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moved modules to list based pin/parameter export

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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
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128
src/lcec_el5101.c
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@@ -71,6 +71,31 @@ typedef struct {
int last_operational;
} lcec_el5101_data_t;
static const lcec_pindesc_t slave_pins[] = {
{ HAL_BIT, HAL_IO, offsetof(lcec_el5101_data_t, ena_latch_c), "%s.%s.%s.enc-index-c-enable" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el5101_data_t, ena_latch_ext_pos), "%s.%s.%s.enc-index-ext-pos-enable" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el5101_data_t, ena_latch_ext_neg), "%s.%s.%s.enc-index-ext-neg-enable" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el5101_data_t, reset), "%s.%s.%s.enc-reset" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el5101_data_t, inext), "%s.%s.%s.enc-inext" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el5101_data_t, overflow), "%s.%s.%s.enc-overflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el5101_data_t, underflow), "%s.%s.%s.enc-underflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el5101_data_t, latch_c_valid), "%s.%s.%s.enc-latch-c-valid" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el5101_data_t, latch_ext_valid), "%s.%s.%s.enc-latch-ext-valid" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el5101_data_t, set_raw_count), "%s.%s.%s.enc-set-raw-count" },
{ HAL_S32, HAL_IN, offsetof(lcec_el5101_data_t, set_raw_count_val), "%s.%s.%s.enc-set-raw-count-val" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el5101_data_t, raw_count), "%s.%s.%s.enc-raw-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el5101_data_t, count), "%s.%s.%s.enc-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el5101_data_t, raw_latch), "%s.%s.%s.enc-raw-latch" },
{ HAL_U32, HAL_OUT, offsetof(lcec_el5101_data_t, raw_frequency), "%s.%s.%s.enc-raw-freq" },
{ HAL_U32, HAL_OUT, offsetof(lcec_el5101_data_t, raw_period), "%s.%s.%s.enc-raw-period" },
{ HAL_U32, HAL_OUT, offsetof(lcec_el5101_data_t, raw_window), "%s.%s.%s.enc-raw-window" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el5101_data_t, pos), "%s.%s.%s.enc-pos" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el5101_data_t, period), "%s.%s.%s.enc-period" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el5101_data_t, frequency), "%s.%s.%s.enc-frequency" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el5101_data_t, pos_scale), "%s.%s.%s.enc-pos-scale" },
{ HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
};
static ec_pdo_entry_info_t lcec_el5101_in[] = {
{0x6000, 0x01, 8}, // Status
{0x6000, 0x02, 16}, // Value
@@ -143,112 +168,11 @@ int lcec_el5101_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->setval_pdo_os, NULL);
// export pins
if ((err = hal_pin_bit_newf(HAL_IO, &(hal_data->ena_latch_c), comp_id, "%s.%s.%s.enc-index-c-enable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-index-c-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(hal_data->ena_latch_ext_pos), comp_id, "%s.%s.%s.enc-index-ext-pos-enable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-index-ext-pos-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(hal_data->ena_latch_ext_neg), comp_id, "%s.%s.%s.enc-index-ext-neg-enable", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-index-ext-neg-enable failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IN, &(hal_data->reset), comp_id, "%s.%s.%s.enc-reset", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-reset failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->inext), comp_id, "%s.%s.%s.enc-inext", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-inext failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->overflow), comp_id, "%s.%s.%s.enc-overflow", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-overflow failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->underflow), comp_id, "%s.%s.%s.enc-underflow", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-underflow failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->latch_c_valid), comp_id, "%s.%s.%s.enc-latch-c-valid", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-latch-c-valid failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_OUT, &(hal_data->latch_ext_valid), comp_id, "%s.%s.%s.enc-latch-ext-valid", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-latch-ext-valid failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_bit_newf(HAL_IO, &(hal_data->set_raw_count), comp_id, "%s.%s.%s.enc-set-raw-count", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-set-raw-count failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_s32_newf(HAL_IN, &(hal_data->set_raw_count_val), comp_id, "%s.%s.%s.enc-set-raw-count-val", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-set-raw-count-val failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(hal_data->raw_count), comp_id, "%s.%s.%s.enc-raw-count", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-raw-count failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(hal_data->count), comp_id, "%s.%s.%s.enc-count", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-count failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_s32_newf(HAL_OUT, &(hal_data->raw_latch), comp_id, "%s.%s.%s.enc-raw-latch", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-raw-latch failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(hal_data->raw_frequency), comp_id, "%s.%s.%s.enc-raw-freq", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-raw-freq failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(hal_data->raw_period), comp_id, "%s.%s.%s.enc-raw-period", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-raw-period failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_u32_newf(HAL_OUT, &(hal_data->raw_window), comp_id, "%s.%s.%s.enc-raw-window", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-raw-window failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->pos), comp_id, "%s.%s.%s.enc-pos", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-pos failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->period), comp_id, "%s.%s.%s.enc-period", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-period failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_OUT, &(hal_data->frequency), comp_id, "%s.%s.%s.enc-frequency", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-frequency failed\n", LCEC_MODULE_NAME, master->name, slave->name);
return err;
}
if ((err = hal_pin_float_newf(HAL_IO, &(hal_data->pos_scale), comp_id, "%s.%s.%s.enc-pos-scale", LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.enc-scale 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;
}
// initialize pins
*(hal_data->ena_latch_c) = 0;
*(hal_data->ena_latch_ext_pos) = 0;
*(hal_data->ena_latch_ext_neg) = 0;
*(hal_data->reset) = 0;
*(hal_data->inext) = 0;
*(hal_data->overflow) = 0;
*(hal_data->underflow) = 0;
*(hal_data->latch_c_valid) = 0;
*(hal_data->latch_ext_valid) = 0;
*(hal_data->set_raw_count) = 0;
*(hal_data->set_raw_count_val) = 0;
*(hal_data->raw_count) = 0;
*(hal_data->raw_latch) = 0;
*(hal_data->raw_frequency) = 0;
*(hal_data->raw_period) = 0;
*(hal_data->raw_window) = 0;
*(hal_data->count) = 0;
*(hal_data->pos) = 0;
*(hal_data->period) = 0;
*(hal_data->frequency) = 0;
*(hal_data->pos_scale) = 1.0;
// initialize variables