wg_util.cpp
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34 
36 
37 namespace ethercat_hardware
38 {
39 
40 
41 unsigned int wg_util::rotateRight8(unsigned in)
42 {
43  in &= 0xff;
44  in = (in >> 1) | (in << 7);
45  in &= 0xff;
46  return in;
47 }
48 
49 unsigned wg_util::computeChecksum(void const *data, unsigned length)
50 {
51  const unsigned char *d = (const unsigned char *)data;
52  unsigned int checksum = 0x42;
53  for (unsigned int i = 0; i < length; ++i)
54  {
55  checksum = rotateRight8(checksum);
56  checksum ^= d[i];
57  checksum &= 0xff;
58  }
59  return checksum;
60 }
61 
62 
63 
64 unsigned SyncMan::baseAddress(unsigned num)
65 {
66  assert(num < 8);
67  return BASE_ADDR + 8 * num;
68 }
69 
70 
80 bool SyncMan::readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num)
81 {
82  return ( EthercatDevice::readData(com, sh, baseAddress(num), this, sizeof(*this), addrMode) == 0);
83 }
84 
85 
86 unsigned SyncManActivate::baseAddress(unsigned num)
87 {
88  assert(num < 8);
89  return BASE_ADDR + 8 * num;
90 }
91 
101 bool SyncManActivate::writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num) const
102 {
103  return ( EthercatDevice::writeData(com, sh, baseAddress(num), this, sizeof(*this), addrMode) == 0);
104 }
105 
106 
107 }; //end namespace ethercat_hardware
EthercatCom
Definition: ethercat_com.h:44
ethercat_hardware::SyncManActivate::baseAddress
static unsigned baseAddress(unsigned num)
Definition: wg_util.cpp:118
ethercat_hardware::SyncManActivate::BASE_ADDR
static const unsigned BASE_ADDR
Definition: wg_util.h:124
EthercatDevice::AddrMode
AddrMode
Definition: ethercat_device.h:189
ethercat_hardware
Definition: motor_heating_model.h:53
ethercat_hardware::wg_util::computeChecksum
unsigned computeChecksum(void const *data, unsigned length)
Definition: wg_util.cpp:81
ethercat_hardware::SyncMan::BASE_ADDR
static const unsigned BASE_ADDR
Definition: wg_util.h:161
d
d
ethercat_hardware::SyncMan::readData
bool readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num)
Read data from Sync Manager.
Definition: wg_util.cpp:112
wg_util.h
EthercatDevice::writeData
static int writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode)
Write data to device ESC.
Definition: ethercat_device.cpp:492
length
uint16_t length
Definition: wg_util.h:151
ethercat_hardware::SyncManActivate::writeData
bool writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EthercatDevice::AddrMode addrMode, unsigned num) const
Write data to Sync Manager Activation register.
Definition: wg_util.cpp:133
EthercatDevice::readData
static int readData(EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
Read data from device ESC.
Definition: ethercat_device.cpp:445
ethercat_hardware::SyncMan::baseAddress
static unsigned baseAddress(unsigned num)
Definition: wg_util.cpp:96
ethercat_hardware::wg_util::rotateRight8
unsigned int rotateRight8(unsigned in)
Definition: wg_util.cpp:73


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Thu Sep 26 2024 02:44:04