44 in = (in >> 1) | (in << 7);
51 const unsigned char *
d = (
const unsigned char *)data;
52 unsigned int checksum = 0x42;
53 for (
unsigned int i = 0; i <
length; ++i)
bool writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num) const
Write data to Sync Manager Activation register.
static unsigned baseAddress(unsigned num)
unsigned computeChecksum(void const *data, unsigned length)
static const unsigned BASE_ADDR
static int writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode)
Write data to device ESC.
unsigned int rotateRight8(unsigned in)
static unsigned baseAddress(unsigned num)
bool readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num)
Read data from Sync Manager.
static int readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
Read data from device ESC.