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Draft - HAL types update and HAL isolation #4247

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441 changes: 262 additions & 179 deletions docs/src/man/man1/halrmt.1.adoc
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9 changes: 9 additions & 0 deletions src/hal/Submakefile
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Original file line number Diff line number Diff line change
Expand Up @@ -28,5 +28,14 @@ $(HALMODULE): $(call TOOBJS, $(HALMODULESRCS)) $(HALLIB)
$(ECHO) Linking python module $(notdir $@)
$(Q)$(CXX) $(LDFLAGS) -shared -o $@ $^

HALQUERYSRCS := hal/halquery.c hal/utils/setps_util.c
PYSRCS += $(HALQUERYSRCS)

HALQUERY := ../lib/python/halquery.so
$(HALQUERY): $(call TOOBJS, $(HALQUERYSRCS)) $(HALLIB)
$(ECHO) Linking python module $(notdir $@)
$(Q)$(CC) $(LDFLAGS) -shared -o $@ $^

TARGETS += $(HALLIB) ../lib/liblinuxcnchal.so.0
PYTARGETS += $(HALMODULE)
PYTARGETS += $(HALQUERY)
121 changes: 69 additions & 52 deletions src/hal/drivers/mesa-hostmot2/abs_encoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ int hm2_absenc_setup_ssi(hostmot2_t *hm2, hm2_sserial_remote_t *chan,

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

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

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


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

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

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

chan->params = hal_malloc(sizeof(hm2_sserial_params_t));
chan->params = hal_malloc(sizeof(*chan->params));
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.biss_version = md->version;

Expand All @@ -185,9 +188,13 @@ int hm2_absenc_setup_biss(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
hm2->absenc.biss_global_start_addr = md->base_address
+ (3 * md->register_stride);
chan->data_written[0] = 0;

chan->params->float_param = 500;
chan->params->timer_num = 0;

if (hal_param_new_real(hm2->llio->comp_id, HAL_RW, &(chan->params->param.r),
500.0, "%s.frequency-khz", chan->name)){
HM2_ERR("error adding frequency param for %s, aborting\n",
chan->name);
return -EINVAL;
}
return 0;
}

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

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

chan->params = hal_malloc(sizeof(hm2_sserial_params_t));
chan->params = hal_malloc(sizeof(*chan->params));
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.fanuc_version = md->version;

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

if (hal_param_u32_newf(HAL_RW, &(chan->params->u32_param),
hm2->llio->comp_id,"%s.filter",
chan->name)){
// Note:
// This parameter was abused by first writing 1024.0 to the floating point
// part and then overwriting the lower part with 0x0000000F. It is now
// exclusively set to the unsigned value.
// Setting the frequency parameter would overwrite the filter setting and
// is now separated out into a separate param storage reference (fanucf).
if (hal_param_new_ui32(hm2->llio->comp_id, HAL_RW, &(chan->params->param.u),
0xF, "%s.filter", chan->name)) {
HM2_ERR("error adding param fanuc param 2, aborting\n");
return -EINVAL;
}
chan->params->float_param = 1024.0;
chan->params->u32_param = 0xF;
chan->params->timer_num = 0;

if (hal_param_new_real(hm2->llio->comp_id, HAL_RW, &(chan->params->fanucf),
1024.0, "%s.frequency-khz", chan->name)){
HM2_ERR("error adding frequency param for %s, aborting\n",
chan->name);
return -EINVAL;
}
return 0;
}

Expand Down Expand Up @@ -355,7 +369,7 @@ int hm2_absenc_parse_format(hm2_sserial_remote_t *chan, hm2_absenc_format_t *de

int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {
hm2_module_descriptor_t *md = &hm2->md[md_index];
hm2_absenc_format_t *def = 0;
hm2_absenc_format_t *def = NULL;
struct rtapi_list_head *ptr;
int index;

Expand Down Expand Up @@ -444,24 +458,15 @@ int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {
}

// Set up the common pins
if (hal_pin_bit_newf(HAL_OUT, &(chan->params->error),
hm2->llio->comp_id,"%s.data-invalid",
chan->name)){
if (hal_pin_new_bool(hm2->llio->comp_id, HAL_OUT, &(chan->params->error),
0, "%s.data-invalid", chan->name)){
HM2_ERR("error adding %s over-run pin, aborting\n",
chan->name);
return -EINVAL;
}
// And Params
if (hal_param_float_newf(HAL_RW, &(chan->params->float_param),
hm2->llio->comp_id,"%s.frequency-khz",
chan->name)){
HM2_ERR("error adding frequency param for %s, aborting\n",
chan->name);
return -EINVAL;
}
if (hal_param_u32_newf(HAL_RW, &(chan->params->timer_num),
hm2->llio->comp_id,"%s.timer-number",
chan->name)){
if (hal_param_new_ui32(hm2->llio->comp_id, HAL_RW, &(chan->params->timer_num),
0, "%s.timer-number", chan->name)){
HM2_ERR("error adding %s timer number param, aborting\n",
chan->name);
return -EINVAL;
Expand Down Expand Up @@ -528,7 +533,7 @@ void hm2_absenc_process_tram_read(hostmot2_t *hm2, long period) {
HM2_ERR("Data transmission not complete on channel %s read."
" You may need to change the timing of %s. This "
"warning will not repeat\n", chan->name,
(chan->params->timer_num == 0) ?
(hal_get_ui32(chan->params->timer_num) == 0) ?
"the trigger function" : "the hm2dpll timer");
err_tag[i] = 1;
}
Expand All @@ -540,14 +545,14 @@ void hm2_absenc_process_tram_read(hostmot2_t *hm2, long period) {
if (err_count[i] < 5001) {
++err_count[i];
} else {
*chan->params->error = 1;
hal_set_bool(chan->params->error, 1);
}

} else {
if (err_count[i] > 4950){
--err_count[i];
} else {
*chan->params->error = 0;
hal_set_bool(chan->params->error, 0);
}
}
}
Expand All @@ -562,14 +567,15 @@ void hm2_absenc_write(hostmot2_t *hm2){

for (i = 0; i < hm2->absenc.num_chans; i ++) {
hm2_sserial_remote_t *chan = &hm2->absenc.chans[i];
rtapi_u32 timer_num = hal_get_ui32(chan->params->timer_num);
switch (chan->myinst){
case HM2_GTAG_SSI:
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
buff = ((rtapi_u32)(0x10000 * (chan->params->float_param * 1000
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
buff = ((rtapi_u32)(0x10000 * (hal_get_real(chan->params->param.r) * 1000
/ hm2->absenc.clock_frequency))) << 16
| chan->params->timer_num << 12
| (chan->params->timer_num == 0) << 8
| (chan->params->timer_num != 0) << 9
| timer_num << 12
| (timer_num == 0) << 8
| (timer_num != 0) << 9
| chan->num_read_bits;
if (buff != chan->data_written[0]){
hm2->llio->write(hm2->llio,
Expand All @@ -581,8 +587,8 @@ void hm2_absenc_write(hostmot2_t *hm2){
break;

case HM2_GTAG_BISS:
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
dds = ((rtapi_u32)(0x10000 * (chan->params->float_param * 1000
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
dds = ((rtapi_u32)(0x10000 * (hal_get_real(chan->params->param.r) * 1000
/ hm2->absenc.clock_frequency)));
filt = 0x8000/dds; // RX data filter set to 1/2 a clock period
if (filt > 63) { filt = 63; } // bound so we dont splatter into adjacent fields
Expand All @@ -598,9 +604,9 @@ void hm2_absenc_write(hostmot2_t *hm2){
sizeof(rtapi_u32));
chan->data_written[0] = buff;
}
buff2 = chan->params->timer_num << 12
| (chan->params->timer_num == 0) << 8
| (chan->params->timer_num != 0) << 9;
buff2 = timer_num << 12
| (timer_num == 0) << 8
| (timer_num != 0) << 9;
if (buff2 != chan->data_written[1]){
hm2->llio->write(hm2->llio,
chan->rw_addr[2],
Expand All @@ -611,16 +617,27 @@ void hm2_absenc_write(hostmot2_t *hm2){
break;

case HM2_GTAG_FABS:
if (chan->params->timer_num > 4) chan->params->timer_num = 4;
if (chan->params->u32_param > 15) chan->params->u32_param = 15;
buff3 = chan->num_read_bits << 24
// Note:
// The original calculation used an awkward overlapped parameter
// storage between floating point and an unsigned value.
// 'u32_param' would occupy the lower storage part of 'float_param.
// The float would be set to 1024.0 and the lower part would get
// set as an unsigned with 0x0000000F. The setting of the few lower
// mantissa bits has no real bearing on the value as a float.
// The paramater storage has now been split.
// Original:
// buff2 = (u32_param << 28) | (rtapi_u32)(0x100000 * (float_param * 1000 / hm2->absenc.clock_frequency))
// Now
// buff2 = (u32_param << 28) | (rtapi_u32)(0x100000 * (fanucf * 1000 / hm2->absenc.clock_frequency))
if (timer_num > 4) timer_num = hal_set_ui32(chan->params->timer_num, 4);
if (hal_get_ui32(chan->params->param.u) > 15) hal_set_ui32(chan->params->param.u, 15);
buff3 = (chan->num_read_bits << 24)
| (rtapi_u32)(8.0e-6 * hm2->absenc.clock_frequency) << 14;
buff2 = chan->params->u32_param << 28
| ((rtapi_u32)(0x100000 * (chan->params->float_param * 1000
/ hm2->absenc.clock_frequency)));
buff = chan->params->timer_num << 12
| (chan->params->timer_num == 0) << 8
| (chan->params->timer_num != 0) << 9
buff2 = (hal_get_ui32(chan->params->param.u) << 28)
| ((rtapi_u32)(0x100000 * (hal_get_real(chan->params->fanucf) * 1000.0 / hm2->absenc.clock_frequency)));
buff = (timer_num << 12)
| (timer_num == 0) << 8
| (timer_num != 0) << 9
| (buff3 != chan->data_written[2] || buff2 != chan->data_written[1]) << 7;
if (buff != chan->data_written[0]){
// if necessary this will set the write flag, then next time through
Expand Down
3 changes: 1 addition & 2 deletions src/hal/drivers/mesa-hostmot2/bspi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,7 @@ int hm2_bspi_parse_md(hostmot2_t *hm2, int md_index)
hm2->bspi.num_instances = hm2->config.num_bspis;
}

hm2->bspi.instance = (hm2_bspi_instance_t *)hal_malloc(hm2->bspi.num_instances
* sizeof(hm2_bspi_instance_t));
hm2->bspi.instance = hal_malloc(hm2->bspi.num_instances * sizeof(*hm2->bspi.instance));
if (hm2->bspi.instance == NULL) {
HM2_ERR("out of memory!\n");
r = -ENOMEM;
Expand Down
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