| author | Florian Pose <fp@igh-essen.com> |
| Mon, 20 Feb 2006 08:36:03 +0000 | |
| changeset 71 | 79d7b9cfdeb9 |
| parent 67 | 56964b20c15d |
| child 74 | 9bf603942791 |
| permissions | -rw-r--r-- |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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/****************************************************************************** |
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EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* E t h e r C A T _ s i . h |
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EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* EtherCAT Slave-Interface. |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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* $Id$ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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* |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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*****************************************************************************/ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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#define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data)) |
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EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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/*****************************************************************************/ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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#define EC_READ_EL10XX(SLAVE, CHANNEL) \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01) |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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/*****************************************************************************/ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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#define EC_WRITE_EL200X(SLAVE, CHANNEL, VALUE) \ |
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EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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do { \
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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if (VALUE) EC_PROC_DATA(SLAVE)[0] |= (1 << (CHANNEL)); \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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else EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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} while (0) |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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/*****************************************************************************/ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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71
79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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#define EC_READ_EL310X(SLAVE, CHANNEL) \ |
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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((signed short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \ |
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Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1])) |
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
67
diff
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#define EC_READ_EL316X(SLAVE, CHANNEL) \ |
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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((unsigned short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \ |
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
67
diff
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EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1])) |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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/*****************************************************************************/ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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79d7b9cfdeb9
Slave interface und Makefile ge?ndert.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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#define EC_WRITE_EL410X(SLAVE, CHANNEL, VALUE) \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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do { \
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] = (VALUE) & 0xFF; \ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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} while (0) |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
44 |
/*****************************************************************************/ |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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#define EC_CONF_EL5001_BAUD (0x4067) |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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#define EC_READ_EL5001_STATE(SLAVE) \ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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((unsigned char) EC_PROC_DATA(SLAVE)[0]) |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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#define EC_READ_EL5001_VALUE(SLAVE) \ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
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parents:
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((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
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(EC_PROC_DATA(SLAVE)[2] << 8) | \ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
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(EC_PROC_DATA(SLAVE)[3] << 16) | \ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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(EC_PROC_DATA(SLAVE)[4] << 24))) |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
59
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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/*****************************************************************************/ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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#define EC_READ_EL5101_STATE(SLAVE) \ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
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((unsigned char) EC_PROC_DATA(SLAVE)[0]) |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
59
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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#define EC_READ_EL5101_VALUE(SLAVE) \ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
63 |
((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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(EC_PROC_DATA(SLAVE)[2] << 8))) |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
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#define EC_READ_EL5101_LATCH(SLAVE) \ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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((unsigned int) (EC_PROC_DATA(SLAVE)[3] | \ |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
68 |
(EC_PROC_DATA(SLAVE)[4] << 8))) |
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56964b20c15d
EL5101-Inkrementalgeberklemme hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
70 |
/*****************************************************************************/ |
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cab9cc6a2721
SSI-Klemmen-Interface und kleinere ?nderungen.
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
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59
c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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/* Emacs-Konfiguration |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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;;; Local Variables: *** |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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;;; c-basic-offset:4 *** |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
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;;; End: *** |
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c8bd4fe3b38c
EtherCAT-Slave-Interface als Makros implementiert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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76 |
*/ |