equal
deleted
inserted
replaced
590 EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000); |
590 EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000); |
591 |
591 |
592 // EtherCAT datagram header |
592 // EtherCAT datagram header |
593 EC_WRITE_U8 (cur_data, datagram->type); |
593 EC_WRITE_U8 (cur_data, datagram->type); |
594 EC_WRITE_U8 (cur_data + 1, datagram->index); |
594 EC_WRITE_U8 (cur_data + 1, datagram->index); |
595 EC_WRITE_U32(cur_data + 2, datagram->address.logical); |
595 memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN); |
596 EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF); |
596 EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF); |
597 EC_WRITE_U16(cur_data + 8, 0x0000); |
597 EC_WRITE_U16(cur_data + 8, 0x0000); |
598 follows_word = cur_data + 6; |
598 follows_word = cur_data + 6; |
599 cur_data += EC_DATAGRAM_HEADER_SIZE; |
599 cur_data += EC_DATAGRAM_HEADER_SIZE; |
600 |
600 |