1 /******************************************************************************

     2  *

     3  *  l i b e c . c

     4  *

     5  *  EtherCAT-Library fuer Echtzeitmodule

     6  *

     7  *  $Id$

     8  *

     9  *****************************************************************************/

    10 

    11 #include "libec.h"

    12 

    13 /*****************************************************************************/

    14 

    15 int LEC_read_EL10XX(ec_slave_t *slave, unsigned int channel)

    16 {

    17     unsigned char *data = slave->process_data;

    18 

    19     return (data[0] >> channel) & 0x01;

    20 }

    21 

    22 /*****************************************************************************/

    23 

    24 int LEC_read_EL31XX(ec_slave_t *slave, unsigned int channel)

    25 {

    26     unsigned char *data = slave->process_data;

    27 

    28     return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);

    29 }

    30 

    31 /*****************************************************************************/

    32 

    33 void LEC_write_EL20XX(ec_slave_t *slave, unsigned int channel, int value)

    34 {

    35     unsigned char *data = slave->process_data;

    36 

    37     if (value) data[0] |= (1 << channel);

    38     else data[0] &= ~(1 << channel);

    39 }

    40 

    41 /*****************************************************************************/

    42 

    43 void LEC_write_EL41XX(ec_slave_t *slave, unsigned int channel, int value)

    44 {

    45     unsigned char *data = slave->process_data;

    46 

    47     data[channel * 3 + 1] = (value & 0xFF00) >> 8;

    48     data[channel * 3 + 2] = value & 0xFF;

    49 }

    50 

    51 /*****************************************************************************/

    52 

    53 /* Emacs-Konfiguration

    54 ;;; Local Variables: ***

    55 ;;; c-basic-offset:4 ***

    56 ;;; End: ***

    57 */