[Emc-commit] emc2/src/hal/drivers hal_ppmc.c,1.6,1.7

[Stephen W. P. <swp...@us...>]

Update of /cvsroot/emc/emc2/src/hal/drivers
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9562

Modified Files:
	hal_ppmc.c 
Log Message:

added index sense pins, also fixed some comments

Index: hal_ppmc.c
===================================================================
RCS file: /cvsroot/emc/emc2/src/hal/drivers/hal_ppmc.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** hal_ppmc.c	28 Nov 2005 06:46:05 -0000	1.6
--- hal_ppmc.c	28 Nov 2005 20:21:19 -0000	1.7
***************
*** 181,185 ****
      hal_s32_t *count;           /* output: unscaled encoder counts */
      hal_float_t scale;          /* parameter: scale factor */
!     // hal_bit_t *index;        /* output: index flag */
      signed long oldreading;     /* used to detect overflow / underflow of the counter */
  } encoder_t;
--- 181,185 ----
      hal_s32_t *count;           /* output: unscaled encoder counts */
      hal_float_t scale;          /* parameter: scale factor */
!     hal_bit_t *index;           /* output: index flag */
      signed long oldreading;     /* used to detect overflow / underflow of the counter */
  } encoder_t;
***************
*** 703,706 ****
--- 703,708 ----
  {
      int i, byteindex;
+     hal_u8_t mask = 0x01, indextemp;
+ 
      union pos_tag {
          signed long l;
***************
*** 713,716 ****
--- 715,719 ----
      } pos, oldpos;
      
+     indextemp = (hal_u8_t)(slot->rd_buf[ENCISR]);
      byteindex = ENCCNT0;        /* first encoder count register */
      for (i = 0; i < 4; i++) {
***************
*** 729,732 ****
--- 732,737 ----
  	*(slot->encoder[i].count) = pos.l;
  	*(slot->encoder[i].position) = pos.l * slot->encoder[i].scale;
+ 	*(slot->encoder[i].index) = (((indextemp & mask) == mask) ? 1 : 0);
+ 	mask <<= 1;
      }
  }
***************
*** 1042,1046 ****
          ppmc.n.encoder.m.position   float
          ppmc.n.encoder.m.counts     s32
!     TODO:    ppmc.n.encoder.m.indexflag  bit
      
      the output value is position=counts * scale
--- 1047,1051 ----
          ppmc.n.encoder.m.position   float
          ppmc.n.encoder.m.counts     s32
!         ppmc.n.encoder.m.index      bit
      
      the output value is position=counts * scale
***************
*** 1085,1089 ****
              return retval;
          }
!         /* velocity scaling parameter */
          rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.encoder.%02d.position",
                         bus->busnum, bus->last_encoder);
--- 1090,1094 ----
              return retval;
          }
!         /* scaled encoder position */
          rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.encoder.%02d.position",
                         bus->busnum, bus->last_encoder);
***************
*** 1092,1104 ****
              return retval;
          }
!         /* velocity scaling parameter */
!         rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.encoder.%02d.count",
!                        bus->busnum, bus->last_encoder);
!         retval = hal_pin_s32_new(buf, HAL_WR, &(slot->encoder[n].count), comp_id);
!         if (retval != 0) {
!             return retval;
!         }
!         /* increment number to prepare for next output */
!         bus->last_encoder++;
      }
      add_rd_funct(read_encoders, slot, ENCCNT0, ENCCNT3+2);
--- 1097,1116 ----
              return retval;
          }
! 	/* raw encoder position */
! 	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.encoder.%02d.count",
! 		       bus->busnum, bus->last_encoder);
! 	retval = hal_pin_s32_new(buf, HAL_WR, &(slot->encoder[n].count), comp_id);
! 	if (retval != 0) {
! 		return retval;
! 	}
! 	/* encoder index bit */
! 	rtapi_snprintf(buf, HAL_NAME_LEN, "ppmc.%d.encoder.%02d.index",
! 		       bus->busnum, bus->last_encoder);
! 	retval = hal_pin_u8_new(buf, HAL_WR, &(slot->encoder[n].index), comp_id);
! 	if (retval != 0) {
! 		return retval;
! 	}
! 	/* increment number to prepare for next output */
! 	bus->last_encoder++;
      }
      add_rd_funct(read_encoders, slot, ENCCNT0, ENCCNT3+2);