hal_ppmc.c

来自「CNC 的开放码,EMC2 V2.2.8版」· C语言 代码 · 共 1,961 行 · 第 1/5 页

    slot->digin = hal_malloc(16 * sizeof(din_t));
    if (slot->digin == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    for ( n = 0 ; n < 16 ; n++ ) {
	/* export pins for input data */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.%02d.in",
	    bus->busnum, bus->last_digin);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[n].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.%02d.in-not",
	    bus->busnum, bus->last_digin);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[n].data_not), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* increment number to prepare for next output */
	bus->last_digin++;
    }
    add_rd_funct(read_digins, slot, block(UxC_DINA, UxC_DINB));
    return 0;
}

static int export_UxC_digout(slot_data_t *slot, bus_data_t *bus)
{
    int retval, n;
    char buf[HAL_NAME_LEN + 2];

    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting UxC digital outputs\n");

    /* do hardware init */
    /* turn off all outputs */
    SelWrt(0, slot->slot_base+UxC_DOUTA, slot->port_addr);
    if (bus->last_digout > 7) {   // if not first UxC, set it to slave mode
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  slave UxC addr %x\n",slot->slot_base+UxC_SLAVE);
      SelWrt(1,slot->slot_base+UxC_SLAVE,slot->port_addr);
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  slave UxC # %d\n",bus->last_digout);
    }
    /* allocate shared memory for the digital output data */
    slot->digout = hal_malloc(8 * sizeof(dout_t));
    if (slot->digout == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    for ( n = 0 ; n < 8 ; n++ ) {
	/* export pin for output data */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.%02d.out",
	    bus->busnum, bus->last_digout);
	retval = hal_pin_bit_new(buf, HAL_IN, &(slot->digout[n].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* export parameter for inversion */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.%02d.invert",
	    bus->busnum, bus->last_digout);
	retval = hal_param_bit_new(buf, HAL_RW, &(slot->digout[n].invert), comp_id);
	if (retval != 0) {
	    return retval;
	}
	slot->digout[n].invert = 0;
	/* increment number to prepare for next output */
	bus->last_digout++;
    }
    add_wr_funct(write_digouts, slot, block(UxC_DOUTA, UxC_DOUTA));
    return 0;
}

static int export_PPMC_digin(slot_data_t *slot, bus_data_t *bus)
{
    int retval, n;
    char buf[HAL_NAME_LEN + 2];

    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting PPMC digital inputs\n");

    /* do hardware init */

    /* allocate shared memory for the digital input data */
    slot->digin = hal_malloc(18 * sizeof(din_t));  // 18 inputs per unit
    if (slot->digin == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    for ( n = 0 ; n < 16 ; n++ ) {
	/* export pins for input data */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.%02d.in",
	    bus->busnum, bus->last_digin);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[n].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.%02d.in-not",
	    bus->busnum, bus->last_digin);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[n].data_not), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* increment number to prepare for next output */
	bus->last_digin++;
    }
    if (bus->last_digin < 31) {
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.estop.in",
	    bus->busnum);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[16].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.estop.in-not",
	    bus->busnum);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[16].data_not), comp_id);
	if (retval != 0) {
	    return retval;
	}
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.fault.in",
	    bus->busnum);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[17].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.din.fault.in-not",
	    bus->busnum);
	retval = hal_pin_bit_new(buf, HAL_OUT, 
	    &(slot->digin[17].data_not), comp_id);
	if (retval != 0) {
	    return retval;
	}
    add_rd_funct(read_PPMC_digins, slot, block(DIO_DINA, DIO_ESTOP_IN));
    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting as MASTER D In\n");
    }
    else {
      add_rd_funct(read_PPMC_digins, slot, block(DIO_DINA, DIO_DINB));
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting as SLAVE D In\n");
    }
    return 0;
}

static int export_PPMC_digout(slot_data_t *slot, bus_data_t *bus)
{
    int retval, n;
    char buf[HAL_NAME_LEN + 2];

    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting PPMC digital outputs\n");

    /* do hardware init */
    /* turn off all outputs */
    SelWrt(0, slot->slot_base+DIO_DOUTA, slot->port_addr);
    if (bus->last_digout > 7) {   // if not first PPMC DIO, set it to slave mode
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  slave DIO addr %x\n",slot->slot_base+DIO_ESTOP_OUT);
      SelWrt(2,slot->slot_base+DIO_ESTOP_OUT,slot->port_addr);
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  slave DIO # %d\n",bus->last_digout);
    }

    /* allocate shared memory for the digital output data */
    slot->digout = hal_malloc(9 * sizeof(dout_t));              // 8 outputs per board + estop
    if (slot->digout == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    for ( n = 0 ; n < 8 ; n++ ) {
	/* export pin for output data */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.%02d.out",
	    bus->busnum, bus->last_digout);
	retval = hal_pin_bit_new(buf, HAL_IN, &(slot->digout[n].data), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* export parameter for inversion */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.%02d.invert",
	    bus->busnum, bus->last_digout);
	retval = hal_param_bit_new(buf, HAL_RW, &(slot->digout[n].invert), comp_id);
	if (retval != 0) {
	    return retval;
	}
	slot->digout[n].invert = 0;
	/* increment number to prepare for next output */
	bus->last_digout++;
    }
	/* export pin for E-Stop control */
    if (bus->last_digout < 15) {                // only on first DIO board
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  master DIO at # %d\n",bus->last_digout);
      rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.Estop.out",
		     bus->busnum);
      retval = hal_pin_bit_new(buf, HAL_IN, &(slot->digout[8].data), comp_id);
      if (retval != 0) {
	return retval;
      }
      /* export parameter for inversion */
      rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.dout.Estop.invert",
		     bus->busnum);
      retval = hal_param_bit_new(buf, HAL_RW, &(slot->digout[8].invert), comp_id);
      if (retval != 0) {
	return retval;
      }
      slot->digout[8].invert = 0;
      bus->last_digout++;
      add_wr_funct(write_PPMC_digouts, slot, block(DIO_DOUTA, DIO_ESTOP_OUT));
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting as MASTER D Out\n");
    }
    else {
      add_wr_funct(write_PPMC_digouts, slot, block(DIO_DOUTA, DIO_DOUTA));
      //add_wr_funct(write_PPMC_digouts, slot, DIO_DOUTA, DIO_ESTOP_OUT); // hack to keep slave boards in slave
      rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting as SLAVE D Out\n");
      SelWrt(2,slot->slot_base+DIO_ESTOP_OUT,slot->port_addr);
    }
    return 0;
}

static int export_USC_stepgen(slot_data_t *slot, bus_data_t *bus)
{
    int retval, n;
    char buf[HAL_NAME_LEN + 2];
    stepgen_t *sg;

    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting step generators\n");

    /* do hardware init */

    /* allocate shared memory for the digital output data */
    slot->stepgen = hal_malloc(sizeof(stepgens_t));
    if (slot->stepgen == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export params that apply to all four stepgens */
    rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d-%02d.setup-time-ns",
	bus->busnum, bus->last_stepgen, bus->last_stepgen+3);
    retval = hal_param_u32_new(buf, HAL_RW, &(slot->stepgen->setup_time_ns), comp_id);
    if (retval != 0) {
	return retval;
    }
    /* 10uS default setup time */
    slot->stepgen->setup_time_ns = 10000;
    rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d-%02d.pulse-width-ns",
	bus->busnum, bus->last_stepgen, bus->last_stepgen+3);
    retval = hal_param_u32_new(buf, HAL_RW, &(slot->stepgen->pulse_width_ns), comp_id);
    if (retval != 0) {
	return retval;
    }
    /* 4uS default pulse width */
    slot->stepgen->pulse_width_ns = 4000;
    rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d-%02d.pulse-space-min-ns",
	bus->busnum, bus->last_stepgen, bus->last_stepgen+3);
    retval = hal_param_u32_new(buf, HAL_RW, &(slot->stepgen->pulse_space_ns), comp_id);
    if (retval != 0) {
	return retval;
    }
    /* 4uS default pulse spacing */
    slot->stepgen->pulse_space_ns = 4000;
    /* export per-stepgen pins and params */
    for ( n = 0 ; n < 4 ; n++ ) {
	/* pointer to the stepgen struct */
	sg = &(slot->stepgen->sg[n]);
	/* enable pin */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d.enable",
	    bus->busnum, bus->last_stepgen);
	retval = hal_pin_bit_new(buf, HAL_IN, &(sg->enable), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* velocity command pin */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d.velocity",
	    bus->busnum, bus->last_stepgen);
	retval = hal_pin_float_new(buf, HAL_IN, &(sg->vel), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* velocity scaling parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d.scale",
	    bus->busnum, bus->last_stepgen);
	retval = hal_param_float_new(buf, HAL_RW, &(sg->scale), comp_id);
	if (retval != 0) {
	    return retval;
	}
	sg->scale = 1.0;
	/* maximum velocity parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d.max-vel",
	    bus->busnum, bus->last_stepgen);
	retval = hal_param_float_new(buf, HAL_RW, &(sg->max_vel), comp_id);
	if (retval != 0) {
	    return retval;
	}
	sg->max_vel = 0.0;
	/* actual frequency parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.stepgen.%02d.freq",
	    bus->busnum, bus->last_stepgen);
	retval = hal_param_float_new(buf, HAL_RO, &(sg->freq), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* increment number to prepare for next output */
	bus->last_stepgen++;
    }
    add_wr_funct(write_stepgens, slot, block(RATE_GEN_0, RATE_WIDTH_0));
    return 0;
}


static int export_UPC_pwmgen(slot_data_t *slot, bus_data_t *bus)
{
    int retval, n;
    char buf[HAL_NAME_LEN + 2];
    pwmgen_t *pg;

    rtapi_print_msg(RTAPI_MSG_INFO, "PPMC:  exporting PWM generators\n");

    /* do hardware init */

    /* allocate shared memory for the PWM generators */
    slot->pwmgen = hal_malloc(sizeof(pwmgens_t));
    if (slot->pwmgen == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "PPMC: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export params that apply to all four pwmgens */
    rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d-%02d.freq",
	bus->busnum, bus->last_pwmgen, bus->last_pwmgen+3);
    retval = hal_param_float_new(buf, HAL_RW, &(slot->pwmgen->freq), comp_id);
    if (retval != 0) {
	return retval;
    }
    /* set initial value for param */
    slot->pwmgen->freq = 0.0;
    /* export per-pwmgen pins and params, and set initial values */
    for ( n = 0 ; n < 4 ; n++ ) {
	/* pointer to the pwmgen struct */
	pg = &(slot->pwmgen->pg[n]);
	/* enable pin */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.enable",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_pin_bit_new(buf, HAL_IN, &(pg->enable), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* value command pin */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.value",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_pin_float_new(buf, HAL_IN, &(pg->value), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* output scaling parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.scale",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_param_float_new(buf, HAL_RW, &(pg->scale), comp_id);
	if (retval != 0) {
	    return retval;
	}
	pg->scale = 1.0;
	/* maximum duty cycle parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.max-dc",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_param_float_new(buf, HAL_RW, &(pg->max_dc), comp_id);
	if (retval != 0) {
	    return retval;
	}
	pg->max_dc = 1.0;
	/* minimum duty cycle parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.min-dc",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_param_float_new(buf, HAL_RW, &(pg->min_dc), comp_id);
	if (retval != 0) {
	    return retval;
	}
	pg->min_dc = 0.0;
	/* actual duty cycle parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.duty-cycle",
	    bus->busnum, bus->last_pwmgen);
	retval = hal_param_float_new(buf, HAL_RO, &(pg->duty_cycle), comp_id);
	if (retval != 0) {
	    return retval;
	}
	/* bootstrap mode parameter */
	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.pwm.%02d.bootstrap",
	    bus->busn