Skip to content

Commit 51a8a86

Browse files
BsAtHomeBsAtHome
committed
Preliminary - HAL types update and HAL isolation
1 parent 1313b7e commit 51a8a86

42 files changed

Lines changed: 3465 additions & 3427 deletions

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎src/hal/Submakefile‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -28,5 +28,14 @@ $(HALMODULE): $(call TOOBJS, $(HALMODULESRCS)) $(HALLIB)
2828
$(ECHO) Linking python module $(notdir $@)
2929
$(Q)$(CXX) $(LDFLAGS) -shared -o $@ $^
3030

31+
HALQUERYSRCS := hal/halquery.c hal/utils/setps_util.c
32+
PYSRCS += $(HALQUERYSRCS)
33+
34+
HALQUERY := ../lib/python/halquery.so
35+
$(HALQUERY): $(call TOOBJS, $(HALQUERYSRCS)) $(HALLIB)
36+
$(ECHO) Linking python module $(notdir $@)
37+
$(Q)$(CC) $(LDFLAGS) -shared -o $@ $^
38+
3139
TARGETS += $(HALLIB) ../lib/liblinuxcnchal.so.0
3240
PYTARGETS += $(HALMODULE)
41+
PYTARGETS += $(HALQUERY)

‎src/hal/drivers/mesa-hostmot2/abs_encoder.c‎

Lines changed: 69 additions & 52 deletions
Original file line numberDiff line numberDiff line change
@@ -141,7 +141,7 @@ int hm2_absenc_setup_ssi(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
141141

142142
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;
143143

144-
chan->params = hal_malloc(sizeof(hm2_sserial_params_t));
144+
chan->params = hal_malloc(sizeof(*chan->params));
145145
hm2->absenc.clock_frequency = md->clock_freq;
146146
hm2->absenc.ssi_version = md->version;
147147

@@ -158,9 +158,12 @@ int hm2_absenc_setup_ssi(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
158158
+ (3 * md->register_stride);
159159
chan->data_written[0] = 0;
160160

161-
162-
chan->params->float_param = 500;
163-
chan->params->timer_num = 0;
161+
if (hal_param_new_real(hm2->llio->comp_id, HAL_RW, &(chan->params->param.r),
162+
500.0, "%s.frequency-khz", chan->name)){
163+
HM2_ERR("error adding frequency param for %s, aborting\n",
164+
chan->name);
165+
return -EINVAL;
166+
}
164167
return 0;
165168
}
166169

@@ -169,7 +172,7 @@ int hm2_absenc_setup_biss(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
169172

170173
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;
171174

172-
chan->params = hal_malloc(sizeof(hm2_sserial_params_t));
175+
chan->params = hal_malloc(sizeof(*chan->params));
173176
hm2->absenc.clock_frequency = md->clock_freq;
174177
hm2->absenc.biss_version = md->version;
175178

@@ -185,9 +188,13 @@ int hm2_absenc_setup_biss(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
185188
hm2->absenc.biss_global_start_addr = md->base_address
186189
+ (3 * md->register_stride);
187190
chan->data_written[0] = 0;
188-
189-
chan->params->float_param = 500;
190-
chan->params->timer_num = 0;
191+
192+
if (hal_param_new_real(hm2->llio->comp_id, HAL_RW, &(chan->params->param.r),
193+
500.0, "%s.frequency-khz", chan->name)){
194+
HM2_ERR("error adding frequency param for %s, aborting\n",
195+
chan->name);
196+
return -EINVAL;
197+
}
191198
return 0;
192199
}
193200

@@ -196,7 +203,7 @@ int hm2_absenc_setup_fabs(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
196203

197204
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;
198205

199-
chan->params = hal_malloc(sizeof(hm2_sserial_params_t));
206+
chan->params = hal_malloc(sizeof(*chan->params));
200207
hm2->absenc.clock_frequency = md->clock_freq;
201208
hm2->absenc.fanuc_version = md->version;
202209

@@ -219,16 +226,23 @@ int hm2_absenc_setup_fabs(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
219226
+ (5 * md->register_stride);
220227
chan->data_written[0] = 0;
221228

222-
if (hal_param_u32_newf(HAL_RW, &(chan->params->u32_param),
223-
hm2->llio->comp_id,"%s.filter",
224-
chan->name)){
229+
// Note:
230+
// This parameter was abused by first writing 1024.0 to the floating point
231+
// part and then overwriting the lower part with 0x0000000F. It is now
232+
// exclusively set to the unsigned value.
233+
// Setting the frequency parameter would overwrite the filter setting and
234+
// is now separated out into a separate param storage reference (fanucf).
235+
if (hal_param_new_ui32(hm2->llio->comp_id, HAL_RW, &(chan->params->param.u),
236+
0xF, "%s.filter", chan->name)) {
225237
HM2_ERR("error adding param fanuc param 2, aborting\n");
226238
return -EINVAL;
227239
}
228-
chan->params->float_param = 1024.0;
229-
chan->params->u32_param = 0xF;
230-
chan->params->timer_num = 0;
231-
240+
if (hal_param_new_real(hm2->llio->comp_id, HAL_RW, &(chan->params->fanucf),
241+
1024.0, "%s.frequency-khz", chan->name)){
242+
HM2_ERR("error adding frequency param for %s, aborting\n",
243+
chan->name);
244+
return -EINVAL;
245+
}
232246
return 0;
233247
}
234248

@@ -355,7 +369,7 @@ int hm2_absenc_parse_format(hm2_sserial_remote_t *chan, hm2_absenc_format_t *de
355369

356370
int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {
357371
hm2_module_descriptor_t *md = &hm2->md[md_index];
358-
hm2_absenc_format_t *def = 0;
372+
hm2_absenc_format_t *def = NULL;
359373
struct rtapi_list_head *ptr;
360374
int index;
361375

@@ -444,24 +458,15 @@ int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {
444458
}
445459

446460
// Set up the common pins
447-
if (hal_pin_bit_newf(HAL_OUT, &(chan->params->error),
448-
hm2->llio->comp_id,"%s.data-invalid",
449-
chan->name)){
461+
if (hal_pin_new_bool(hm2->llio->comp_id, HAL_OUT, &(chan->params->error),
462+
0, "%s.data-invalid", chan->name)){
450463
HM2_ERR("error adding %s over-run pin, aborting\n",
451464
chan->name);
452465
return -EINVAL;
453466
}
454467
// And Params
455-
if (hal_param_float_newf(HAL_RW, &(chan->params->float_param),
456-
hm2->llio->comp_id,"%s.frequency-khz",
457-
chan->name)){
458-
HM2_ERR("error adding frequency param for %s, aborting\n",
459-
chan->name);
460-
return -EINVAL;
461-
}
462-
if (hal_param_u32_newf(HAL_RW, &(chan->params->timer_num),
463-
hm2->llio->comp_id,"%s.timer-number",
464-
chan->name)){
468+
if (hal_param_new_ui32(hm2->llio->comp_id, HAL_RW, &(chan->params->timer_num),
469+
0, "%s.timer-number", chan->name)){
465470
HM2_ERR("error adding %s timer number param, aborting\n",
466471
chan->name);
467472
return -EINVAL;
@@ -528,7 +533,7 @@ void hm2_absenc_process_tram_read(hostmot2_t *hm2, long period) {
528533
HM2_ERR("Data transmission not complete on channel %s read."
529534
" You may need to change the timing of %s. This "
530535
"warning will not repeat\n", chan->name,
531-
(chan->params->timer_num == 0) ?
536+
(hal_get_ui32(chan->params->timer_num) == 0) ?
532537
"the trigger function" : "the hm2dpll timer");
533538
err_tag[i] = 1;
534539
}
@@ -540,14 +545,14 @@ void hm2_absenc_process_tram_read(hostmot2_t *hm2, long period) {
540545
if (err_count[i] < 5001) {
541546
++err_count[i];
542547
} else {
543-
*chan->params->error = 1;
548+
hal_set_bool(chan->params->error, 1);
544549
}
545550

546551
} else {
547552
if (err_count[i] > 4950){
548553
--err_count[i];
549554
} else {
550-
*chan->params->error = 0;
555+
hal_set_bool(chan->params->error, 0);
551556
}
552557
}
553558
}
@@ -562,14 +567,15 @@ void hm2_absenc_write(hostmot2_t *hm2){
562567

563568
for (i = 0; i < hm2->absenc.num_chans; i ++) {
564569
hm2_sserial_remote_t *chan = &hm2->absenc.chans[i];
570+
rtapi_u32 timer_num = hal_get_ui32(chan->params->timer_num);
565571
switch (chan->myinst){
566572
case HM2_GTAG_SSI:
567-
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
568-
buff = ((rtapi_u32)(0x10000 * (chan->params->float_param * 1000
573+
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
574+
buff = ((rtapi_u32)(0x10000 * (hal_get_real(chan->params->param.r) * 1000
569575
/ hm2->absenc.clock_frequency))) << 16
570-
| chan->params->timer_num << 12
571-
| (chan->params->timer_num == 0) << 8
572-
| (chan->params->timer_num != 0) << 9
576+
| timer_num << 12
577+
| (timer_num == 0) << 8
578+
| (timer_num != 0) << 9
573579
| chan->num_read_bits;
574580
if (buff != chan->data_written[0]){
575581
hm2->llio->write(hm2->llio,
@@ -581,8 +587,8 @@ void hm2_absenc_write(hostmot2_t *hm2){
581587
break;
582588

583589
case HM2_GTAG_BISS:
584-
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
585-
dds = ((rtapi_u32)(0x10000 * (chan->params->float_param * 1000
590+
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
591+
dds = ((rtapi_u32)(0x10000 * (hal_get_real(chan->params->param.r) * 1000
586592
/ hm2->absenc.clock_frequency)));
587593
filt = 0x8000/dds; // RX data filter set to 1/2 a clock period
588594
if (filt > 63) { filt = 63; } // bound so we dont splatter into adjacent fields
@@ -598,9 +604,9 @@ void hm2_absenc_write(hostmot2_t *hm2){
598604
sizeof(rtapi_u32));
599605
chan->data_written[0] = buff;
600606
}
601-
buff2 = chan->params->timer_num << 12
602-
| (chan->params->timer_num == 0) << 8
603-
| (chan->params->timer_num != 0) << 9;
607+
buff2 = timer_num << 12
608+
| (timer_num == 0) << 8
609+
| (timer_num != 0) << 9;
604610
if (buff2 != chan->data_written[1]){
605611
hm2->llio->write(hm2->llio,
606612
chan->rw_addr[2],
@@ -611,16 +617,27 @@ void hm2_absenc_write(hostmot2_t *hm2){
611617
break;
612618

613619
case HM2_GTAG_FABS:
614-
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
615-
if (chan->params->u32_param > 15) chan->params->u32_param = 15;
616-
buff3 = chan->num_read_bits << 24
620+
// Note:
621+
// The original calculation used an awkward overlapped parameter
622+
// storage between floating point and an unsigned value.
623+
// 'u32_param' would occupy the lower storage part of 'float_param.
624+
// The float would be set to 1024.0 and the lower part would get
625+
// set as an unsigned with 0x0000000F. The setting of the few lower
626+
// mantissa bits has no real bearing on the value as a float.
627+
// The paramater storage has now been split.
628+
// Original:
629+
// buff2 = (u32_param << 28) | (rtapi_u32)(0x100000 * (float_param * 1000 / hm2->absenc.clock_frequency))
630+
// Now
631+
// buff2 = (u32_param << 28) | (rtapi_u32)(0x100000 * (fanucf * 1000 / hm2->absenc.clock_frequency))
632+
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
633+
if (hal_get_ui32(chan->params->param.u) > 15) hal_set_ui32(chan->params->param.u, 15);
634+
buff3 = (chan->num_read_bits << 24)
617635
| (rtapi_u32)(8.0e-6 * hm2->absenc.clock_frequency) << 14;
618-
buff2 = chan->params->u32_param << 28
619-
| ((rtapi_u32)(0x100000 * (chan->params->float_param * 1000
620-
/ hm2->absenc.clock_frequency)));
621-
buff = chan->params->timer_num << 12
622-
| (chan->params->timer_num == 0) << 8
623-
| (chan->params->timer_num != 0) << 9
636+
buff2 = (hal_get_ui32(chan->params->param.u) << 28)
637+
| ((rtapi_u32)(0x100000 * (hal_get_real(chan->params->fanucf) * 1000.0 / hm2->absenc.clock_frequency)));
638+
buff = (timer_num << 12)
639+
| (timer_num == 0) << 8
640+
| (timer_num != 0) << 9
624641
| (buff3 != chan->data_written[2] || buff2 != chan->data_written[1]) << 7;
625642
if (buff != chan->data_written[0]){
626643
// if necessary this will set the write flag, then next time through

‎src/hal/drivers/mesa-hostmot2/bspi.c‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -75,8 +75,7 @@ int hm2_bspi_parse_md(hostmot2_t *hm2, int md_index)
7575
hm2->bspi.num_instances = hm2->config.num_bspis;
7676
}
7777

78-
hm2->bspi.instance = (hm2_bspi_instance_t *)hal_malloc(hm2->bspi.num_instances
79-
* sizeof(hm2_bspi_instance_t));
78+
hm2->bspi.instance = hal_malloc(hm2->bspi.num_instances * sizeof(*hm2->bspi.instance));
8079
if (hm2->bspi.instance == NULL) {
8180
HM2_ERR("out of memory!\n");
8281
r = -ENOMEM;

0 commit comments

Comments
 (0)