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double float = fal_float size added to lcec. LCNC starts and works

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This commit is contained in:
Hakan Bastedt
2024-01-02 18:46:26 +01:00
parent 8007a2ff6c
commit b57bd740ab
7 changed files with 128 additions and 124 deletions
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52
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -389,7 +389,7 @@
</DataType> </DataType>
<DataType> <DataType>
<Name>DT6005</Name> <Name>DT6005</Name>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -403,8 +403,8 @@
<SubItem> <SubItem>
<SubIdx>1</SubIdx> <SubIdx>1</SubIdx>
<Name>ActualPosition</Name> <Name>ActualPosition</Name>
<Type>DINT</Type> <Type>LREAL</Type>
<BitSize>32</BitSize> <BitSize>64</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
@@ -414,7 +414,7 @@
</DataType> </DataType>
<DataType> <DataType>
<Name>DT7002</Name> <Name>DT7002</Name>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -428,8 +428,8 @@
<SubItem> <SubItem>
<SubIdx>1</SubIdx> <SubIdx>1</SubIdx>
<Name>CommandedPosition</Name> <Name>CommandedPosition</Name>
<Type>DINT</Type> <Type>LREAL</Type>
<BitSize>32</BitSize> <BitSize>64</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
@@ -458,8 +458,8 @@
<BitSize>16</BitSize> <BitSize>16</BitSize>
</DataType> </DataType>
<DataType> <DataType>
<Name>REAL</Name> <Name>LREAL</Name>
<BitSize>32</BitSize> <BitSize>64</BitSize>
</DataType> </DataType>
<DataType> <DataType>
<Name>UDINT</Name> <Name>UDINT</Name>
@@ -623,7 +623,7 @@
<SubItem> <SubItem>
<Name>CommandedPosition</Name> <Name>CommandedPosition</Name>
<Info> <Info>
<DefaultValue>#x70020120</DefaultValue> <DefaultValue>#x70020140</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -646,7 +646,7 @@
<SubItem> <SubItem>
<Name>EncPos</Name> <Name>EncPos</Name>
<Info> <Info>
<DefaultValue>#x60000020</DefaultValue> <DefaultValue>#x60000040</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -669,7 +669,7 @@
<SubItem> <SubItem>
<Name>EncFrequency</Name> <Name>EncFrequency</Name>
<Info> <Info>
<DefaultValue>#x60010020</DefaultValue> <DefaultValue>#x60010040</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -761,7 +761,7 @@
<SubItem> <SubItem>
<Name>ActualPosition</Name> <Name>ActualPosition</Name>
<Info> <Info>
<DefaultValue>#x60050120</DefaultValue> <DefaultValue>#x60050140</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -901,8 +901,8 @@
<Object> <Object>
<Index>#x6000</Index> <Index>#x6000</Index>
<Name>EncPos</Name> <Name>EncPos</Name>
<Type>REAL</Type> <Type>LREAL</Type>
<BitSize>32</BitSize> <BitSize>64</BitSize>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
@@ -914,8 +914,8 @@
<Object> <Object>
<Index>#x6001</Index> <Index>#x6001</Index>
<Name>EncFrequency</Name> <Name>EncFrequency</Name>
<Type>REAL</Type> <Type>LREAL</Type>
<BitSize>32</BitSize> <BitSize>64</BitSize>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
@@ -967,7 +967,7 @@
<Index>#x6005</Index> <Index>#x6005</Index>
<Name>StepGenOut1</Name> <Name>StepGenOut1</Name>
<Type>DT6005</Type> <Type>DT6005</Type>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -1016,7 +1016,7 @@
<Index>#x7002</Index> <Index>#x7002</Index>
<Name>StepGenIn1</Name> <Name>StepGenIn1</Name>
<Type>DT7002</Type> <Type>DT7002</Type>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -1073,9 +1073,9 @@
<Entry> <Entry>
<Index>#x7002</Index> <Index>#x7002</Index>
<SubIndex>#x1</SubIndex> <SubIndex>#x1</SubIndex>
<BitLen>32</BitLen> <BitLen>64</BitLen>
<Name>CommandedPosition</Name> <Name>CommandedPosition</Name>
<DataType>DINT</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1084,9 +1084,9 @@
<Entry> <Entry>
<Index>#x6000</Index> <Index>#x6000</Index>
<SubIndex>#x0</SubIndex> <SubIndex>#x0</SubIndex>
<BitLen>32</BitLen> <BitLen>64</BitLen>
<Name>EncPos</Name> <Name>EncPos</Name>
<DataType>REAL</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1095,9 +1095,9 @@
<Entry> <Entry>
<Index>#x6001</Index> <Index>#x6001</Index>
<SubIndex>#x0</SubIndex> <SubIndex>#x0</SubIndex>
<BitLen>32</BitLen> <BitLen>64</BitLen>
<Name>EncFrequency</Name> <Name>EncFrequency</Name>
<DataType>REAL</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1139,9 +1139,9 @@
<Entry> <Entry>
<Index>#x6005</Index> <Index>#x6005</Index>
<SubIndex>#x1</SubIndex> <SubIndex>#x1</SubIndex>
<BitLen>32</BitLen> <BitLen>64</BitLen>
<Name>ActualPosition</Name> <Name>ActualPosition</Name>
<DataType>DINT</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<Mailbox DataLinkLayer="true"> <Mailbox DataLinkLayer="true">

8
Firmware/lib/soes/esi.json
View File

@@ -57,7 +57,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL32", "dtype": "REAL64",
"value": "0", "value": "0",
"data": "&Obj.EncPos" "data": "&Obj.EncPos"
}, },
@@ -68,7 +68,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL32", "dtype": "REAL64",
"value": "0", "value": "0",
"data": "&Obj.EncFrequency" "data": "&Obj.EncFrequency"
}, },
@@ -115,7 +115,7 @@
}, },
{ {
"name": "ActualPosition", "name": "ActualPosition",
"dtype": "INTEGER32", "dtype": "REAL64",
"data": "&Obj.StepGenOut1.ActualPosition", "data": "&Obj.StepGenOut1.ActualPosition",
"value": "0", "value": "0",
"access": "RO" "access": "RO"
@@ -159,7 +159,7 @@
}, },
{ {
"name": "CommandedPosition", "name": "CommandedPosition",
"dtype": "INTEGER32", "dtype": "REAL64",
"data": "&Obj.StepGenIn1.CommandedPosition", "data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0", "value": "0",
"access": "RO" "access": "RO"

16
Firmware/lib/soes/objectlist.c
View File

@@ -110,17 +110,17 @@ const _objd SDO1601[] =
const _objd SDO1602[] = const _objd SDO1602[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020120, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
}; };
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000020, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
}; };
const _objd SDO1A01[] = const _objd SDO1A01[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010020, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
}; };
const _objd SDO1A02[] = const _objd SDO1A02[] =
{ {
@@ -140,7 +140,7 @@ const _objd SDO1A04[] =
const _objd SDO1A05[] = const _objd SDO1A05[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050120, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
}; };
const _objd SDO1C00[] = const _objd SDO1C00[] =
{ {
@@ -169,11 +169,11 @@ const _objd SDO1C13[] =
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos}, {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
}; };
const _objd SDO6001[] = const _objd SDO6001[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency}, {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
}; };
const _objd SDO6002[] = const _objd SDO6002[] =
{ {
@@ -190,7 +190,7 @@ const _objd SDO6004[] =
const _objd SDO6005[] = const _objd SDO6005[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition}, {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
}; };
const _objd SDO7000[] = const _objd SDO7000[] =
{ {
@@ -203,7 +203,7 @@ const _objd SDO7001[] =
const _objd SDO7002[] = const _objd SDO7002[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 1, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition}, {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
}; };
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =

8
Firmware/lib/soes/utypes.h
View File

@@ -13,14 +13,14 @@ typedef struct
/* Inputs */ /* Inputs */
float EncPos; double EncPos;
float EncFrequency; double EncFrequency;
uint32_t DiffT; uint32_t DiffT;
uint32_t IndexByte; uint32_t IndexByte;
uint32_t IndexStatus; uint32_t IndexStatus;
struct struct
{ {
int32_t ActualPosition; double ActualPosition;
} StepGenOut1; } StepGenOut1;
/* Outputs */ /* Outputs */
@@ -29,7 +29,7 @@ typedef struct
uint32_t IndexLatchEnable; uint32_t IndexLatchEnable;
struct struct
{ {
int32_t CommandedPosition; double CommandedPosition;
} StepGenIn1; } StepGenIn1;
} _Objects; } _Objects;

20
Firmware/src/main.cpp
View File

@@ -106,8 +106,8 @@ static esc_cfg_t config =
#define STEPPER_STEP_PIN PA11 #define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim; HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0; volatile uint32_t stepCount = 0, stepPulses = 0;
volatile int32_t actualPosition = 0; volatile double_t actualPosition = 0;
volatile int32_t requestedPosition; volatile double_t requestedPosition;
volatile uint32_t pulsesToGo = 0; volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward volatile byte forwardDirection = 0; // 1 if going forward
@@ -119,7 +119,7 @@ void TimerStep_CB(void)
stepCount++; stepCount++;
else else
stepCount--; stepCount--;
//digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN)); // digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN));
if (stepCount == stepPulses) if (stepCount == stepPulses)
{ {
MyTim->pause(); MyTim->pause();
@@ -146,7 +146,7 @@ void setup(void)
MyTim->attachInterrupt(TimerStep_CB); MyTim->attachInterrupt(TimerStep_CB);
stepCount = 0; stepCount = 0;
pinMode(STEPPER_DIR_PIN, OUTPUT); pinMode(STEPPER_DIR_PIN, OUTPUT);
#if 1 #if 0
while (1) while (1)
{ {
@@ -223,21 +223,19 @@ void indexPulse(void)
void sync0Handler(void) void sync0Handler(void)
{ {
const int32_t stepsPerMM = 100;
// Update the actual position // Update the actual position
actualPosition += pulsesToGo; pulsesToGo = stepsPerMM * (Obj.StepGenIn1.CommandedPosition - Obj.StepGenOut1.ActualPosition);
Obj.StepGenOut1.ActualPosition = actualPosition; Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition; // Cheat
// Get new end position // Get new end position
requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition;
syncCounts++; syncCounts++;
forwardDirection = syncCounts % 2 ? 1 : 0; forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin // Set direction pin
Obj.DiffT = forwardDirection; Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer // Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, pulsesToGo); makePulses(sync0CycleTime / 1000, abs((int)pulsesToGo));
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)

66
linuxcnc/ethercat-conf.xml
View File

@@ -1,56 +1,6 @@
<masters> <masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5"> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/> <slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL2008"/>
<slave idx="3" type="EL5101"/>
<slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig> <!-- Max motor current (3.0A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="5" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="68 10"/></sdoConfig> <!-- Max motor current (4.2A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="6" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out"> <syncManager idx="2" dir="out">
<pdo idx="1600"> <pdo idx="1600">
@@ -59,14 +9,17 @@
<pdo idx="1601"> <pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/> <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo> </pdo>
<pdo idx="1602">
<pdoEntry idx="7002" subIdx="01" bitLen="64" halPin="commanded-position" halType="float-double"/>
</pdo>
</syncManager> </syncManager>
<syncManager idx="3" dir="in"> <syncManager idx="3" dir="in">
<pdo idx="1a00"> <pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/> <pdoEntry idx="6000" subIdx="00" bitLen="64" halPin="enc-position" halType="float-double"/>
</pdo> </pdo>
<pdo idx="1a01"> <pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/> <pdoEntry idx="6001" subIdx="00" bitLen="64" halPin="enc-frequency" halType="float-double"/>
</pdo> </pdo>
<pdo idx="1a02"> <pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/> <pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
</pdo> </pdo>
@@ -76,7 +29,10 @@
<pdo idx="1a04"> <pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/> <pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo> </pdo>
</syncManager> <pdo idx="1a05">
<pdoEntry idx="6005" subIdx="01" bitLen="64" halPin="actual-position" halType="float-double"/>
</pdo>
</syncManager>
</slave> </slave>
</master> </master>
</masters> </masters>

82
linuxcnc/lcec-64bitfloatadded.patch
View File

@@ -1,52 +1,102 @@
diff --git a/src/lcec_conf.c b/src/lcec_conf.c diff --git a/src/lcec_conf.c b/src/lcec_conf.c
index b0e9ad1..607c6d7 100644 index b0e9ad1..6cc7f8a 100644
--- a/src/lcec_conf.c --- a/src/lcec_conf.c
+++ b/src/lcec_conf.c +++ b/src/lcec_conf.c
@@ -1267,6 +1267,11 @@ static void parsePdoEntryAttrs(LCEC_CONF_XML_INST_T *inst, int next, const char @@ -1267,6 +1267,11 @@ static void parsePdoEntryAttrs(LCEC_CONF_XML_INST_T *inst, int next, const char
p->halType = HAL_FLOAT; p->halType = HAL_FLOAT;
continue; continue;
} }
+ if (strcasecmp(val, "float-lreal") == 0) { + if (strcasecmp(val, "float-double") == 0) {
+ p->subType = lcecPdoEntTypeFloatLREAL; + p->subType = lcecPdoEntTypeFloatDouble;
+ p->halType = HAL_FLOAT; + p->halType = HAL_FLOAT;
+ continue; + continue;
+ } + }
fprintf(stderr, "%s: ERROR: Invalid pdoEntry halType %s\n", modname, val); fprintf(stderr, "%s: ERROR: Invalid pdoEntry halType %s\n", modname, val);
XML_StopParser(inst->parser, 0); XML_StopParser(inst->parser, 0);
return; return;
@@ -1410,6 +1415,11 @@ static void parseComplexEntryAttrs(LCEC_CONF_XML_INST_T *inst, int next, const c
p->halType = HAL_FLOAT;
continue;
}
+ if (strcasecmp(val, "float-double") == 0) {
+ p->subType = lcecPdoEntTypeFloatDouble;
+ p->halType = HAL_FLOAT;
+ continue;
+ }
fprintf(stderr, "%s: ERROR: Invalid complexEntry halType %s\n", modname, val);
XML_StopParser(inst->parser, 0);
return;
diff --git a/src/lcec_conf.h b/src/lcec_conf.h diff --git a/src/lcec_conf.h b/src/lcec_conf.h
index 5d9943c..2620938 100644 index 5d9943c..261c965 100644
--- a/src/lcec_conf.h --- a/src/lcec_conf.h
+++ b/src/lcec_conf.h +++ b/src/lcec_conf.h
@@ -56,7 +56,8 @@ typedef enum { @@ -55,6 +55,7 @@ typedef enum {
lcecPdoEntTypeSimple,
lcecPdoEntTypeFloatSigned, lcecPdoEntTypeFloatSigned,
lcecPdoEntTypeFloatUnsigned, lcecPdoEntTypeFloatUnsigned,
+ lcecPdoEntTypeFloatDouble,
lcecPdoEntTypeComplex, lcecPdoEntTypeComplex,
- lcecPdoEntTypeFloatIeee lcecPdoEntTypeFloatIeee
+ lcecPdoEntTypeFloatIeee,
+ lcecPdoEntTypeFloatLREAL
} LCEC_PDOENT_TYPE_T; } LCEC_PDOENT_TYPE_T;
typedef enum {
diff --git a/src/lcec_generic.c b/src/lcec_generic.c diff --git a/src/lcec_generic.c b/src/lcec_generic.c
index dfddf73..dde7164 100644 index dfddf73..2f58fde 100644
--- a/src/lcec_generic.c --- a/src/lcec_generic.c
+++ b/src/lcec_generic.c +++ b/src/lcec_generic.c
@@ -78,7 +78,7 @@ int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t @@ -26,6 +26,7 @@ hal_s32_t lcec_generic_read_s32(uint8_t *pd, lcec_generic_pin_t *hal_data);
hal_u32_t lcec_generic_read_u32(uint8_t *pd, lcec_generic_pin_t *hal_data);
void lcec_generic_write_s32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_s32_t sval);
void lcec_generic_write_u32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_u32_t uval);
+void lcec_generic_write_f64(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_float_t fval);
int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
lcec_master_t *master = slave->master;
@@ -78,7 +79,7 @@ int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
case HAL_FLOAT: case HAL_FLOAT:
// check data size // check data size
- if (hal_data->bitLength > 32) { - if (hal_data->bitLength > 32) {
+ if (!(hal_data->bitLength == 32 || hal_data->bitLength == 64)) { + if (hal_data->bitLength > 64) {
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name); rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
continue; continue;
} }
@@ -133,6 +133,8 @@ void lcec_generic_read(struct lcec_slave *slave, long period) { @@ -133,6 +134,8 @@ void lcec_generic_read(struct lcec_slave *slave, long period) {
fval = lcec_generic_read_u32(pd, hal_data); fval = lcec_generic_read_u32(pd, hal_data);
} else if(hal_data->subType == lcecPdoEntTypeFloatIeee){ } else if(hal_data->subType == lcecPdoEntTypeFloatIeee){
fval = EC_READ_REAL(&pd[hal_data->pdo_os]); fval = EC_READ_REAL(&pd[hal_data->pdo_os]);
+ } else if(hal_data->subType == lcecPdoEntTypeFloatLREAL){ + } else if(hal_data->subType == lcecPdoEntTypeFloatDouble){
+ fval = EC_READ_LREAL(&pd[hal_data->pdo_os]); + fval = EC_READ_LREAL(&pd[hal_data->pdo_os]);
} else { } else {
fval = lcec_generic_read_s32(pd, hal_data); fval = lcec_generic_read_s32(pd, hal_data);
} }
@@ -185,6 +188,8 @@ void lcec_generic_write(struct lcec_slave *slave, long period) {
if (hal_data->subType == lcecPdoEntTypeFloatUnsigned) {
lcec_generic_write_u32(pd, hal_data, (hal_u32_t) fval);
+ } else if (hal_data->subType == lcecPdoEntTypeFloatDouble) {
+ lcec_generic_write_f64(pd, hal_data, fval);
} else {
lcec_generic_write_s32(pd, hal_data, (hal_s32_t) fval);
}
@@ -300,3 +305,22 @@ void lcec_generic_write_u32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_u32_t
}
}
+void lcec_generic_write_f64(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_float_t fval) {
+ int i, offset;
+
+ if (hal_data->pdo_bp == 0 && hal_data->bitOffset == 0) {
+ EC_WRITE_LREAL(&pd[hal_data->pdo_os], fval);
+ }
+ union {
+ double d;
+ uin64_t u;
+ } v;
+ v.d = fval;
+ offset = ((hal_data->pdo_os << 3) | (hal_data->pdo_bp & 0x07)) + hal_data->bitOffset;
+ for (i=0; i < hal_data->bitLength; i++, offset++) {
+ EC_WRITE_BIT(&pd[offset >> 3], offset & 0x07,v.u & 1);
+ v.u >>= 1;
+ }
+#endif
+}
+