8_t *) (PD) + 3) << 24))

/*****************************************************************************/

// Write macros

#define EC_WRITE_U8(PD, VAL) \
    do { \
        *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
    } while (0)

#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)

#define EC_WRITE_U16(PD, VAL) \
    do { \
        *((uint8_t *) (PD) + 0) = ((uint16_t) (VAL) >> 0) & 0xFF; \
        *((uint8_t *) (PD) + 1) = ((uint16_t) (VAL) >> 8) & 0xFF; \
    } while (0)

#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)

#define EC_WRITE_U32(PD, VAL) \
    do { \
        *((uint8_t *) (PD) + 0) = ((uint32_t) (VAL) >>  0) & 0xFF; \
        *((uint8_t *) (PD) + 1) = ((uint32_t) (VAL) >>  8) & 0xFF; \
        *((uint8_t *) (PD) + 2) = ((uint32_t) (VAL) >> 16) & 0xFF; \
        *((uint8_t *) (PD) + 3) = ((uint32_t) (VAL) >> 24) & 0xFF; \
    } while (0)

#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)

/*****************************************************************************/

/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/