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/********************************************************************
* Description: modmath.c
* Assorted modulo arithmetic functions for HAL.
*
* This HAL component has just one function at the moment: closest_dir
* this component takes a "actual" input and a "desired" input, and
* has one parameter: the "base" (or, number of elements). It outputs
* an up or down bit, depending on which direction has the shortest path
* from the actual to the desired input.
*
* Each individual type of block is invoked by a parameter on
* the insmdo command line. Each parameter is of the form:
* <blockname>=<number_of_blocks>
*
* For example, mod_dir=2 installs two "closest direction" components.
*
* List of functions currently implemented:
* mod_dir: tells the direction to the closest neighbor, for sequences that roll over
*
* Eventually, there should be more functions
*
*********************************************************************
*
* Author: Stephen Wille Padnos (swpadnos AT sourceforge DOT net)
* Based on a work by John Kasunich (jmkasunich AT att DOT net)
* License: GPL Version 2
* Created on: 2006/5/18
* System: Linux
*
* Copyright (c) 2006 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("Stephen Wille Padnos");
MODULE_DESCRIPTION("Modulo math blocks for EMC HAL");
MODULE_LICENSE("GPL");
static int mod_dir = 0; /* number of mod_dirs */
RTAPI_MP_INT(mod_dir, "Modulo direction blocks");
/***********************************************************************
* STRUCTURES AND GLOBAL VARIABLES *
************************************************************************/
/** These structures contain the runtime data for a single block. */
typedef struct {
hal_bit_t *up; /* output pin: go up to get to the desired position */
hal_bit_t *down; /* output pin: go down to get to the desired position */
hal_bit_t *on_target; /* output pin: go at desired position */
hal_s32_t *actual; /* input pin: actual position */
hal_s32_t *desired; /* input pin: desired position */
hal_s32_t *max_num; /* input/output pin: highest value to allow */
hal_s32_t *min_num; /* input/output pin: lowest value to allow */
hal_bit_t *wrap; /* input/output pin: set true if the array is circular, false if linear */
} mod_dir_t;
/* other globals */
static int comp_id; /* component ID */
/***********************************************************************
* LOCAL FUNCTION DECLARATIONS *
************************************************************************/
static int export_mod_dir(int num);
static void mod_dir_funct(void *arg, long period);
/***********************************************************************
* INIT AND EXIT CODE *
************************************************************************/
int rtapi_app_main(void)
{
int n;
/* connect to the HAL */
comp_id = hal_init("modmath");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "MODMATH: ERROR: hal_init() failed\n");
return -1;
}
/* allocate and export modulo direction finders */
if (mod_dir > 0) {
for (n = 0; n < mod_dir; n++) {
if (export_mod_dir(n) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: export_mod_dir(%d) failed\n", n);
hal_exit(comp_id);
return -1;
}
}
rtapi_print_msg(RTAPI_MSG_INFO,
"MODMATH: installed %d mod-dirs\n", mod_dir);
}
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
/***********************************************************************
* REALTIME BLOCK FUNCTIONS *
************************************************************************/
static void mod_dir_funct(void *arg, long period)
{
mod_dir_t *mod;
int range, act, des, to_go;
/* point to block data */
mod = (mod_dir_t *) arg;
range = *(mod->max_num) - *(mod->min_num) + 1;
act = *(mod->actual);
if (act > *(mod->max_num) || act < *(mod->min_num)) {
act = *(mod->min_num) + ((act-*(mod->min_num)) % (range));
}
des = *(mod->desired);
if (des > *(mod->max_num) || des < *(mod->min_num)) {
des = *(mod->min_num) + ((des-*(mod->min_num)) % (range));
}
to_go = des-act;
if ((*(mod->wrap)) && (to_go > range/2)) {
to_go -= range;
}
if ((*(mod->wrap)) && (to_go < -range/2)) {
to_go += range;
}
/* if (desired-actual) >= (actual+(max-min+1)-desired), output "up" */
if (to_go == 0) {
*(mod->up) = 0;
*(mod->down) = 0;
*(mod->on_target) = 1;
} else if (to_go > 0 ) {
*(mod->down) = 0;
*(mod->on_target) = 0;
*(mod->up) = 1;
} else {
*(mod->up) = 0;
*(mod->on_target) = 0;
*(mod->down) = 1;
}
}
/***********************************************************************
* LOCAL FUNCTION DEFINITIONS *
************************************************************************/
static int export_mod_dir(int num)
{
int retval;
char buf[HAL_NAME_LEN + 1];
mod_dir_t *moddir;
/* allocate shared memory for modulo "closest direction finder" */
moddir = hal_malloc(sizeof(mod_dir_t));
if (moddir == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: hal_malloc() failed\n");
return -1;
}
/* export output pins */
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.up", num);
retval = hal_pin_bit_new(buf, HAL_OUT, &(moddir->up), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.down", num);
retval = hal_pin_bit_new(buf, HAL_OUT, &(moddir->down), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.on-target", num);
retval = hal_pin_bit_new(buf, HAL_OUT, &(moddir->on_target), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
/* export input pins */
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.actual", num);
retval = hal_pin_s32_new(buf, HAL_IN, &(moddir->actual), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.desired", num);
retval = hal_pin_s32_new(buf, HAL_IN, &(moddir->desired), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
/* export pins for max and min values */
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.min-num", num);
retval = hal_pin_s32_new(buf, HAL_IO, &(moddir->min_num), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.max-num", num);
retval = hal_pin_s32_new(buf, HAL_IO, &(moddir->max_num), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' pin export failed\n", buf);
return retval;
}
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d.wrap", num);
retval = hal_pin_bit_new(buf, HAL_IO, &(moddir->wrap), comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' param export failed\n", buf);
return retval;
}
/* export function */
rtapi_snprintf(buf, sizeof(buf), "mod-dir.%d", num);
retval = hal_export_funct(buf, mod_dir_funct, moddir, 1, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MODMATH: ERROR: '%s' funct export failed\n", buf);
return -1;
}
/* set default parameter values */
*(moddir->up) = 0;
*(moddir->down) = 0;
*(moddir->on_target) = 1;
*(moddir->min_num) = 0;
*(moddir->max_num) = 15;
*(moddir->actual) = 0;
*(moddir->desired) = 0;
*(moddir->wrap) = 1; /* wrap by default */
return 0;
}