wg_util.cpp
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00034 
00035 #include "ethercat_hardware/wg_util.h"
00036 
00037 namespace ethercat_hardware
00038 {
00039 
00040 
00041 unsigned int wg_util::rotateRight8(unsigned in)
00042 {
00043   in &= 0xff;
00044   in = (in >> 1) | (in << 7);
00045   in &= 0xff;
00046   return in;
00047 }
00048 
00049 unsigned wg_util::computeChecksum(void const *data, unsigned length)
00050 {
00051   const unsigned char *d = (const unsigned char *)data;
00052   unsigned int checksum = 0x42;
00053   for (unsigned int i = 0; i < length; ++i)
00054   {
00055     checksum = rotateRight8(checksum);
00056     checksum ^= d[i];
00057     checksum &= 0xff;
00058   }
00059   return checksum;
00060 }
00061 
00062 
00063 
00064 unsigned SyncMan::baseAddress(unsigned num) 
00065 {
00066   assert(num < 8);
00067   return BASE_ADDR + 8 * num;
00068 }  
00069   
00070 
00080 bool SyncMan::readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num)
00081 {
00082   return ( EthercatDevice::readData(com, sh, baseAddress(num), this, sizeof(*this), addrMode) == 0);
00083 }
00084 
00085 
00086 unsigned SyncManActivate::baseAddress(unsigned num)
00087 {
00088   assert(num < 8);
00089   return BASE_ADDR + 8 * num;
00090 }
00091 
00101 bool SyncManActivate::writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num) const
00102 {
00103   return ( EthercatDevice::writeData(com, sh, baseAddress(num), this, sizeof(*this), addrMode) == 0);
00104 }
00105 
00106 
00107 }; //end namespace ethercat_hardware


ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Thu Jan 2 2014 11:39:31