just paste incomplete text here is all
sla...@emc2:~/emc2-git$ git diff
diff --git a/src/hal/components/estop_latch.comp b/src/hal/c
index 2a1e0dd..390a639 100644
--- a/src/hal/components/estop_latch.comp
+++ b/src/hal/components/estop_latch.comp
@@ -22,7 +22,7 @@ FUNCTION(_) {
fault_out = 0;
}
/* toggle watchdog */
- watchdog = !watchdog;
+ if ( ok_in ) {watchdog = !watchdog;}
} else {
/* fault condition exists, trip */
ok_out = 0;
diff --git a/src/hal/components/stepgen.c b/src/hal/componen
index b0fa061..44cdff7 100644
--- a/src/hal/components/stepgen.c
+++ b/src/hal/components/stepgen.c
@@ -305,6 +305,8 @@
#include "rtapi_math.h"
#define MAX_CHAN 8
+#define MAX_CYCLE 10
+#define USER_STEP_TYPE 13
:
diff --git a/src/hal/components/estop_latch.comp
b/src/hal/components/estop_latch.comp
diff --git a/src/hal/components/estop_latch.comp
b/src/hal/components/estop_latch.comp
index 2a1e0dd..390a639 100644
--- a/src/hal/components/estop_latch.comp
+++ b/src/hal/components/estop_latch.comp
@@ -22,7 +22,7 @@ FUNCTION(_) {
fault_out = 0;
}
/* toggle watchdog */
- watchdog = !watchdog;
+ if ( ok_in ) {watchdog = !watchdog;}
} else {
/* fault condition exists, trip */
ok_out = 0;
diff --git a/src/hal/components/stepgen.c b/src/hal/components/stepgen.c
index b0fa061..44cdff7 100644
--- a/src/hal/components/stepgen.c
+++ b/src/hal/components/stepgen.c
@@ -305,6 +305,8 @@
#include "rtapi_math.h"
#define MAX_CHAN 8
+#define MAX_CYCLE 10
+#define USER_STEP_TYPE 13
/* module information */
MODULE_AUTHOR("John Kasunich");
@@ -314,6 +316,9 @@ int step_type[MAX_CHAN] = { -1, -1, -1, -1, -1, -1, -1,
-1 };
RTAPI_MP_ARRAY_INT(step_type,MAX_CHAN,"stepping types for up to 8
channels");
const char *ctrl_type[MAX_CHAN] = { "p", "p", "p", "p", "p", "p", "p", "p"
};
RTAPI_MP_ARRAY_STRING(ctrl_type,MAX_CHAN,"control type (pos or vel) for up
to 8 channels");
+int user_step_type[MAX_CYCLE] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
+RTAPI_MP_ARRAY_INT(user_step_type, MAX_CYCLE,
+ "lookup table for user-defined step type");
/***********************************************************************
* STRUCTURES AND GLOBAL VARIABLES *
@@ -373,7 +378,7 @@ static stepgen_t *stepgen_array;
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
:
diff --git a/src/hal/components/estop_latch.comp b/src/hal/c
index 2a1e0dd..390a639 100644
--- a/src/hal/components/estop_latch.comp
+++ b/src/hal/components/estop_latch.comp
@@ -22,7 +22,7 @@ FUNCTION(_) {
fault_out = 0;
}
/* toggle watchdog */
- watchdog = !watchdog;
+ if ( ok_in ) {watchdog = !watchdog;}
} else {
/* fault condition exists, trip */
ok_out = 0;
diff --git a/src/hal/components/stepgen.c b/src/hal/componen
index b0fa061..44cdff7 100644
--- a/src/hal/components/stepgen.c
+++ b/src/hal/components/stepgen.c
@@ -305,6 +305,8 @@
#include "rtapi_math.h"
#define MAX_CHAN 8
+#define MAX_CYCLE 10
+#define USER_STEP_TYPE 13
/* module information */
MODULE_AUTHOR("John Kasunich");
@@ -314,6 +316,9 @@ int step_type[MAX_CHAN] = { -1, -1, -1,
RTAPI_MP_ARRAY_INT(step_type,MAX_CHAN,"stepping types for u
const char *ctrl_type[MAX_CHAN] = { "p", "p", "p", "p", "p"
RTAPI_MP_ARRAY_STRING(ctrl_type,MAX_CHAN,"control type (pos
+int user_step_type[MAX_CYCLE] = {-1,-1,-1,-1,-1,-1,-1,-1,-1
+RTAPI_MP_ARRAY_INT(user_step_type, MAX_CYCLE,
+ "lookup table for user-defined step type");
/**********************************************************
* STRUCTURES AND GLOBAL VARIABLES
@@ -373,7 +378,7 @@ static stepgen_t *stepgen_array;
/* lookup tables for stepping types 2 and higher - phase A
-static const unsigned char master_lut[][10] = {
+static unsigned char master_lut[][MAX_CYCLE] = {
{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadratur
{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wir
{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wir
@@ -386,16 +391,17 @@ static const unsigned char master_lut[
{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Uni
{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wav
{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five
- {3, 7, 6, 14, 12, 28, 24, 25, 17, 19} /* 14: Five
+ {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five
+ {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
-static const unsigned char cycle_len_lut[] =
- { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10 };
+static unsigned char cycle_len_lut[] =
+ { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0 };
-static const unsigned char num_phases_lut[] =
- { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, };
+static unsigned char num_phases_lut[] =
+ { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0, };
-#define MAX_STEP_TYPE 14
+#define MAX_STEP_TYPE 15
#define STEP_PIN 0 /* output phase used for STE
#define DIR_PIN 1 /* output phase used
@@ -426,6 +432,7 @@ static int export_stepgen(int num, stepg
static void make_pulses(void *arg, long period);
static void update_freq(void *arg, long period);
static void update_pos(void *arg, long period);
+static int setup_user_step_type(void);
/**********************************************************
* INIT AND EXIT CODE
@@ -435,6 +442,11 @@ int rtapi_app_main(void)
{
int n, retval;
+ retval = setup_user_step_type();
+ if(retval < 0) {
+ return retval;
+ }
+
for (n = 0; n < MAX_CHAN && step_type[n] != -1 ; n++) {
if ((step_type[n] > MAX_STEP_TYPE) || (step_type[n]
rtapi_print_msg(RTAPI_MSG_ERR,
@@ -1187,3 +1199,30 @@ static int export_stepgen(int num, st
rtapi_set_msg_level(msg);
return 0;
}
+
+static int setup_user_step_type(void) {
+ int used_phases = 0;
+ int i = 0;
+ int i = 0;
+ for(i=0; i<10 && user_step_type[i] != -1; i++) {
+ master_lut[USER_STEP_TYPE][i] = user_step_type[i];
+ used_phases |= user_step_type[i];
+ }
+ cycle_len_lut[USER_STEP_TYPE] = i;
+ if(used_phases & ~0x1f) {
+ rtapi_print_msg(RTAPI_MSG_ERR, "STEPGEN: ERROR:
+ "bad user step type uses more th
+ return -EINVAL; // more than 5 phases is not all
+ }
+
+ if(used_phases & 0x10) num_phases_lut[USER_STEP_TYPE] =
+ else if(used_phases & 0x8) num_phases_lut[USER_STEP_TYP
+ else if(used_phases & 0x4) num_phases_lut[USER_STEP_TYP
+ else if(used_phases & 0x2) num_phases_lut[USER_STEP_TYP
+ else if(used_phases & 0x1) num_phases_lut[USER_STEP_TYP
+
+ if(used_phases)
+ rtapi_print_msg(RTAPI_MSG_INFO,
+ "User step type has %d phases and %d steps p
+ num_phases_lut[USER_STEP_TYPE], i);
+ return 0;
+}
sla...@emc2:~/emc2-git$
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