--- a/include/EtherCAT_si.h Mon Feb 13 14:11:33 2006 +0000
+++ b/include/EtherCAT_si.h Tue Feb 14 14:40:47 2006 +0000
@@ -17,12 +17,6 @@
/*****************************************************************************/
-#define EC_READ_EL31XX(SLAVE, CHANNEL) \
- ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
- EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
-
-/*****************************************************************************/
-
#define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \
do { \
if (VALUE) EC_PROC_DATA(SLAVE)[0] |= (1 << (CHANNEL)); \
@@ -31,6 +25,12 @@
/*****************************************************************************/
+#define EC_READ_EL31XX(SLAVE, CHANNEL) \
+ ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
+ EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
+
+/*****************************************************************************/
+
#define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
do { \
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
@@ -39,15 +39,30 @@
/*****************************************************************************/
-#define EC_READ_EL5001(SLAVE) \
+#define EC_CONF_EL5001_BAUD (0x4067)
+
+#define EC_READ_EL5001_STATE(SLAVE) \
+ ((unsigned char) EC_PROC_DATA(SLAVE)[0])
+
+#define EC_READ_EL5001_VALUE(SLAVE) \
((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
(EC_PROC_DATA(SLAVE)[2] << 8) | \
(EC_PROC_DATA(SLAVE)[3] << 16) | \
(EC_PROC_DATA(SLAVE)[4] << 24)))
-#define EC_READ_EL5001_STATE(SLAVE) \
+/*****************************************************************************/
+
+#define EC_READ_EL5101_STATE(SLAVE) \
((unsigned char) EC_PROC_DATA(SLAVE)[0])
+#define EC_READ_EL5101_VALUE(SLAVE) \
+ ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
+ (EC_PROC_DATA(SLAVE)[2] << 8)))
+
+#define EC_READ_EL5101_LATCH(SLAVE) \
+ ((unsigned int) (EC_PROC_DATA(SLAVE)[3] | \
+ (EC_PROC_DATA(SLAVE)[4] << 8)))
+
/*****************************************************************************/
/* Emacs-Konfiguration