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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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43
src/lcec_generic.c
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@@ -46,79 +46,48 @@ int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
case HAL_BIT:
if (hal_data->bitLength == 1) {
// single bit pin
err = hal_pin_bit_newf(hal_data->dir, ((hal_bit_t **) &hal_data->pin[0]), comp_id, "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
err = lcec_pin_newf(hal_data->type, hal_data->dir, &hal_data->pin[0], "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
if (err != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.%s failed\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
return err;
}
*((hal_bit_t *) hal_data->pin[0]) = 0;
} else {
// bit pin array
for (j=0; j < LCEC_CONF_GENERIC_MAX_SUBPINS && j < hal_data->bitLength; j++) {
err = hal_pin_bit_newf(hal_data->dir, ((hal_bit_t **) &hal_data->pin[j]), comp_id, "%s.%s.%s.%s-%d", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name, j);
err = lcec_pin_newf(hal_data->type, hal_data->dir, &hal_data->pin[j], "%s.%s.%s.%s-%d", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name, j);
if (err != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.%s-%d failed\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name, j);
return err;
}
*((hal_bit_t *) hal_data->pin[j]) = 0;
}
}
break;
case HAL_S32:
// check data size
if (hal_data->bitLength > 32) {
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export S32 pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
continue;
}
// export pin
err = hal_pin_s32_newf(hal_data->dir, ((hal_s32_t **) &hal_data->pin[0]), comp_id, "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
if (err != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.%s failed\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
return err;
}
// initialize data
*((hal_s32_t *) hal_data->pin[0]) = 0;
break;
case HAL_U32:
// check data size
if (hal_data->bitLength > 32) {
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export U32 pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
continue;
}
// export pin
err = hal_pin_u32_newf(hal_data->dir, ((hal_u32_t **) &hal_data->pin[0]), comp_id, "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
err = lcec_pin_newf(hal_data->type, hal_data->dir, &hal_data->pin[0], "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
if (err != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.%s failed\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
return err;
}
// initialize data
*((hal_u32_t *) hal_data->pin[0]) = 0;
break;
case HAL_FLOAT:
// check data size
if (hal_data->bitLength > 32) {
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export FLOAT pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
continue;
}
// export pin
err = hal_pin_float_newf(hal_data->dir, ((hal_float_t **) &hal_data->pin[0]), comp_id, "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
err = lcec_pin_newf(hal_data->type, hal_data->dir, &hal_data->pin[0], "%s.%s.%s.%s", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
if (err != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.%s failed\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
return err;
}
// initialize data
*((hal_float_t *) hal_data->pin[0]) = 0.0;
break;
default: