00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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