Index: src/emc/motion/control.c =================================================================== RCS file: /cvs/emc2/src/emc/motion/control.c,v retrieving revision 1.152 diff -U3 -r1.152 control.c --- src/emc/motion/control.c 29 Jan 2009 13:14:38 -0000 1.152 +++ src/emc/motion/control.c 29 Jan 2009 21:26:38 -0000 @@ -1862,29 +1862,29 @@ *(joint_data->amp_enable) = GET_JOINT_ENABLE_FLAG(joint); *(joint_data->index_enable) = joint->index_enable; *(joint_data->homing) = GET_JOINT_HOMING_FLAG(joint); - /* output to parameters (for scoping, etc.) */ - joint_data->coarse_pos_cmd = joint->coarse_pos; - joint_data->joint_vel_cmd = joint->vel_cmd; - joint_data->backlash_corr = joint->backlash_corr; - joint_data->backlash_filt = joint->backlash_filt; - joint_data->backlash_vel = joint->backlash_vel; - joint_data->f_error = joint->ferror; - joint_data->f_error_lim = joint->ferror_limit; - - joint_data->free_pos_cmd = joint->free_pos_cmd; - joint_data->free_vel_lim = joint->free_vel_lim; - joint_data->free_tp_enable = joint->free_tp_enable; - joint_data->kb_jog_active = joint->kb_jog_active; - joint_data->wheel_jog_active = joint->wheel_jog_active; - - joint_data->active = GET_JOINT_ACTIVE_FLAG(joint); - joint_data->in_position = GET_JOINT_INPOS_FLAG(joint); - joint_data->error = GET_JOINT_ERROR_FLAG(joint); - joint_data->phl = GET_JOINT_PHL_FLAG(joint); - joint_data->nhl = GET_JOINT_NHL_FLAG(joint); - joint_data->homed = GET_JOINT_HOMED_FLAG(joint); - joint_data->f_errored = GET_JOINT_FERROR_FLAG(joint); - joint_data->faulted = GET_JOINT_FAULT_FLAG(joint); + + *(joint_data->coarse_pos_cmd) = joint->coarse_pos; + *(joint_data->joint_vel_cmd) = joint->vel_cmd; + *(joint_data->backlash_corr) = joint->backlash_corr; + *(joint_data->backlash_filt) = joint->backlash_filt; + *(joint_data->backlash_vel) = joint->backlash_vel; + *(joint_data->f_error) = joint->ferror; + *(joint_data->f_error_lim) = joint->ferror_limit; + + *(joint_data->free_pos_cmd) = joint->free_pos_cmd; + *(joint_data->free_vel_lim) = joint->free_vel_lim; + *(joint_data->free_tp_enable) = joint->free_tp_enable; + *(joint_data->kb_jog_active) = joint->kb_jog_active; + *(joint_data->wheel_jog_active) = joint->wheel_jog_active; + + *(joint_data->active) = GET_JOINT_ACTIVE_FLAG(joint); + *(joint_data->in_position) = GET_JOINT_INPOS_FLAG(joint); + *(joint_data->error) = GET_JOINT_ERROR_FLAG(joint); + *(joint_data->phl) = GET_JOINT_PHL_FLAG(joint); + *(joint_data->nhl) = GET_JOINT_NHL_FLAG(joint); + *(joint_data->homed) = GET_JOINT_HOMED_FLAG(joint); + *(joint_data->f_errored) = GET_JOINT_FERROR_FLAG(joint); + *(joint_data->faulted) = GET_JOINT_FAULT_FLAG(joint); joint_data->home_state = joint->home_state; } } Index: src/emc/motion/mot_priv.h =================================================================== RCS file: /cvs/emc2/src/emc/motion/mot_priv.h,v retrieving revision 1.77 diff -U3 -r1.77 mot_priv.h --- src/emc/motion/mot_priv.h 29 Jan 2009 13:14:38 -0000 1.77 +++ src/emc/motion/mot_priv.h 29 Jan 2009 21:26:39 -0000 @@ -32,34 +32,33 @@ /* joint data */ typedef struct { - hal_float_t coarse_pos_cmd; /* RPA: commanded position, w/o comp */ - hal_float_t joint_vel_cmd; /* RPA: commanded velocity, w/o comp */ - hal_float_t backlash_corr; /* RPA: correction for backlash */ - hal_float_t backlash_filt; /* RPA: filtered backlash correction */ - hal_float_t backlash_vel; /* RPA: backlash speed variable */ + hal_float_t *coarse_pos_cmd;/* RPI: commanded position, w/o comp */ + hal_float_t *joint_vel_cmd; /* RPI: commanded velocity, w/o comp */ + hal_float_t *backlash_corr; /* RPI: correction for backlash */ + hal_float_t *backlash_filt; /* RPI: filtered backlash correction */ + hal_float_t *backlash_vel; /* RPI: backlash speed variable */ hal_float_t *motor_pos_cmd; /* WPI: commanded position, with comp */ hal_float_t *motor_pos_fb; /* RPI: position feedback, with comp */ hal_float_t *joint_pos_cmd; /* WPI: commanded position w/o comp, mot ofs */ - hal_float_t *joint_pos_fb; /* RPA: position feedback, w/o comp */ - hal_float_t f_error; /* RPA: following error */ - hal_float_t f_error_lim; /* RPA: following error limit */ - -/*! \todo FIXME - these might not be HAL params forever, but they are usefull now */ - hal_float_t free_pos_cmd; /* RPA: free traj planner pos cmd */ - hal_float_t free_vel_lim; /* RPA: free traj planner vel limit */ - hal_bit_t free_tp_enable; /* RPA: free traj planner is running */ - hal_bit_t kb_jog_active; /* RPA: executing keyboard jog */ - hal_bit_t wheel_jog_active; /* RPA: executing handwheel jog */ - - hal_bit_t active; /* RPA: joint is active, whatever that means */ - hal_bit_t in_position; /* RPA: joint is in position */ - hal_bit_t error; /* RPA: joint has an error */ - hal_bit_t phl; /* RPA: joint is at positive hard limit */ - hal_bit_t nhl; /* RPA: joint is at negative hard limit */ + hal_float_t *joint_pos_fb; /* RPI: position feedback, w/o comp */ + hal_float_t *f_error; /* RPI: following error */ + hal_float_t *f_error_lim; /* RPI: following error limit */ + + hal_float_t *free_pos_cmd; /* RPI: free traj planner pos cmd */ + hal_float_t *free_vel_lim; /* RPI: free traj planner vel limit */ + hal_bit_t *free_tp_enable; /* RPI: free traj planner is running */ + hal_bit_t *kb_jog_active; /* RPI: executing keyboard jog */ + hal_bit_t *wheel_jog_active;/* RPI: executing handwheel jog */ + + hal_bit_t *active; /* RPI: joint is active, whatever that means */ + hal_bit_t *in_position; /* RPI: joint is in position */ + hal_bit_t *error; /* RPI: joint has an error */ + hal_bit_t *phl; /* RPI: joint is at positive hard limit */ + hal_bit_t *nhl; /* RPI: joint is at negative hard limit */ hal_bit_t *homing; /* RPI: joint is homing */ - hal_bit_t homed; /* RPA: joint was homed */ - hal_bit_t f_errored; /* RPA: joint had too much following error */ - hal_bit_t faulted; /* RPA: joint amp faulted */ + hal_bit_t *homed; /* RPI: joint was homed */ + hal_bit_t *f_errored; /* RPI: joint had too much following error */ + hal_bit_t *faulted; /* RPI: joint amp faulted */ hal_bit_t *pos_lim_sw; /* RPI: positive limit switch input */ hal_bit_t *neg_lim_sw; /* RPI: negative limit switch input */ hal_bit_t *home_sw; /* RPI: home switch input */ @@ -69,7 +68,7 @@ hal_bit_t *amp_enable; /* WPI: amp enable output */ hal_s32_t home_state; /* RPA: homing state machine state */ - hal_s32_t *jog_counts; /* RPI: jogwheel position input */ + hal_s32_t *jog_counts; /* WPI: jogwheel position input */ hal_bit_t *jog_enable; /* RPI: enable jogwheel */ hal_float_t *jog_scale; /* RPI: distance to jog on each count */ hal_bit_t *jog_vel_mode; /* RPI: true for "velocity mode" jogwheel */ Index: src/emc/motion/motion.c =================================================================== RCS file: /cvs/emc2/src/emc/motion/motion.c,v retrieving revision 1.125 diff -U3 -r1.125 motion.c --- src/emc/motion/motion.c 29 Jan 2009 13:14:38 -0000 1.125 +++ src/emc/motion/motion.c 29 Jan 2009 21:26:40 -0000 @@ -692,114 +692,114 @@ /* export joint parameters */ //FIXME-AJ: changing these to joints will break configs. rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.coarse-pos-cmd", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->coarse_pos_cmd), + hal_pin_float_new(buf, HAL_OUT, &(addr->coarse_pos_cmd), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.joint-vel-cmd", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->joint_vel_cmd), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->joint_vel_cmd), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.backlash-corr", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->backlash_corr), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->backlash_corr), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.backlash-filt", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->backlash_filt), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->backlash_filt), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.backlash-vel", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->backlash_vel), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->backlash_vel), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.f-error", num); - retval = hal_param_float_new(buf, HAL_RO, &(addr->f_error), mot_comp_id); + retval = hal_pin_float_new(buf, HAL_OUT, &(addr->f_error), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.f-error-lim", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->f_error_lim), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->f_error_lim), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.free-pos-cmd", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->free_pos_cmd), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->free_pos_cmd), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.free-vel-lim", num); retval = - hal_param_float_new(buf, HAL_RO, &(addr->free_vel_lim), mot_comp_id); + hal_pin_float_new(buf, HAL_OUT, &(addr->free_vel_lim), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.free-tp-enable", num); retval = - hal_param_bit_new(buf, HAL_RO, &(addr->free_tp_enable), mot_comp_id); + hal_pin_bit_new(buf, HAL_OUT, &(addr->free_tp_enable), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.kb-jog-active", num); retval = - hal_param_bit_new(buf, HAL_RO, &(addr->kb_jog_active), mot_comp_id); + hal_pin_bit_new(buf, HAL_OUT, &(addr->kb_jog_active), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.wheel-jog-active", num); retval = - hal_param_bit_new(buf, HAL_RO, &(addr->wheel_jog_active), mot_comp_id); + hal_pin_bit_new(buf, HAL_OUT, &(addr->wheel_jog_active), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.active", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->active), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->active), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.in-position", num); retval = - hal_param_bit_new(buf, HAL_RO, &(addr->in_position), mot_comp_id); + hal_pin_bit_new(buf, HAL_OUT, &(addr->in_position), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.error", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->error), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->error), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.pos-hard-limit", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->phl), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->phl), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.neg-hard-limit", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->nhl), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->nhl), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.homed", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->homed), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->homed), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.f-errored", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->f_errored), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->f_errored), mot_comp_id); if (retval != 0) { return retval; } rtapi_snprintf(buf, HAL_NAME_LEN, "axis.%d.faulted", num); - retval = hal_param_bit_new(buf, HAL_RO, &(addr->faulted), mot_comp_id); + retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->faulted), mot_comp_id); if (retval != 0) { return retval; }