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support for patched and unpatched versions of linuxcnc

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This commit is contained in:
Sascha Ittner
2018-03-09 19:00:38 +01:00
parent 855f5a028d
commit c84a868bfb
3 changed files with 51 additions and 15 deletions
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10
src/lcec.h
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@@ -79,10 +79,12 @@ typedef struct lcec_master_data {
hal_bit_t *state_op;
hal_bit_t *link_up;
hal_bit_t *all_op;
#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;
#endif
} lcec_master_data_t;
typedef struct lcec_slave_state {
@@ -112,13 +114,17 @@ typedef struct lcec_master {
uint64_t app_time;
uint64_t app_time_base;
uint32_t app_time_period;
int app_time_period_check;
long period_last;
int sync_ref_cnt;
int sync_ref_cycles;
long long state_update_timer;
#ifdef RTAPI_TASK_PLL_SUPPORT
double periodfp;
uint64_t dc_ref;
uint32_t dc_time_last;
long long state_update_timer;
int32_t pll_limit;
double pll_isum;
#endif
} lcec_master_t;
typedef struct {