Added floating-point access functions and macros for user-space.

include/ecrt.h

@@ -2202,6 +2202,42 @@ void ecrt_reg_request_read(
 #define EC_READ_S64(DATA) \
      ((int64_t) le64_to_cpup((void *) (DATA)))
 
+/******************************************************************************
+ * Floating-point read functions and macros (userspace only)
+ *****************************************************************************/
+
+#ifndef __KERNEL__
+
+/** Read a 32-bit floating-point value from EtherCAT data.
+ *
+ * \param data EtherCAT data pointer
+ * \return EtherCAT data value
+ */
+float ecrt_read_real(void *data);
+
+/** Read a 32-bit floating-point value from EtherCAT data.
+ *
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
+#define EC_READ_REAL(DATA) ecrt_read_real(DATA)
+
+/** Read a 64-bit floating-point value from EtherCAT data.
+ *
+ * \param data EtherCAT data pointer
+ * \return EtherCAT data value
+ */
+double ecrt_read_lreal(void *data);
+
+/** Read a 64-bit floating-point value from EtherCAT data.
+ *
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
+#define EC_READ_LREAL(DATA) ecrt_read_lreal(DATA)
+
+#endif // ifndef __KERNEL__
+
 /******************************************************************************
  * Write macros
  *****************************************************************************/
@@ -2274,6 +2310,42 @@ void ecrt_reg_request_read(
  */
 #define EC_WRITE_S64(DATA, VAL) EC_WRITE_U64(DATA, VAL)
 
+/******************************************************************************
+ * Floating-point write functions and macros (userspace only)
+ *****************************************************************************/
+
+#ifndef __KERNEL__
+
+/** Write a 32-bit floating-point value to EtherCAT data.
+ *
+ * \param data EtherCAT data pointer
+ * \param value new value
+ */
+void ecrt_write_real(void *data, float value);
+
+/** Write a 32-bit floating-point value to EtherCAT data.
+ *
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
+#define EC_WRITE_REAL(DATA, VAL) ecrt_write_real(DATA, VAL)
+
+/** Write a 64-bit floating-point value to EtherCAT data.
+ *
+ * \param data EtherCAT data pointer
+ * \param value new value
+ */
+void ecrt_write_lreal(void *data, double value);
+
+/** Write a 64-bit floating-point value to EtherCAT data.
+ *
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
+#define EC_WRITE_LREAL(DATA, VAL) ecrt_write_lreal(DATA, VAL)
+
+#endif // ifndef __KERNEL__
+
 /*****************************************************************************/
 
 /** @} */

lib/common.c

@@ -137,3 +137,33 @@ void ecrt_release_master(ec_master_t *master)
 }
 
 /*****************************************************************************/
+
+float ecrt_read_real(void *data)
+{
+    uint32_t raw = EC_READ_U32(data);
+    return *(float *) (const void *) &raw;
+}
+
+/*****************************************************************************/
+
+double ecrt_read_lreal(void *data)
+{
+    uint64_t raw = EC_READ_U64(data);
+    return *(double *) (const void *) &raw;
+}
+
+/*****************************************************************************/
+
+void ecrt_write_real(void *data, float value)
+{
+    *(uint32_t *) data = cpu_to_le32(*(uint32_t *) (void *) &value);
+}
+
+/*****************************************************************************/
+
+void ecrt_write_lreal(void *data, double value)
+{
+    *(uint64_t *) data = cpu_to_le64(*(uint64_t *) (void *) &value);
+}
+
+/*****************************************************************************/