Код: Выделить всё
/*
PINS_PWM
3 5 6 9 10 11
PINS_IN
16 - 31
PINS_OUT
32 - 47
48 49 50 51 52
*/
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <string.h>
#include <stdlib.h>
#include <signal.h>
#include <errno.h>
#include <getopt.h>
#include "rtapi.h"
#include "hal.h"
#include "modbus.h"
#define START_REGISTER_R 0x1E
#define NUM_REGISTERS_R 16
#define START_REGISTER_W 0
#define NUM_REGISTERS_W 3
#undef DEBUG
typedef struct {
int slave;
int read_reg_start;
int read_reg_count;
int write_reg_start;
int write_reg_count;
} slavedata_t;
typedef struct {
hal_s32_t retval;
hal_float_t looptime;
hal_s32_t *pwm03;
hal_s32_t *pwm05;
hal_s32_t *pwm06;
hal_s32_t *pwm09;
hal_s32_t *pwm10;
hal_s32_t *pwm11;
hal_bit_t *Din10;
hal_bit_t *Din11;
hal_bit_t *Din12;
hal_bit_t *Din13;
hal_bit_t *Din14;
hal_bit_t *Din15;
hal_bit_t *Din16;
hal_bit_t *Din17;
hal_bit_t *Din18;
hal_bit_t *Din19;
hal_bit_t *Din110;
hal_bit_t *Din111;
hal_bit_t *Din112;
hal_bit_t *Din113;
hal_bit_t *Din114;
hal_bit_t *Din115;
hal_bit_t *Dout20;
hal_bit_t *Dout21;
hal_bit_t *Dout22;
hal_bit_t *Dout23;
hal_bit_t *Dout24;
hal_bit_t *Dout25;
hal_bit_t *Dout26;
hal_bit_t *Dout27;
hal_bit_t *Dout28;
hal_bit_t *Dout29;
hal_bit_t *Dout210;
hal_bit_t *Dout211;
hal_bit_t *Dout212;
hal_bit_t *Dout213;
hal_bit_t *Dout214;
hal_bit_t *Dout215;
hal_bit_t *Dout30;
hal_bit_t *Dout31;
hal_bit_t *Dout32;
hal_bit_t *Dout33;
hal_bit_t *Dout34;
hal_s32_t *Ain40;
hal_s32_t *Ain41;
hal_s32_t *Ain42;
hal_s32_t *Ain43;
hal_s32_t *Ain44;
hal_s32_t *Ain45;
hal_s32_t *Ain46;
hal_s32_t *Ain47;
hal_s32_t *Ain48;
hal_s32_t *Ain49;
hal_s32_t *Ain410;
hal_s32_t *Ain411;
hal_s32_t *Ain412;
hal_s32_t *Ain413;
hal_s32_t *Ain414;
hal_s32_t *Ain415;
} haldata_t;
static int done;
char *modname = "arduino";
static struct option long_options[] = {
{"bits", 1, 0, 'b'},
{"device", 1, 0, 'd'},
{"debug", 0, 0, 'g'},
{"help", 0, 0, 'h'},
{"name", 1, 0, 'n'},
{"parity", 1, 0, 'p'},
{"rate", 1, 0, 'r'},
{"stopbits", 1, 0, 's'},
{"target", 1, 0, 't'},
{"verbose", 0, 0, 'v'},
{0,0,0,0}
};
static char *option_string = "b:d:hn:p:r:s:t:v";
static char *bitstrings[] = {"5", "6", "7", "8", NULL};
static char *paritystrings[] = {"even", "odd", "none", NULL};
static char *ratestrings[] = {"110", "300", "600", "1200", "2400", "4800", "9600",
"19200", "38400", "57600", "115200", NULL};
static char *stopstrings[] = {"1", "2", NULL};
static void quit(int sig) {
done = 1;
}
int match_string(char *string, char **matches) {
int len, which, match;
which=0;
match=-1;
if ((matches==NULL) || (string==NULL)) return -1;
len = strlen(string);
while (matches[which] != NULL) {
if ((!strncmp(string, matches[which], len)) && (len <= strlen(matches[which]))) {
if (match>=0) return -1; // multiple matches
match=which;
}
++which;
}
return match;
}
void usage(int argc, char **argv) {
printf("Usage: %s [options]\n", argv[0]);
printf(
"This is a userspace HAL program, typically loaded using the halcmd \"loadusr\" command:\n"
" loadusr gs2_vfd\n"
"There are several command-line options. Options that have a set list of possible values may\n"
" be set by using any number of characters that are unique. For example, --rate 5 will use\n"
" a baud rate of 57600, since no other available baud rates start with \"5\"\n"
"-b or --bits <n> (default 8)\n"
" Set number of data bits to <n>, where n must be from 5 to 8 inclusive\n"
"-d or --device <path> (default /dev/ttyS0)\n"
" Set the name of the serial device node to use\n"
"-g or --debug\n"
" Turn on debugging messages. This will also set the verbose flag. Debug mode will cause\n"
" all modbus messages to be printed in hex on the terminal.\n"
"-n or --name <string> (default gs2_vfd)\n"
" Set the name of the HAL module. The HAL comp name will be set to <string>, and all pin\n"
" and parameter names will begin with <string>.\n"
"-p or --parity {even,odd,none} (defalt odd)\n"
" Set serial parity to even, odd, or none.\n"
"-r or --rate <n> (default 38400)\n"
" Set baud rate to <n>. It is an error if the rate is not one of the following:\n"
" 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200\n"
"-s or --stopbits {1,2} (default 1)\n"
" Set serial stop bits to 1 or 2\n"
"-t or --target <n> (default 1)\n"
" Set MODBUS target (slave) number. This must match the device number you set on the GS2.\n"
"-v or --verbose\n"
" Turn on debug messages. Note that if there are serial errors, this may become annoying.\n"
" At the moment, it doesn't make much difference most of the time.\n");
}
int write_data(modbus_param_t *param, slavedata_t *slavedata, haldata_t *haldata) { //============== write ====================
int retval ;
int v2 ,v3;
//шим (пины:3,5,6,9,10,11)
preset_single_register(param, 1, 13, abs((int)(*(haldata->pwm03)))); //(Reg:13,15,16,19,20,21)
preset_single_register(param, 1, 15, abs((int)(*(haldata->pwm05))));
preset_single_register(param, 1, 16, abs((int)(*(haldata->pwm06))));
preset_single_register(param, 1, 19, abs((int)(*(haldata->pwm09))));
preset_single_register(param, 1, 20, abs((int)(*(haldata->pwm10))));
preset_single_register(param, 1, 21, abs((int)(*(haldata->pwm11))));
v2 = (*(haldata->Dout20)) | (*(haldata->Dout21))<<1 | (*(haldata->Dout22))<<2 | (*(haldata->Dout23))<<3 |
(*(haldata->Dout24))<<4 | (*(haldata->Dout25))<<5 | (*(haldata->Dout26))<<6 | (*(haldata->Dout27))<<7 |
(*(haldata->Dout28))<<8 | (*(haldata->Dout29))<<9 | (*(haldata->Dout210))<<10 | (*(haldata->Dout211))<<11 |
(*(haldata->Dout212))<<12 | (*(haldata->Dout213))<<13 | (*(haldata->Dout214))<<14 | (*(haldata->Dout215))<<15 ;
retval = preset_single_register(param, 1, 2, v2); //посылаем в устройство1, регистр 0 число v2
v3 = (*(haldata->Dout30)) | (*(haldata->Dout31))<<1 | (*(haldata->Dout32))<<2 | (*(haldata->Dout33)<<3) | (*(haldata->Dout34))<<4 ;
retval = preset_single_register(param, 1, 3, v3); //посылаем в устройство1, регистр 3 число v3
return retval;
}
int read_data(modbus_param_t *param, slavedata_t *slavedata, haldata_t *hal_data_block) {
int receive_data[MAX_READ_HOLD_REGS];
int retval;
int Reg1val=0;
int mass1[16];
int x = 0;
if (hal_data_block == NULL)
return -1;
if ((param==NULL) || (slavedata == NULL)) {
return -1;
}
//---------------------------------------читаем цифровые входы --------регистр1
retval = read_holding_registers(param, slavedata->slave, 1 , 1 , receive_data);
if (retval==1) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
Reg1val = receive_data[0] ;
x = 0;
while ( x < 16 ){
if ((Reg1val & 0x01) == 1 )
mass1[x] = 1;
else
mass1[x] = 0;
Reg1val=Reg1val>>1;
x++;
}
*(hal_data_block->Din10) = mass1[0];
*(hal_data_block->Din11) = mass1[1];
*(hal_data_block->Din12) = mass1[2];
*(hal_data_block->Din13) = mass1[3];
*(hal_data_block->Din14) = mass1[4];
*(hal_data_block->Din15) = mass1[5];
*(hal_data_block->Din16) = mass1[6];
*(hal_data_block->Din17) = mass1[7];
*(hal_data_block->Din18) = mass1[8];
*(hal_data_block->Din19) = mass1[9];
*(hal_data_block->Din110) = mass1[10];
*(hal_data_block->Din111) = mass1[11];
*(hal_data_block->Din112) = mass1[12];
*(hal_data_block->Din113) = mass1[13];
*(hal_data_block->Din114) = mass1[14];
*(hal_data_block->Din115) = mass1[15];
retval = 0;
}
}
else {
hal_data_block->retval = retval;
retval = -1;
}
//----------------------------------------------------читаем аналоговые входы --------регистр4
retval = read_holding_registers(param, slavedata->slave, slavedata->read_reg_start,
slavedata->read_reg_count, receive_data);
if (retval==slavedata->read_reg_count) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
*(hal_data_block->Ain40) = receive_data[0] ;
*(hal_data_block->Ain41) = receive_data[1] ;
*(hal_data_block->Ain42) = receive_data[2] ;
*(hal_data_block->Ain43) = receive_data[3] ;
*(hal_data_block->Ain44) = receive_data[4] ;
*(hal_data_block->Ain45) = receive_data[5] ;
*(hal_data_block->Ain46) = receive_data[6] ;
*(hal_data_block->Ain47) = receive_data[7] ;
*(hal_data_block->Ain48) = receive_data[8] ;
*(hal_data_block->Ain49) = receive_data[9] ;
*(hal_data_block->Ain410) = receive_data[10];
*(hal_data_block->Ain411) = receive_data[11];
*(hal_data_block->Ain412) = receive_data[12];
*(hal_data_block->Ain413) = receive_data[13];
*(hal_data_block->Ain414) = receive_data[14];
*(hal_data_block->Ain415) = receive_data[15];
retval = 0;
}
} else {
hal_data_block->retval = retval;
retval = -1;
}
//========================================
return retval;
}
int main(int argc, char **argv)
{
int retval;
modbus_param_t mb_param;
haldata_t *haldata;
slavedata_t slavedata;
int hal_comp_id;
struct timespec loop_timespec, remaining;
int baud, bits, stopbits, debug, verbose;
char *device, *parity, *endarg;
int opt;
int argindex, argvalue;
done = 0;
baud = 19200;
bits = 8;
stopbits = 1;
debug = 0;
verbose = 0;
device = "/dev/ttyACM0";
parity = "none";
slavedata.slave = 1;
slavedata.read_reg_start = START_REGISTER_R;
slavedata.read_reg_count = NUM_REGISTERS_R;
slavedata.write_reg_start = START_REGISTER_W;
slavedata.write_reg_count = NUM_REGISTERS_R;
// process command line options
while ((opt=getopt_long(argc, argv, option_string, long_options, NULL)) != -1) {
switch(opt) {
case 'b': // serial data bits, probably should be 8 (and defaults to 8)
argindex=match_string(optarg, bitstrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid number of bits: %s\n", optarg);
retval = -1;
goto out_noclose;
}
bits = atoi(bitstrings[argindex]);
break;
case 'd': // device name, default /dev/ttyS0
// could check the device name here, but we'll leave it to the library open
if (strlen(optarg) > FILENAME_MAX) {
printf("gs2_vfd: ERROR: device node name is too long: %s\n", optarg);
retval = -1;
goto out_noclose;
}
device = strdup(optarg);
break;
case 'g':
debug = 1;
verbose = 1;
break;
case 'n': // module base name
if (strlen(optarg) > HAL_NAME_LEN-20) {
printf("gs2_vfd: ERROR: HAL module name too long: %s\n", optarg);
retval = -1;
goto out_noclose;
}
modname = strdup(optarg);
break;
case 'p': // parity, should be a string like "even", "odd", or "none"
argindex=match_string(optarg, paritystrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid parity: %s\n", optarg);
retval = -1;
goto out_noclose;
}
parity = paritystrings[argindex];
break;
case 'r': // Baud rate, 38400 default
argindex=match_string(optarg, ratestrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid baud rate: %s\n", optarg);
retval = -1;
goto out_noclose;
}
baud = atoi(ratestrings[argindex]);
break;
case 's': // stop bits, defaults to 1
argindex=match_string(optarg, stopstrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid number of stop bits: %s\n", optarg);
retval = -1;
goto out_noclose;
}
stopbits = atoi(stopstrings[argindex]);
break;
case 't': // target number (MODBUS ID), default 1
argvalue = strtol(optarg, &endarg, 10);
if ((*endarg != '\0') || (argvalue < 1) || (argvalue > 254)) {
printf("gs2_vfd: ERROR: invalid slave number: %s\n", optarg);
retval = -1;
goto out_noclose;
}
slavedata.slave = argvalue;
break;
case 'v': // verbose mode (print modbus errors and other information), default 0
verbose = 1;
break;
case 'h':
default:
usage(argc, argv);
exit(0);
break;
}
}
printf("%s: device='%s', baud=%d, bits=%d, parity='%s', stopbits=%d, address=%d, verbose=%d\n",
modname, device, baud, bits, parity, stopbits, slavedata.slave, debug);
/* point TERM and INT signals at our quit function */
/* if a signal is received between here and the main loop, it should prevent
some initialization from happening */
signal(SIGINT, quit);
signal(SIGTERM, quit);
modbus_init_rtu(&mb_param, device, baud, parity, bits, stopbits, verbose);
mb_param.debug = debug;
if (((retval = modbus_connect(&mb_param))!=0) || done) {
printf("%s: ERROR: couldn't open serial device\n", modname);
goto out_noclose;
}
hal_comp_id = hal_init(modname);
if ((hal_comp_id < 0) || done) {
printf("%s: ERROR: hal_init failed\n", modname);
retval = hal_comp_id;
goto out_close;
}
haldata = (haldata_t *)hal_malloc(sizeof(haldata_t));
if ((haldata == 0) || done) {
printf("%s: ERROR: unable to allocate shared memory\n", modname);
retval = -1;
goto out_close;
}
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm03), hal_comp_id, "%s.pwm03", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm05), hal_comp_id, "%s.pwm05", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm06), hal_comp_id, "%s.pwm06", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm09), hal_comp_id, "%s.pwm09", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm10), hal_comp_id, "%s.pwm10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_IN, &(haldata->pwm11), hal_comp_id, "%s.pwm11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din10), hal_comp_id, "%s.Din1-16" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din11), hal_comp_id, "%s.Din1-17" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din12), hal_comp_id, "%s.Din1-18" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din13), hal_comp_id, "%s.Din1-19" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din14), hal_comp_id, "%s.Din1-20" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din15), hal_comp_id, "%s.Din1-21" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din16), hal_comp_id, "%s.Din1-22" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din17), hal_comp_id, "%s.Din1-23" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din18), hal_comp_id, "%s.Din1-24" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din19), hal_comp_id, "%s.Din1-25" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din110), hal_comp_id, "%s.Din1-26", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din111), hal_comp_id, "%s.Din1-27", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din112), hal_comp_id, "%s.Din1-28", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din113), hal_comp_id, "%s.Din1-29", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din114), hal_comp_id, "%s.Din1-30", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din115), hal_comp_id, "%s.Din1-31", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout20), hal_comp_id, "%s.Dout2-32" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout21), hal_comp_id, "%s.Dout2-33" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout22), hal_comp_id, "%s.Dout2-34" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout23), hal_comp_id, "%s.Dout2-35" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout24), hal_comp_id, "%s.Dout2-36" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout25), hal_comp_id, "%s.Dout2-37" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout26), hal_comp_id, "%s.Dout2-38" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout27), hal_comp_id, "%s.Dout2-39" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout28), hal_comp_id, "%s.Dout2-40" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout29), hal_comp_id, "%s.Dout2-41" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout210), hal_comp_id, "%s.Dout2-42", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout211), hal_comp_id, "%s.Dout2-43", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout212), hal_comp_id, "%s.Dout2-44", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout213), hal_comp_id, "%s.Dout2-45", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout214), hal_comp_id, "%s.Dout2-46", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout215), hal_comp_id, "%s.Dout2-47", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout30), hal_comp_id, "%s.Dout3-48" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout31), hal_comp_id, "%s.Dout3-49" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout32), hal_comp_id, "%s.Dout3-50" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout33), hal_comp_id, "%s.Dout3-51" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout34), hal_comp_id, "%s.Dout3-52" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain40), hal_comp_id, "%s.Ain4-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain41), hal_comp_id, "%s.Ain4-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain42), hal_comp_id, "%s.Ain4-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain43), hal_comp_id, "%s.Ain4-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain44), hal_comp_id, "%s.Ain4-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain45), hal_comp_id, "%s.Ain4-05" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain46), hal_comp_id, "%s.Ain4-06" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain47), hal_comp_id, "%s.Ain4-07" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain48), hal_comp_id, "%s.Ain4-08" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain49), hal_comp_id, "%s.Ain4-09" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain410), hal_comp_id, "%s.Ain4-10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain411), hal_comp_id, "%s.Ain4-11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain412), hal_comp_id, "%s.Ain4-12", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain413), hal_comp_id, "%s.Ain4-13", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain414), hal_comp_id, "%s.Ain4-14", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain415), hal_comp_id, "%s.Ain4-15", modname); if (retval!=0) goto out_closeHAL;
*(haldata->Din10) = 0;
*(haldata->Din11) = 0;
*(haldata->Din12) = 0;
*(haldata->Din13) = 0;
*(haldata->Din14) = 0;
*(haldata->Din15) = 0;
*(haldata->Din16) = 0;
*(haldata->Din17) = 0;
*(haldata->Din18) = 0;
*(haldata->Din19) = 0;
*(haldata->Din110) = 0;
*(haldata->Din111) = 0;
*(haldata->Din112) = 0;
*(haldata->Din113) = 0;
*(haldata->Din114) = 0;
*(haldata->Din115) = 0;
*(haldata->Dout20) = 0;
*(haldata->Dout21) = 0;
*(haldata->Dout22) = 0;
*(haldata->Dout23) = 0;
*(haldata->Dout24) = 0;
*(haldata->Dout25) = 0;
*(haldata->Dout26) = 0;
*(haldata->Dout27) = 0;
*(haldata->Dout28) = 0;
*(haldata->Dout29) = 0;
*(haldata->Dout210) = 0;
*(haldata->Dout211) = 0;
*(haldata->Dout212) = 0;
*(haldata->Dout213) = 0;
*(haldata->Dout214) = 0;
*(haldata->Dout215) = 0;
*(haldata->Dout30) = 0;
*(haldata->Dout31) = 0;
*(haldata->Dout32) = 0;
*(haldata->Dout33) = 0;
*(haldata->Dout34) = 0;
*(haldata->Ain40) = 0;
*(haldata->Ain41) = 0;
*(haldata->Ain42) = 0;
*(haldata->Ain43) = 0;
*(haldata->Ain44) = 0;
*(haldata->Ain45) = 0;
*(haldata->Ain46) = 0;
*(haldata->Ain47) = 0;
*(haldata->Ain48) = 0;
*(haldata->Ain49) = 0;
*(haldata->Ain410) = 0;
*(haldata->Ain411) = 0;
*(haldata->Ain412) = 0;
*(haldata->Ain413) = 0;
*(haldata->Ain414) = 0;
*(haldata->Ain415) = 0;
while (done==0) {
read_data(&mb_param, &slavedata, haldata);
write_data(&mb_param, &slavedata, haldata);
if (haldata->looptime < 0.001) haldata->looptime = 0.001;
if (haldata->looptime > 2.0) haldata->looptime = 2.0;
loop_timespec.tv_sec = (time_t)(haldata->looptime);
loop_timespec.tv_nsec = (long)((haldata->looptime - loop_timespec.tv_sec) * 1000000000l);
nanosleep(&loop_timespec, &remaining);
}
retval = 0;
out_closeHAL:
hal_exit(hal_comp_id);
out_close:
modbus_close(&mb_param);
out_noclose:
return retval;
}
утро вечера мудренее надо подумать сможет ли комп с модбусом управлять моим станком. 
