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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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287
src/lcec_el7342.c
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@@ -159,6 +159,59 @@ typedef struct {
int last_operational;
} lcec_el7342_data_t;
static const lcec_pindesc_t slave_pins[] = {
// encoder pins
{ HAL_BIT, HAL_IN, offsetof(lcec_el7342_chan_t, reset), "%s.%s.%s.enc-%d-reset" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, ina), "%s.%s.%s.enc-%d-ina" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, inb), "%s.%s.%s.enc-%d-inb" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, inext), "%s.%s.%s.enc-%d-inext" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, sync_err), "%s.%s.%s.enc-%d-sync-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, expol_stall), "%s.%s.%s.enc-%d-expol-stall" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, tx_toggle), "%s.%s.%s.enc-%d-tx-toggle" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, count_overflow), "%s.%s.%s.enc-%d-count-overflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, count_underflow), "%s.%s.%s.enc-%d-count-underflow" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, latch_ext_valid), "%s.%s.%s.enc-%d-latch-ext-valid" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7342_chan_t, set_raw_count), "%s.%s.%s.enc-%d-set-raw-count" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7342_chan_t, ena_latch_ext_pos), "%s.%s.%s.enc-%d-index-ext-pos-enable" },
{ HAL_BIT, HAL_IO, offsetof(lcec_el7342_chan_t, ena_latch_ext_neg), "%s.%s.%s.enc-%d-index-ext-neg-enable" },
{ HAL_S32, HAL_IN, offsetof(lcec_el7342_chan_t, set_raw_count_val), "%s.%s.%s.enc-%d-set-raw-count-val" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, raw_count), "%s.%s.%s.enc-%d-raw-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, count), "%s.%s.%s.enc-%d-count" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, raw_latch), "%s.%s.%s.enc-%d-raw-latch" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el7342_chan_t, pos), "%s.%s.%s.enc-%d-pos" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7342_chan_t, pos_scale), "%s.%s.%s.enc-%d-pos-scale" },
// encoder pins
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7342_chan_t, dcm_scale), "%s.%s.%s.srv-%d-scale" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7342_chan_t, dcm_offset), "%s.%s.%s.srv-%d-offset" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7342_chan_t, dcm_min_dc), "%s.%s.%s.srv-%d-min-dc" },
{ HAL_FLOAT, HAL_IO, offsetof(lcec_el7342_chan_t, dcm_max_dc), "%s.%s.%s.srv-%d-max-dc" },
{ HAL_FLOAT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_curr_dc), "%s.%s.%s.srv-%d-curr-dc" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7342_chan_t, dcm_enable), "%s.%s.%s.srv-%d-enable" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7342_chan_t, dcm_absmode), "%s.%s.%s.srv-%d-absmode" },
{ HAL_FLOAT, HAL_IN, offsetof(lcec_el7342_chan_t, dcm_value), "%s.%s.%s.srv-%d-cmd" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_raw_val), "%s.%s.%s.srv-%d-raw-cmd" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7342_chan_t, dcm_reset), "%s.%s.%s.srv-%d-reset" },
{ HAL_BIT, HAL_IN, offsetof(lcec_el7342_chan_t, dcm_reduce_torque), "%s.%s.%s.srv-%d-reduce-torque" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_ready_to_enable), "%s.%s.%s.srv-%d-ready-to-enable" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_ready), "%s.%s.%s.srv-%d-ready" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_warning), "%s.%s.%s.srv-%d-warning" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_error), "%s.%s.%s.srv-%d-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_move_pos), "%s.%s.%s.srv-%d-move-pos" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_move_neg), "%s.%s.%s.srv-%d-move-neg" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_torque_reduced), "%s.%s.%s.srv-%d-torque-reduced" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_din1), "%s.%s.%s.srv-%d-din1" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_din2), "%s.%s.%s.srv-%d-din2" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_sync_err), "%s.%s.%s.srv-%d-sync-error" },
{ HAL_BIT, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_tx_toggle), "%s.%s.%s.srv-%d-tx-toggle" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_raw_info1), "%s.%s.%s.srv-%d-raw-info1" },
{ HAL_S32, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_raw_info2), "%s.%s.%s.srv-%d-raw-info2" },
{ HAL_U32, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_sel_info1), "%s.%s.%s.srv-%d-sel-info1" },
{ HAL_U32, HAL_OUT, offsetof(lcec_el7342_chan_t, dcm_sel_info2), "%s.%s.%s.srv-%d-sel-info2" },
{ HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
};
static ec_pdo_entry_info_t lcec_el7342_channel1_enc_out[] = {
{0x0000, 0x00, 1}, // Gap
{0x7000, 0x02, 1}, // Enable latch extern on positive edge
@@ -394,255 +447,29 @@ int lcec_el7342_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, 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);
// export pins
if ((err = lcec_pin_newf_list(chan, slave_pins, LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
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);
if ((err = lcec_pin_newf(HAL_FLOAT, HAL_OUT, (void **) &(chan->dcm_velo_fb), "%s.%s.%s.srv-%d-velo-fb", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
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);
if ((err = lcec_pin_newf(HAL_FLOAT, HAL_OUT, (void **) &(chan->dcm_current_fb), "%s.%s.%s.srv-%d-current-fb", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
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;