fp@0: //---------------------------------------------------------------
fp@0: //
fp@0: //  e c _ c o m m a n d . c
fp@0: //
fp@0: //  $LastChangedDate$
fp@0: //  $Author$
fp@0: //
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: #include <stdio.h>
fp@0: #include <stdlib.h>
fp@0: 
fp@0: #include "ec_command.h"
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_command_init(EtherCAT_command_t *cmd)
fp@0: {
fp@0:   cmd->command_type = 0x00;
fp@0:   cmd->node_address = 0x0000;
fp@0:   cmd->ring_position = 0x0000;
fp@0:   cmd->mem_address = 0x0000;
fp@0:   cmd->logical_address = 0x00000000;
fp@0:   cmd->data_length = 0;
fp@0:   cmd->status = Waiting;
fp@0:   cmd->next = NULL;
fp@0:   cmd->working_counter = 0;
fp@0:   cmd->data = NULL;
fp@0: }
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_command_clear(EtherCAT_command_t *cmd)
fp@0: {
fp@0:   if (cmd->data)
fp@0:   {
fp@0:     free(cmd->data);
fp@0:   }
fp@0: 
fp@0:   EtherCAT_command_init(cmd);
fp@0: }
fp@0: 
fp@0: //---------------------------------------------------------------
fp@0: 
fp@0: void EtherCAT_command_print_data(EtherCAT_command_t *cmd)
fp@0: {
fp@0:   unsigned int i;
fp@0: 
fp@0:   printf("[");
fp@0: 
fp@0:   for (i = 0; i < cmd->data_length; i++)
fp@0:   {
fp@0:     printf("%02X", cmd->data[i]);
fp@0: 
fp@0:     if (i < cmd->data_length - 1) printf(" ");
fp@0:   }
fp@0: 
fp@0:   printf("]\n");
fp@0: }
fp@0: 
fp@0: //---------------------------------------------------------------