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tests with linuxcnc, DC sync is not the way to go, leaving that

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This commit is contained in:
Hakan Bastedt
2024-01-04 11:39:01 +01:00
parent 5978ebec24
commit e6cd5356c9
2 changed files with 18 additions and 13 deletions
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8
linuxcnc/lcec-64bitfloatadded.patch
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@@ -39,7 +39,7 @@ index 5d9943c..261c965 100644
lcecPdoEntTypeFloatIeee
} LCEC_PDOENT_TYPE_T;
diff --git a/src/lcec_generic.c b/src/lcec_generic.c
index dfddf73..2f58fde 100644
index dfddf73..41a13a9 100644
--- a/src/lcec_generic.c
+++ b/src/lcec_generic.c
@@ -26,6 +26,7 @@ hal_s32_t lcec_generic_read_s32(uint8_t *pd, lcec_generic_pin_t *hal_data);
@@ -86,17 +86,17 @@ index dfddf73..2f58fde 100644
+
+ if (hal_data->pdo_bp == 0 && hal_data->bitOffset == 0) {
+ EC_WRITE_LREAL(&pd[hal_data->pdo_os], fval);
+ return;
+ }
+ union {
+ double d;
+ uin64_t u;
+ uint64_t u;
+ } v;
+ v.d = fval;
+ v.d = fval; // Make an equivalent long int for bit operations (don't work on doubles)
+ 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
+}
+