include/EtherCAT_si.h
changeset 71 79d7b9cfdeb9
parent 67 56964b20c15d
child 74 9bf603942791
equal deleted inserted replaced
70:6693d7e25d5e 71:79d7b9cfdeb9
    15 #define EC_READ_EL10XX(SLAVE, CHANNEL) \
    15 #define EC_READ_EL10XX(SLAVE, CHANNEL) \
    16     ((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
    16     ((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
    17 
    17 
    18 /*****************************************************************************/
    18 /*****************************************************************************/
    19 
    19 
    20 #define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \
    20 #define EC_WRITE_EL200X(SLAVE, CHANNEL, VALUE) \
    21     do { \
    21     do { \
    22         if (VALUE) EC_PROC_DATA(SLAVE)[0] |=  (1 << (CHANNEL)); \
    22         if (VALUE) EC_PROC_DATA(SLAVE)[0] |=  (1 << (CHANNEL)); \
    23         else       EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
    23         else       EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
    24     } while (0)
    24     } while (0)
    25 
    25 
    26 /*****************************************************************************/
    26 /*****************************************************************************/
    27 
    27 
    28 #define EC_READ_EL31XX(SLAVE, CHANNEL) \
    28 #define EC_READ_EL310X(SLAVE, CHANNEL) \
    29     ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
    29     ((signed short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
    30                    EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
    30                           EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
       
    31 
       
    32 #define EC_READ_EL316X(SLAVE, CHANNEL) \
       
    33     ((unsigned short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
       
    34                             EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
    31 
    35 
    32 /*****************************************************************************/
    36 /*****************************************************************************/
    33 
    37 
    34 #define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
    38 #define EC_WRITE_EL410X(SLAVE, CHANNEL, VALUE) \
    35     do { \
    39     do { \
    36         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
    40         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
    37         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] =  (VALUE) & 0xFF; \
    41         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] =  (VALUE) & 0xFF; \
    38     } while (0)
    42     } while (0)
    39 
    43