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Merged
grandixximo merged 1 commit into from
Jul 29, 2026
Merged

hal: Update first batch of uspace drivers to getter/setter #4279

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28 changes: 14 additions & 14 deletions src/hal/drivers/hal_gpio.c
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Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,8 @@ RTAPI_MP_ARRAY_STRING(pullup, MAX_CHAN, "set BIAS_PULL_UP flag");
*/

typedef struct{
hal_bit_t *value;
hal_bit_t *value_not;
hal_bool_t value;
hal_bool_t value_not;
} hal_gpio_hal_t;

/* flags are defined such:
Expand Down Expand Up @@ -115,7 +115,7 @@ typedef struct {
typedef struct {
// Bulk line access has to all be to the same "chip" so we have an
// array of chips with their bulk line collections.
hal_u32_t *reset_ns;
hal_uint_t *reset_ns;
int num_in_chips;
int num_out_chips;
hal_gpio_bulk_t *in_chips;
Expand Down Expand Up @@ -400,8 +400,8 @@ rtapi_print_msg(RTAPI_MSG_INFO, "Libgpiod is %i\n", LIBGPIOD_VER);
gpio->in_chips[c].hal = hal_malloc(gpio->in_chips[c].num_lines * sizeof(hal_gpio_hal_t));
for (i = 0; i < gpio->in_chips[c].num_lines; i++){
line_name = get_line_name(&gpio->in_chips[c], i);
retval += hal_pin_bit_newf(HAL_OUT, &(gpio->in_chips[c].hal[i].value), comp_id, "hal_gpio.%s-in", line_name);
retval += hal_pin_bit_newf(HAL_OUT, &(gpio->in_chips[c].hal[i].value_not), comp_id, "hal_gpio.%s-in-not", line_name);
retval += hal_pin_new_bool(comp_id, HAL_OUT, &(gpio->in_chips[c].hal[i].value), 0, "hal_gpio.%s-in", line_name);
retval += hal_pin_new_bool(comp_id, HAL_OUT, &(gpio->in_chips[c].hal[i].value_not), 1, "hal_gpio.%s-in-not", line_name);
}
if (retval < 0){
rtapi_print_msg(RTAPI_MSG_ERR, "hal_gpio: Failed to allocate GPIO input HAL pins\n");
Expand Down Expand Up @@ -437,7 +437,7 @@ rtapi_print_msg(RTAPI_MSG_INFO, "Libgpiod is %i\n", LIBGPIOD_VER);
gpio->out_chips[c].hal = hal_malloc(gpio->out_chips[c].num_lines * sizeof(hal_gpio_hal_t));
for (i = 0; i < gpio->out_chips[c].num_lines; i++){
line_name = get_line_name(&gpio->out_chips[c], i);
retval += hal_pin_bit_newf(HAL_IN, &(gpio->out_chips[c].hal[i].value), comp_id, "hal_gpio.%s-out", line_name);
retval += hal_pin_new_bool(comp_id, HAL_IN, &(gpio->out_chips[c].hal[i].value), 0, "hal_gpio.%s-out", line_name);
}
if (retval < 0){
rtapi_print_msg(RTAPI_MSG_ERR, "hal_gpio: Failed to allocate GPIO output HAL pins\n");
Expand All @@ -451,9 +451,9 @@ rtapi_print_msg(RTAPI_MSG_INFO, "Libgpiod is %i\n", LIBGPIOD_VER);
retval += hal_export_funct(hal_name, hal_gpio_write, gpio, 0, 0, comp_id);

if (reset_active){
gpio->reset_ns = hal_malloc(sizeof(hal_u32_t));
gpio->reset_ns = hal_malloc(sizeof(*gpio->reset_ns));
rtapi_snprintf(hal_name, HAL_NAME_LEN, "hal_gpio.reset");
retval += hal_param_u32_newf(HAL_RW, gpio->reset_ns, comp_id, "hal_gpio.reset_ns");
retval += hal_param_new_ui32(comp_id, HAL_RW, gpio->reset_ns, 0, "hal_gpio.reset_ns");
retval += hal_export_funct(hal_name, hal_gpio_reset, gpio, 0, 0, comp_id);
}
if (retval < 0){
Expand Down Expand Up @@ -484,8 +484,8 @@ static void hal_gpio_read(void *arg, __attribute__((unused)) long period)
gpiod_line_get_value_bulk(gpio->in_chips[c].lines, gpio->in_chips[c].vals);
#endif
for (i = 0; i < gpio->in_chips[c].num_lines; i++){
*(gpio->in_chips[c].hal[i].value) = gpio->in_chips[c].vals[i];
*(gpio->in_chips[c].hal[i].value_not) = ! gpio->in_chips[c].vals[i];
hal_set_bool(gpio->in_chips[c].hal[i].value, gpio->in_chips[c].vals[i]);
hal_set_bool(gpio->in_chips[c].hal[i].value_not, ! gpio->in_chips[c].vals[i]);
}
}
}
Expand All @@ -497,9 +497,9 @@ static void hal_gpio_write(void *arg, __attribute__((unused)) long period)
for (c = 0; c < gpio->num_out_chips; c++){
for (i = 0; i < gpio->out_chips[c].num_lines; i++){
if (gpio->out_chips[c].flags[i] & 0x20){
gpio->out_chips[c].vals[i] = ! *(gpio->out_chips[c].hal[i].value);
gpio->out_chips[c].vals[i] = ! hal_get_bool(gpio->out_chips[c].hal[i].value);
} else {
gpio->out_chips[c].vals[i] = *(gpio->out_chips[c].hal[i].value);
gpio->out_chips[c].vals[i] = hal_get_bool(gpio->out_chips[c].hal[i].value);
}
}
#if LIBGPIOD_VER >200
Expand All @@ -525,8 +525,8 @@ static void hal_gpio_reset(void *arg, long period)
gpio->out_chips[c].vals[i] = 0;
}
}
if (*gpio->reset_ns > period/4) *gpio->reset_ns = period/4;
deadline = last_reset + *gpio->reset_ns;
if (hal_get_ui32(*gpio->reset_ns) > period/4) hal_set_ui32(*gpio->reset_ns, period/4);
deadline = last_reset + hal_get_ui32(*gpio->reset_ns);
while(rtapi_get_time() < deadline) {} // busy-wait!
#if LIBGPIOD_VER > 200
gpiod_line_request_set_values(gpio->out_chips[c].lines, gpio->out_chips[c].vals);
Expand Down
18 changes: 9 additions & 9 deletions src/hal/drivers/hal_pi_gpio.c
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ static unsigned exclude_map;

static int comp_id; /* component ID */
static unsigned char *pins, *gpios;
hal_bit_t **port_data;
hal_bool_t *port_data;

static void write_port(void *arg, long period);
static void read_port(void *arg, long period);
Expand Down Expand Up @@ -262,8 +262,8 @@ int rtapi_app_main(void)
}
break;
}
port_data = hal_malloc(npins * sizeof(void *));
if (port_data == 0) {
port_data = hal_malloc(npins * sizeof(*port_data));
if (NULL == port_data) {
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_PI_GPIO: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
Expand Down Expand Up @@ -312,13 +312,13 @@ int rtapi_app_main(void)
pinno = pins[n];
if (dir_map & RTAPI_BIT(n)) {
bcm2835_gpio_fsel(gpios[n], BCM2835_GPIO_FSEL_OUTP);
if ((retval = hal_pin_bit_newf(HAL_IN, &port_data[n],
comp_id, "hal_pi_gpio.pin-%02d-out", pinno)) < 0)
if ((retval = hal_pin_new_bool(comp_id, HAL_IN, &port_data[n],
0, "hal_pi_gpio.pin-%02d-out", pinno)) < 0)
break;
} else {
bcm2835_gpio_fsel(gpios[n], BCM2835_GPIO_FSEL_INPT);
if ((retval = hal_pin_bit_newf(HAL_OUT, &port_data[n],
comp_id, "hal_pi_gpio.pin-%02d-in", pinno)) < 0)
if ((retval = hal_pin_new_bool(comp_id, HAL_OUT, &port_data[n],
0, "hal_pi_gpio.pin-%02d-in", pinno)) < 0)
break;
}
}
Expand Down Expand Up @@ -372,7 +372,7 @@ static void write_port(void *arg, long period)
if (exclude_map & RTAPI_BIT(n))
continue;
if (dir_map & RTAPI_BIT(n)) {
if (*(port_data[n])) {
if (hal_get_bool(port_data[n])) {
bcm2835_gpio_set(gpios[n]);
} else {
bcm2835_gpio_clr(gpios[n]);
Expand All @@ -389,6 +389,6 @@ static void read_port(void *arg, long period)

for (n = 0; n < npins; n++) {
if ((~dir_map & RTAPI_BIT(n)) && (~exclude_map & RTAPI_BIT(n)))
*port_data[n] = bcm2835_gpio_lev(gpios[n]);
hal_set_bool(port_data[n], bcm2835_gpio_lev(gpios[n]));
}
}
8 changes: 4 additions & 4 deletions src/hal/drivers/hal_skeleton.c
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ RTAPI_MP_STRING(cfg, "config string"); */
*/

typedef struct {
hal_u32_t *data_out; /* ptrs for output */
hal_uint_t data_out; /* ptrs for output */
} skeleton_t;

/* pointer to array of skeleton_t structs in shared memory, 1 per port */
Expand Down Expand Up @@ -161,8 +161,8 @@ int rtapi_app_main(void)
}

/* STEP 3: export the pin(s) */
retval = hal_pin_u32_newf(HAL_IN, &(port_data_array->data_out),
comp_id, "skeleton.%d.pin-%02d-out", n, 1);
retval = hal_pin_new_ui32(comp_id, HAL_IN, &(port_data_array->data_out),
0, "skeleton.%d.pin-%02d-out", n, 1);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SKELETON: ERROR: port %d var export failed with err=%i\n", n,
Expand Down Expand Up @@ -202,7 +202,7 @@ static void write_port(void *arg, long period)
unsigned char outdata;
port = arg;

outdata = *(port->data_out) & 0xFF;
outdata = hal_get_ui32(port->data_out) & 0xFF;
/* write it to the hardware */
rtapi_outb(outdata, 0x378);
}
10 changes: 5 additions & 5 deletions src/hal/drivers/hal_speaker.c
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ RTAPI_MP_STRING(cfg, "config string"); */
*/

typedef struct {
hal_bit_t *signals[8];
hal_bool_t signals[8];
uint8_t last;
} speaker_t;

Expand All @@ -125,7 +125,7 @@ static void write_port(void *arg, long period)
port = arg;

for(i=0; i<8; i++) {
if(*(port->signals[i])) v = v | (1<<i);
if(hal_get_bool(port->signals[i])) v = v | (1<<i);
}

/* write it to the hardware */
Expand Down Expand Up @@ -171,7 +171,7 @@ int rtapi_app_main(void)
#endif /* RTAPI_RTAI */

/* STEP 2: allocate shared memory for skeleton data */
port_data_array = hal_malloc(num_ports * sizeof(speaker_t));
port_data_array = hal_malloc(num_ports * sizeof(*port_data_array));
if (port_data_array == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SPEAKER: ERROR: hal_malloc() failed\n");
Expand All @@ -181,8 +181,8 @@ int rtapi_app_main(void)

/* STEP 3: export the pin(s) */
for(i = 0; i < 8; i++) {
retval = hal_pin_bit_newf(HAL_IN, &(port_data_array->signals[i]),
comp_id, "speaker.%d.pin-%02d-out", n, i);
retval = hal_pin_new_bool(comp_id, HAL_IN, &(port_data_array->signals[i]),
0, "speaker.%d.pin-%02d-out", n, i);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SPEAKER: ERROR: port %d var export failed with err=%i\n", n,
Expand Down
48 changes: 24 additions & 24 deletions src/hal/drivers/mesa_7i65.comp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,16 @@ sequence, one for each bspi instance included in the bitfile loaded to each
installed card during the Hostmot2 setup sequence. Type "dmesg" at the terminal
prompt to view the output.""";

pin in float analogue.#.out [8] """Analogue output values. The value will be
pin in real analogue.#.out [8] """Analogue output values. The value will be
limited to a -1.0 to +1.0 range""";
pin out float analogue.#.in [8] "Analogue outputs read by the 7i65 (in Volts)";
pin out bit digital.#.in [4] "Miscellaneous Digital Inputs";
pin in bit enable.#.out [8] "Amplifier-enable control pins";
pin out bit watchdog.has-bit """Indicates the status of the 7i65 Watchdog (which
pin out real analogue.#.in [8] "Analogue outputs read by the 7i65 (in Volts)";
pin out bool digital.#.in [4] "Miscellaneous Digital Inputs";
pin in bool enable.#.out [8] "Amplifier-enable control pins";
pin out bool watchdog.has-bit """Indicates the status of the 7i65 Watchdog (which
is separate from the FPGA card watchdog""";
param rw float scale-# [8] = 10 """Analogue output scale factor. For example if
param rw real scale-# [8] = 10 """Analogue output scale factor. For example if
the scale is 7 then an input of 1.0 will give 7V on the output terminals""";
param rw bit is-bipolar-# [8] = 1 """Set this value to TRUE for a plus/minus
param rw bool is-bipolar-# [8] = 1 """Set this value to TRUE for a plus/minus
"scale" output. Set to 0 for a 0-"scale" output""";

option extra_setup yes;
Expand Down Expand Up @@ -50,7 +50,7 @@ include <hostmot2-serial.h>;
;;

// to parse the modparam
char *bspi_chans[16] = {0,};
char *bspi_chans[16] = {};
RTAPI_MP_ARRAY_STRING(bspi_chans, 16, "BSPI Channel names");

static int read(void *subdata) {
Expand Down Expand Up @@ -78,9 +78,9 @@ static int read(void *subdata) {
// Limit DAC Outputs
for (i = 0 ; i < 8 ; i++) {
if (scale(i) > 10)
scale(i) = 10;
scale_set(i, 10);
if (scale(i) < -10)
scale(i) = -10;
scale_set(i, -10);

aout[i] = analogue_out(i);
if (aout[i] > 1)
Expand Down Expand Up @@ -147,15 +147,15 @@ static int read(void *subdata) {
}

// Read Misc IO and Watchdog from CPLD
digital_in(0) = (*CPLD_read & 0x1) ? 1:0;
digital_in(1) = (*CPLD_read & 0x2) ? 1:0;
digital_in(2) = (*CPLD_read & 0x4) ? 1:0;
digital_in(3) = (*CPLD_read & 0x8) ? 1:0;
watchdog_has_bit = (*CPLD_read & 0x100) ? 1:0;
digital_in_set(0, (*CPLD_read & 0x1) ? 1:0);
digital_in_set(1, (*CPLD_read & 0x2) ? 1:0);
digital_in_set(2, (*CPLD_read & 0x4) ? 1:0);
digital_in_set(3, (*CPLD_read & 0x8) ? 1:0);
watchdog_has_bit_set((*CPLD_read & 0x100) ? 1:0);

// Read ADC's into Pins
for(i=0; i < 8; i++) {
analogue_in(i) = (double)((int16_t)((*AD7329_read[i] & 0x1FFF) << 3)) / 3276.8;
analogue_in_set(i, (double)((int16_t)((*AD7329_read[i] & 0x1FFF) << 3)) / 3276.8);
}
return 0;
}
Expand Down Expand Up @@ -231,14 +231,14 @@ EXTRA_SETUP(){
}

// analog outputs
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1A,0);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1B,0);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1C,0);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1D,0);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2A,0);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2B,0);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2C,0);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2D,0);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1A, NULL);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1B, NULL);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1C, NULL);
r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1D, NULL);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2A, NULL);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2B, NULL);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2C, NULL);
r += hm2_tram_add_bspi_frame(name, 2, &AD5754_2D, NULL);

// This is required, or nothing happens.
r += hm2_allocate_bspi_tram(name);
Expand Down
14 changes: 7 additions & 7 deletions src/hal/drivers/mesa_uart.comp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,10 +41,10 @@ license "GPL";

include <hostmot2-serial.h>;

pin in u32 tx-data-##[16] "Data to be transmitted";
pin out u32 rx-data-##[16] "Data received";
pin in s32 tx-bytes "Number of bytes to transmit";
pin out s32 rx-bytes "Number of Bytes received";
pin in ui32 tx-data-##[16] "Data to be transmitted";
pin out ui32 rx-data-##[16] "Data received";
pin in si32 tx-bytes "Number of bytes to transmit";
pin out si32 rx-bytes "Number of Bytes received";

variable char *name; // UART name

Expand All @@ -59,7 +59,7 @@ function receive;
/* This uses the RTAPI_MP_ARRAY_STRING macro to load the list of UART channels
into an array. This is copied into the *name string of each */

char *uart_chans[18] = {0,};
char *uart_chans[18] = {};
RTAPI_MP_ARRAY_STRING(uart_chans, 16, "UART Channel names");

FUNCTION(send){
Expand All @@ -82,9 +82,9 @@ FUNCTION(receive){

int i;
unsigned char data[16];
rx_bytes = hm2_uart_read(name, data);
rx_bytes_set(hm2_uart_read(name, data));
for (i = 0 ; i < rx_bytes ; i++){
rx_data(i) = data[i];
rx_data_set(i, data[i]);
}
}

Expand Down
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