int hpg_encoder_init(hal_pru_generic_t *hpg){
int r,i;
if (hpg->config.num_encoders <= 0)
return 0;
rtapi_print("hpg_encoder_init\n");
// FIXME: Support multiple encoder tasks like so: num_encoders=3,4,2,5
// hpg->encoder.num_instances = hpg->config.num_encoders;
hpg->encoder.num_instances = 1;
// Allocate HAL shared memory for instance state data
hpg->encoder.instance = (hpg_encoder_instance_t *) hal_malloc(sizeof(hpg_encoder_instance_t) * hpg->encoder.num_instances);
if (hpg->encoder.instance == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
rtapi_print("malloc: hpg_encoder_instance_t = %p\n",hpg->encoder.instance);
// Clear memory
memset(hpg->encoder.instance, 0, (sizeof(hpg_encoder_instance_t) * hpg->encoder.num_instances) );
for (i=0; i < hpg->encoder.num_instances; i++) {
// FIXME: Support multiple instances like so: num_encoders=3,4,2,5
hpg->encoder.instance[i].num_channels = hpg->config.num_encoders;
// Allocate HAL shared memory for channel state data
hpg->encoder.instance[i].chan = (hpg_encoder_channel_instance_t *) hal_malloc(sizeof(hpg_encoder_channel_instance_t) * hpg->encoder.instance[i].num_channels);
if (hpg->encoder.instance[i].chan == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
rtapi_print("malloc: hpg_encoder_channel_instance_t = %p\n",hpg->encoder.instance[i].chan);
int len = sizeof(hpg->encoder.instance[i].pru) + (sizeof(PRU_encoder_chan_t) * hpg->encoder.instance[i].num_channels);
hpg->encoder.instance[i].task.addr = pru_malloc(hpg, len);
hpg->encoder.instance[i].pru.task.hdr.mode = eMODE_ENCODER;
hpg->encoder.instance[i].LUT = pru_malloc(hpg, sizeof(Counter_LUT));
pru_task_add(hpg, &(hpg->encoder.instance[i].task));
if ((r = export_encoder(hpg,i)) != 0){
HPG_ERR("ERROR: failed to export encoder %i: %i\n",i,r);
return -1;
}
}
return 0;
}
int hpg_wait_init(hal_pru_generic_t *hpg) {
int r;
hpg->wait.task.addr = pru_malloc(hpg, sizeof(hpg->wait.pru));
pru_task_add(hpg, &(hpg->wait.task));
r = hal_pin_u32_newf(HAL_IN, &(hpg->hal.pin.pru_busy_pin), hpg->config.comp_id, "%s.pru_busy_pin", hpg->config.name);
if (r != 0) { return r; }
*(hpg->hal.pin.pru_busy_pin) = 0x80;
return 0;
}
int hpg_pwmgen_init(hal_pru_generic_t *hpg){
int r,i;
if (hpg->config.num_pwmgens <= 0)
return 0;
rtapi_print("hpg_pwm_init\n");
// FIXME: Support multiple PWMs like so: num_pwmgens=3,4,2,5
// hpg->pwmgen.num_instances = hpg->config.num_pwmgens;
hpg->pwmgen.num_instances = 1;
// Allocate HAL shared memory for instance state data
hpg->pwmgen.instance = (hpg_pwmgen_instance_t *) hal_malloc(sizeof(hpg_pwmgen_instance_t) * hpg->pwmgen.num_instances);
if (hpg->pwmgen.instance == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
// Clear memory
memset(hpg->pwmgen.instance, 0, (sizeof(hpg_pwmgen_instance_t) * hpg->pwmgen.num_instances) );
for (i=0; i < hpg->pwmgen.num_instances; i++) {
// FIXME: Support multiple PWMs like so: num_pwmgens=3,4,2,5
hpg->pwmgen.instance[i].num_outputs = hpg->config.num_pwmgens;
// Allocate HAL shared memory for output state data
hpg->pwmgen.instance[i].out = (hpg_pwmgen_output_instance_t *) hal_malloc(sizeof(hpg_pwmgen_output_instance_t) * hpg->pwmgen.instance[i].num_outputs);
if (hpg->pwmgen.instance[i].out == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
int len = sizeof(hpg->pwmgen.instance[i].pru) + (sizeof(PRU_pwm_output_t) * hpg->pwmgen.instance[i].num_outputs);
hpg->pwmgen.instance[i].task.addr = pru_malloc(hpg, len);
hpg->pwmgen.instance[i].pru.task.hdr.mode = eMODE_PWM;
pru_task_add(hpg, &(hpg->pwmgen.instance[i].task));
if ((r = export_pwmgen(hpg,i)) != 0){
HPG_ERR("ERROR: failed to export pwmgen %i: %i\n",i,r);
return -1;
}
}
return 0;
}
