this was Svens XML, i only added the initcmds config...
If you take a look at this:
Code:
case HAL_FLOAT:
if (hal_data->subType == lcecPdoEntTypeFloatUnsigned) {
fval = lcec_generic_read_u32(pd, hal_data);
} else {
fval = lcec_generic_read_s32(pd, hal_data);
}
fval *= hal_data->floatScale;
fval += hal_data->floatOffset;
*((hal_float_t *) hal_data->pin[0]) = fval;
break;
this is the ethercat reading for an HAL_TYPE=float value.
So if you setup your PDO as float, lcec read it as S32. (if you set it as "float-unsigned", it will read U32). After this scaling and offset are attached.
If your nodes S32 Value is 5 with :
scale = 1.0 , your halpin(float) will be =5.0 ;
scale = 10000, your halpin is =50000.0 ;
scale = 0.001, your halpin is = 0.005 .
that is it for reading.
At the writing your value is first multiplyed with the scale and then converted to an S32.
If you halpin(float) is 5.123 with :
scale =1.0, Value to to the node = 5;
scale =1000, value to the node = 5123;
scale = 10, value to the node = 51;
scale = 0.1, value to the node = 0 ( float 5.123 * 0.1 = 0.5123 -> cast to INT = 0);
halpin = 51.23, scale 0.1, value to the node = 5.
Maybe i have unsettled you with one of my past post. Sorry but there has been only the code from the master in my head, i had not took a look at the generic_slave and that theres an native scale in it, because i always write complete drivers for slaves i have to controll.
