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hal: Update the smaller user components to getter/setter #4311

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81 changes: 36 additions & 45 deletions src/hal/user_comps/hy_gt_vfd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -41,15 +41,15 @@


typedef struct {
hal_float_t *period;
hal_real_t period;

hal_float_t *speed_cmd;
hal_float_t *freq_cmd;
hal_bit_t *at_speed;
hal_real_t speed_cmd;
hal_real_t freq_cmd;
hal_bool_t at_speed;

hal_bit_t *spindle_on;
hal_bool_t spindle_on;

hal_u32_t *modbus_errors;
hal_uint_t modbus_errors;
} haldata_t;

haldata_t *haldata;
Expand All @@ -66,8 +66,8 @@ typedef struct {
float multiplier;
int type;
union {
hal_float_t *hal_pin_float;
hal_u32_t *hal_pin_u32;
hal_real_t hal_pin_float;
hal_uint_t hal_pin_u32;
};
} modbus_register_t;

Expand Down Expand Up @@ -207,7 +207,7 @@ int set_motor_on_forward(modbus_t *mb) {
return 0;
}
fprintf(stderr, "%s: error writing %u to register 0x%04x: %s\n", __func__, val, addr, modbus_strerror(errno));
*haldata->modbus_errors = *haldata->modbus_errors + 1;
hal_set_ui32(haldata->modbus_errors, hal_get_ui32(haldata->modbus_errors) + 1);
}
return -1;
}
Expand All @@ -225,7 +225,7 @@ int set_motor_off(modbus_t *mb) {
return 0;
}
fprintf(stderr, "%s: error writing %u to register 0x%04x: %s\n", __func__, val, addr, modbus_strerror(errno));
*haldata->modbus_errors = *haldata->modbus_errors + 1;
hal_set_ui32(haldata->modbus_errors, hal_get_ui32(haldata->modbus_errors) + 1);
}
return -1;
}
Expand All @@ -244,7 +244,7 @@ int set_motor_frequency(modbus_t *mb, float freq) {
return 0;
}
fprintf(stderr, "%s: error writing %u to register 0x%04x: %s\n", __func__, val, addr, modbus_strerror(errno));
*haldata->modbus_errors = *haldata->modbus_errors + 1;
hal_set_ui32(haldata->modbus_errors, hal_get_ui32(haldata->modbus_errors) + 1);
}
return -1;
}
Expand All @@ -260,16 +260,16 @@ int read_modbus_register(modbus_t *mb, modbus_register_t *reg) {
if (r == 1) {
switch (reg->type) {
case REGISTER_FLOAT:
*reg->hal_pin_float = data * reg->multiplier;
hal_set_real(reg->hal_pin_float, data * reg->multiplier);
break;
case REGISTER_U32:
*reg->hal_pin_u32 = data;
hal_set_ui32(reg->hal_pin_u32, data);
break;
}
return 0;
}
fprintf(stderr, "%s: error reading %s (register 0x%04x): %s\n", __func__, reg->name, reg->address, modbus_strerror(errno));
*haldata->modbus_errors = *haldata->modbus_errors + 1;
hal_set_ui32(haldata->modbus_errors, hal_get_ui32(haldata->modbus_errors) + 1);
}
return -1;
}
Expand All @@ -289,7 +289,7 @@ modbus_register_t *add_modbus_register_float(modbus_t *mb, int address, const ch
reg = &modbus_register[num_modbus_registers];
reg->type = REGISTER_FLOAT;

r = hal_pin_float_newf(HAL_OUT, &reg->hal_pin_float, hal_comp_id, "%s.%s", modname, pin_name);
r = hal_pin_new_real(hal_comp_id, HAL_OUT, &reg->hal_pin_float, 0.0, "%s.%s", modname, pin_name);
if (r != 0) {
return NULL;
}
Expand All @@ -314,7 +314,7 @@ modbus_register_t *add_modbus_register_u32(modbus_t *mb, int address, const char
reg = &modbus_register[num_modbus_registers];
reg->type = REGISTER_U32;

r = hal_pin_u32_newf(HAL_OUT, &reg->hal_pin_u32, hal_comp_id, "%s.%s", modname, pin_name);
r = hal_pin_new_ui32(hal_comp_id, HAL_OUT, &reg->hal_pin_u32, 0, "%s.%s", modname, pin_name);
if (r != 0) {
return NULL;
}
Expand Down Expand Up @@ -564,39 +564,32 @@ int main(int argc, char **argv) {
goto out_close;
}

haldata = (haldata_t *)hal_malloc(sizeof(haldata_t));
haldata = (haldata_t *)hal_malloc(sizeof(*haldata));
if (haldata == NULL) {
printf("%s: ERROR: unable to allocate shared memory\n", modname);
retval = -1;
goto out_closeHAL;
}

retval = hal_pin_float_newf(HAL_IN, &(haldata->period), hal_comp_id, "%s.period-seconds", modname);
retval = hal_pin_new_real(hal_comp_id, HAL_IN, &(haldata->period), 0.1, "%s.period-seconds", modname);
if (retval != 0) goto out_closeHAL;

retval = hal_pin_float_newf(HAL_IN, &(haldata->speed_cmd), hal_comp_id, "%s.speed-cmd", modname);
retval = hal_pin_new_real(hal_comp_id, HAL_IN, &(haldata->speed_cmd), 0.0, "%s.speed-cmd", modname);
if (retval != 0) goto out_closeHAL;

retval = hal_pin_float_newf(HAL_OUT, &(haldata->freq_cmd), hal_comp_id, "%s.freq-cmd", modname);
retval = hal_pin_new_real(hal_comp_id, HAL_OUT, &(haldata->freq_cmd), 0.0, "%s.freq-cmd", modname);
if (retval != 0) goto out_closeHAL;

retval = hal_pin_bit_newf(HAL_OUT, &(haldata->at_speed), hal_comp_id, "%s.at-speed", modname);
retval = hal_pin_new_bool(hal_comp_id, HAL_OUT, &(haldata->at_speed), 0, "%s.at-speed", modname);
if (retval != 0) goto out_closeHAL;

retval = hal_pin_bit_newf(HAL_IN, &(haldata->spindle_on), hal_comp_id, "%s.spindle-on", modname);
retval = hal_pin_new_bool(hal_comp_id, HAL_IN, &(haldata->spindle_on), 0, "%s.spindle-on", modname);
if (retval != 0) goto out_closeHAL;

retval = hal_pin_u32_newf(HAL_OUT, &(haldata->modbus_errors), hal_comp_id, "%s.modbus-errors", modname);
retval = hal_pin_new_ui32(hal_comp_id, HAL_OUT, &(haldata->modbus_errors), 0, "%s.modbus-errors", modname);
if (retval != 0) goto out_closeHAL;

*haldata->period = 0.1;

*haldata->freq_cmd = 0.0;
*haldata->at_speed = 0;

*haldata->modbus_errors = 0;

modbus_register = (modbus_register_t *)hal_malloc(20 * sizeof(modbus_register_t));
modbus_register = (modbus_register_t *)hal_malloc(20 * sizeof(*modbus_register));
if (modbus_register == NULL) {
printf("%s: ERROR: unable to allocate memory\n", modname);
retval = -1;
Expand Down Expand Up @@ -664,28 +657,26 @@ int main(int argc, char **argv) {
hal_ready(hal_comp_id);

while (done == 0) {
if (*haldata->period < 0.001) *haldata->period = 0.001;
if (*haldata->period > 2.0) *haldata->period = 2.0;
period_timespec.tv_sec = (time_t)(*haldata->period);
period_timespec.tv_nsec = (long)((*haldata->period - period_timespec.tv_sec) * 1000000000l);
rtapi_real period = hal_get_real(haldata->period);
if (period < 0.001) period = hal_set_real(haldata->period, 0.001);
if (period > 2.0) period = hal_set_real(haldata->period, 2.0);
period_timespec.tv_sec = (time_t)period;
period_timespec.tv_nsec = (long)((period - period_timespec.tv_sec) * 1000000000l);
nanosleep(&period_timespec, NULL);

read_modbus_registers(mb);

if (*haldata->spindle_on) {
if (hal_get_bool(haldata->spindle_on)) {
set_motor_on_forward(mb);
*haldata->freq_cmd = (*haldata->speed_cmd / motor_max_speed) * max_freq;
set_motor_frequency(mb, *haldata->freq_cmd);
rtapi_real speed_cmd = hal_get_real(haldata->speed_cmd);
hal_set_real(haldata->freq_cmd, (speed_cmd / motor_max_speed) * max_freq);
set_motor_frequency(mb, hal_get_real(haldata->freq_cmd));

if ((fabs(*haldata->speed_cmd - *speed_fb_reg->hal_pin_float) / *haldata->speed_cmd) < 0.02) {
*haldata->at_speed = 1;
} else {
*haldata->at_speed = 0;
}
hal_set_bool(haldata->at_speed, (fabs(speed_cmd - hal_get_real(speed_fb_reg->hal_pin_float)) / speed_cmd) < 0.02);
} else {
set_motor_off(mb);
*haldata->at_speed = 0;
*haldata->freq_cmd = 0.0;
hal_set_bool(haldata->at_speed, 0);
hal_set_real(haldata->freq_cmd, 0.0);
}

}
Expand Down
36 changes: 18 additions & 18 deletions src/hal/user_comps/pi500_vfd/pi500_vfd.comp
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Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
component pi500_vfd "Powtran PI500 Modbus driver";
param rw unsigned mbslaveaddr "Modbus slave address";
pin in float commanded_frequency "Frequency of vfd";
pin in bit run "run the vfd";
pin in bit enable "1 to enable the vfd. 0 will remote trip the vfd, thereby disabling it.";
pin out bit is_running "1 when running";
pin out bit is_at_speed "1 when running at assigned frequency";
pin out bit is_ready "1 when vfd is ready to run";
pin out bit is_alarm "1 when vfd alarm is set";
pin out float motor_current "Output current in amps";
pin out float heatsink_temp "Temperature of drive heatsink";
pin out bit watchdog_out "Alternates between 1 and 0 after every update cycle. Feed into a watchdog component to ensure vfd driver is communicating with the vfd properly.";
param rw ui32 mbslaveaddr "Modbus slave address";
pin in real commanded_frequency "Frequency of vfd";
pin in bool run "run the vfd";
pin in bool enable "1 to enable the vfd. 0 will remote trip the vfd, thereby disabling it.";
pin out bool is_running "1 when running";
pin out bool is_at_speed "1 when running at assigned frequency";
pin out bool is_ready "1 when vfd is ready to run";
pin out bool is_alarm "1 when vfd alarm is set";
pin out real motor_current "Output current in amps";
pin out real heatsink_temp "Temperature of drive heatsink";
pin out bool watchdog_out "Alternates between 1 and 0 after every update cycle. Feed into a watchdog component to ensure vfd driver is communicating with the vfd properly.";
option userspace yes;
option userinit yes;
license "GPLv2 or greater";
Expand Down Expand Up @@ -289,9 +289,9 @@ void user_mainloop(void) {
continue;
}

is_running = status.running;
is_ready = status.ready;
is_alarm = status.alarm;
is_running_set(status.running);
is_ready_set(status.ready);
is_alarm_set(status.alarm);

if(!status.alarm && !enable) { // && !pi500_trip(ctx)
print_modbus_error(__comp_inst, "failed to trip");
Expand All @@ -304,7 +304,7 @@ void user_mainloop(void) {
else {
calculated_frequency = (uint16_t)(fabs(commanded_frequency) * 10 * (status.freq_two_digits ? 10 : 1));

is_at_speed = (commanded_frequency > 0 && calculated_frequency == status.frequency ? 1 : 0);
is_at_speed_set(commanded_frequency > 0 && calculated_frequency == status.frequency ? 1 : 0);

if(commanded_frequency > 0
&& calculated_frequency != status.frequency
Expand All @@ -319,9 +319,9 @@ void user_mainloop(void) {
continue;
}

watchdog_out = !watchdog_out;
motor_current = status.output_current / 100;
heatsink_temp = status.sink_temp / 10;
watchdog_out_set(!watchdog_out);
motor_current_set(status.output_current / 100);
heatsink_temp_set(status.sink_temp / 10);
}
}
}
Expand Down
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