void disable_operation()
{
bool isOperationDisabled=false;
// while(!isOperationDisabled)
for(int i=0;i<1;++i)
{
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0000);// p85, use state transition 9
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x03");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x004F ^ 0x0040 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in switch_on_disabled,exit safely \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
break;
}
else
{
printf("bad exit!\n");
}
}//while
}
int write_sdo(ec_sdo_request_t *req, unsigned data)
{
EC_WRITE_S32(ecrt_sdo_request_data(req), data&0xffffffff);
switch (ecrt_sdo_request_state(req)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_write(req); // trigger first read
break;
case EC_REQUEST_BUSY:
//fprintf(stderr, "SDO write still busy...\n");
//logmsg(1, "SDO value written: \n",data );
pause();
break;
case EC_REQUEST_SUCCESS:
//logmsg(1, "SDO value written: 0x%X\n", data);
pause();
ecrt_sdo_request_read(req); // trigger next read
return 1;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to write SDO!\n");
ecrt_sdo_request_write(req); // retry writing
return 0;
break;
}
}
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
void read_sdo(ec_sdo_request_t *req)
{
switch (ecrt_sdo_request_state(req)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(req); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "SDO still busy...\n");
break;
case EC_REQUEST_SUCCESS:
logmsg(1, "SDO value read: 0x%X\n",
EC_READ_U32(ecrt_sdo_request_data(req)));
ecrt_sdo_request_read(req); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(req); // retry reading
break;
}
}
int read_sdo(ec_sdo_request_t *req)
{
int sdo_read_value;
switch (ecrt_sdo_request_state(req)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(req); // trigger first read
break;
case EC_REQUEST_BUSY:
//fprintf(stderr, "SDO still busy...\n");
break;
case EC_REQUEST_SUCCESS:
sdo_read_value = EC_READ_S32(ecrt_sdo_request_data(req));
//logmsg(1, "SDO value read: 0x%X\n", sdo_read_value);
ecrt_sdo_request_write(req); // trigger next write
break;
case EC_REQUEST_ERROR:
//fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(req); // retry reading
break;
}
return sdo_read_value;
}
int main(int argc, char **argv)
{
// ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(master, AliasAndPositon, VendorID_ProductCode)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating operation mode read SDO requests...\n");
if (!(sdo_operation_mode_display = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION_DISPLAY, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO modes_of_operation_display 0x6061 request.\n");
return -1;
}
fprintf(stderr, "Creating operation mode write SDO requests...\n");
if (!(sdo_operation_mode_write = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO MODES_OF_OPERATION request.\n");
return -1;
}
fprintf(stderr, "Creating controlword write SDO requests...\n");
if (!(sdo_controlword_write = ecrt_slave_config_create_sdo_request(sc_ana_in, CONTROLWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO CONTROLWORD request.\n");
return -1;
}
fprintf(stderr, "Creating statusword read SDO requests...\n");
if (!(sdo_statusword_read = ecrt_slave_config_create_sdo_request(sc_ana_in, STATUSWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO STATUSWORD request.\n");
return -1;
}
//EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
ecrt_sdo_request_timeout(sdo_operation_mode_display, 500); // ms
ecrt_sdo_request_timeout(sdo_operation_mode_write, 500); // ms
ecrt_sdo_request_timeout(sdo_controlword_write, 500); // ms
ecrt_sdo_request_timeout(sdo_statusword_read, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, duetfl80_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// // Create configuration for bus coupler
// sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
// if (!sc)
// return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
#endif
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
#if 1
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#endif
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
// handle ctrl+c ,important , do not remove
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (signal(SIGINT, my_sig_handler) == SIG_ERR)
{
printf("\ncan't catch SIGUSR1\n");
return -1;
}
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
// 1. check operation mode
bool getModeOk=false;
uint8_t mode_value;
int i=0;
while(1)
{
// printf("i=%d\n",i);
i++;
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read_sdo();
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
break;
case EC_REQUEST_BUSY:
// printf( "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
getModeOk = true;
mode_value = EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display));
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
printf("get mode value <%02x>\n",mode_value);
break;
}
// ecrt_domain_queue(domain1);
ecrt_master_send(master);
// pause();
// sleep(1);
// cyclic_task();
}
printf("check mode done\n");
if(getModeOk == false)
{
exit(-1);
}
// exit(0);
// 2. set operation mode to velocity mode
printf("setting mode to velocity_mode...\n");
bool isWriteModeOk=false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_operation_mode_write), 0x03);
ecrt_sdo_request_write(sdo_operation_mode_write);
switch (ecrt_sdo_request_state(sdo_operation_mode_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_write write value 0x03 ok\n");
// ecrt_sdo_request_write(sdo_operation_mode_write);
isWriteModeOk = true;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
if(isWriteModeOk)
{
break;
}
ecrt_master_send(master);
}
// 3. check operation mode, after write
getModeOk=false;
// for(int i=0;i<10;++i)
i=0;
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
// if(i<10)
{
ecrt_master_send(master);
}
// sleep(1);
}
// 4. read target velocity
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
ecrt_master_send(master);
}
// 5. set target velocity to zero
// 6. read statusword
printf("6.read statusword...\n");
bool isOperationDisabled=false;
// while(!isOperationDisabled)
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0080);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0080\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x004F ^ 0x0040 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in switch_on_disabled \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good \n");
break;
}
ecrt_master_send(master);
}
// 7. set controlword to ready_to_switch_on
printf("7. set controlword , ready_to_switch_on...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0006);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0006\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F ^ 0x0021 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in ready_to_switch_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set controlword , enable operation
printf("8. set controlword , enable operation...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x000F);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x000F\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
fprintf(stderr, "statusword value aa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F);
fprintf(stderr, "statusword value aaa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F^ 0x0027);
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F == 0x0027) // p91
{
isOperationDisabled = true;
printf("motor state is in operation_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set target velocity 100r/min
// sa.sa_handler = signal_handler;
// sigemptyset(&sa.sa_mask);
// sa.sa_flags = 0;
// if (sigaction(SIGALRM, &sa, 0)) {
// fprintf(stderr, "Failed to install signal handler!\n");
// return -1;
// }
// printf("Started.\n");
// while (1) {
// pause();
//#if 0
// struct timeval t;
// gettimeofday(&t, NULL);
// printf("%u.%06u\n", t.tv_sec, t.tv_usec);
//#endif
// while (sig_alarms != user_alarms) {
// cyclic_task();
// user_alarms++;
// }
// }
return 0;
}
int lcec_el7342_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
lcec_master_t *master = slave->master;
lcec_el7342_data_t *hal_data;
int i;
lcec_el7342_chan_t *chan;
uint8_t info1_select, info2_select;
int err;
// initialize callbacks
slave->proc_read = lcec_el7342_read;
slave->proc_write = lcec_el7342_write;
// alloc hal memory
if ((hal_data = hal_malloc(sizeof(lcec_el7342_data_t))) == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "hal_malloc() for slave %s.%s failed\n", master->name, slave->name);
return -EIO;
}
memset(hal_data, 0, sizeof(lcec_el7342_data_t));
slave->hal_data = hal_data;
// initialize sync info
slave->sync_info = lcec_el7342_syncs;
// initialize global data
hal_data->last_operational = 0;
// initialize pins
for (i=0; i<LCEC_EL7342_CHANS; i++) {
chan = &hal_data->chans[i];
// read sdos
// Info1 selector
if ((chan->sdo_info1_select = lcec_read_sdo(slave, 0x8022 + (i << 4), 0x11, 1)) == NULL) {
return -EIO;
}
info1_select = EC_READ_U8(ecrt_sdo_request_data(chan->sdo_info1_select));
// Info2 selector
if ((chan->sdo_info2_select = lcec_read_sdo(slave, 0x8022 + (i << 4), 0x19, 1)) == NULL) {
return -EIO;
}
info2_select = EC_READ_U8(ecrt_sdo_request_data(chan->sdo_info2_select));
// initialize POD entries
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x02, &chan->latch_ext_valid_pdo_os, &chan->latch_ext_valid_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x03, &chan->set_count_done_pdo_os, &chan->set_count_done_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x04, &chan->count_overflow_pdo_os, &chan->count_overflow_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x05, &chan->count_underflow_pdo_os, &chan->count_underflow_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x08, &chan->expol_stall_pdo_os, &chan->expol_stall_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x09, &chan->ina_pdo_os, &chan->ina_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x0a, &chan->inb_pdo_os, &chan->inb_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x0d, &chan->inext_pdo_os, &chan->inext_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x1c32 , 0x20, &chan->sync_err_pdo_os, &chan->sync_err_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x1800 + (i * 3), 0x09, &chan->tx_toggle_pdo_os, &chan->tx_toggle_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x11, &chan->count_pdo_os, NULL);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x12, &chan->latch_pdo_os, NULL);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000 + (i << 4), 0x02, &chan->ena_latch_ext_pos_pdo_os, &chan->ena_latch_ext_pos_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000 + (i << 4), 0x03, &chan->set_count_pdo_os, &chan->set_count_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000 + (i << 4), 0x04, &chan->ena_latch_ext_neg_pdo_os, &chan->ena_latch_ext_neg_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000 + (i << 4), 0x11, &chan->set_count_val_pdo_os, NULL);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x01, &chan->dcm_ready_to_enable_pdo_os, &chan->dcm_ready_to_enable_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x02, &chan->dcm_ready_pdo_os, &chan->dcm_ready_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x03, &chan->dcm_warning_pdo_os, &chan->dcm_warning_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x04, &chan->dcm_error_pdo_os, &chan->dcm_error_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x05, &chan->dcm_move_pos_pdo_os, &chan->dcm_move_pos_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x06, &chan->dcm_move_neg_pdo_os, &chan->dcm_move_neg_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x07, &chan->dcm_torque_reduced_pdo_os, &chan->dcm_torque_reduced_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x0c, &chan->dcm_din1_pdo_os, &chan->dcm_din1_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x0d, &chan->dcm_din2_pdo_os, &chan->dcm_din2_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x1c32 , 0x20, &chan->dcm_sync_err_pdo_os, &chan->dcm_sync_err_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x1806 + (i << 1), 0x09, &chan->dcm_tx_toggle_pdo_os, &chan->dcm_tx_toggle_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x11, &chan->dcm_info1_pdo_os, NULL);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6020 + (i << 4), 0x12, &chan->dcm_info2_pdo_os, NULL);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7020 + (i << 4), 0x01, &chan->dcm_ena_pdo_os, &chan->dcm_ena_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7020 + (i << 4), 0x02, &chan->dcm_reset_pdo_os, &chan->dcm_reset_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7020 + (i << 4), 0x03, &chan->dcm_reduce_torque_pdo_os, &chan->dcm_reduce_torque_pdo_bp);
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7020 + (i << 4), 0x21, &chan->dcm_velo_pdo_os, NULL);
// export encoder pins
if ((err = hal_pin_bit_newf(HAL_IN, &(chan->reset), comp_id, "%s.%s.%s.enc-%d-reset", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-reset failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->ina), comp_id, "%s.%s.%s.enc-%d-ina", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-ina failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->inb), comp_id, "%s.%s.%s.enc-%d-inb", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-inb failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->inext), comp_id, "%s.%s.%s.enc-%d-inext", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-inext failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->sync_err), comp_id, "%s.%s.%s.enc-%d-sync-error", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-sync-error failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->expol_stall), comp_id, "%s.%s.%s.enc-%d-expol-stall", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-expol-stall failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->tx_toggle), comp_id, "%s.%s.%s.enc-%d-tx-toggle", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-tx-toggle failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->count_overflow), comp_id, "%s.%s.%s.enc-%d-count-overflow", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-count-overflow failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->count_underflow), comp_id, "%s.%s.%s.enc-%d-count-underflow", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-count-underflow failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->latch_ext_valid), comp_id, "%s.%s.%s.enc-%d-latch-ext-valid", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-latch-ext-valid failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(chan->set_raw_count), comp_id, "%s.%s.%s.enc-%d-set-raw-count", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-set-raw-count failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(chan->ena_latch_ext_pos), comp_id, "%s.%s.%s.enc-%d-index-ext-pos-enable", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-ndex-ext-pos-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(chan->ena_latch_ext_neg), comp_id, "%s.%s.%s.enc-%d-index-ext-neg-enable", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-ndex-ext-neg-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_IN, &(chan->set_raw_count_val), comp_id, "%s.%s.%s.enc-%d-set-raw-count-val", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-set-raw-count-val failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->raw_count), comp_id, "%s.%s.%s.enc-%d-raw-count", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-raw-count failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->count), comp_id, "%s.%s.%s.enc-%d-count", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-count failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->raw_latch), comp_id, "%s.%s.%s.enc-%d-raw-latch", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-raw-latch failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(chan->pos), comp_id, "%s.%s.%s.enc-%d-pos", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-pos failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_IO, &(chan->pos_scale), comp_id, "%s.%s.%s.enc-%d-pos-scale", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-scale failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
// export servo pins
if ((err = hal_pin_float_newf(HAL_IO, &(chan->dcm_scale), comp_id, "%s.%s.%s.srv-%d-scale", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-scale failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_IO, &(chan->dcm_offset), comp_id, "%s.%s.%s.srv-%d-offset", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-offset failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_IO, &(chan->dcm_min_dc), comp_id, "%s.%s.%s.srv-%d-min-dc", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-min-dc failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_IO, &(chan->dcm_max_dc), comp_id, "%s.%s.%s.srv-%d-max-dc", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-max-dc failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(chan->dcm_curr_dc), comp_id, "%s.%s.%s.srv-%d-curr-dc", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-curr-dc failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(chan->dcm_enable), comp_id, "%s.%s.%s.srv-%d-enable", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(chan->dcm_absmode), comp_id, "%s.%s.%s.srv-%d-absmode", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-absmode failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_float_newf(HAL_IN, &(chan->dcm_value), comp_id, "%s.%s.%s.srv-%d-cmd", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-value failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->dcm_raw_val), comp_id, "%s.%s.%s.srv-%d-raw-cmd", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-raw-cmd failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(chan->dcm_reset), comp_id, "%s.%s.%s.srv-%d-reset", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-reset failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(chan->dcm_reduce_torque), comp_id, "%s.%s.%s.srv-%d-reduce-torque", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-reduce-torque failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_ready_to_enable), comp_id, "%s.%s.%s.srv-%d-ready-to-enable", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-ready-to-enable%d- failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_ready), comp_id, "%s.%s.%s.srv-%d-ready", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-ready%d- failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_warning), comp_id, "%s.%s.%s.srv-%d-warning", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-warning failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_error), comp_id, "%s.%s.%s.srv-%d-error", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-error failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_move_pos), comp_id, "%s.%s.%s.srv-%d-move-pos", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-move-pos failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_move_neg), comp_id, "%s.%s.%s.srv-%d-move-neg", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-move-neg failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_torque_reduced), comp_id, "%s.%s.%s.srv-%d-torque-reduced", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-torque-reduced failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_din1), comp_id, "%s.%s.%s.srv-%d-din1", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-din1 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_din2), comp_id, "%s.%s.%s.srv-%d-din2", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-din2 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_sync_err), comp_id, "%s.%s.%s.srv-%d-sync-error", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-sync-error failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(chan->dcm_tx_toggle), comp_id, "%s.%s.%s.srv-%d-tx-toggle", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-tx-toggle failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->dcm_raw_info1), comp_id, "%s.%s.%s.srv-%d-raw-info1", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-raw-info1 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(chan->dcm_raw_info2), comp_id, "%s.%s.%s.srv-%d-raw-info2", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-raw-info2 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(chan->dcm_sel_info1), comp_id, "%s.%s.%s.srv-%d-sel-info1", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-sel-info1 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(chan->dcm_sel_info2), comp_id, "%s.%s.%s.srv-%d-sel-info2", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-%d-sel-info2 failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if (info1_select == INFO_SEL_MOTOR_VELO || info2_select == INFO_SEL_MOTOR_VELO) {
if ((err = hal_pin_float_newf(HAL_OUT, &(chan->dcm_velo_fb), comp_id, "%s.%s.%s.srv-%d-velo-fb", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-velo-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
}
if (info1_select == INFO_SEL_MOTOR_CURR || info2_select == INFO_SEL_MOTOR_CURR) {
if ((err = hal_pin_float_newf(HAL_OUT, &(chan->dcm_current_fb), comp_id, "%s.%s.%s.srv-%d-current-fb", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-%d-current-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
}
// initialize pins
*(chan->reset) = 0;
*(chan->ina) = 0;
*(chan->inb) = 0;
*(chan->inext) = 0;
*(chan->sync_err) = 0;
*(chan->expol_stall) = 0;
*(chan->tx_toggle) = 0;
*(chan->count_overflow) = 0;
*(chan->count_underflow) = 0;
*(chan->latch_ext_valid) = 0;
*(chan->ena_latch_ext_pos) = 0;
*(chan->ena_latch_ext_neg) = 0;
*(chan->set_raw_count) = 0;
*(chan->set_raw_count_val) = 0;
*(chan->raw_count) = 0;
*(chan->raw_latch) = 0;
*(chan->count) = 0;
*(chan->pos) = 0;
*(chan->pos_scale) = 1.0;
*(chan->dcm_scale) = 1.0;
*(chan->dcm_offset) = 0.0;
*(chan->dcm_min_dc) = -1.0;
*(chan->dcm_max_dc) = 1.0;
*(chan->dcm_curr_dc) = 0.0;
*(chan->dcm_enable) = 0;
*(chan->dcm_absmode) = 0;
*(chan->dcm_value) = 0.0;
*(chan->dcm_raw_val) = 0;
*(chan->dcm_reset) = 0;
*(chan->dcm_reduce_torque) = 0;
*(chan->dcm_ready_to_enable) = 0;
*(chan->dcm_ready) = 0;
*(chan->dcm_warning) = 0;
*(chan->dcm_error) = 0;
*(chan->dcm_move_pos) = 0;
*(chan->dcm_move_neg) = 0;
*(chan->dcm_torque_reduced) = 0;
*(chan->dcm_din1) = 0;
*(chan->dcm_din2) = 0;
*(chan->dcm_sync_err) = 0;
*(chan->dcm_tx_toggle) = 0;
*(chan->dcm_raw_info1) = 0;
*(chan->dcm_raw_info2) = 0;
*(chan->dcm_sel_info1) = info1_select;
*(chan->dcm_sel_info2) = info2_select;
if (chan->dcm_velo_fb != NULL) {
*(chan->dcm_velo_fb) = 0.0;
}
if (chan->dcm_current_fb != NULL) {
*(chan->dcm_current_fb) = 0.0;
}
// initialize variables
chan->enc_do_init = 1;
chan->enc_last_count = 0;
chan->enc_old_scale = *(chan->pos_scale) + 1.0;
chan->enc_scale_recip = 1.0;
chan->dcm_old_scale = *(chan->dcm_scale) + 1.0;
chan->dcm_scale_recip = 1.0;
}
return 0;
}
int lcec_stmds5k_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
lcec_master_t *master = slave->master;
lcec_stmds5k_data_t *hal_data;
int err;
// initialize callbacks
slave->proc_read = lcec_stmds5k_read;
slave->proc_write = lcec_stmds5k_write;
// alloc hal memory
if ((hal_data = hal_malloc(sizeof(lcec_stmds5k_data_t))) == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "hal_malloc() for slave %s.%s failed\n", master->name, slave->name);
return -EIO;
}
memset(hal_data, 0, sizeof(lcec_stmds5k_data_t));
slave->hal_data = hal_data;
// read sdos
// B18 : torque reference
if ((hal_data->sdo_torque_reference = lcec_read_sdo(slave, 0x2212, 0x00, 4)) == NULL) {
return -EIO;
}
hal_data->torque_reference = (double)EC_READ_S32(ecrt_sdo_request_data(hal_data->sdo_torque_reference)) * STMDS5K_TORQUE_REF_DIV;
if (hal_data->torque_reference > 1e-20 || hal_data->torque_reference < -1e-20) {
hal_data->torque_reference_rcpt = 1.0 / hal_data->torque_reference;
} else {
hal_data->torque_reference_rcpt = 0.0;
}
// C01 : max rpm
if ((hal_data->sdo_speed_max_rpm = lcec_read_sdo(slave, 0x2401, 0x00, 4)) == NULL) {
return -EIO;
}
hal_data->speed_max_rpm = (double)EC_READ_S32(ecrt_sdo_request_data(hal_data->sdo_speed_max_rpm));
// D02 : setpoint max rpm
if ((hal_data->sdo_speed_max_rpm_sp = lcec_read_sdo(slave, 0x2602, 0x00, 2)) == NULL) {
return -EIO;
}
hal_data->speed_max_rpm_sp = (double)EC_READ_S16(ecrt_sdo_request_data(hal_data->sdo_speed_max_rpm_sp));
if (hal_data->speed_max_rpm_sp > 1e-20 || hal_data->speed_max_rpm_sp < -1e-20) {
hal_data->speed_max_rpm_sp_rcpt = 1.0 / hal_data->speed_max_rpm_sp;
} else {
hal_data->speed_max_rpm_sp_rcpt = 0.0;
}
// initialize POD entries
// E200 : device state byte
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x28c8, 0x00, &hal_data->dev_state_pdo_os, NULL);
// E100 : speed motor (x 0.1% relative to C01)
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x2864, 0x00, &hal_data->speed_mot_pdo_os, NULL);
// E02 : torque motor filterd (x 0,1 Nm)
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x2802, 0x00, &hal_data->torque_mot_pdo_os, NULL);
// D200 : speed state word
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x26c8, 0x00, &hal_data->speed_state_pdo_os, NULL);
// E09 : rotor position
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x2809, 0x00, &hal_data->pos_mot_pdo_os, NULL);
// A180 : Device Control Byte
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x20b4, 0x00, &hal_data->dev_ctrl_pdo_os, NULL);
// D230 : speed setpoint (x 0.1 % relative to D02, -200.0% .. 200.0%)
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x26e6, 0x00, &hal_data->speed_sp_rel_pdo_os, NULL);
// C230 : maximum torque (x 1%, 0% .. 200%)
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x24e6, 0x00, &hal_data->torque_max_pdo_os, NULL);
// export pins
if ((err = hal_pin_float_newf(HAL_IN, &(hal_data->vel_cmd), comp_id, "%s.%s.%s.srv-vel-cmd", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-vel-cmd failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->vel_fb), comp_id, "%s.%s.%s.srv-vel-fb", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-vel-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->vel_fb_rpm), comp_id, "%s.%s.%s.srv-vel-fb-rpm", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-vel-fb-rpm failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->vel_rpm), comp_id, "%s.%s.%s.srv-vel-rpm", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-vel-rpm failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(hal_data->enc_raw), comp_id, "%s.%s.%s.srv-enc-raw", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-enc-raw failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(hal_data->pos_raw_hi), comp_id, "%s.%s.%s.srv-pos-raw-hi", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-pos-raw-hi failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(hal_data->pos_raw_lo), comp_id, "%s.%s.%s.srv-pos-raw-lo", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-pos-raw-lo failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->pos_fb), comp_id, "%s.%s.%s.srv-pos-fb", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-pos-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->torque_fb), comp_id, "%s.%s.%s.srv-torque-fb", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-torque-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->torque_fb_abs), comp_id, "%s.%s.%s.srv-torque-fb-abs", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-torque-fb-abs failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->torque_fb_pct), comp_id, "%s.%s.%s.srv-torque-fb-pct", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-torque-fb-pct failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_IN, &(hal_data->torque_lim), comp_id, "%s.%s.%s.srv-torque-lim", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-torque-lim failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->stopped), comp_id, "%s.%s.%s.srv-stopped", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-stopped failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->at_speed), comp_id, "%s.%s.%s.srv-at-speed", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-at-speed failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->overload), comp_id, "%s.%s.%s.srv-overload", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-overload failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->ready), comp_id, "%s.%s.%s.srv-ready", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-ready failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->error), comp_id, "%s.%s.%s.srv-error", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-error failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->toggle), comp_id, "%s.%s.%s.srv-toggle", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-toggle failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->loc_ena), comp_id, "%s.%s.%s.srv-loc-ena", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-loc-ena failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->enable), comp_id, "%s.%s.%s.srv-enable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->err_reset), comp_id, "%s.%s.%s.srv-err-reset", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-err-reset failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->fast_ramp), comp_id, "%s.%s.%s.srv-fast-ramp", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-fast-ramp failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->brake), comp_id, "%s.%s.%s.srv-brake", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-brake failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(hal_data->index_ena), comp_id, "%s.%s.%s.srv-index-ena", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-index-ena failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->pos_reset), comp_id, "%s.%s.%s.srv-pos-reset", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-pos-reset failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->on_home_neg), comp_id, "%s.%s.%s.srv-on-home-neg", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-on-home-neg failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->on_home_pos), comp_id, "%s.%s.%s.srv-on-home-pos", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-on-home-pos failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
// export parameters
if ((err = hal_param_float_newf(HAL_RW, &(hal_data->pos_scale), comp_id, "%s.%s.%s.srv-pos-scale", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-pos-scale failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->torque_reference), comp_id, "%s.%s.%s.srv-torque-ref", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-torque-ref failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->speed_max_rpm), comp_id, "%s.%s.%s.srv-max-rpm", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-max-rpm failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->speed_max_rpm_sp), comp_id, "%s.%s.%s.srv-max-rpm-sp", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-max-rpm-sp failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_s32_newf(HAL_RW, &(hal_data->home_raw), comp_id, "%s.%s.%s.srv-home-raw", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.srv-home-raw failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
// set default pin values
*(hal_data->vel_cmd) = 0.0;
*(hal_data->vel_fb) = 0.0;
*(hal_data->vel_fb_rpm) = 1.0;
*(hal_data->vel_rpm) = 0.0;
*(hal_data->pos_raw_hi) = 0;
*(hal_data->pos_raw_lo) = 0;
*(hal_data->pos_fb) = 0.0;
*(hal_data->torque_fb) = 0.0;
*(hal_data->torque_fb_abs) = 0.0;
*(hal_data->torque_fb_pct) = 0.0;
*(hal_data->torque_lim) = 1.0;
*(hal_data->stopped) = 0;
*(hal_data->at_speed) = 0;
*(hal_data->overload) = 0;
*(hal_data->ready) = 0;
*(hal_data->error) = 0;
*(hal_data->toggle) = 0;
*(hal_data->loc_ena) = 0;
*(hal_data->enable) = 0;
*(hal_data->err_reset) = 0;
*(hal_data->fast_ramp) = 0;
*(hal_data->brake) = 0;
*(hal_data->index_ena) = 0;
*(hal_data->pos_reset) = 0;
*(hal_data->enc_raw) = 0;
*(hal_data->on_home_neg) = 0;
*(hal_data->on_home_pos) = 0;
// initialize variables
hal_data->pos_scale = 1.0;
hal_data->do_init = 1;
hal_data->pos_cnt = 0;
hal_data->index_cnt = 0;
hal_data->last_pos_cnt = 0;
hal_data->pos_scale_old = hal_data->pos_scale + 1.0;
hal_data->pos_scale_rcpt = 1.0;
hal_data->pos_scale_cnt = 1.0;
hal_data->last_index_ena = 0;
hal_data->index_ref = 0;
hal_data->home_raw = 0;
return 0;
}
int main(int argc, char **argv)
{
// ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(master, AliasAndPositon, VendorID_ProductCode)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
// printf("sync mgr 0 config: %d \n",sc_ana_in->sync_configs[0].dir);
// printf("sync mgr 1 config: %d \n",sc_ana_in->sync_configs[1].dir);
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6061, 0, 1))) // data size 1 ?
{
fprintf(stderr, "Failed to create SDO modes_of_operation_display 0x6061 request.\n");
return -1;
}
//EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, duetfl80_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
#endif
// // Create configuration for bus coupler
// sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
// if (!sc)
// return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
// tv.it_interval.tv_sec = 0;
// tv.it_interval.tv_usec = 1000000 / FREQUENCY;
// tv.it_value.tv_sec = 0;
// tv.it_value.tv_usec = 1000;
// if (setitimer(ITIMER_REAL, &tv, NULL)) {
// fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
// return 1;
// }
printf("Started.\n");
while (1) {
// pause();
#if 1
// for(int i=0;i<10;++i)
// {
// my_cyclic_task();
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read process data SDO
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
ecrt_sdo_request_read(sdo); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf( "SDO value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
// read_sdo();
// switch (ecrt_sdo_request_state(sdo)) {
// case EC_REQUEST_UNUSED: // request was not used yet
// printf("request was not used yet\n");
// ecrt_sdo_request_read(sdo); // trigger first read
// break;
// case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
// break;
// case EC_REQUEST_SUCCESS:
// fprintf(stderr, "sdo value: 0x%04X\n",
// EC_READ_U8(ecrt_sdo_request_data(sdo)));
//// getModeOk = true;
// break;
// case EC_REQUEST_ERROR:
// fprintf(stderr, "Failed to read SDO!\n");
// break;
// }
// send process data
// ecrt_domain_queue(domain1);
// ecrt_sdo_request_read(sdo); // trigger next read
ecrt_master_send(master);
ecrt_master_receive(master);
// sleep(1);
// }
#else
// 1. check operation mode
bool getModeOk=false;
for(int i=0;i<10;++i)
{
printf("i=%d\n",i);
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read_sdo();
// ecrt_sdo_request_read(sdo); // trigger read
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo)));
getModeOk = true;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
// ecrt_domain_queue(domain1);
ecrt_master_send(master);
// sleep(1);
// cyclic_task();
}
if(getModeOk == false)
{
// exit(-1);
}
#endif
}
return 0;
}
void el60xx_port_run(el60xx_port_t *port, u8 *pd)
{
u16 status = EC_READ_U16(pd + port->off_status);
u8 *rx_data = pd + port->off_rx;
uint8_t tx_accepted_toggle, rx_request_toggle;
switch (port->state) {
case SER_READY:
/* Check, if hardware handshaking has to be configured. */
if (!port->config_error &&
port->requested_rtscts != port->current_rtscts) {
EC_WRITE_U8(ecrt_sdo_request_data(port->rtscts_sdo),
port->requested_rtscts);
ecrt_sdo_request_write(port->rtscts_sdo);
port->state = SER_SET_RTSCTS;
break;
}
/* Check, if the baud rate has to be configured. */
if (!port->config_error &&
port->requested_baud_rate != port->current_baud_rate) {
EC_WRITE_U8(ecrt_sdo_request_data(port->baud_sdo),
port->requested_baud_rate);
ecrt_sdo_request_write(port->baud_sdo);
port->state = SER_SET_BAUD_RATE;
break;
}
/* Check, if the data frame has to be configured. */
if (!port->config_error &&
port->requested_data_frame != port->current_data_frame) {
EC_WRITE_U8(ecrt_sdo_request_data(port->frame_sdo),
port->requested_data_frame);
ecrt_sdo_request_write(port->frame_sdo);
port->state = SER_SET_DATA_FRAME;
break;
}
/* Send data */
tx_accepted_toggle = status & 0x0001;
if (tx_accepted_toggle != port->tx_accepted_toggle) { // ready
port->tx_data_size =
ectty_tx_data(port->tty, port->tx_data, port->max_tx_data_size);
if (port->tx_data_size) {
#if DEBUG
printk(KERN_INFO PFX "%s: Sending %u bytes.\n",
port->name, port->tx_data_size);
#endif
port->tx_request_toggle = !port->tx_request_toggle;
port->tx_accepted_toggle = tx_accepted_toggle;
}
}
/* Receive data */
rx_request_toggle = status & 0x0002;
if (rx_request_toggle != port->rx_request_toggle) {
uint8_t rx_data_size = status >> 8;
port->rx_request_toggle = rx_request_toggle;
#if DEBUG
printk(KERN_INFO PFX "%s: Received %u bytes.\n",
port->name, rx_data_size);
#endif
ectty_rx_data(port->tty, rx_data, rx_data_size);
port->rx_accepted_toggle = !port->rx_accepted_toggle;
}
port->control =
port->tx_request_toggle |
port->rx_accepted_toggle << 1 |
port->tx_data_size << 8;
break;
case SER_REQUEST_INIT:
if (status & (1 << 2)) {
port->control = 0x0000;
port->state = SER_WAIT_FOR_INIT_RESPONSE;
} else {
port->control = 1 << 2; // CW.2, request initialization
}
break;
case SER_WAIT_FOR_INIT_RESPONSE:
if (!(status & (1 << 2))) {
printk(KERN_INFO PFX "%s: Init successful.\n", port->name);
port->tx_accepted_toggle = 1;
port->control = 0x0000;
port->state = SER_READY;
}
break;
case SER_SET_RTSCTS:
switch (ecrt_sdo_request_state(port->rtscts_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted RTS/CTS.\n",
port->name);
port->current_rtscts = port->requested_rtscts;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set RTS/CTS on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
case SER_SET_BAUD_RATE:
switch (ecrt_sdo_request_state(port->baud_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted baud rate.\n",
port->name);
port->current_baud_rate = port->requested_baud_rate;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set baud rate on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
case SER_SET_DATA_FRAME:
switch (ecrt_sdo_request_state(port->frame_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted data frame.\n",
port->name);
port->current_data_frame = port->requested_data_frame;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set data frame on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
}