Revert "homing.c: internal updates
This reverts commit e5be0730d1.
based on user problem:
https://forum.linuxcnc.org/49-basic-configuration/45798-weird-homing-behavior-y-y2-out-of-sync#242056
more investigation required
This commit is contained in:
Dewey Garrett
parent
34a5f4fdf5
commit
3b17ed1d9c
2 changed files with 813 additions and 1087 deletions
File diff suppressed because it is too large
Load diff
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@ -4,22 +4,9 @@ description """
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Example of a homing module buildable with halcompile.
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Example of a homing module buildable with halcompile.
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Demonstrates required code for #includes, function definitions, etc.
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Demonstrates required code for #includes, function definitions, etc.
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If \\fBHOMING_BASE\\fR is #defined and points to a valid homing.c file,
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An actual homing scheme is \\fBnot\\fR implemented but all necessary
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an example of a customized homing module is built. This module
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functions are included as skeleton code. (All joints are
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creates input hal pins joint.n.request-custom-homing that enable an
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effectively homed at all times and cannot be unhomed).
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alternate joint homing state machine for requested joints. A hal output
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pin joint.N.is_custom-homing verifies selection"
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The customized homing module utilizes many of the base homing api
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routines from homing.c without modification but augments other base
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functions to add support for custom hal pins and custom joint homing
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state machines. A user-built module will likely replace additional
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api functions or augment them with other customizations.
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If \\fBHOMING_BASE\\fR Is not #defined, an actual homing scheme is
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\\fBnot\\fR implemented but all necessary functions are included as
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skeleton code. (All joints are effectively homed at all times and
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cannot be unhomed).
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See the source code file: src/emc/motion/homing.c for the baseline
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See the source code file: src/emc/motion/homing.c for the baseline
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implementation that includes all functions for the default \\fBhomemod\\fR
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implementation that includes all functions for the default \\fBhomemod\\fR
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@ -48,245 +35,40 @@ option homemod;
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option extra_setup;
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option extra_setup;
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;;
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;;
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/* To incorporate default homing.c file from a local git src tree:
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** enable #define HOMING_BASE set to the path to the current homing.c file.
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** (Note: CUSTOM_HOMEMODULE precludes duplicate api symbols)
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** (Edit myname as required for valid path)
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*/
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// #define HOMING_BASE /home/myname/linuxcnc-dev/src/emc/motion/homing.c
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#define STR(s) #s
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#define XSTR(s) STR(s)
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#include "motion.h"
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#include "motion.h"
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#include "homing.h"
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#include "homing.h"
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static char *home_parms;
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static char *home_parms;
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RTAPI_MP_STRING(home_parms,"Example home parms");
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RTAPI_MP_STRING(home_parms,"Example home parms");
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// rtapi_app_main() supplied by halcompile
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// EXTRA_SETUP is executed before rtapi_app_main()
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// EXTRA_SETUP is executed before rtapi_app_main()
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EXTRA_SETUP() {
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EXTRA_SETUP() {
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if (!home_parms) {home_parms = "no_home_parms";}
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if (!home_parms) {home_parms = "no_home_parms";}
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rtapi_print("@@@%s:%s: home_parms=%s\n",__FILE__,__FUNCTION__,home_parms);
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rtapi_print("@@@%s:%s: home_parms=%s\n",__FILE__,__FUNCTION__,home_parms);
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#ifndef HOMING_BASE
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rtapi_print("\n!!!%s: Skeleton Homing Module\n\n",__FILE__);
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#else
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rtapi_print("\n!!!%s: HOMING_BASE=%s\n"
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"!!!Customize using hal pin(s): joint.N.request-custom-homing\n"
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,__FILE__,XSTR(HOMING_BASE));
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#endif
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return 0;
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return 0;
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}
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}
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//=====================================================================
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// retrieved from motmod.so:
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#ifdef HOMING_BASE // { begin CUSTOM example
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#define USE_HOMING_BASE XSTR(HOMING_BASE)
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// NOTE: CUSTOM_HOMEMODULE: disables duplicate symbols sourced from homing.c
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#define CUSTOM_HOMEMODULE
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#include USE_HOMING_BASE
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typedef struct {
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bool request_custom_homing;
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bool is_custom_homing;
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} custom_home_local_data;
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static custom_home_local_data customH[EMCMOT_MAX_JOINTS];
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// data for per-joint custom-homing-specific hal pins:
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typedef struct {
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hal_bit_t *request_custom_homing; // input requests custom homing
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hal_bit_t *is_custom_homing; // output verifies custom homing
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} custom_one_joint_home_data_t;
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typedef struct {
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custom_one_joint_home_data_t custom_jhd[EMCMOT_MAX_JOINTS];
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} custom_all_joints_home_data_t;
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static custom_all_joints_home_data_t *custom_joint_home_data = 0;
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static int custom_makepins(int id,int njoints)
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{
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int jno,retval;
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custom_one_joint_home_data_t *addr;
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custom_joint_home_data = hal_malloc(sizeof(custom_all_joints_home_data_t));
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if (custom_joint_home_data == 0) {
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rtapi_print_msg(RTAPI_MSG_ERR, "HOMING: custom_all_joints_home_data_t malloc failed\n");
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return -1;
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}
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retval = 0;
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for (jno = 0; jno < njoints; jno++) {
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addr = &(custom_joint_home_data->custom_jhd[jno]);
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retval += hal_pin_bit_newf(HAL_IN, &(addr->request_custom_homing), id,
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"joint.%d.request-custom-homing", jno);
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retval += hal_pin_bit_newf(HAL_OUT, &(addr->is_custom_homing), id,
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"joint.%d.is-custom-homing", jno);
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}
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return retval;
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} // custom_makepins()
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static void custom_read_homing_in_pins(int njoints)
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{
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int jno;
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custom_one_joint_home_data_t *addr;
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for (jno = 0; jno < njoints; jno++) {
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addr = &(custom_joint_home_data->custom_jhd[jno]);
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customH[jno].request_custom_homing = *(addr->request_custom_homing); // IN
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// echo for verificaion:
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customH[jno].is_custom_homing = customH[jno].request_custom_homing;
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}
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}
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static void custom_write_homing_out_pins(int njoints)
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{
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int jno;
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custom_one_joint_home_data_t *addr;
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for (jno = 0; jno < njoints; jno++) {
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addr = &(custom_joint_home_data->custom_jhd[jno]);
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*(addr->is_custom_homing) = customH[jno].is_custom_homing; // OUT
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}
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}
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static int custom_1joint_state_machine(int joint_num)
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{
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// custom: always homed
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H[joint_num].homing = 0;
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H[joint_num].homed = 1;
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H[joint_num].home_state = HOME_IDLE;
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immediate_state = 1;
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H[joint_num].joint_in_sequence = 0;
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return 0;
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} // custom_1joint_state_machine()
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// api functions below augment base_*() functions with custom code
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int homing_init(int id,
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double servo_period,
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int n_joints,
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int n_extrajoints,
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emcmot_joint_t* pjoints)
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{
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int retval;
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retval = base_homing_init(id,
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servo_period,
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n_joints,
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n_extrajoints,
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pjoints);
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retval += custom_makepins(id,n_joints);
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return retval;
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} // homing_init()
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void read_homing_in_pins(int njoints)
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{
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base_read_homing_in_pins(njoints);
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custom_read_homing_in_pins(njoints);
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}
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void write_homing_out_pins(int njoints)
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{
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base_write_homing_out_pins(njoints);
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custom_write_homing_out_pins(njoints);
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}
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/* do_homing() is adapted from homing.c:base_do_homing() augmented
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** with support for custom homing as specified on hal input pin:
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** joint.n.request-custom-homing and echoed on hal output pin
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** joint.n.is-custom-homing
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*/
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bool do_homing(void)
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{
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int joint_num;
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int homing_flag = 0;
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bool beginning_allhomed = get_allhomed();
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do_homing_sequence();
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/* loop thru joints, treat each one individually */
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for (joint_num = 0; joint_num < all_joints; joint_num++) {
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if (!H[joint_num].joint_in_sequence) { continue; }
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if (!GET_JOINT_ACTIVE_FLAG(&joints[joint_num])) { continue; }
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if (customH[joint_num].is_custom_homing) {
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// CUSTOM joint homing state machine:
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homing_flag += custom_1joint_state_machine(joint_num);
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} else {
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// DEFAULT joint homing state machine:
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homing_flag += base_1joint_state_machine(joint_num);
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}
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}
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if ( homing_flag > 0 ) { /* one or more joint is homing */
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homing_active = 1;
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} else { /* is a homing sequence in progress? */
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if (sequence_state == HOME_SEQUENCE_IDLE) {
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/* no, single joint only, we're done */
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homing_active = 0;
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}
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}
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// return 1 if homing completed this period
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if (!beginning_allhomed && get_allhomed()) {homing_active=0; return 1;}
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return 0;
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}
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//===============================================================================
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// functions below use unmodified base_*() implementation
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bool get_allhomed(void) { return base_get_allhomed(); }
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bool get_homed(int jno) { return base_get_homed(jno); }
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bool get_home_is_idle(int jno) { return base_get_home_is_idle(jno); }
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bool get_home_is_synchronized(int jno) { return base_get_home_is_synchronized(jno); }
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bool get_home_needs_unlock_first(int jno) { return base_get_home_needs_unlock_first(jno); }
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int get_home_sequence(int jno) { return base_get_home_sequence(jno); }
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bool get_homing(int jno) { return base_get_homing(jno); }
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bool get_homing_at_index_search_wait(int jno) { return base_get_homing_at_index_search_wait(jno); }
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bool get_homing_is_active(void) { return base_get_homing_is_active(); }
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bool get_index_enable(int jno) { return base_get_index_enable(jno); }
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void do_home_joint(int jno) { base_do_home_joint(jno); }
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void do_cancel_homing(int jno) { base_do_cancel_homing(jno); }
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void set_unhomed(int jno, motion_state_t motstate) { base_set_unhomed(jno,motstate); }
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void set_joint_homing_params(int jno,
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double offset,
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double home,
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double home_final_vel,
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double home_search_vel,
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double home_latch_vel,
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int home_flags,
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int home_sequence,
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bool volatile_home
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)
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{
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base_set_joint_homing_params(jno,
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offset,
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home,
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home_final_vel,
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home_search_vel,
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home_latch_vel,
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home_flags,
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home_sequence,
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volatile_home);
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}
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void update_joint_homing_params(int jno,
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double offset,
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double home,
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int home_sequence
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)
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{
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base_update_joint_homing_params (jno,
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offset,
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home,
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home_sequence
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);
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}
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// end CUSTOM example
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//=====================================================================
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#else // } { begin SKELETON example minimal api implementation
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static emcmot_joint_t *joints;
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static emcmot_joint_t *joints;
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//========================================================
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// motmod function ptrs for functions called BY homecomp:
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static void(*SetRotaryUnlock)(int,int);
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static int (*GetRotaryIsUnlocked)(int);
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//========================================================
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// functions ptrs received from motmod:
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void homeMotFunctions(void(*pSetRotaryUnlock)(int,int)
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,int (*pGetRotaryIsUnlocked)(int)
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)
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{
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SetRotaryUnlock = *pSetRotaryUnlock;
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GetRotaryIsUnlocked = *pGetRotaryIsUnlocked;
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}
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//========================================================
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// data for per-joint homing-specific hal pins:
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// data for per-joint homing-specific hal pins:
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typedef struct {
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typedef struct {
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hal_bit_t *home_sw; // home switch input
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hal_bit_t *home_sw; // home switch input
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@ -332,11 +114,10 @@ static int makepins(int id,int njoints)
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}
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}
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return retval;
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return retval;
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}
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}
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// All (skeleton) functions required for homing api follow:
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void homeMotFunctions(void(*pSetRotaryUnlock)(int,int)
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//========================================================
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,int (*pGetRotaryIsUnlocked)(int)
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// All functions required for homing api
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)
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// For homecomp.comp: most are skeleton
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{ return; }
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int homing_init(int id,
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int homing_init(int id,
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double servo_period,
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double servo_period,
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@ -377,9 +158,8 @@ void update_joint_homing_params (int jno,
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int home_sequence
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int home_sequence
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) {return;}
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) {return;}
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void write_homing_out_pins(int njoints) {return;}
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void write_homing_out_pins(int njoints) {return;}
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#endif // } end SKELETON example minimal api implementation
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//=====================================================================
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//========================================================
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// all home functions for homing api
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// all home functions for homing api
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EXPORT_SYMBOL(homeMotFunctions);
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EXPORT_SYMBOL(homeMotFunctions);
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@ -402,9 +182,3 @@ EXPORT_SYMBOL(set_unhomed);
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EXPORT_SYMBOL(set_joint_homing_params);
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EXPORT_SYMBOL(set_joint_homing_params);
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EXPORT_SYMBOL(update_joint_homing_params);
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EXPORT_SYMBOL(update_joint_homing_params);
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EXPORT_SYMBOL(write_homing_out_pins);
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EXPORT_SYMBOL(write_homing_out_pins);
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#undef XSTR
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#undef STR
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#undef HOMING_BASE
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#undef USE_HOMING_BASE
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#undef CUSTOM_HOMEMODULE
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