чтоб запускать - набросал такой компонент
в hal правим строку загрузки
Код: Выделить всё
loadrt shm2_pci #config="num_encoders=0 num_pwmgens=4 num_resolvers=5 sserial_port_0=20000000"Код: Выделить всё
/********************************************************************
* Description: shm2_pci.c
* Mesa board simulation.
*
*********************************************************************
*
* Author: Konstantin Navrockiy (nkp216 AT gmail DOT com)
* Based on a work by John Kasunich (jmkasunich AT att DOT net)
* License: GPL Version 2
* Created on: 2021/9/30
* System: Linux
*
* Copyright (c) 2021 All rights reserved.
*
********************************************************************/
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h" /* HAL public API decls */
#include "rtapi_math.h"
/* module information */
MODULE_AUTHOR("Konstantin Navrockiy");
MODULE_DESCRIPTION("Mesa board simulation");
MODULE_LICENSE("GPL");
typedef struct {
hal_float_t **resolver_angle;
hal_float_t **resolver_position;
hal_float_t **resolver_scale;
hal_float_t **resolver_velocity;
hal_bit_t **resolver_enable;
hal_float_t *resolver_khz;
hal_s32_t **pwmgen_type;
hal_float_t **pwmgen_scale;
hal_float_t **pwmgen_value;
hal_bit_t **pwmgen_enable;
hal_bit_t **gpio_in_not;
hal_bit_t **gpio_in;
hal_bit_t **gpio_is_output;
hal_bit_t **gpio_invert_output;
hal_bit_t **gpio_out;
} Pins_init;
static int comp_id; /* component ID */
static int Hal_Export(Pins_init *this);
static void read(void *arg, long period);
static void write(void *arg, long period);
int rtapi_app_main(void){
Pins_init *pComp;
comp_id = hal_init("shm2_pci");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "shm2_pci: ERROR: hal_init() failed\n");
return -1;
}
pComp = hal_malloc(sizeof(Pins_init));
if (pComp == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR, "shm2_pci: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return(-1);
}
// Export pins, parameters, and functions.
if(Hal_Export(pComp)){
hal_exit(comp_id);
return(-1);
}
rtapi_print_msg(RTAPI_MSG_INFO,
"shm2_pci: installed shm2_pcis\n");
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
/***********************************************************************
* REALTIME BLOCK FUNCTIONS *
************************************************************************/
static int Hal_Export(Pins_init *this){
int retval;
char buf[HAL_NAME_LEN + 1];
//int error;
int j;
/* export function */
rtapi_snprintf(buf, sizeof(buf), "hm2_5i24.0.read");
retval = hal_export_funct(buf, read, this, 0, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"shm2_pci: ERROR: funct export failed\n");
return -1;
}
/* export function */
rtapi_snprintf(buf, sizeof(buf), "hm2_5i24.0.write");
retval = hal_export_funct(buf, write, this, 0, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"shm2_pci: ERROR: funct export failed\n");
return -1;
}
// hal_malloc gpio_in_not
this->gpio_in_not = hal_malloc(72 * sizeof(hal_bit_t*));
for (j = 0; j < 72; j++){
if (hal_pin_bit_newf(HAL_OUT, &(this->gpio_in_not[j]), comp_id,
"hm2_5i24.0.gpio.%03i.in_not", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.gpio.%03i.in_not\n",j);
return -ENOMEM;}
}
// hal_malloc gpio_in
this->gpio_in = hal_malloc(72 * sizeof(hal_bit_t*));
for (j = 0; j < 72; j++){
if (hal_pin_bit_newf(HAL_OUT, &(this->gpio_in[j]), comp_id,
"hm2_5i24.0.gpio.%03i.in", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.gpio.%03i.in\n",j);
return -ENOMEM;}
}
//OUT
//hm2_5i24.0.gpio.068.is_output
//hm2_5i24.0.gpio.068.invert_output
//hm2_5i24.0.gpio.068.out
// hal_malloc gpio_out
this->gpio_out = hal_malloc(72 * sizeof(hal_bit_t*));
for (j = 0; j < 72; j++){
if (hal_pin_bit_newf(HAL_IN, &(this->gpio_out[j]), comp_id,
"hm2_5i24.0.gpio.%03i.out", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.gpio.%03i.out\n",j);
return -ENOMEM;}
}
// hal_malloc gpio_is_output
this->gpio_is_output = hal_malloc(72 * sizeof(hal_bit_t*));
for (j = 0; j < 72; j++){
if (hal_pin_bit_newf(HAL_IN, &(this->gpio_is_output[j]), comp_id,
"hm2_5i24.0.gpio.%03i.is_output", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.gpio.%03i.is_output\n",j);
return -ENOMEM;}
}
// hal_malloc gpio_invert_output
this->gpio_invert_output = hal_malloc(72 * sizeof(hal_bit_t*));
for (j = 0; j < 72; j++){
if (hal_pin_bit_newf(HAL_IN, &(this->gpio_invert_output[j]), comp_id,
"hm2_5i24.0.gpio.%03i.invert_output", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.gpio.%03i.invert_output\n",j);
return -ENOMEM;}
}
//PWMGEN
//hm2_5i24.0.pwmgen.00.enable pin in bit
//hm2_5i24.0.pwmgen.00.value pin in float
//hm2_5i24.0.pwmgen.00.scale param rw float
//hm2_5i24.0.pwmgen.00.output-type param rw s32
// hal_malloc pwmgen_enable
this->pwmgen_enable = hal_malloc(5 * sizeof(hal_bit_t*));
for (j = 0; j < 5; j++){
if (hal_pin_bit_newf(HAL_IN, &(this->pwmgen_enable[j]), comp_id,
"hm2_5i24.0.pwmgen.%02i.enable", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.pwmgen.%02i.enable\n",j);
return -ENOMEM;}
}
// hal_malloc pwmgen_value
this->pwmgen_value = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_IN, &(this->pwmgen_value[j]), comp_id,
"hm2_5i24.0.pwmgen.%02i.value", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.pwmgen.%02i.value\n",j);
return -ENOMEM;}
}
// hal_malloc pwmgen_scale
this->pwmgen_scale = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_IN, &(this->pwmgen_scale[j]), comp_id,
"hm2_5i24.0.pwmgen.%02i.scale", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.pwmgen.%02i.scale\n",j);
return -ENOMEM;}
}
// hal_malloc pwmgen_output-type
this->pwmgen_type = hal_malloc(5 * sizeof(hal_s32_t*));
for (j = 0; j < 5; j++){
if ( hal_pin_s32_newf(HAL_IN, &(this->pwmgen_type[j]), comp_id,
"hm2_5i24.0.pwmgen.%02i.output-type", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.pwmgen.%02i.output-type\n",j);
return -ENOMEM;}
}
//resolver
//hm2_5i24.0.resolver.excitation-khz
//hm2_5i24.0.resolver.00.position
//hm2_5i24.0.resolver.00.scale
//hm2_5i24.0.resolver.00.velocity
//hm2_5i24.0.resolver.00.index-enable
//hm2_5i24.0.resolver.04.angle
// hal_malloc resolver_khz
//this->resolver_khz = hal_malloc(1 * sizeof(hal_float_t*));
if (hal_pin_float_newf(HAL_IN, &this->resolver_khz, comp_id,
"hm2_5i24.0.resolver.excitation-khz") < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.excitation-khz\n");
return -ENOMEM;}
// hal_malloc resolver_position
this->resolver_position = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_OUT, &(this->resolver_position[j]), comp_id,
"hm2_5i24.0.resolver.%02i.position", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.%02i.position\n",j);
return -ENOMEM;}
}
// hal_malloc resolver_scale
this->resolver_scale = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_IN, &(this->resolver_scale[j]), comp_id,
"hm2_5i24.0.resolver.%02i.scale", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.%02i.scale\n",j);
return -ENOMEM;}
}
// hal_malloc resolver_velocity
this->resolver_velocity = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_OUT, &(this->resolver_velocity[j]), comp_id,
"hm2_5i24.0.resolver.%02i.velocity", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.%02i.velocity\n",j);
return -ENOMEM;}
}
// hal_malloc resolver_enable
this->resolver_enable = hal_malloc(5 * sizeof(hal_bit_t*));
for (j = 0; j < 5; j++){
if ( hal_pin_bit_newf(HAL_IN, &(this->resolver_enable[j]), comp_id,
"hm2_5i24.0.resolver.%02i.index-enable", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.%02i.index-enable\n",j);
return -ENOMEM;}
}
// hal_malloc resolver_angle
this->resolver_angle = hal_malloc(5 * sizeof(hal_float_t*));
for (j = 0; j < 5; j++){
if (hal_pin_float_newf(HAL_OUT, &(this->resolver_angle[j]), comp_id,
"hm2_5i24.0.resolver.%02i.angle", j) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "hm2_5i24.0.resolver.%02i.angle\n",j);
return -ENOMEM;}
}
return 0;
}
static void read(void *arg, long period){
int n;
n=12;
}
static void write(void *arg, long period){
int n;
n=22;
}