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add module custom parameters, flag for stmds5k multiturn encoders

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This commit is contained in:
Sascha Ittner
2018-03-22 15:16:32 +01:00
parent e2bc889ac8
commit 825a9a0400
6 changed files with 303 additions and 80 deletions
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11
src/lcec_stmds5k.c
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@@ -152,6 +152,8 @@ int lcec_stmds5k_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
double sdo_torque_reference;
double sdo_speed_max_rpm;
double sdo_speed_max_rpm_sp;
LCEC_CONF_MODPARAM_VAL_T *pval;
int enc_bits;
// initialize callbacks
slave->proc_read = lcec_stmds5k_read;
@@ -218,8 +220,15 @@ int lcec_stmds5k_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
return err;
}
// set encoder bits
enc_bits = 24;
pval = lcec_modparam_get(slave, LCEC_STMDS5K_PARAM_MULTITURN);
if (pval != NULL && pval->bit) {
enc_bits = 32;
}
// init subclasses
if ((err = class_enc_init(slave, &hal_data->enc, 32, "enc")) != 0) {
if ((err = class_enc_init(slave, &hal_data->enc, enc_bits, "enc")) != 0) {
return err;
}