hal_m5i20.c

Source code for an Numeric Cmputer

	// Init pin.
	*(this->in[channel].pValue) = 0;
	*(this->in[channel].pValueNot) = 1;
    }

    // Export functions.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.digital-in-read", boardId);
	halError = hal_export_funct(name, Device_DigitalInRead, this, 0, 0, componentId);
    }

    if(halError){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: export digital in failed\n");
	return(-1);
    }

    return(0);
}


static int
Device_ExportDigitalOutPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					halError=0, channel;
    char				name[HAL_NAME_LEN + 2];

    // Export pins and parameters.
    for(channel = 0; channel < M5I20_NUM_DIGITAL_OUTPUTS; channel++){
	// Pins.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.out-%02d", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_RD, &(this->out[channel].pValue), componentId)) != 0)
	    break;

	// Parameters.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.out-%02d-invert", boardId, channel);
	if((halError = hal_param_bit_new(name, HAL_WR, &(this->out[channel].invert), componentId)) != 0)
	    break;

	// Init pin.
	*(this->out[channel].pValue) = 0;
	this->out[channel].invert = 1;
    }

    // Export functions.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.digital-out-write", boardId);
	halError = hal_export_funct(name, Device_DigitalOutWrite, this, 0, 0, componentId);
    }

    if(halError){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: export digital out failed\n");
	return(-1);
    }

    return(0);
}


static int
Device_ExportMiscPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					halError;
    char				name[HAL_NAME_LEN + 2];

    // Export Pins.
    rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.estop-in", boardId);
    halError = hal_pin_bit_new(name, HAL_WR, &(this->misc.pEstopIn), componentId);

    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.estop-in-not", boardId);
	halError = hal_pin_bit_new(name, HAL_WR, &(this->misc.pEstopInNot), componentId);
    }

    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.watchdog-reset", boardId);
	halError = hal_pin_bit_new(name, HAL_RD_WR, &(this->misc.pWatchdogReset), componentId);
    }

    // Export Parameters.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.watchdog-control", boardId);
	halError = hal_param_u16_new(name, HAL_WR, &(this->misc.watchdogControl), componentId);
    }

    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.watchdog-timeout", boardId);
	halError = hal_param_u16_new(name, HAL_WR, &(this->misc.watchdogTimeout), componentId);
    }

    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.led-view", boardId);
	halError = hal_param_u16_new(name, HAL_WR, &(this->misc.ledView), componentId);
    }

    // Init pins.
    if(!halError){
	*(this->misc.pEstopIn) = 0;
	*(this->misc.pEstopInNot) = 1;
	*(this->misc.pWatchdogReset) = 0;
	this->misc.watchdogControl = 0;
	this->misc.watchdogTimeout = 16000;
	this->misc.ledView = 0;
    }

    // Export functions.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.misc-update", boardId);
	halError = hal_export_funct(name, Device_MiscUpdate, this, 0, 0, componentId);
    }

    if(halError){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: export miscellaneous failed\n");
	return(-1);
    }

    return(0);
}


/*
 * HAL EXPORTED FUNCTIONS
 */

static void
Device_EncoderRead(void *arg, long period)
{
    Device				*this = (Device *)arg;
    M5i20HostMotRegMap			*pCard16 = this->pCard16;
    M5i20HostMotRegMap			*pCard32 = this->pCard32;
    EncoderPinsParams			*pEncoder;
    int					i, j;
    hal_u16_t				status;

    pEncoder = &this->encoder[0];

    // For each encoder.
    for(i = 0, j = 0; j < M5I20_NUM_ENCODER_CHANNELS; j++, pEncoder++){

	// Check reset pin.
	if(*(pEncoder->pResetCount)){
	    // Clear pin.
	    *(pEncoder->pResetCount) = 0;

	    // Reset encoder.
	    pCard16->encoderControl[i] |= M5I20_ENC_CTL_LOCAL_CLEAR;
	}

	// Check index latch pin.
	if(*(pEncoder->pLatchIndex)){
	    // Clear pins.
	    *(pEncoder->pLatchIndex) = 0;
	    *(pEncoder->pIndexLatch) = 0;

	    // Enable index latch.
	    pCard16->encoderControl[i] &= ~M5I20_ENC_CTL_LATCH_ON_READ;
	    pCard16->encoderControl[i] |= M5I20_ENC_CTL_LATCH_ON_INDEX | M5I20_ENC_CTL_LATCH_ONCE;
	}

	// Read encoder status.
	status = pCard16->encoderControl[i];

	// Read encoder count.
	*(pEncoder->pCount) = pCard32->encoderCount[i];

	// Scale count to make floating point position.
	if(pEncoder->scale) *(pEncoder->pPosition) = *(pEncoder->pCount) / pEncoder->scale;

	// Update index and index latched pins.
	*(pEncoder->pIndex) = (status & M5I20_ENC_CTL_INDEX)? 1: 0;

	if((*(pEncoder->pIndexLatch) == 0) && !(status & M5I20_ENC_CTL_LATCH_ON_INDEX)){
	    *(pEncoder->pIndexLatch) = 1;
	    *(pEncoder->pCountLatch) = *(pEncoder->pCount);
	    *(pEncoder->pPositionLatch) = *(pEncoder->pPosition);

	    pCard16->encoderControl[i] |= M5I20_ENC_CTL_LATCH_ON_READ;
	}

	// Loop house keeping.
	if(++i == M5I20_NUM_PRIMARY_ENCODERS) i = M5I20_MAX_PRIMARY_ENCODERS;
    }
}


static void
Device_DacWrite(void *arg, long period)
{
    Device				*this = (Device *)arg;
    M5i20HostMotRegMap			*pCard16 = this->pCard16;
    DacPinsParams			*pDac;
    int					i;
    hal_float_t				volts;
    hal_s16_t				dacCount;

    if(this->misc.watchdogControl & WDT_CONTROL_AUTO_RESET){
	// Reset the watchdog timer.
	Device_WdtReset(this);
    }

    pDac = &this->dac[0];

    // For each DAC.
    for(i = 0; i < M5I20_NUM_PWM_CHANNELS; i++, pDac++){

	// Check for mode change.
	if(pDac->interlaced != this->lastDacInterlaced[i]){
	    if((this->lastDacInterlaced[i] = pDac->interlaced) == 0){
		pCard16->pwmControl[i] &= ~M5I20_PWM_CTL_INTERLACED;
	    }else{
		pCard16->pwmControl[i] |= M5I20_PWM_CTL_INTERLACED;
	    }
	}

	// Calculate hardware register value.
	volts = (*(pDac->pValue) - pDac->offset) * pDac->gain;

	// Truncate volts to DAC limits.
	if(volts > M5I20_DAC_VOLTS_MAX){
	    volts = M5I20_DAC_VOLTS_MAX;
	}else if(volts < M5I20_DAC_VOLTS_MIN){
	    volts = M5I20_DAC_VOLTS_MIN;
	}

	// Transform volts to counts.
	dacCount = (hal_s16_t)(volts * M5I20_DAC_SCALE_MULTIPLY /
				M5I20_DAC_SCALE_DIVIDE);

	// Write DAC.
	pCard16->pwmValue[i] = dacCount;

	// Check enable pin.
	if(*(pDac->pEnable)){
	    pCard16->pwmControl[i] |= M5I20_PWM_CTL_ENABLE;
	}else{
	    pCard16->pwmControl[i] &= ~M5I20_PWM_CTL_ENABLE;
	}
    }
}


static void
Device_DigitalInRead(void *arg, long period)
{
    Device				*this = (Device *)arg;
    M5i20HostMotRegMap			*pCard32 = this->pCard32;
    DigitalInPinsParams			*pDigitalIn;
    int					i, j;
    hal_u32_t				pins;

    pDigitalIn = &this->in[0];

    // For each port.
    for(i = 0; i < M5I20_NUM_DIGITAL_IO_PORTS; i++){

	// Read digital I/O register.
	pins = pCard32->digitalIo[i].data >> M5I20_DIGITAL_IN_SHFT;

	// For each pin.
	for(j = 0; j < 16; j++, pDigitalIn++){

	    // Update pins.
	    *(pDigitalIn->pValue) = pins & 1;
	    *(pDigitalIn->pValueNot) = !*(pDigitalIn->pValue);

	    pins >>= 1;
	}
    }
}


static void
Device_DigitalOutWrite(void *arg, long period)
{
    Device				*this = (Device *)arg;
    M5i20HostMotRegMap			*pCard32 = this->pCard32;
    DigitalOutPinsParams		*pDigitalOut;
    int					i, j;
    hal_u32_t				pins, mask;

    pDigitalOut = &this->out[0];

    // For each port.
    for(i = 0; i < M5I20_NUM_DIGITAL_IO_PORTS; i++){

	pins = 0;
	mask = 1;

	// For each pin.
	for(j = 0; j < 8; j++, pDigitalOut++){

	    // Build hardware register value.
	    if(*(pDigitalOut->pValue) != pDigitalOut->invert){
		pins |= mask;
	    }

	    mask <<=1;
	}

	// Write digital I/O register.
	pCard32->digitalIo[i].data = pins << M5I20_DIGITAL_OUT_SHFT;
    }
}


static void
Device_MiscUpdate(void *arg, long period)
{
    Device				*this = (Device *)arg;
    M5i20HostMotRegMap			*pCard16 = this->pCard16;

    // Write watchdog timer configuration to hardware.
    if(this->misc.watchdogControl & WDT_CONTROL_ENABLE){
	pCard16->wdTimeout = this->misc.watchdogTimeout;
	pCard16->mode |= M5I20_MODE_STOP_ON_WDT;
    }else{
	pCard16->mode &= ~M5I20_MODE_STOP_ON_WDT;
    }

    // Check watchdog timer reset pin.
    if(*(this->misc.pWatchdogReset)){
	// Clear pin.
	*(this->misc.pWatchdogReset) = 0;

	// Reset the watchdog timer.
	Device_WdtReset(this);
    }

    // Update E-STOP pin.
    *(this->misc.pEstopIn) = ((pCard16->mode & M5I20_MODE_STOP_ON_WDT)
				&& (pCard16->wdTimer == 0))? 1: 0;
    *(this->misc.pEstopInNot) = !*(this->misc.pEstopIn);

    // Write LED view channel to hardware.
    pCard16->ledView = this->misc.ledView;
}


/*
 * PRIVATE HELPER FUNCTIONS
 */

static void
Device_WdtReset(Device *this)
{
    M5i20HostMotRegMap			*pCard16 = this->pCard16;

    // Check if watchdog timer is enabled.
    if(!(pCard16->mode & M5I20_MODE_STOP_ON_WDT))
	return;

    // Check for timeout.
    if(pCard16->wdTimer == 0){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: watchdog timeout\n");

	// Reset the watchdog timer.
	pCard16->control = M5I20_CONTROL_RESET_WDT;

	// For error recovery.
	pCard16->mode |= M5I20_MODE_PWM_ENABLE;
    }else{
	// Reset the watchdog timer.
	pCard16->control = M5I20_CONTROL_RESET_WDT;
    }
}