File content as of revision 42:ef78d11f2bd7:

/*
 * SOES Simple Open EtherCAT Slave
 *
 * File    : utype.h
 * Version : 1.0.0
 * Date    : 11-07-2010
 * Copyright (C) 2007-2010 Arthur Ketels
 *
 * SOES is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 2 as published by the Free
 * Software Foundation.
 *
 * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
 * for more details.
 *
 * As a special exception, if other files instantiate templates or use macros
 * or inline functions from this file, or you compile this file and link it
 * with other works to produce a work based on this file, this file does not
 * by itself cause the resulting work to be covered by the GNU General Public
 * License. However the source code for this file must still be made available
 * in accordance with section (3) of the GNU General Public License.
 *
 * This exception does not invalidate any other reasons why a work based on
 * this file might be covered by the GNU General Public License.
 *
 * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
 * property of, and protected by Beckhoff Automation GmbH.
 */

#ifndef _UTYPES_H_
#define _UTYPES_H_

#include <stdint.h>
#define uint8   uint8_t
#define int8    int8_t
#define uint16  uint16_t
#define int16   int16_t
#define uint32  uint32_t
#define int32   int32_t
#define APPSTATE_IDLE		0x00
#define APPSTATE_INPUT		0x01
#define APPSTATE_OUTPUT		0x02

typedef union
  {
    uint16 w;
    uint8  b[2];
  } uint16union;

typedef struct __attribute__((packed))
{ 
	float q0;
	float q1;
	float q2;
	float q3;
	uint16_t samplecounter;
	
/*	float acc[3];
	float gyr[3];
	float mag[3];*/
}xsense_slave;

typedef struct __attribute__((packed))
  {
    //uint8         state;
	xsense_slave    xsens_imu[3];
	//xsense_slave   second;
	//xsense_slave   third;
    //uint16        timestamp;
  } _Rbuffer;

typedef struct
  {
    uint8         correct_offset;
  } _Wbuffer;

typedef struct
  {
    uint16        setting16;
    uint8         setting8;
  } _Ebuffer;

extern	uint8			APPstate;
extern _Rbuffer			Rb;
extern _Wbuffer			Wb;
extern _Ebuffer			Eb;

#define EC_LITTLE_ENDIAN

#if !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN)

  #define htoes(A) (A)
  #define htoel(A) (A)
  #define htoell(A) (A)
  #define etohs(A) (A)
  #define etohl(A) (A)
  #define etohll(A) (A)

#elif !defined(EC_LITTLE_ENDIAN) && defined(EC_BIG_ENDIAN)

  #define htoes(A) ((((uint16)(A) & 0xff00) >> 8) | \
                    (((uint16)(A) & 0x00ff) << 8))
  #define htoel(A) ((((uint32)(A) & 0xff000000) >> 24) | \
                    (((uint32)(A) & 0x00ff0000) >> 8)  | \
                    (((uint32)(A) & 0x0000ff00) << 8)  | \
                    (((uint32)(A) & 0x000000ff) << 24))
  #define htoell(A) ((((uint64)(A) & (uint64)0xff00000000000000ULL) >> 56) | \
                     (((uint64)(A) & (uint64)0x00ff000000000000ULL) >> 40) | \
                     (((uint64)(A) & (uint64)0x0000ff0000000000ULL) >> 24) | \
                     (((uint64)(A) & (uint64)0x000000ff00000000ULL) >> 8)  | \
                     (((uint64)(A) & (uint64)0x00000000ff000000ULL) << 8)  | \
                     (((uint64)(A) & (uint64)0x0000000000ff0000ULL) << 24) | \
                     (((uint64)(A) & (uint64)0x000000000000ff00ULL) << 40) | \
                     (((uint64)(A) & (uint64)0x00000000000000ffULL) << 56))

  #define etohs  htoes
  #define etohl  htoel
  #define etohll htoell

#else

  #error "Must define one of EC_BIG_ENDIAN or EC_LITTLE_ENDIAN"

#endif
#endif // _UTYPES_H_