--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/EtherCAT_si.h	Thu Jan 26 10:48:26 2006 +0000
@@ -0,0 +1,46 @@
+/******************************************************************************
+ *
+ *  E t h e r C A T _ s i . h
+ *
+ *  EtherCAT Slave-Interface.
+ *
+ *  $Id$
+ *
+ *****************************************************************************/
+
+#define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data))
+
+/*****************************************************************************/
+
+#define EC_READ_EL10XX(SLAVE, CHANNEL) \
+    ((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
+
+/*****************************************************************************/
+
+#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)); \
+        else       EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
+    } while (0)
+
+/*****************************************************************************/
+
+#define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
+    do { \
+        EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
+        EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] =  (VALUE) & 0xFF; \
+    } while (0)
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/