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Added real32 (Beckhoff float) and real64 (Beckhoff double) #132

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Added real32 (Beckhoff float) and real64 (Beckhoff double) #132

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7dc0ccf
Added real32 (Beckhoff float) https://infosys.beckhoff.com/english.ph…
JensVanhooydonck Jun 25, 2024
e554af2
Changed EC_READ_REAL and EC_WRITE_REAL to bitcasting. EC_READ_REAL an…
JensVanhooydonck Jul 2, 2024
2a5d776
Working SDO + altered casting of floats + added doubles
JensVanhooydonck Jul 2, 2024
d80460f
Removed unused code part SDO
JensVanhooydonck Jul 4, 2024
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4 changes: 2 additions & 2 deletions ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ size_t type2bytes(std::string type)
return 1;
} else if (type == "int16" || type == "uint16") {
return 2;
} else if (type == "int32" || type == "uint32") {
} else if (type == "int32" || type == "uint32" || type == "float" || type == "real32") {
return 4;
} else if (type == "int64" || type == "uint64") {
} else if (type == "int64" || type == "uint64" || type == "double" || type == "real64") {
return 8;
}
}
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19 changes: 17 additions & 2 deletions ethercat_interface/include/ethercat_interface/ec_pdo_channel_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,14 @@ class EcPdoChannelManager
last_value = static_cast<double>(EC_READ_U64(domain_address));
} else if (data_type == "int64") {
last_value = static_cast<double>(EC_READ_S64(domain_address));
} else if (data_type == "real32" || data_type == "float") {
uint32_t raw = EC_READ_U32(domain_address);
float value = *(float *)&raw;
last_value = static_cast<double>(value);
} else if (data_type == "real64" || data_type == "double") {
uint64_t raw = EC_READ_U64(domain_address);
double value = *(double *)&raw;
last_value = static_cast<double>(value);
} else if (data_type == "bool") {
last_value = (EC_READ_U8(domain_address) & data_mask) ? 1 : 0;
} else {
Expand Down Expand Up @@ -92,6 +100,13 @@ class EcPdoChannelManager
EC_WRITE_U64(domain_address, static_cast<uint64_t>(value));
} else if (data_type == "int64") {
EC_WRITE_S64(domain_address, static_cast<int64_t>(value));
} else if (data_type == "real32" || data_type == "float") {
float f = (float)value;
uint32_t raw = *(uint32_t *)&f;
EC_WRITE_U32(domain_address, static_cast<uint32_t>(raw));
} else if (data_type == "real64" || data_type == "double") {
uint32_t raw = *(uint32_t *)&value;
EC_WRITE_U64(domain_address, static_cast<uint64_t>(raw));
} else {
buffer_ = EC_READ_U8(domain_address);
if (popcount(data_mask) == 1) {
Expand Down Expand Up @@ -192,9 +207,9 @@ class EcPdoChannelManager
return 8;
} else if (type == "int16" || type == "uint16") {
return 16;
} else if (type == "int32" || type == "uint32") {
} else if (type == "int32" || type == "uint32" || type == "float" || type == "real32") {
return 32;
} else if (type == "int64" || type == "uint64") {
} else if (type == "int64" || type == "uint64" || type == "double" || type == "real64") {
return 64;
} else if (type.find("bit") != std::string::npos) {
std::string n_bits = type.substr(type.find("bit") + 3);
Expand Down
18 changes: 13 additions & 5 deletions ethercat_interface/include/ethercat_interface/ec_sdo_manager.hpp
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Expand Up @@ -43,11 +43,11 @@ class SdoConfigEntry
EC_WRITE_U16(buffer, static_cast<uint16_t>(data));
} else if (data_type == "int16") {
EC_WRITE_S16(buffer, static_cast<int16_t>(data));
} else if (data_type == "uint32") {
} else if (data_type == "uint32" || data_type == "real32" || data_type == "float") {
EC_WRITE_U32(buffer, static_cast<uint32_t>(data));
} else if (data_type == "int32") {
EC_WRITE_S32(buffer, static_cast<int32_t>(data));
} else if (data_type == "uint64") {
} else if (data_type == "uint64" || data_type == "real64" || data_type == "double") {
EC_WRITE_U64(buffer, static_cast<uint64_t>(data));
} else if (data_type == "int64") {
EC_WRITE_S64(buffer, static_cast<int64_t>(data));
Expand Down Expand Up @@ -79,7 +79,15 @@ class SdoConfigEntry
}
// value
if (sdo_config["value"]) {
data = sdo_config["value"].as<int>();
if (data_type == "float" || data_type == "real32") {
float floatvalue = sdo_config["value"].as<float>();
data = *(int *)&floatvalue;
} else if (data_type == "double" || data_type == "real64") {
float doublevalue = sdo_config["value"].as<double>();
data = *(int *)&doublevalue;
} else {
data = sdo_config["value"].as<int>();
}
} else {
std::cerr << "sdo " << index << ": missing sdo value" << std::endl;
return false;
Expand All @@ -105,9 +113,9 @@ class SdoConfigEntry
return 1;
} else if (type == "int16" || type == "uint16") {
return 2;
} else if (type == "int32" || type == "uint32") {
} else if (type == "int32" || type == "uint32" || type == "float" || type == "real32") {
return 4;
} else if (type == "int64" || type == "uint64") {
} else if (type == "int64" || type == "uint64" || type == "double" || type == "real64") {
return 8;
}
}
Expand Down