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merged master into add-ax5100

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dbraun1981
2021-11-26 18:54:51 +01:00
parent f0ba1f2e0e 3a25fc9cd5
commit 98b93b4b45
38 changed files with 2745 additions and 116 deletions
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12
src/lcec.h
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@@ -60,6 +60,8 @@ do { \
#define LCEC_BECKHOFF_VID 0x00000002
#define LCEC_STOEBER_VID 0x000000b9
#define LCEC_DELTA_VID 0x000001dd
#define LCEC_MODUSOFT_VID 0x00000907
#define LCEC_OMRON_VID 0x00000083
// State update period (ns)
#define LCEC_STATE_UPDATE_PERIOD 1000000000LL
@@ -101,8 +103,9 @@ typedef struct lcec_master_data {
#ifdef RTAPI_TASK_PLL_SUPPORT
hal_s32_t *pll_err;
hal_s32_t *pll_out;
hal_float_t pll_p;
hal_float_t pll_i;
hal_u32_t pll_step;
hal_u32_t pll_max_err;
hal_u32_t *pll_reset_cnt;
#endif
} lcec_master_data_t;
@@ -138,12 +141,9 @@ typedef struct lcec_master {
long long state_update_timer;
ec_master_state_t ms;
#ifdef RTAPI_TASK_PLL_SUPPORT
double periodfp;
uint64_t dc_ref;
uint32_t dc_time_last;
uint32_t app_time_last;
int32_t pll_limit;
double pll_isum;
int dc_time_valid_last;
#endif
} lcec_master_t;