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: #define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data))
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@59: #define EC_READ_EL10XX(SLAVE, CHANNEL) \
fp@59:     ((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@59: #define EC_READ_EL31XX(SLAVE, CHANNEL) \
fp@59:     ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
fp@59:                    EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@59: #define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \
fp@59:     do { \
fp@59:         if (VALUE) EC_PROC_DATA(SLAVE)[0] |=  (1 << (CHANNEL)); \
fp@59:         else       EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
fp@59:     } while (0)
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@59: #define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
fp@59:     do { \
fp@59:         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
fp@59:         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] =  (VALUE) & 0xFF; \
fp@59:     } while (0)
fp@59: 
fp@59: /*****************************************************************************/
fp@59: 
fp@66: #define EC_READ_EL5001(SLAVE) \
fp@66:     ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
fp@66:                      (EC_PROC_DATA(SLAVE)[2] << 8) | \
fp@66:                      (EC_PROC_DATA(SLAVE)[3] << 16) | \
fp@66:                      (EC_PROC_DATA(SLAVE)[4] << 24)))
fp@66: 
fp@66: #define EC_READ_EL5001_STATE(SLAVE) \
fp@66:     ((unsigned char) EC_PROC_DATA(SLAVE)[0])
fp@66: 
fp@66: /*****************************************************************************/
fp@66: 
fp@59: /* Emacs-Konfiguration
fp@59: ;;; Local Variables: ***
fp@59: ;;; c-basic-offset:4 ***
fp@59: ;;; End: ***
fp@59: */