linuxcnc-hal-sys 0.1.5

Generated, unsafe Rust bindings to the LinuxCNC HAL submodule
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291

//
//    Copyright (C) 2012 Andy Pugh
//
//    This program is free software; you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation; either version 2 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program; if not, write to the Free Software
//    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
//

#ifndef __SSERIAL_H
#define __SSERIAL_H

#include <rtapi_stdint.h>
#include "hostmot2.h"

#define HM2_SSERIAL_TYPE_8I20               0x30324938  // '8i20' as 4 ascii
#define HM2_SSERIAL_TYPE_7I64               0x34364937  // '7i64' All newer cards self-declare
#define HM2_SSERIAL_MAX_STRING_LENGTH       48
#define HM2_SSERIAL_MAX_PORTS               8           // only used in pins.c

//Commands etc
#define LBPNONVOL_flag      0xCC000000
#define LBPWRITE            0x20000000
#define LBPNONVOLCLEAR      0x0
#define LBPNONVOLEEPROM     0x01             
#define LBPNONVOLFLASH      0x02

#define READ_LOCAL_CMD      0x2000
#define WRITE_LOCAL_CMD     0xA000

#define READ_REM_BYTE_CMD     0x44000000
#define READ_REM_WORD_CMD     0x45000000
#define READ_REM_LONG_CMD     0x46000000
#define READ_REM_DOUBLE_CMD   0x47000000
#define READ_COOKIE_CMD       0xDF000000
#define WRITE_REM_BYTE_CMD    0x64000000
#define WRITE_REM_WORD_CMD    0x65000000
#define WRITE_REM_LONG_CMD    0x66000000
#define WRITE_REM_DOUBLE_CMD  0x67000000
#define FLASHERASE_CMD        0xFE
#define FLASHWRITE_CMD        0xFD

#define SSLBPMAJORREVISIONLOC   2
#define SSLBPMINORREVISIONLOC   3
#define SSLBPCHANNELSTARTLOC    4
#define SSLBPCHANNELSTRIDELOC   5
#define LBPFLASHOFFSETLOC       0x8000
#define LBPFLASHERASESIZELOC    0x8004
#define LBPFLASHWRITESIZELOC    0x8005
#define LBPFLASHCOMMITLOC       0x8007

#define LBPCOOKIE               0x5A

#define HM2WRITE(a,b)  hm2->llio->write(hm2->llio, a, &b, sizeof(rtapi_u32))
#define HM2READ(a,b)  hm2->llio->read(hm2->llio, a, &b, sizeof(rtapi_u32))

#define LBP_IN                  0x00
#define LBP_IO                  0x40
#define LBP_OUT                 0x80

#define LBP_DATA                0xA0
#define LBP_MODE                0xB0

#define LBP_PAD                 0x00
#define LBP_BITS                0x01
#define LBP_UNSIGNED            0x02
#define LBP_SIGNED              0x03
#define LBP_NONVOL_UNSIGNED     0x04
#define LBP_NONVOL_SIGNED       0x05
#define LBP_STREAM              0x06
#define LBP_BOOLEAN             0x07
#define LBP_ENCODER             0x08
#define LBP_FLOAT               0x10 // New for STMBL
#define LBP_NONVOL_FLOAT        0x11 
#define LBP_ENCODER_H           0x18 // For Fanuc Absolute Encoders with separate
#define LBP_ENCODER_L           0x28 // part and full count fields. 

// NOTE: This structure must match the layout of some device memory.  In
// particular, you can't change the "float"s to "double"s.
typedef struct {
    unsigned char RecordType;
    unsigned char DataLength;
    unsigned char DataType;
    unsigned char DataDir;
    float ParmMin;
    float ParmMax;
    short ParmAddr;
    char UnitString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
    char NameString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
    char Flags; //0x01 = graycode 0x02 = nowrap
}hm2_sserial_data_t;

typedef struct {
    unsigned char RecordType;
    unsigned char ModeIndex;
    unsigned char ModeType;
    unsigned char Unused;
    char NameString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
}hm2_sserial_mode_t;

typedef struct {
    hal_u32_t *u32_pin;
    hal_s32_t *s32_pin;
    hal_s32_t *s32_pin2;
    hal_float_t *float_pin;
    hal_bit_t **bit_pins;
    hal_bit_t **bit_pins_not;
    hal_bit_t *invert;
    hal_bit_t *boolean;
    hal_bit_t *boolean2;
    hal_float_t maxlim;
    hal_float_t minlim;
    hal_float_t fullscale;
    hal_u32_t u32_param;
    hal_bit_t graycode;
    hal_bit_t nowrap;
    rtapi_s64 oldval; // not pins, but this way every pin can have one
    rtapi_s64 accum; // these two are only currently used by encoders
    rtapi_s64 offset;
}hm2_sserial_pins_t;

typedef struct {
    int type;
    union {
        long long s64_param;
        hal_u32_t u32_param;
        hal_s32_t s32_param;
        hal_float_t float_param;
        hal_bit_t bit_param;
    };
    union {
        long long s64_written;
        hal_u32_t u32_written;
        hal_s32_t s32_written;
        hal_float_t float_written;
        hal_bit_t bit_written;
    };
    hal_u32_t timer_num;
    hal_bit_t *error;
}hm2_sserial_params_t;

typedef struct {
    int num_confs;
    int num_modes;
    int num_globals;
    int num_pins;
    int num_read_bits;
    int num_write_bits;
    hm2_sserial_mode_t *modes;
    hm2_sserial_data_t *confs;
    hm2_sserial_data_t *globals;
    hm2_sserial_pins_t *pins;
    hm2_sserial_params_t *params;
    hal_u32_t serialnumber;
    hal_u32_t status, seen_remote_errors;

    rtapi_u32 *reg_cs_read;
    rtapi_u32 *reg_cs_write;
    rtapi_u32 *reg_0_read;
    rtapi_u32 *reg_0_write;
    rtapi_u32 *reg_1_read;
    rtapi_u32 *reg_1_write;
    rtapi_u32 *reg_2_read;
    rtapi_u32 *reg_2_write;
    rtapi_u32 reg_cs_addr;
    rtapi_u32 reg_0_addr;
    rtapi_u32 reg_1_addr;
    rtapi_u32 reg_2_addr;
    int index;
    rtapi_u32 command_reg_addr; // a duplicate so that a single channel can be passed
    rtapi_u32 data_reg_addr;
    rtapi_u32 data_written;
    rtapi_u32 data2_written;
    rtapi_u32 data3_written;
    int myinst;
    char name[29];
    char raw_name[5];
}hm2_sserial_remote_t;

typedef struct {
    int device_id;
    int use_serial_numbers;
    int num_remotes;
    int num_channels;
    int tag;
    hm2_sserial_remote_t *remotes;
    int index;
    rtapi_u32 command_reg_addr;
    rtapi_u32 *command_reg_read;
    rtapi_u32 *command_reg_write;
    rtapi_u32 data_reg_addr;
    rtapi_u32 *data_reg_read;
    rtapi_u32 *data_reg_write;
    hal_u32_t *fault_count;
    hal_u32_t fault_inc;
    hal_u32_t fault_dec;
    hal_u32_t fault_lim;
    
    hal_bit_t *run;
    hal_u32_t *state;
    hal_u32_t *state2;
    hal_u32_t *state3;
    hal_s32_t *debug;
    hal_u32_t r_index;
    hal_u32_t g_index;
    int doit_err_count;
    rtapi_s32 timer;
    bool ever_read;
} hm2_sserial_instance_t;

typedef struct {
    rtapi_u8 version;
    int baudrate;
    int num_instances; // number of active instances
    hm2_sserial_instance_t *instance ;
} hm2_sserial_t;

// The 8i20 and 7i64 pre-date parameter discovery

static const hm2_sserial_data_t hm2_8i20_params[] = {
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_OUT,0.0,1.0,0,"degrees","angle"},
    {LBP_DATA,0x10,LBP_SIGNED,LBP_OUT,-10.0,10.0,0,"amps","current"},
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,65535,0,"Deg C","card-temp"},
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,655.35,0,"volts","bus-voltage"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.current-lim"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.brake-on"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.brake-old"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.bus-underv"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.wd-reset"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.sw-reset"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.ext-reset"},
    {LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.no-enable"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.pid-on"},
    {LBP_DATA,0x06,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.watchdog"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.no-enable"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overtemp"},
    {LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overcurrent"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.U-current"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.V-current"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.W-current"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-underv"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-high"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-overv"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.module"},
    {LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    {LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overrun"},
    {LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.framingr"}
};
static const hm2_sserial_data_t hm2_8i20_globals[] = { 
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,0,2164,"none","swrevision"},
    {LBP_DATA,0x20,LBP_UNSIGNED,LBP_IN,0,0,2344,"none","unitnumber"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,32.768,2,"amps","nvmaxcurrent"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,36,"volts","nvbusundervmax"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,34,"volts","nvbusundervmin"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,38,"volts","nvbusoverv"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,40,"volts","nvbrakeonv"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,42,"volts","nvbrakeoffv"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,6,"bps","nvrembaudrate"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,10,"none","nvkqp"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,14,"none","nvkqihi"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,12,"none","nvkqilo"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,16,"none","nvkqil"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,18,"none","nvkdp"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,22,"none","nvkdihi"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,20,"none","nvkdilo"},
    {LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_OUT,0,0,24,"none","nvkdil"}
};

static const hm2_sserial_data_t hm2_7i64_params[] = {
    {LBP_DATA,0x18,LBP_BITS,LBP_OUT,0,0,0,"none","output"},
    {LBP_DATA,0x18,LBP_BITS,LBP_IN,0,0,0,"none","input"},
    {LBP_DATA,0x08,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,3.3,0,"volts","analog0"},
    {LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,3.3,0,"volts","analog1"}
};

#endif