wg_util.cpp
Go to the documentation of this file.
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


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Fri Aug 28 2015 12:09:44