comp.lyx

CNC 的开放码,EMC2 V2.2.8版

CONDITION An expression involving the variable 
\emph on 
personality
\emph default 
 which is nonzero when the pin or parameter should be created
\layout Description

SIZE A number that gives the size of an array.
 The array items are numbered from 0 to 
\emph on 
SIZE
\emph default 
-1.
\layout Description

MAXSIZE\SpecialChar ~
:\SpecialChar ~
CONDSIZE A number that gives the maximum size of the array followed
 by an expression involving the variable 
\emph on 
personality
\emph default 
 and which always evaluates to less than 
\emph on 
MAXSIZE
\emph default 
.
 When the array is created its size will be 
\emph on 
CONDSIZE
\emph default 
.
\layout Description

DOC A string that documents the item.
 String can be a C-style 
\begin_inset Quotes eld
\end_inset 

double quoted
\begin_inset Quotes erd
\end_inset 

 string, like 
\family typewriter 
"Selects the desired edge: TRUE means falling, FALSE means rising"
\family default 
 or a Python-style 
\begin_inset Quotes eld
\end_inset 

triple quoted
\begin_inset Quotes erd
\end_inset 

 string, which may include embedded newlines and quote characters, such
 as:
\begin_deeper 
\layout LyX-Code

param rw bit zot=TRUE
\newline 
"""The effect of this parameter, also known as "the orb of zot",
\newline 
will require at least two paragraphs to explain.
\newline 

\newline 
Hopefully these paragraphs have allowed you to understand "zot" 
\newline 
better.""";
\layout Standard

The documentation string is in 
\begin_inset Quotes eld
\end_inset 

groff -man
\begin_inset Quotes erd
\end_inset 

 format.
 For more information on this markup format, see 
\family typewriter 
groff_man(7)
\family default 
.
 Remember that comp interprets backslash escapes in strings, so for instance
 to set the italic font for the word 
\emph on 
example
\emph default 
, write 
\family typewriter 
"
\backslash 

\backslash 
fIexample
\backslash 

\backslash 
fB"
\family default 
.
\end_deeper 
\layout Description

TYPE One of the HAL types: 
\family typewriter 
bit
\family default 
, 
\family typewriter 
signed
\family default 
, 
\family typewriter 
unsigned
\family default 
, or 
\family typewriter 
float
\family default 
.
 The old names 
\family typewriter 
s32
\family default 
 and 
\family typewriter 
u32
\family default 
 may also be used, but 
\family typewriter 
signed
\family default 
 and 
\family typewriter 
unsigned
\family default 
 are preferred.
\layout Description

PINDIRECTION One of the following: 
\family typewriter 
in
\family default 
, 
\family typewriter 
out
\family default 
, or 
\family typewriter 
io
\family default 
.
 A component sets a value for an 
\family typewriter 
out
\family default 
 pin, it reads a value from an 
\family typewriter 
in
\family default 
 pin, and it may read or set the value of an 
\family typewriter 
io
\family default 
 pin.
\layout Description

PARAMDIRECTION One of the following: 
\family typewriter 
r
\family default 
 or 
\family typewriter 
rw
\family default 
.
 A component sets a value for a 
\family typewriter 
r
\family default 
 parameter, and it may read or set the value of a 
\family typewriter 
rw
\family default 
 parameter.
\layout Description

STARTVALUE Specifies the initial value of a pin or parameter.
 If it is not specified, then the default is 
\family typewriter 
0
\family default 
 or 
\family typewriter 
FALSE
\family default 
, depending on the type of the item.
\layout Description

fp Indicates that the function performs floating-point calculations.
\layout Description

nofp Indicates that it only performs integer calculations.
 If neither is specified, 
\family typewriter 
fp
\family default 
 is assumed.
 Neither comp nor gcc can detect the use of floating-point calculations
 in functions that are tagged 
\family typewriter 
nofp
\family default 
.
\layout Description

OPT,\SpecialChar ~
VALUE Depending on the option name OPT, the valid VALUEs vary.
 The currently defined options are:
\begin_deeper 
\layout Description

option\SpecialChar ~
singleton\SpecialChar ~
yes (default: no)
\begin_deeper 
\layout Standard

Do not create a 
\family typewriter 
count
\family default 
 module parameter, and always create a single instance.
 With 
\family typewriter 
singleton
\family default 
, items are named 
\family typewriter 
component-name.item-name
\family default 
 and without 
\family typewriter 
singleton
\family default 
, items for numbered instances are named 
\family typewriter 
component-name.<num>.item-name
\family default 
.
\end_deeper 
\layout Description

option\SpecialChar ~
default_count\SpecialChar ~

\emph on 
number
\emph default 
 (default: 1)
\begin_deeper 
\layout Standard

Normally, the module parameter 
\family typewriter 
count
\family default 
 defaults to 0.
 If specified, the 
\family typewriter 
count
\family default 
 will default to this value instead.
\end_deeper 
\layout Description

option\SpecialChar ~
count_function\SpecialChar ~
yes (default: no)
\begin_deeper 
\layout Standard

Normally, the number of instances to create is specified in the module parameter
 
\family typewriter 
count
\family default 
; if 
\family typewriter 
count_function
\family default 
 is specified, the value returned by the function 
\family typewriter 
int get_count(void)
\family default 
 is used instead, and the 
\family typewriter 
count
\family default 
 module parameter is not defined.
\end_deeper 
\layout Description

option\SpecialChar ~
rtapi_app\SpecialChar ~
no (default: yes)
\begin_deeper 
\layout Standard

Normally, the functions 
\family typewriter 
rtapi_app_main
\family default 
 and 
\family typewriter 
rtapi_app_exit
\family default 
 are automatically defined.
 With 
\family typewriter 
option rtapi_app no
\family default 
, they are not, and must be provided in the C code.
\layout Standard

When implementing your own 
\family typewriter 
rtapi_app_main
\family default 
, call the function 
\family typewriter 
int export(char *prefix, long extra_arg)
\family default 
 to register the pins, parameters, and functions for 
\family typewriter 
prefix
\family default 
.
\end_deeper 
\layout Description

option\SpecialChar ~
data\SpecialChar ~

\emph on 
type
\emph default 
 (default: none) 
\series bold 
\noun on 
deprecated
\begin_deeper 
\layout Standard

If specified, each instance of the component will have an associated data
 block of 
\emph on 
type
\emph default 
 (which can be a simple type like 
\family typewriter 
float
\family default 
 or the name of a type created with 
\family typewriter 
typedef
\family default 
).
\layout Standard

In new components, 
\emph on 
variable
\emph default 
 should be used instead.
\end_deeper 
\end_deeper 
\layout Description

option\SpecialChar ~
extra_setup\SpecialChar ~
yes (default: no)
\begin_deeper 
\begin_deeper 
\layout Standard

If specified, call the function defined by 
\family typewriter 
EXTRA_SETUP
\family default 
 for each instance.
 If using the automatically defined 
\family typewriter 
rtapi_app_main
\family default 
, 
\family typewriter 
extra_arg
\family default 
 is the number of this instance.
 
\end_deeper 
\layout Description

option\SpecialChar ~
extra_cleanup\SpecialChar ~
yes (default: no)
\begin_deeper 
\layout Standard

If specified, call the function defined by 
\family typewriter 
EXTRA_CLEANUP
\family default 
 from the automatically defined 
\family typewriter 
rtapi_app_exit
\family default 
, or if an error is detected in the automatically defined 
\family typewriter 
rtapi_app_main
\family default 
.
\end_deeper 
\layout Description

option\SpecialChar ~
userspace\SpecialChar ~
yes (default: no)
\begin_deeper 
\layout Standard

If specified, this file describes a userspace component, rather than a real
 one.
 A userspace component may not have functions defined by the 
\family typewriter 
function
\family default 
 directive.
 Instead, after all the instances are constructed, the C function 
\family typewriter 
user_mainloop()
\family default 
 is called.
 When this function returns, the component exits.
 Typically, 
\family typewriter 
user_mainloop()
\family default 
 will use 
\family typewriter 
FOR_ALL_INSTS()
\family default 
 to perform the update action for each instance, then sleep for a short
 time.
 Another common action in 
\family typewriter 
user_mainloop()
\family default 
 may be to call the event handler loop of a GUI toolkit.
\end_deeper 
\layout Description

option\SpecialChar ~
userinit\SpecialChar ~
yes (default: no)
\begin_deeper 
\layout Standard

If specified, the function 
\family typewriter 
userinit(argc,argv)
\family default 
 is called before 
\family typewriter 
rtapi_app_main()
\family default 
 (and thus before the call to 
\family typewriter 
hal_init()
\family default 
).
 This function may process the commandline arguments or take other actions.
 Its return type is 
\family typewriter 
void
\family default 
; it may call 
\family typewriter 
exit()
\family default 
 if it wishes to terminate rather than create a hal component (for instance,
 because the commandline arguments were invalid).
\end_deeper 
\layout Standard

If an option's VALUE is not specified, then it is equivalent to specifying
 
\family typewriter 
option \SpecialChar \ldots{}
 yes
\family default 
.
 The result of assigning an inappropriate value to an option is undefined.
 The result of using any other option is undefined.
\end_deeper 
\layout Description

LICENSE Specify the license of the module, for the documentation and for
 the MODULE_LICENSE() module declaration.
\layout Section

Per-instance data storage
\layout Description

variable\SpecialChar ~

\emph on 
CTYPE\SpecialChar ~
NAME
\emph default 
;
\layout Description

variable\SpecialChar ~

\emph on 
CTYPE\SpecialChar ~
NAME
\emph default 
[
\emph on 
SIZE
\emph default 
];
\layout Description

variable\SpecialChar ~

\emph on 
CTYPE\SpecialChar ~
NAME
\emph default 
\SpecialChar ~
=\SpecialChar ~

\emph on 
DEFAULT
\emph default 
;
\layout Description

variable\SpecialChar ~

\emph on 
CTYPE\SpecialChar ~
NAME
\emph default 
[
\emph on 
SIZE
\emph default 
]\SpecialChar ~
=\SpecialChar ~

\emph on 
DEFAULT
\emph default 
;
\begin_deeper 
\layout Standard

Declare a per-instance variable 
\emph on 
NAME
\emph default 
 of type 
\emph on 
CTYPE
\emph default 
, optionally as an array of 
\emph on 
SIZE
\emph default 
 items, and optionally with a default value 
\emph on 
DEFAULT
\emph default 
.
 Items with no 
\emph on 
DEFAULT
\emph default 
 are initialized to all-bits-zero.
 
\emph on 
CTYPE
\emph default 
 is a simple one-word C type, such as 
\family typewriter 
float
\family default 
, 
\family typewriter 
u32
\family default 
, 
\family typewriter 
s32
\family default 
, etc.
\newline 
Access to array variables uses square brackets.
\end_deeper 
\layout Standard

C++-style one-line comments (
\family typewriter 
// \SpecialChar \ldots{}

\family default 
) and C-style multi-line comments (
\family typewriter 
/* \SpecialChar \ldots{}
 */
\family default 
) are both supported in the declaration section.
\layout Section

Other restrictions on comp files
\layout Standard

Though HAL permits a pin, a parameter, and a function to have the same name,
 comp does not.
\layout Section

Convenience Macros
\layout Standard

Based on the items in the declaration section, 
\emph on 
comp
\emph default 
 creates a C structure called 
\family typewriter 
struct state
\family default 
.
 However, instead of referring to the members of this structure (e.g., 
\family typewriter 
*(inst->name)
\family default 
), they will generally be referred to using the macros below.
 The details of 
\family typewriter 
struct state
\family default 
 and these macros may change from one version of 
\emph on 
comp
\emph default 
 to the next.
\layout Description

FUNCTION(name) Use this macro to begin the definition of a realtime function
 which was previously declared with '
\family typewriter 
function NAME
\family default 
'.