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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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242
src/lcec_el7041_1000.c
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@@ -157,6 +157,60 @@ typedef struct {
} lcec_el7041_1000_data_t;
static const lcec_pindesc_t slave_pins[] = {
// encoder pins
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, reset), "%s.%s.%s.enc-reset" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, ina), "%s.%s.%s.enc-ina" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, inb), "%s.%s.%s.enc-inb" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, inc), "%s.%s.%s.enc-inc" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, inext), "%s.%s.%s.enc-inext" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, sync_err), "%s.%s.%s.enc-sync-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, expol_stall), "%s.%s.%s.enc-expol-stall" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, tx_toggle), "%s.%s.%s.enc-tx-toggle" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, count_overflow), "%s.%s.%s.enc-count-overflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, count_underflow), "%s.%s.%s.enc-count-underflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, latch_c_valid), "%s.%s.%s.enc-latch-c-valid" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, latch_ext_valid), "%s.%s.%s.enc-latch-ext-valid" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7041_1000_data_t, set_raw_count), "%s.%s.%s.enc-set-raw-count" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7041_1000_data_t, ena_latch_c), "%s.%s.%s.enc-latch-c-enable" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7041_1000_data_t, ena_latch_ext_pos), "%s.%s.%s.enc-index-ext-pos-enable" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7041_1000_data_t, ena_latch_ext_neg), "%s.%s.%s.enc-index-ext-neg-enable" },
{ HAL_S32, HAL_IN, offsetof(lcec_el7041_1000_data_t, set_raw_count_val), "%s.%s.%s.enc-set-raw-count-val" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7041_1000_data_t, raw_count), "%s.%s.%s.enc-raw-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7041_1000_data_t, count), "%s.%s.%s.enc-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7041_1000_data_t, raw_latch), "%s.%s.%s.enc-raw-latch" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, pos), "%s.%s.%s.enc-pos" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7041_1000_data_t, pos_scale), "%s.%s.%s.enc-pos-scale" },
// servo pins
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7041_1000_data_t, dcm_scale), "%s.%s.%s.srv-scale" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7041_1000_data_t, dcm_offset), "%s.%s.%s.srv-offset" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7041_1000_data_t, dcm_min_dc), "%s.%s.%s.srv-min-dc" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7041_1000_data_t, dcm_max_dc), "%s.%s.%s.srv-max-dc" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_curr_dc), "%s.%s.%s.srv-curr-dc" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, dcm_enable), "%s.%s.%s.srv-enable" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, dcm_absmode), "%s.%s.%s.srv-absmode" },
{ HAL_FLOAT, HAL_IN, offsetof(lcec_el7041_1000_data_t, dcm_value), "%s.%s.%s.srv-cmd" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_raw_val), "%s.%s.%s.srv-raw-cmd" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, dcm_reset), "%s.%s.%s.srv-reset" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, dcm_reduce_torque), "%s.%s.%s.srv-reduce-torque" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_ready_to_enable), "%s.%s.%s.srv-ready-to-enable" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_ready), "%s.%s.%s.srv-ready" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_warning), "%s.%s.%s.srv-warning" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_error), "%s.%s.%s.srv-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_move_pos), "%s.%s.%s.srv-move-pos" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_move_neg), "%s.%s.%s.srv-move-neg" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_torque_reduced), "%s.%s.%s.srv-torque-reduced" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_din1), "%s.%s.%s.srv-din1" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_din2), "%s.%s.%s.srv-din2" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_sync_err), "%s.%s.%s.srv-sync-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, dcm_tx_toggle), "%s.%s.%s.srv-tx-toggle" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7041_1000_data_t, fault), "%s.%s.%s.srv-fault" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7041_1000_data_t, fault_reset), "%s.%s.%s.srv-fault-reset" },
{ HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
};
static ec_pdo_entry_info_t lcec_el7041_1000_channel1_enc_out[] = {
{0x7000, 0x01, 1}, /* Enable latch C */
{0x7000, 0x02, 1}, /* Enable latch extern on positive edge */
@@ -261,168 +315,56 @@ int lcec_el7041_1000_init(int comp_id, struct lcec_slave *s, ec_pdo_entry_reg_t
hd->last_operational = 0;
// initialize PDO entries
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7000, 0x01, &hd->ena_latch_c_pdo_os, &hd->ena_latch_c_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7000, 0x02, &hd->ena_latch_ext_pos_pdo_os, &hd->ena_latch_ext_pos_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7000, 0x03, &hd->set_count_pdo_os, &hd->set_count_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7000, 0x04, &hd->ena_latch_ext_neg_pdo_os, &hd->ena_latch_ext_neg_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7000, 0x11, &hd->set_count_val_pdo_os, NULL);
#define pdo(...) LCEC_PDO_INIT(r, s->index, s->vid, s->pid, ##__VA_ARGS__)
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7010, 0x01, &hd->dcm_ena_pdo_os, &hd->dcm_ena_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7010, 0x02, &hd->dcm_reset_pdo_os, &hd->dcm_reset_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7010, 0x03, &hd->dcm_reduce_torque_pdo_os, &hd->dcm_reduce_torque_pdo_bp);
pdo(0x7000, 0x01, &hd->ena_latch_c_pdo_os, &hd->ena_latch_c_pdo_bp);
pdo(0x7000, 0x02, &hd->ena_latch_ext_pos_pdo_os, &hd->ena_latch_ext_pos_pdo_bp);
pdo(0x7000, 0x03, &hd->set_count_pdo_os, &hd->set_count_pdo_bp);
pdo(0x7000, 0x04, &hd->ena_latch_ext_neg_pdo_os, &hd->ena_latch_ext_neg_pdo_bp);
pdo(0x7000, 0x11, &hd->set_count_val_pdo_os, NULL);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x7010, 0x21, &hd->dcm_velo_pdo_os, NULL);
pdo(0x7010, 0x01, &hd->dcm_ena_pdo_os, &hd->dcm_ena_pdo_bp);
pdo(0x7010, 0x02, &hd->dcm_reset_pdo_os, &hd->dcm_reset_pdo_bp);
pdo(0x7010, 0x03, &hd->dcm_reduce_torque_pdo_os, &hd->dcm_reduce_torque_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x01, &hd->latch_c_valid_pdo_os, &hd->latch_c_valid_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x02, &hd->latch_ext_valid_pdo_os, &hd->latch_ext_valid_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x03, &hd->set_count_done_pdo_os, &hd->set_count_done_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x04, &hd->count_underflow_pdo_os, &hd->count_overflow_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x05, &hd->count_overflow_pdo_os, &hd->count_underflow_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x08, &hd->expol_stall_pdo_os, &hd->expol_stall_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x09, &hd->ina_pdo_os, &hd->ina_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x0a, &hd->inb_pdo_os, &hd->inb_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x0b, &hd->inc_pdo_os, &hd->inc_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x0d, &hd->inext_pdo_os, &hd->inext_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x0e, &hd->sync_err_pdo_os, &hd->sync_err_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x10, &hd->tx_toggle_pdo_os, &hd->tx_toggle_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x11, &hd->count_pdo_os, NULL);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6000, 0x12, &hd->latch_pdo_os, NULL);
pdo(0x7010, 0x21, &hd->dcm_velo_pdo_os, NULL);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x01, &hd->dcm_ready_to_enable_pdo_os, &hd->dcm_ready_to_enable_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x02, &hd->dcm_ready_pdo_os, &hd->dcm_ready_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x03, &hd->dcm_warning_pdo_os, &hd->dcm_warning_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x04, &hd->dcm_error_pdo_os, &hd->dcm_error_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x05, &hd->dcm_move_pos_pdo_os, &hd->dcm_move_pos_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x06, &hd->dcm_move_neg_pdo_os, &hd->dcm_move_neg_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x07, &hd->dcm_torque_reduced_pdo_os, &hd->dcm_torque_reduced_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x0c, &hd->dcm_din1_pdo_os, &hd->dcm_din1_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x0d, &hd->dcm_din2_pdo_os, &hd->dcm_din2_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x0e, &hd->dcm_sync_err_pdo_os, &hd->dcm_sync_err_pdo_bp);
LCEC_PDO_INIT(r, s->index, s->vid, s->pid, 0x6010, 0x10, &hd->dcm_tx_toggle_pdo_os, &hd->dcm_tx_toggle_pdo_bp);
pdo(0x6000, 0x01, &hd->latch_c_valid_pdo_os, &hd->latch_c_valid_pdo_bp);
pdo(0x6000, 0x02, &hd->latch_ext_valid_pdo_os, &hd->latch_ext_valid_pdo_bp);
pdo(0x6000, 0x03, &hd->set_count_done_pdo_os, &hd->set_count_done_pdo_bp);
pdo(0x6000, 0x04, &hd->count_underflow_pdo_os, &hd->count_overflow_pdo_bp);
pdo(0x6000, 0x05, &hd->count_overflow_pdo_os, &hd->count_underflow_pdo_bp);
pdo(0x6000, 0x08, &hd->expol_stall_pdo_os, &hd->expol_stall_pdo_bp);
pdo(0x6000, 0x09, &hd->ina_pdo_os, &hd->ina_pdo_bp);
pdo(0x6000, 0x0a, &hd->inb_pdo_os, &hd->inb_pdo_bp);
pdo(0x6000, 0x0b, &hd->inc_pdo_os, &hd->inc_pdo_bp);
pdo(0x6000, 0x0d, &hd->inext_pdo_os, &hd->inext_pdo_bp);
pdo(0x6000, 0x0e, &hd->sync_err_pdo_os, &hd->sync_err_pdo_bp);
pdo(0x6000, 0x10, &hd->tx_toggle_pdo_os, &hd->tx_toggle_pdo_bp);
pdo(0x6000, 0x11, &hd->count_pdo_os, NULL);
pdo(0x6000, 0x12, &hd->latch_pdo_os, NULL);
pdo(0x6010, 0x01, &hd->dcm_ready_to_enable_pdo_os, &hd->dcm_ready_to_enable_pdo_bp);
pdo(0x6010, 0x02, &hd->dcm_ready_pdo_os, &hd->dcm_ready_pdo_bp);
pdo(0x6010, 0x03, &hd->dcm_warning_pdo_os, &hd->dcm_warning_pdo_bp);
pdo(0x6010, 0x04, &hd->dcm_error_pdo_os, &hd->dcm_error_pdo_bp);
pdo(0x6010, 0x05, &hd->dcm_move_pos_pdo_os, &hd->dcm_move_pos_pdo_bp);
pdo(0x6010, 0x06, &hd->dcm_move_neg_pdo_os, &hd->dcm_move_neg_pdo_bp);
pdo(0x6010, 0x07, &hd->dcm_torque_reduced_pdo_os, &hd->dcm_torque_reduced_pdo_bp);
pdo(0x6010, 0x0c, &hd->dcm_din1_pdo_os, &hd->dcm_din1_pdo_bp);
pdo(0x6010, 0x0d, &hd->dcm_din2_pdo_os, &hd->dcm_din2_pdo_bp);
pdo(0x6010, 0x0e, &hd->dcm_sync_err_pdo_os, &hd->dcm_sync_err_pdo_bp);
pdo(0x6010, 0x10, &hd->dcm_tx_toggle_pdo_os, &hd->dcm_tx_toggle_pdo_bp);
#undef pdo
#define msg(H, format) \
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting "#H" %s.%s.%s." format " failed\n", \
LCEC_MODULE_NAME, m->name, s->name)
#define hal_pin_bit(IO, V, P) hal_pin_bit_newf(IO, V, comp_id, "%s.%s.%s." P, LCEC_MODULE_NAME, m->name, s->name)
#define hal_pin_s32(IO, V, P) hal_pin_s32_newf(IO, V, comp_id, "%s.%s.%s." P, LCEC_MODULE_NAME, m->name, s->name)
#define hal_pin_u32(IO, V, P) hal_pin_u32_newf(IO, V, comp_id, "%s.%s.%s." P, LCEC_MODULE_NAME, m->name, s->name)
#define hal_pin_flt(IO, V, P) hal_pin_float_newf(IO, V, comp_id, "%s.%s.%s." P, LCEC_MODULE_NAME, m->name, s->name)
#define e(H, T, IO, V, N) if ((err = hal_##H##_##T(IO, V, N)) != 0) { msg(#H, N); return err; }
// export encoder pins
e(pin, bit, HAL_IN, &(hd->reset), "enc-reset");
e(pin, bit, HAL_OUT, &(hd->ina), "enc-ina");
e(pin, bit, HAL_OUT, &(hd->inb), "enc-inb");
e(pin, bit, HAL_OUT, &(hd->inc), "enc-inc");
e(pin, bit, HAL_OUT, &(hd->inext), "enc-inext");
e(pin, bit, HAL_OUT, &(hd->sync_err), "enc-sync-error");
e(pin, bit, HAL_OUT, &(hd->expol_stall), "enc-expol-stall");
e(pin, bit, HAL_OUT, &(hd->tx_toggle), "enc-tx-toggle");
e(pin, bit, HAL_OUT, &(hd->count_overflow), "enc-count-overflow");
e(pin, bit, HAL_OUT, &(hd->count_underflow), "enc-count-underflow");
e(pin, bit, HAL_OUT, &(hd->latch_c_valid), "enc-latch-c-valid");
e(pin, bit, HAL_OUT, &(hd->latch_ext_valid), "enc-latch-ext-valid");
e(pin, bit, HAL_IO, &(hd->set_raw_count), "enc-set-raw-count");
e(pin, bit, HAL_IO, &(hd->ena_latch_c), "enc-latch-c-enable");
e(pin, bit, HAL_IO, &(hd->ena_latch_ext_pos), "enc-index-ext-pos-enable");
e(pin, bit, HAL_IO, &(hd->ena_latch_ext_neg), "enc-index-ext-neg-enable");
e(pin, s32, HAL_IN, &(hd->set_raw_count_val), "enc-set-raw-count-val");
e(pin, s32, HAL_OUT, &(hd->raw_count), "enc-raw-count");
e(pin, s32, HAL_OUT, &(hd->count), "enc-count");
e(pin, s32, HAL_OUT, &(hd->raw_latch), "enc-raw-latch");
e(pin, flt, HAL_OUT, &(hd->pos), "enc-pos");
e(pin, flt, HAL_IO, &(hd->pos_scale), "enc-pos-scale");
// export servo pins
e(pin, flt, HAL_IO, &(hd->dcm_scale), "srv-scale");
e(pin, flt, HAL_IO, &(hd->dcm_offset), "srv-offset");
e(pin, flt, HAL_IO, &(hd->dcm_min_dc), "srv-min-dc");
e(pin, flt, HAL_IO, &(hd->dcm_max_dc), "srv-max-dc");
e(pin, flt, HAL_OUT, &(hd->dcm_curr_dc), "srv-curr-dc");
e(pin, bit, HAL_IN, &(hd->dcm_enable), "srv-enable");
e(pin, bit, HAL_IN, &(hd->dcm_absmode), "srv-absmode");
e(pin, flt, HAL_IN, &(hd->dcm_value), "srv-cmd");
e(pin, s32, HAL_OUT, &(hd->dcm_raw_val), "srv-raw-cmd");
e(pin, bit, HAL_IN, &(hd->dcm_reset), "srv-reset");
e(pin, bit, HAL_IN, &(hd->dcm_reduce_torque), "srv-reduce-torque");
e(pin, bit, HAL_OUT, &(hd->dcm_ready_to_enable), "srv-ready-to-enable");
e(pin, bit, HAL_OUT, &(hd->dcm_ready), "srv-ready");
e(pin, bit, HAL_OUT, &(hd->dcm_warning), "srv-warning");
e(pin, bit, HAL_OUT, &(hd->dcm_error), "srv-error");
e(pin, bit, HAL_OUT, &(hd->dcm_move_pos), "srv-move-pos");
e(pin, bit, HAL_OUT, &(hd->dcm_move_neg), "srv-move-neg");
e(pin, bit, HAL_OUT, &(hd->dcm_torque_reduced), "srv-torque-reduced");
e(pin, bit, HAL_OUT, &(hd->dcm_din1), "srv-din1");
e(pin, bit, HAL_OUT, &(hd->dcm_din2), "srv-din2");
e(pin, bit, HAL_OUT, &(hd->dcm_sync_err), "srv-sync-error");
e(pin, bit, HAL_OUT, &(hd->dcm_tx_toggle), "srv-tx-toggle");
e(pin, bit, HAL_OUT, &(hd->fault), "srv-fault");
e(pin, bit, HAL_IN, &(hd->fault_reset), "srv-fault-reset");
#undef msg
#undef hal_pin_bit
#undef hal_pin_s32
#undef hal_pin_u32
#undef hal_pin_flt
#undef e
// export pins
if ((err = lcec_pin_newf_list(hd, slave_pins, LCEC_MODULE_NAME, m->name, s->name)) != 0) {
return err;
}
// initialize pins
*(hd->reset) = 0;
*(hd->ina) = 0;
*(hd->inb) = 0;
*(hd->inc) = 0;
*(hd->inext) = 0;
*(hd->sync_err) = 0;
*(hd->expol_stall) = 0;
*(hd->tx_toggle) = 0;
*(hd->count_overflow) = 0;
*(hd->count_underflow) = 0;
*(hd->latch_c_valid) = 0;
*(hd->latch_ext_valid) = 0;
*(hd->ena_latch_c) = 0;
*(hd->ena_latch_ext_pos) = 0;
*(hd->ena_latch_ext_neg) = 0;
*(hd->set_raw_count) = 0;
*(hd->set_raw_count_val) = 0;
*(hd->raw_count) = 0;
*(hd->raw_latch) = 0;
*(hd->count) = 0;
*(hd->pos) = 0;
*(hd->pos_scale) = 1.0;
*(hd->dcm_scale) = 1.0;
*(hd->dcm_offset) = 0.0;
*(hd->dcm_min_dc) = -1.0;
*(hd->dcm_max_dc) = 1.0;
*(hd->dcm_curr_dc) = 0.0;
*(hd->dcm_enable) = 0;
*(hd->dcm_absmode) = 0;
*(hd->dcm_value) = 0.0;
*(hd->dcm_raw_val) = 0;
*(hd->dcm_reset) = 0;
*(hd->dcm_reduce_torque) = 0;
*(hd->dcm_ready_to_enable) = 0;
*(hd->dcm_ready) = 0;
*(hd->dcm_warning) = 0;
*(hd->dcm_error) = 0;
*(hd->dcm_move_pos) = 0;
*(hd->dcm_move_neg) = 0;
*(hd->dcm_torque_reduced) = 0;
*(hd->dcm_din1) = 0;
*(hd->dcm_din2) = 0;
*(hd->dcm_sync_err) = 0;
*(hd->dcm_tx_toggle) = 0;
*(hd->fault) = 0;
*(hd->fault_reset) = 0;
// initialize variables
hd->enc_do_init = 1;