fp@59: /******************************************************************************
fp@59:  *
fp@59:  *  E t h e r C A T _ s i . h
fp@59:  *
fp@59:  *  EtherCAT Slave-Interface.
fp@59:  *
fp@59:  *  $Id$
fp@59:  *
fp@59:  *****************************************************************************/
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@74: // Bitwise read/write macros
fp@59: 
fp@74: #define EC_READ_BIT(PD, CH) (*((uint8_t *) (PD)) >> (CH)) & 0x01)
fp@59: 
fp@74: #define EC_WRITE_BIT(PD, CH, VAL) \
fp@59:     do { \
fp@74:         if (VAL) *((uint8_t *) (PD)) |=  (1 << (CH)); \
fp@74:         else     *((uint8_t *) (PD)) &= ~(1 << (CH)); \
fp@59:     } while (0)
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@74: // Read macros
fp@71: 
fp@74: #define EC_READ_U8(PD) \
fp@74:     (*((uint8_t *) (PD)))
fp@74: 
fp@74: #define EC_READ_S8(PD) \
fp@74:     ((int8_t) *((uint8_t *) (PD)))
fp@74: 
fp@74: #define EC_READ_U16(PD) \
fp@74:     ((uint16_t) (*((uint8_t *) (PD) + 0) << 0 | \
fp@74:                  *((uint8_t *) (PD) + 1) << 8))
fp@74: 
fp@74: #define EC_READ_S16(PD) \
fp@74:     ((int16_t) (*((uint8_t *) (PD) + 0) << 0 | \
fp@74:                 *((uint8_t *) (PD) + 1) << 8))
fp@74: 
fp@74: #define EC_READ_U32(PD) \
fp@74:     ((uint32_t) (*((uint8_t *) (PD) + 0) <<  0 | \
fp@74:                  *((uint8_t *) (PD) + 1) <<  8 | \
fp@74:                  *((uint8_t *) (PD) + 2) << 16 | \
fp@74:                  *((uint8_t *) (PD) + 3) << 24))
fp@74: 
fp@74: #define EC_READ_S32(PD) \
fp@74:     ((int32_t) (*((uint8_t *) (PD) + 0) <<  0 | \
fp@74:                 *((uint8_t *) (PD) + 1) <<  8 | \
fp@74:                 *((uint8_t *) (PD) + 2) << 16 | \
fp@74:                 *((uint8_t *) (PD) + 3) << 24))
fp@67: 
fp@67: /*****************************************************************************/
fp@67: 
fp@74: // Write macros
fp@74: 
fp@74: #define EC_WRITE_U8(PD, VAL) \
fp@59:     do { \
fp@74:         *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
fp@59:     } while (0)
fp@59: 
fp@74: #define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)
fp@59: 
fp@74: #define EC_WRITE_U16(PD, VAL) \
fp@74:     do { \
fp@74:         *((uint8_t *) (PD) + 0) = ((uint16_t) (VAL) >> 0) & 0xFF; \
fp@74:         *((uint8_t *) (PD) + 1) = ((uint16_t) (VAL) >> 8) & 0xFF; \
fp@74:     } while (0)
fp@67: 
fp@74: #define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
fp@67: 
fp@74: #define EC_WRITE_U32(PD, VAL) \
fp@74:     do { \
fp@74:         *((uint8_t *) (PD) + 0) = ((uint32_t) (VAL) >>  0) & 0xFF; \
fp@74:         *((uint8_t *) (PD) + 1) = ((uint32_t) (VAL) >>  8) & 0xFF; \
fp@74:         *((uint8_t *) (PD) + 2) = ((uint32_t) (VAL) >> 16) & 0xFF; \
fp@74:         *((uint8_t *) (PD) + 3) = ((uint32_t) (VAL) >> 24) & 0xFF; \
fp@74:     } while (0)
fp@66: 
fp@74: #define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
fp@67: 
fp@66: /*****************************************************************************/
fp@66: 
fp@59: /* Emacs-Konfiguration
fp@59: ;;; Local Variables: ***
fp@59: ;;; c-basic-offset:4 ***
fp@59: ;;; End: ***
fp@59: */