58 lines
1.9 KiB
C
58 lines
1.9 KiB
C
/******************************************************************************
|
|
*
|
|
* E t h e r C A T _ s i . h
|
|
*
|
|
* EtherCAT Slave-Interface.
|
|
*
|
|
* $Id$
|
|
*
|
|
*****************************************************************************/
|
|
|
|
#define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data))
|
|
|
|
/*****************************************************************************/
|
|
|
|
#define EC_READ_EL10XX(SLAVE, CHANNEL) \
|
|
((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
|
|
|
|
/*****************************************************************************/
|
|
|
|
#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)); \
|
|
else EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
|
|
} while (0)
|
|
|
|
/*****************************************************************************/
|
|
|
|
#define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
|
|
do { \
|
|
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
|
|
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] = (VALUE) & 0xFF; \
|
|
} while (0)
|
|
|
|
/*****************************************************************************/
|
|
|
|
#define EC_READ_EL5001(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) \
|
|
((unsigned char) EC_PROC_DATA(SLAVE)[0])
|
|
|
|
/*****************************************************************************/
|
|
|
|
/* Emacs-Konfiguration
|
|
;;; Local Variables: ***
|
|
;;; c-basic-offset:4 ***
|
|
;;; End: ***
|
|
*/
|