/*
vti_counter_init() - Initializes the channel
works the same for both cards (vti & STG2)
*/
static int vti_counter_init(int counters)
{
int i, retval=0;
/* export all the variables for each counter, dac */
for (i = 0; i < counters; i++) {
/* export all vars */
retval = export_counter(i, vti_driver);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"VTI: ERROR: counter %d var export failed\n", i + 1);
hal_exit(comp_id);
return -1;
}
/* init counter */
*(vti_driver->count[i]) = 0;
*(vti_driver->pos[i]) = 0.0;
vti_driver->pos_scale[i] = 1.0;
}
return 0;
}
int rtapi_app_main(void)
{
int n, retval;
counter_t *cntr;
/* test for number of channels */
if ((num_chan <= 0) || (num_chan > MAX_CHAN)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ENCODER: ERROR: invalid num_chan: %d\n", num_chan);
return -1;
}
/* have good config info, connect to the HAL */
comp_id = hal_init("encoder");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "ENCODER: ERROR: hal_init() failed\n");
return -1;
}
/* allocate shared memory for counter data */
counter_array = hal_malloc(num_chan * sizeof(counter_t));
if (counter_array == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ENCODER: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
/* init master timestamp counter */
timebase = 0;
/* export all the variables for each counter */
for (n = 0; n < num_chan; n++) {
/* point to struct */
cntr = &(counter_array[n]);
/* export all vars */
retval = export_counter(n, cntr);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ENCODER: ERROR: counter %d var export failed\n", n);
hal_exit(comp_id);
return -1;
}
/* init counter */
cntr->state = 0;
cntr->oldZ = 0;
cntr->Zmask = 0;
*(cntr->x4_mode) = 1;
*(cntr->counter_mode) = 0;
*(cntr->latch_rising) = 1;
*(cntr->latch_falling) = 1;
cntr->buf[0].count_detected = 0;
cntr->buf[1].count_detected = 0;
cntr->buf[0].index_detected = 0;
cntr->buf[1].index_detected = 0;
cntr->bp = &(cntr->buf[0]);
*(cntr->raw_counts) = 0;
cntr->raw_count = 0;
cntr->timestamp = 0;
cntr->index_count = 0;
cntr->latch_count = 0;
*(cntr->count) = 0;
*(cntr->min_speed) = 1.0;
*(cntr->pos) = 0.0;
*(cntr->pos_latch) = 0.0;
*(cntr->vel) = 0.0;
*(cntr->pos_scale) = 1.0;
cntr->old_scale = 1.0;
cntr->scale = 1.0;
cntr->counts_since_timeout = 0;
}
/* export functions */
retval = hal_export_funct("encoder.update-counters", update,
counter_array, 0, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ENCODER: ERROR: count funct export failed\n");
hal_exit(comp_id);
return -1;
}
retval = hal_export_funct("encoder.capture-position", capture,
counter_array, 1, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ENCODER: ERROR: capture funct export failed\n");
hal_exit(comp_id);
return -1;
}
rtapi_print_msg(RTAPI_MSG_INFO,
"ENCODER: installed %d encoder counters\n", num_chan);
hal_ready(comp_id);
return 0;
}
