equal
deleted
inserted
replaced
120 \return 0 bei Erfolg, sonst < 0 |
120 \return 0 bei Erfolg, sonst < 0 |
121 */ |
121 */ |
122 |
122 |
123 int ec_slave_sii_read(ec_slave_t *slave, |
123 int ec_slave_sii_read(ec_slave_t *slave, |
124 /**< EtherCAT-Slave */ |
124 /**< EtherCAT-Slave */ |
125 unsigned short int offset, |
125 uint16_t offset, |
126 /**< Adresse des zu lesenden SII-Registers */ |
126 /**< Adresse des zu lesenden SII-Registers */ |
127 unsigned int *target |
127 uint32_t *target |
128 /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen |
128 /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen |
129 der Daten */ |
129 der Daten */ |
130 ) |
130 ) |
131 { |
131 { |
132 ec_command_t command; |
132 ec_command_t command; |
133 unsigned char data[10]; |
133 uint8_t data[10]; |
134 cycles_t start, end, timeout; |
134 cycles_t start, end, timeout; |
135 |
135 |
136 // Initiate read operation |
136 // Initiate read operation |
137 |
137 |
138 EC_WRITE_U8 (data, 0x00); |
138 EC_WRITE_U8 (data, 0x00); |
192 uint8_t state |
192 uint8_t state |
193 /**< Alter Zustand */ |
193 /**< Alter Zustand */ |
194 ) |
194 ) |
195 { |
195 { |
196 ec_command_t command; |
196 ec_command_t command; |
197 unsigned char data[2]; |
197 uint8_t data[2]; |
198 cycles_t start, end, timeout; |
198 cycles_t start, end, timeout; |
199 |
199 |
200 EC_WRITE_U16(data, state | EC_ACK); |
200 EC_WRITE_U16(data, state | EC_ACK); |
201 |
201 |
202 ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data); |
202 ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data); |
255 uint8_t state |
255 uint8_t state |
256 /**< Neuer Zustand */ |
256 /**< Neuer Zustand */ |
257 ) |
257 ) |
258 { |
258 { |
259 ec_command_t command; |
259 ec_command_t command; |
260 unsigned char data[2]; |
260 uint8_t data[2]; |
261 cycles_t start, end, timeout; |
261 cycles_t start, end, timeout; |
262 |
262 |
263 EC_WRITE_U16(data, state); |
263 EC_WRITE_U16(data, state); |
264 |
264 |
265 ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data); |
265 ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data); |