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1 /****************************************************************************** |
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2 * |
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3 * E t h e r C A T _ s i . h |
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4 * |
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5 * EtherCAT Slave-Interface. |
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6 * |
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7 * $Id$ |
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8 * |
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9 *****************************************************************************/ |
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10 |
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11 #define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data)) |
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12 |
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13 /*****************************************************************************/ |
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14 |
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15 #define EC_READ_EL10XX(SLAVE, CHANNEL) \ |
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16 ((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01) |
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17 |
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18 /*****************************************************************************/ |
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19 |
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20 #define EC_READ_EL31XX(SLAVE, CHANNEL) \ |
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21 ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \ |
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22 EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1])) |
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23 |
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24 /*****************************************************************************/ |
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25 |
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26 #define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \ |
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27 do { \ |
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28 if (VALUE) EC_PROC_DATA(SLAVE)[0] |= (1 << (CHANNEL)); \ |
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29 else EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \ |
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30 } while (0) |
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31 |
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32 /*****************************************************************************/ |
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33 |
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34 #define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \ |
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35 do { \ |
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36 EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \ |
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37 EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] = (VALUE) & 0xFF; \ |
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38 } while (0) |
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39 |
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40 /*****************************************************************************/ |
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41 |
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42 /* Emacs-Konfiguration |
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43 ;;; Local Variables: *** |
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44 ;;; c-basic-offset:4 *** |
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45 ;;; End: *** |
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46 */ |