nic/linuxcnc-ethercat
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

moved modules to list based pin/parameter export

Browse Source
This commit is contained in:
Sascha Ittner
2018-02-27 11:24:11 +01:00
parent d76f03891f
commit 3484b3a283
21 changed files with 572 additions and 1712 deletions
Download Patch File Download Diff File Expand all files Collapse all files

99
src/lcec_el2521.c
View File

@@ -64,6 +64,29 @@ typedef struct {
} lcec_el2521_data_t;
static const lcec_pindesc_t slave_pins[] = {
{ HAL_S32, HAL_OUT, offsetof(lcec_el2521_data_t, count), "%s.%s.%s.stp-counts" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el2521_data_t, pos_fb), "%s.%s.%s.stp-pos-fb" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el2521_data_t, ramp_active), "%s.%s.%s.stp-ramp-active" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el2521_data_t, ramp_disable), "%s.%s.%s.stp-ramp-disable" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el2521_data_t, in_z), "%s.%s.%s.stp-in-z" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el2521_data_t, in_z_not), "%s.%s.%s.stp-in-z-not" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el2521_data_t, in_t), "%s.%s.%s.stp-in-t" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el2521_data_t, in_t_not), "%s.%s.%s.stp-in-t-not" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el2521_data_t, enable), "%s.%s.%s.stp-enable" },
{ HAL_FLOAT, HAL_IN, offsetof(lcec_el2521_data_t, vel_cmd), "%s.%s.%s.stp-velo-cmd" },
{ HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
};
static const lcec_pindesc_t slave_params[] = {
{ HAL_FLOAT, HAL_RO, offsetof(lcec_el2521_data_t, freq), "%s.%s.%s.stp-freq" },
{ HAL_FLOAT, HAL_RO, offsetof(lcec_el2521_data_t, maxvel), "%s.%s.%s.stp-maxvel" },
{ HAL_FLOAT, HAL_RO, offsetof(lcec_el2521_data_t, maxaccel_fall), "%s.%s.%s.stp-maxaccel-fall" },
{ HAL_FLOAT, HAL_RO, offsetof(lcec_el2521_data_t, maxaccel_rise), "%s.%s.%s.stp-maxaccel-rise" },
{ HAL_FLOAT, HAL_RW, offsetof(lcec_el2521_data_t, pos_scale), "%s.%s.%s.stp-pos-scale" },
{ HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
};
static ec_pdo_entry_info_t lcec_el2521_in[] = {
{0x6000, 0x01, 16}, // state word
{0x6000, 0x02, 16} // counter value
@@ -147,89 +170,17 @@ int lcec_el2521_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000, 0x02, &hal_data->freq_pdo_os, NULL);
// export pins
if ((err = hal_pin_s32_newf(HAL_OUT, &(hal_data->count), comp_id, "%s.%s.%s.stp-counts", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-counts 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.stp-pos-fb", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-pos-fb failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->ramp_active), comp_id, "%s.%s.%s.stp-ramp-active", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-ramp-active failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->ramp_disable), comp_id, "%s.%s.%s.stp-ramp-disable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-ramp-disable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->in_z), comp_id, "%s.%s.%s.stp-in-z", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-in-z failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->in_z_not), comp_id, "%s.%s.%s.stp-in-z-not", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-in-z-not failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->in_t), comp_id, "%s.%s.%s.stp-in-t", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-in-t failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->in_t_not), comp_id, "%s.%s.%s.stp-in-t-not", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-in-t-not 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.stp-enable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_IN, &(hal_data->vel_cmd), comp_id, "%s.%s.%s.stp-velo-cmd", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-velo-cmd failed\n", LCEC_MODULE_NAME, master->name, slave->name);
if ((err = lcec_pin_newf_list(hal_data, slave_pins, LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
return err;
}
// export parameters
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->freq), comp_id, "%s.%s.%s.stp-freq", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-freq failed\n", LCEC_MODULE_NAME, master->name, slave->name);
if ((err = lcec_param_newf_list(hal_data, slave_params, LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->maxvel), comp_id, "%s.%s.%s.stp-maxvel", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-maxvel failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->maxaccel_fall), comp_id, "%s.%s.%s.stp-maxaccel-fall", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-maxaccel-fall failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RO, &(hal_data->maxaccel_rise), comp_id, "%s.%s.%s.stp-maxaccel-rise", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-maxaccel-rise\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_param_float_newf(HAL_RW, &(hal_data->pos_scale), comp_id, "%s.%s.%s.stp-pos-scale", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.stp-pos-scale failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
// set default pin values
*(hal_data->count) = 0;
*(hal_data->pos_fb) = 0;
*(hal_data->ramp_active) = 0;
*(hal_data->ramp_disable) = 0;
*(hal_data->in_z) = 0;
*(hal_data->in_z_not) = 0;
*(hal_data->in_t) = 0;
*(hal_data->in_t_not) = 0;
*(hal_data->enable) = 0;
*(hal_data->vel_cmd) = 0.0;
// init parameters
hal_data->freq = 0.0;
hal_data->pos_scale = 1.0;
hal_data->old_scale = 0.0;
hal_data->scale_recip = 0.0;
hal_data->maxvel = 0;
hal_data->maxaccel_rise = 0;
hal_data->maxaccel_fall = 0;
// init other fields
hal_data->last_operational = 0;