/* init_hal_io() exports HAL pins and parameters making data from
the realtime control module visible and usable by the world
*/
static int init_hal_io(void)
{
int n, retval;
joint_hal_t *joint_data;
rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_hal_io() starting...\n");
/* allocate shared memory for machine data */
emcmot_hal_data = hal_malloc(sizeof(emcmot_hal_data_t));
if (emcmot_hal_data == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
_("MOTION: emcmot_hal_data malloc failed\n"));
return -1;
}
/* export machine wide hal pins */
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->probe_input), mot_comp_id, "motion.probe-input")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_IO, &(emcmot_hal_data->spindle_index_enable), mot_comp_id, "motion.spindle-index-enable")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_on), mot_comp_id, "motion.spindle-on")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_forward), mot_comp_id, "motion.spindle-forward")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_reverse), mot_comp_id, "motion.spindle-reverse")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_brake), mot_comp_id, "motion.spindle-brake")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out), mot_comp_id, "motion.spindle-speed-out")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out_abs), mot_comp_id, "motion.spindle-speed-out-abs")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out_rps), mot_comp_id, "motion.spindle-speed-out-rps")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_out_rps_abs), mot_comp_id, "motion.spindle-speed-out-rps-abs")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_speed_cmd_rps), mot_comp_id, "motion.spindle-speed-cmd-rps")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->spindle_inhibit), mot_comp_id, "motion.spindle-inhibit")) < 0) goto error;
*(emcmot_hal_data->spindle_inhibit) = 0;
// spindle orient pins
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->spindle_orient_angle), mot_comp_id, "motion.spindle-orient-angle")) < 0) goto error;
if ((retval = hal_pin_s32_newf(HAL_OUT, &(emcmot_hal_data->spindle_orient_mode), mot_comp_id, "motion.spindle-orient-mode")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_orient), mot_comp_id, "motion.spindle-orient")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->spindle_locked), mot_comp_id, "motion.spindle-locked")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->spindle_is_oriented), mot_comp_id, "motion.spindle-is-oriented")) < 0) goto error;
if ((retval = hal_pin_s32_newf(HAL_IN, &(emcmot_hal_data->spindle_orient_fault), mot_comp_id, "motion.spindle-orient-fault")) < 0) goto error;
*(emcmot_hal_data->spindle_orient_angle) = 0.0;
*(emcmot_hal_data->spindle_orient_mode) = 0;
*(emcmot_hal_data->spindle_orient) = 0;
// if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->inpos_output), mot_comp_id, "motion.motion-inpos")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->spindle_revs), mot_comp_id, "motion.spindle-revs")) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->spindle_speed_in), mot_comp_id, "motion.spindle-speed-in")) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->spindle_is_atspeed), mot_comp_id, "motion.spindle-at-speed")) < 0) goto error;
*emcmot_hal_data->spindle_is_atspeed = 1;
if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->adaptive_feed), mot_comp_id, "motion.adaptive-feed")) < 0) goto error;
*(emcmot_hal_data->adaptive_feed) = 1.0;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_hold), mot_comp_id, "motion.feed-hold")) < 0) goto error;
*(emcmot_hal_data->feed_hold) = 0;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_inhibit), mot_comp_id, "motion.feed-inhibit")) < 0) goto error;
*(emcmot_hal_data->feed_inhibit) = 0;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->enable), mot_comp_id, "motion.enable")) < 0) goto error;
/* export motion-synched digital output pins */
/* export motion digital input pins */
for (n = 0; n < num_dio; n++) {
if ((retval = hal_pin_bit_newf(HAL_OUT, &(emcmot_hal_data->synch_do[n]), mot_comp_id, "motion.digital-out-%02d", n)) < 0) goto error;
if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->synch_di[n]), mot_comp_id, "motion.digital-in-%02d", n)) < 0) goto error;
}
/* export motion analog input pins */
for (n = 0; n < num_aio; n++) {
if ((retval = hal_pin_float_newf(HAL_OUT, &(emcmot_hal_data->analog_output[n]), mot_comp_id, "motion.analog-out-%02d", n)) < 0) goto error;
if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->analog_input[n]), mot_comp_id, "motion.analog-in-%02d", n)) < 0) goto error;
}
/* export machine wide hal parameters */
retval =
hal_pin_bit_new("motion.motion-enabled", HAL_OUT, &(emcmot_hal_data->motion_enabled),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_bit_new("motion.in-position", HAL_OUT, &(emcmot_hal_data->in_position),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_bit_new("motion.coord-mode", HAL_OUT, &(emcmot_hal_data->coord_mode),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_bit_new("motion.teleop-mode", HAL_OUT, &(emcmot_hal_data->teleop_mode),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_bit_new("motion.coord-error", HAL_OUT, &(emcmot_hal_data->coord_error),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_bit_new("motion.on-soft-limit", HAL_OUT, &(emcmot_hal_data->on_soft_limit),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_float_new("motion.current-vel", HAL_OUT, &(emcmot_hal_data->current_vel),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_float_new("motion.requested-vel", HAL_OUT, &(emcmot_hal_data->requested_vel),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_float_new("motion.distance-to-go", HAL_OUT, &(emcmot_hal_data->distance_to_go),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_pin_s32_new("motion.program-line", HAL_OUT, &(emcmot_hal_data->program_line),
mot_comp_id);
if (retval != 0) {
return retval;
}
/* export debug parameters */
/* these can be used to view any internal variable, simply change a line
in control.c:output_to_hal() and recompile */
retval =
hal_param_bit_new("motion.debug-bit-0", HAL_RO, &(emcmot_hal_data->debug_bit_0),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_bit_new("motion.debug-bit-1", HAL_RO, &(emcmot_hal_data->debug_bit_1),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_float_new("motion.debug-float-0", HAL_RO, &(emcmot_hal_data->debug_float_0),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_float_new("motion.debug-float-1", HAL_RO, &(emcmot_hal_data->debug_float_1),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_float_new("motion.debug-float-2", HAL_RO, &(emcmot_hal_data->debug_float_2),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_float_new("motion.debug-float-3", HAL_RO, &(emcmot_hal_data->debug_float_3),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_s32_new("motion.debug-s32-0", HAL_RO, &(emcmot_hal_data->debug_s32_0),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_s32_new("motion.debug-s32-1", HAL_RO, &(emcmot_hal_data->debug_s32_1),
mot_comp_id);
if (retval != 0) {
return retval;
}
// FIXME - debug only, remove later
// export HAL parameters for some trajectory planner internal variables
// so they can be scoped
retval =
hal_param_float_new("traj.pos_out", HAL_RO, &(emcmot_hal_data->traj_pos_out),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_float_new("traj.vel_out", HAL_RO, &(emcmot_hal_data->traj_vel_out),
mot_comp_id);
if (retval != 0) {
return retval;
}
retval =
hal_param_u32_new("traj.active_tc", HAL_RO, &(emcmot_hal_data->traj_active_tc),
mot_comp_id);
if (retval != 0) {
return retval;
}
for ( n = 0 ; n < 4 ; n++ ) {
retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_pos[n]), mot_comp_id, "tc.%d.pos", n);
if (retval != 0) {
return retval;
}
retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_vel[n]), mot_comp_id, "tc.%d.vel", n);
if (retval != 0) {
return retval;
}
retval = hal_param_float_newf(HAL_RO, &(emcmot_hal_data->tc_acc[n]), mot_comp_id, "tc.%d.acc", n);
if (retval != 0) {
return retval;
}
}
// end of exporting trajectory planner internals
// export timing related HAL parameters so they can be scoped
retval =
hal_param_u32_new("motion.servo.last-period", HAL_RO, &(emcmot_hal_data->last_period), mot_comp_id);
if (retval != 0) {
return retval;
}
#ifdef HAVE_CPU_KHZ
retval =
hal_param_float_new("motion.servo.last-period-ns", HAL_RO, &(emcmot_hal_data->last_period_ns), mot_comp_id);
if (retval != 0) {
return retval;
}
#endif
retval =
hal_param_u32_new("motion.servo.overruns", HAL_RW, &(emcmot_hal_data->overruns), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.x", HAL_OUT, &(emcmot_hal_data->tooloffset_x), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.y", HAL_OUT, &(emcmot_hal_data->tooloffset_y), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.z", HAL_OUT, &(emcmot_hal_data->tooloffset_z), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.a", HAL_OUT, &(emcmot_hal_data->tooloffset_a), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.b", HAL_OUT, &(emcmot_hal_data->tooloffset_b), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.c", HAL_OUT, &(emcmot_hal_data->tooloffset_c), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.u", HAL_OUT, &(emcmot_hal_data->tooloffset_u), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.v", HAL_OUT, &(emcmot_hal_data->tooloffset_v), mot_comp_id);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_new("motion.tooloffset.w", HAL_OUT, &(emcmot_hal_data->tooloffset_w), mot_comp_id);
if (retval != 0) {
return retval;
}
/* initialize machine wide pins and parameters */
*(emcmot_hal_data->probe_input) = 0;
/* default value of enable is TRUE, so simple machines
can leave it disconnected */
*(emcmot_hal_data->enable) = 1;
/* motion synched dio, init to not enabled */
for (n = 0; n < num_dio; n++) {
*(emcmot_hal_data->synch_do[n]) = 0;
*(emcmot_hal_data->synch_di[n]) = 0;
}
for (n = 0; n < num_aio; n++) {
*(emcmot_hal_data->analog_output[n]) = 0.0;
*(emcmot_hal_data->analog_input[n]) = 0.0;
}
/*! \todo FIXME - these don't really need initialized, since they are written
with data from the emcmotStatus struct */
*(emcmot_hal_data->motion_enabled) = 0;
*(emcmot_hal_data->in_position) = 0;
*(emcmot_hal_data->coord_mode) = 0;
*(emcmot_hal_data->teleop_mode) = 0;
*(emcmot_hal_data->coord_error) = 0;
*(emcmot_hal_data->on_soft_limit) = 0;
/* init debug parameters */
emcmot_hal_data->debug_bit_0 = 0;
emcmot_hal_data->debug_bit_1 = 0;
emcmot_hal_data->debug_float_0 = 0.0;
emcmot_hal_data->debug_float_1 = 0.0;
emcmot_hal_data->debug_float_2 = 0.0;
emcmot_hal_data->debug_float_3 = 0.0;
emcmot_hal_data->overruns = 0;
emcmot_hal_data->last_period = 0;
/* export joint pins and parameters */
for (n = 0; n < num_joints; n++) {
/* point to axis data */
joint_data = &(emcmot_hal_data->joint[n]);
/* export all vars */
retval = export_joint(n, joint_data);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
_("MOTION: joint %d pin/param export failed\n"), n);
return -1;
}
/* init axis pins and parameters */
/* FIXME - struct members are in a state of flux - make sure to
update this - most won't need initing anyway */
*(joint_data->amp_enable) = 0;
*(joint_data->home_state) = 0;
/* We'll init the index model to EXT_ENCODER_INDEX_MODEL_RAW for now,
because it is always supported. */
}
/* Done! */
rtapi_print_msg(RTAPI_MSG_INFO,
"MOTION: init_hal_io() complete, %d axes.\n", n);
return 0;
error:
return retval;
}
int rtapi_app_main(void) {
int result, i;
CopySizesInfosFromModuleParams();
compId = hal_init("classicladder_rt");
if(compId < 0) return compId;
rtapi_print("creating ladder-state\n");
result = hal_export_funct("classicladder.0.refresh",hal_task,0,1, 0, compId);
if(result < 0) {
error:
hal_exit(compId);
return result;
}
hal_state = hal_malloc(sizeof(hal_s32_t));
result = hal_param_s32_new("classicladder.ladder-state", HAL_RO, hal_state, compId);
if(result < 0) {
hal_exit(compId);
return result;
}
hal_inputs = hal_malloc(sizeof(hal_bit_t*) * numPhysInputs);
if(!hal_inputs) { result = -ENOMEM; goto error; }
hide_gui = hal_malloc(sizeof(hal_bit_t*));
if(!hide_gui) { result = -ENOMEM; goto error; }
hal_s32_inputs = hal_malloc(sizeof(hal_s32_t*) * numS32in);
if(!hal_s32_inputs) { result = -ENOMEM; goto error; }
hal_float_inputs = hal_malloc(sizeof(hal_float_t*) * numFloatIn);
if(!hal_float_inputs) { result = -ENOMEM; goto error; }
hal_outputs = hal_malloc(sizeof(hal_bit_t*) * numPhysOutputs);
if(!hal_outputs) { result = -ENOMEM; goto error; }
hal_s32_outputs = hal_malloc(sizeof(hal_s32_t*) * numS32out);
if(!hal_s32_outputs) { result = -ENOMEM; goto error; }
hal_float_outputs = hal_malloc(sizeof(hal_float_t*) * numFloatOut);
if(!hal_float_outputs) { result = -ENOMEM; goto error; }
for(i=0; i<numPhysInputs; i++) {
result = hal_pin_bit_newf(HAL_IN, &hal_inputs[i], compId,
"classicladder.0.in-%02d", i);
if(result < 0) goto error;
}
result = hal_pin_bit_newf(HAL_IN, &hide_gui[0], compId,
"classicladder.0.hide_gui");
if(result < 0) goto error;
for(i=0; i<numS32in; i++) {
result = hal_pin_s32_newf(HAL_IN, &hal_s32_inputs[i], compId,
"classicladder.0.s32in-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numFloatIn; i++) {
result = hal_pin_float_newf(HAL_IN, &hal_float_inputs[i], compId,
"classicladder.0.floatin-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numPhysOutputs; i++) {
result = hal_pin_bit_newf(HAL_OUT, &hal_outputs[i], compId,
"classicladder.0.out-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numS32out; i++) {
result = hal_pin_s32_newf(HAL_OUT, &hal_s32_outputs[i], compId,
"classicladder.0.s32out-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numFloatOut; i++) {
result = hal_pin_float_newf(HAL_OUT, &hal_float_outputs[i], compId,
"classicladder.0.floatout-%02d", i);
if(result < 0) goto error;
}
hal_ready(compId);
ClassicLadder_AllocAll( );
return 0;
}
static int export_freqgen(int num, freqgen_t * addr, int step_type)
{
int n, retval, msg;
char buf[HAL_NAME_LEN + 2];
/* This function exports a lot of stuff, which results in a lot of
logging if msg_level is at INFO or ALL. So we save the current value
of msg_level and restore it later. If you actually need to log this
function's actions, change the second line below */
msg = rtapi_get_msg_level();
rtapi_set_msg_level(RTAPI_MSG_WARN);
/* export param variable for raw counts */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.rawcounts", num);
retval = hal_param_s32_new(buf, HAL_RO, &(addr->rawcount), comp_id);
if (retval != 0) {
return retval;
}
/* export pin for counts captured by update() */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.counts", num);
retval = hal_pin_s32_new(buf, HAL_OUT, &(addr->count), comp_id);
if (retval != 0) {
return retval;
}
/* export pin for scaled position captured by update() */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.position-fb", num);
retval = hal_pin_float_new(buf, HAL_OUT, &(addr->pos), comp_id);
if (retval != 0) {
return retval;
}
/* export parameter for position scaling */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.position-scale", num);
retval = hal_param_float_new(buf, HAL_RW, &(addr->pos_scale), comp_id);
if (retval != 0) {
return retval;
}
/* export pin for frequency command */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.velocity", num);
retval = hal_pin_float_new(buf, HAL_IN, &(addr->vel), comp_id);
if (retval != 0) {
return retval;
}
/* export parameter for frequency scaling */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.velocity-scale", num);
retval = hal_param_float_new(buf, HAL_RW, &(addr->vel_scale), comp_id);
if (retval != 0) {
return retval;
}
/* export parameter for max frequency */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.maxfreq", num);
retval = hal_param_float_new(buf, HAL_RW, &(addr->maxfreq), comp_id);
if (retval != 0) {
return retval;
}
/* export param for scaled velocity (frequency in Hz) */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.frequency", num);
retval = hal_param_float_new(buf, HAL_RO, &(addr->freq), comp_id);
if (retval != 0) {
return retval;
}
/* export parameter for max accel/decel */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.maxaccel", num);
retval = hal_param_float_new(buf, HAL_RW, &(addr->maxaccel), comp_id);
if (retval != 0) {
return retval;
}
/* set default parameter values */
addr->pos_scale = 1.0;
addr->vel_scale = 1.0;
/* set maxfreq very high - let update_freq() fix it */
addr->maxfreq = 1e15;
addr->maxaccel = 0.0;
addr->wd.st0.step_type = step_type;
/* init the step generator core to zero output */
addr->accum = 0;
addr->addval = 0;
addr->newaddval = 0;
addr->deltalim = 0;
addr->rawcount = 0;
addr->printed_error = 0;
if (step_type == 0) {
/* setup for stepping type 0 - step/dir */
addr->wd.st0.need_step = 0;
addr->wd.st0.setup_timer = 0;
addr->wd.st0.hold_timer = 0;
addr->wd.st0.space_timer = 0;
addr->wd.st0.len_timer = 0;
/* export parameters for step/dir pulse timing */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.dirsetup", num);
retval =
hal_param_u32_new(buf, HAL_RW, &(addr->wd.st0.dir_setup), comp_id);
if (retval != 0) {
return retval;
}
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.dirhold", num);
retval =
hal_param_u32_new(buf, HAL_RW, &(addr->wd.st0.dir_hold), comp_id);
if (retval != 0) {
return retval;
}
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.steplen", num);
retval =
hal_param_u32_new(buf, HAL_RW, &(addr->wd.st0.step_len), comp_id);
if (retval != 0) {
return retval;
}
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.stepspace", num);
retval =
hal_param_u32_new(buf, HAL_RW, &(addr->wd.st0.step_space),
comp_id);
if (retval != 0) {
return retval;
}
/* init the parameters */
addr->wd.st0.dir_setup = 1;
addr->wd.st0.dir_hold = 1;
addr->wd.st0.step_len = 1;
addr->wd.st0.step_space = 1;
/* export pins for step and direction */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.step", num);
retval =
hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[STEP_PIN]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[STEP_PIN]) = 0;
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.dir", num);
retval =
hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[DIR_PIN]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[DIR_PIN]) = 0;
} else if (step_type == 1) {
/* setup for stepping type 1 - pseudo-PWM */
/* export pins for up and down */
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.up", num);
retval =
hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[UP_PIN]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[UP_PIN]) = 0;
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.down", num);
retval =
hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[DOWN_PIN]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[DOWN_PIN]) = 0;
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.count", num);
retval =
hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[COUNT_PIN]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[COUNT_PIN]) = 0;
} else {
/* setup for stepping types 2 and higher */
addr->wd.st2.state = 0;
addr->wd.st2.cycle_max = cycle_len_lut[step_type - 2] - 1;
addr->wd.st2.num_phases = num_phases_lut[step_type - 2];
addr->wd.st2.lut = &(master_lut[step_type - 2][0]);
/* export pins for output phases */
for (n = 0; n < addr->wd.st2.num_phases; n++) {
rtapi_snprintf(buf, HAL_NAME_LEN, "freqgen.%d.phase-%c", num,
n + 'A');
retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->phase[n]), comp_id);
if (retval != 0) {
return retval;
}
*(addr->phase[n]) = 0;
}
}
/* set initial pin values */
*(addr->count) = 0;
*(addr->pos) = 0.0;
*(addr->vel) = 0.0;
/* restore saved message level */
rtapi_set_msg_level(msg);
return 0;
}
static int export_wsum(int num, int num_bits, wsum_t *addr, wsum_bit_t *bitaddr)
{
int retval, i, w;
char buf[HAL_NAME_LEN + 2], base[HAL_NAME_LEN];
rtapi_snprintf(base, HAL_NAME_LEN, "wsum.%d", num);
/* export pin for offset (input) */
rtapi_snprintf(buf, HAL_NAME_LEN, "%s.offset", base);
retval = hal_param_s32_new(buf, HAL_RW, &(addr->offset), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"WEIGHTED_SUM: ERROR: '%s' param export failed\n", buf);
return retval;
}
/* export pin for output sum */
rtapi_snprintf(buf, HAL_NAME_LEN, "%s.sum", base);
retval = hal_pin_s32_new(buf, HAL_OUT, &(addr->sum), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"WEIGHTED_SUM: ERROR: '%s' pin export failed\n", buf);
return retval;
}
/* export pin for update hold */
rtapi_snprintf(buf, HAL_NAME_LEN, "%s.hold", base);
retval = hal_pin_bit_new(buf, HAL_IN, &(addr->hold), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"WEIGHTED_SUM: ERROR: '%s' pin export failed\n", buf);
return retval;
}
addr->bits = bitaddr;
addr->num_bits = num_bits;
/* export the input bits and weight parameters, and set the default weights */
w = 1;
for (i=0;i<num_bits;i++) {
rtapi_snprintf(buf, HAL_NAME_LEN, "%s.bit.%d.in", base, i);
retval = hal_pin_bit_new(buf, HAL_IN, &(addr->bits[i].bit), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"WEIGHTED_SUM: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, HAL_NAME_LEN, "%s.bit.%d.weight", base, i);
retval = hal_param_s32_new(buf, HAL_RW, &(addr->bits[i].weight), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"WEIGHTED_SUM: ERROR: '%s' param export failed\n", buf);
return retval;
}
addr->bits[i].weight = w;
w <<= 1;
}
/* set initial parameter and pin values */
addr->offset = 0;
*(addr->sum) = 0;
return 0;
}
