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cleanup esc_hw.c

pull/4/head
Hans-Erik Floryd 2015-05-13 16:44:24 +02:00
parent d0a7447117
commit b5af557184
1 changed files with 9 additions and 15 deletions
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24
os_hw/rtl_spi/esc_hw.c
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@ -29,16 +29,16 @@
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* ESC hardware layer functions.
*
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include <utypes.h>
#include <cc.h>
#include <spi/spi.h>
#include <string.h>
@ -50,14 +50,14 @@
#define ESC_NEXT 0x00
static int et1100 = -1;
static uint8_t read_termination[128] = { 0 };
static uint8 read_termination[128] = { 0 };
void esc_address (uint16_t address, uint8_t command, uint16_t * al_event)
static void esc_address (uint16 address, uint8 command, uint16 * al_event)
{
/* Device is selected already.
* We use 2 bytes addressing.
*/
uint8_t data[2];
uint8 data[2];
/* address 12:5 */
data[0] = (address >> 5);
@ -65,11 +65,10 @@ void esc_address (uint16_t address, uint8_t command, uint16_t * al_event)
data[1] = ((address & 0x1F) << 3) | command;
/* Write (and read AL interrupt register) */
spi_bidirectionally_transfer (et1100, (uint8_t *) al_event, data,
spi_bidirectionally_transfer (et1100, (uint8 *) al_event, data,
sizeof (data));
}
#ifndef WSREAD
/** ESC read function used by the Slave stack.
*
* @param[in] address = address of ESC register to read
@ -98,11 +97,6 @@ uint8 ESC_read (uint16 address, void *buf, uint16 len, void *tALevent)
/* result is never used */
return 0;
}
#endif
#ifdef WSREAD
#error NOT SUPPORTED!
#endif
/** ESC write function used by the Slave stack.
*