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

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This commit is contained in:
Florian Pose
2019-01-16 14:36:13 +01:00
parent 65ff5e7ede
commit b6e377ff11
2 changed files with 102 additions and 0 deletions
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72
include/ecrt.h
View File

@@ -2189,6 +2189,42 @@ 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
*****************************************************************************/
@@ -2261,6 +2297,42 @@ 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__
/*****************************************************************************/
/** @} */

30
lib/common.c
View File

@@ -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);
}
/*****************************************************************************/