1 //---------------------------------------------------------------

     2 //

     3 //  e c _ c o m m a n d . c

     4 //

     5 //  $LastChangedDate$

     6 //  $Author$

     7 //

     8 //---------------------------------------------------------------

     9 

    10 #include <stdio.h>

    11 #include <stdlib.h>

    12 

    13 #include "ec_command.h"

    14 

    15 //---------------------------------------------------------------

    16 

    17 void EtherCAT_command_init(EtherCAT_command_t *cmd)

    18 {

    19   cmd->command_type = 0x00;

    20   cmd->node_address = 0x0000;

    21   cmd->ring_position = 0x0000;

    22   cmd->mem_address = 0x0000;

    23   cmd->logical_address = 0x00000000;

    24   cmd->data_length = 0;

    25   cmd->status = Waiting;

    26   cmd->next = NULL;

    27   cmd->working_counter = 0;

    28   cmd->data = NULL;

    29 }

    30 

    31 //---------------------------------------------------------------

    32 

    33 void EtherCAT_command_clear(EtherCAT_command_t *cmd)

    34 {

    35   if (cmd->data)

    36   {

    37     free(cmd->data);

    38   }

    39 

    40   EtherCAT_command_init(cmd);

    41 }

    42 

    43 //---------------------------------------------------------------

    44 

    45 void EtherCAT_command_print_data(EtherCAT_command_t *cmd)

    46 {

    47   unsigned int i;

    48 

    49   printf("[");

    50 

    51   for (i = 0; i < cmd->data_length; i++)

    52   {

    53     printf("%02X", cmd->data[i]);

    54 

    55     if (i < cmd->data_length - 1) printf(" ");

    56   }

    57 

    58   printf("]\n");

    59 }

    60 

    61 //---------------------------------------------------------------