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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; version 2 of the License.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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

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/**

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   \file

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   EtherCAT realtime interface.

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*/

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/**

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   \defgroup RealtimeInterface EtherCAT realtime interface

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   EtherCAT interface for realtime modules.

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   This interface is designed for realtime modules that want to use EtherCAT.

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   There are functions to request a master, to map process data, to communicate

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   with slaves via CoE and to configure and activate the bus.

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*/

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

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#ifndef __ECRT_H__

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#define __ECRT_H__

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#include <asm/byteorder.h>

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#ifdef __KERNEL__

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#include <linux/types.h>

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#else

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#include <stdint.h>

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#endif

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

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struct ec_master;

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typedef struct ec_master ec_master_t;

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struct ec_domain;

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typedef struct ec_domain ec_domain_t;

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struct ec_slave;

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typedef struct ec_slave ec_slave_t;

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/**

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   Initialization type for field registrations.

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   This type is used as a parameter for the ec_domain_register_field_list()

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   function.

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*/

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typedef struct

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{

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    void **data_ptr; /**< address of the process data pointer */

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    const char *slave_address; /**< slave address string (see

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                                  ecrt_master_get_slave()) */

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    const char *vendor_name; /**< vendor name */

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    const char *product_name; /**< product name */

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    const char *field_name; /**< data field name */

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    unsigned int field_index; /**< index in data fields with same name */

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    unsigned int field_count; /**< number of data fields with same name */

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}

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ec_field_init_t;

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

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 *  Master request functions

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

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ec_master_t *ecrt_request_master(unsigned int master_index);

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void ecrt_release_master(ec_master_t *master);

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

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 *  Master methods

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

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void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),

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                           void (*release_cb)(void *), void *cb_data);

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ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

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int ecrt_master_activate(ec_master_t *master);

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void ecrt_master_deactivate(ec_master_t *master);

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int ecrt_master_fetch_sdo_lists(ec_master_t *master);

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void ecrt_master_sync_io(ec_master_t *master);

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void ecrt_master_async_send(ec_master_t *master);

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void ecrt_master_async_receive(ec_master_t *master);

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void ecrt_master_prepare_async_io(ec_master_t *master);

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void ecrt_master_run(ec_master_t *master);

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void ecrt_master_debug(ec_master_t *master, int level);

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void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);

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ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);

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

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 *  Domain Methods

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

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ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

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                                       const char *address,

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                                       const char *vendor_name,

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                                       const char *product_name,

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                                       void **data_ptr, const char *field_name,

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                                       unsigned int field_index,

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                                       unsigned int field_count);

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int ecrt_domain_register_field_list(ec_domain_t *domain,

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                                    const ec_field_init_t *fields);

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void ecrt_domain_queue(ec_domain_t *domain);

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void ecrt_domain_process(ec_domain_t *domain);

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int ecrt_domain_state(ec_domain_t *domain);

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

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 *  Slave Methods

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

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int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,

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                              uint8_t sdo_subindex, uint8_t *value);

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int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,

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                              uint8_t sdo_subindex, uint16_t *value);

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int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,

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                              uint8_t sdo_subindex, uint32_t *value);

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int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,

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                              uint8_t sdo_subindex, uint8_t value);

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int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,

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                               uint8_t sdo_subindex, uint16_t value);

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int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,

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                               uint8_t sdo_subindex, uint32_t value);

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int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,

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                        uint8_t sdo_subindex, uint8_t *data, size_t *size);

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int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);

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

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 *  Bitwise read/write macros

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

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/**

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   Read a certain bit of an EtherCAT data byte.

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   \param DATA EtherCAT data pointer

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   \param POS bit position

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*/

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#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)

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/**

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   Write a certain bit of an EtherCAT data byte.

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   \param DATA EtherCAT data pointer

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   \param POS bit position

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   \param VAL new bit value

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*/

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#define EC_WRITE_BIT(DATA, POS, VAL) \

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    do { \

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        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \

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        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \

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    } while (0)

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

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 *  Read macros

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

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/**

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   Read an 8-bit unsigned value from EtherCAT data.

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   \return EtherCAT data value

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*/

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#define EC_READ_U8(DATA) \

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    ((uint8_t) *((uint8_t *) (DATA)))

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/**

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   Read an 8-bit signed value from EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \return EtherCAT data value

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*/

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#define EC_READ_S8(DATA) \

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     ((int8_t)  *((uint8_t *) (DATA)))

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/**

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   Read a 16-bit unsigned value from EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \return EtherCAT data value

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*/

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#define EC_READ_U16(DATA) \

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     ((uint16_t) le16_to_cpup((void *) (DATA)))

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/**

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   Read a 16-bit signed value from EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \return EtherCAT data value

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*/

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#define EC_READ_S16(DATA) \

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     ((int16_t)  le16_to_cpup((void *) (DATA)))

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/**

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   Read a 32-bit unsigned value from EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \return EtherCAT data value

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*/

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#define EC_READ_U32(DATA) \

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     ((uint32_t) le32_to_cpup((void *) (DATA)))

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/**

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   Read a 32-bit signed value from EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \return EtherCAT data value

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*/

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#define EC_READ_S32(DATA) \

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     ((int32_t)  le32_to_cpup((void *) (DATA)))

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

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 *  Write macros

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

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/**

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   Write an 8-bit unsigned value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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#define EC_WRITE_U8(DATA, VAL) \

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    do { \

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        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \

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    } while (0)

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/**

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   Write an 8-bit signed value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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

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/**

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   Write a 16-bit unsigned value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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#define EC_WRITE_U16(DATA, VAL) \

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    do { \

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        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \

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        cpu_to_le16s(DATA); \

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    } while (0)

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/**

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   Write a 16-bit signed value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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

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/**

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   Write a 32-bit unsigned value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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#define EC_WRITE_U32(DATA, VAL) \

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    do { \

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        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \

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        cpu_to_le16s(DATA); \

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    } while (0)

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/**

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   Write a 32-bit signed value to EtherCAT data.

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   \param DATA EtherCAT data pointer

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   \param VAL new value

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*/

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

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

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#endif