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Alkabal 2.8 xhc whb04b 6 #1644

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Merged
andypugh merged 5 commits into from
Apr 1, 2022
Merged

Alkabal 2.8 xhc whb04b 6 #1644

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604d34e
full update xhc-whb04b-6 for 2.8
alkabal Jun 15, 2021
0c86def
update
alkabal Mar 3, 2022
6d64efd
correcting submakefile for 2.8
alkabal Mar 3, 2022
4df126f
Add files via upload
alkabal Mar 3, 2022
d182e7f
Merge pull request #1 from LinuxCNC/2.8
alkabal Mar 3, 2022
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56 changes: 41 additions & 15 deletions src/hal/user_comps/xhc-whb04b-6/hal.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <string.h>
#include <stdarg.h>
#include <unistd.h>
#include <fstream>

// local library includes
#include "./pendant.h"
Expand Down Expand Up @@ -749,11 +750,11 @@ void Hal::setStart(bool enabled)
if (requestAutoMode(enabled))
{
if (enabled)
{
toggleStartResumeProgram();
{
toggleStartResumeProgram();
}
setPin(enabled, KeyCodes::Buttons.start.text);
}
setPin(enabled, KeyCodes::Buttons.start.text);
}

if (!enabled)
{
Expand Down Expand Up @@ -795,6 +796,24 @@ void Hal::clearStartResumeProgramStates()
*memory->out.doRunProgram = false;
*memory->out.doResumeProgram = false;
}

void Hal::checkState(bool state, hal_bit_t *pin)
{
// 500 milliseconds timeout
unsigned int timeouts=500;
unsigned int timeoutMs=1;
do
{
if (state == *pin)
{
usleep(timeoutMs * 1000);
}
else
{
break;
}
} while ((state == *pin) && (--timeouts) > 0);
}
// ----------------------------------------------------------------------
void Hal::toggleStartResumeProgram()
{
Expand All @@ -803,17 +822,21 @@ void Hal::toggleStartResumeProgram()
*memory->out.doPauseProgram = false;
*memory->out.doRunProgram = false;
*memory->out.doResumeProgram = true;
}
if (*memory->in.isProgramRunning)
checkState(true, memory->in.isProgramPaused);
*memory->out.doResumeProgram = false;
} else if (*memory->in.isProgramRunning)
{
*memory->out.doPauseProgram = true;
checkState(false, memory->in.isProgramPaused);
*memory->out.doPauseProgram = false;
*memory->out.doRunProgram = false;
*memory->out.doResumeProgram = false;
}
if (*memory->in.isProgramIdle)
} else if (*memory->in.isProgramIdle)
{
*memory->out.doPauseProgram = false;
*memory->out.doRunProgram = true;
checkState(false, memory->in.isProgramRunning);
*memory->out.doRunProgram = false;
*memory->out.doResumeProgram = false;
}
}
Expand Down Expand Up @@ -1335,8 +1358,8 @@ void Hal::setJogCounts(const HandWheelCounters& counters)
*memory->out.axisAJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_A);
*memory->out.axisBJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_B);
*memory->out.axisCJogCounts = counters.counts(HandWheelCounters::CounterNameToIndex::AXIS_C);
requestManualMode(false);
requestTeleopMode(false);
requestManualMode(false);
requestTeleopMode(false);
}
// ----------------------------------------------------------------------
void Hal::setFunction(bool enabled)
Expand Down Expand Up @@ -1373,6 +1396,7 @@ bool Hal::requestMode(bool isRisingEdge, hal_bit_t *requestPin, hal_bit_t * mode
{
if (isRisingEdge)
{
bool rv;
if (true == *modeFeedbackPin)
{
// shortcut for mode request which is already active
Expand All @@ -1381,15 +1405,16 @@ bool Hal::requestMode(bool isRisingEdge, hal_bit_t *requestPin, hal_bit_t * mode
// request mode
*requestPin = true;
usleep(mHalRequestProfile.mode.holdMs * 1000);
rv = waitForRequestedMode(modeFeedbackPin);
*requestPin = false;
usleep(mHalRequestProfile.mode.spaceMs * 1000);
return waitForRequestedMode(modeFeedbackPin);
return rv;
}
else
{
// on button released always clear request
*requestPin = false;
return false;
// on button released always clear request
*requestPin = false;
return false;
}
return false;
}
Expand All @@ -1403,6 +1428,7 @@ bool Hal::waitForRequestedMode(volatile hal_bit_t * condition)
useconds_t timeoutMs = mHalRequestProfile.mode.modeCheckLoopTimeoutMs;
unsigned int maxTimeouts = mHalRequestProfile.mode.modeCheckLoops;
unsigned int timeouts = maxTimeouts;

do
{
if (false == *condition)
Expand All @@ -1417,7 +1443,7 @@ bool Hal::waitForRequestedMode(volatile hal_bit_t * condition)
if (false == *condition)
{
auto delay = (maxTimeouts - timeouts) * timeoutMs;
std::cerr << "hal failed to wait for reqested mode. waited " << delay << "ms\n";
std::cerr << "hal failed to wait for requested mode. waited " << delay << "ms\n";
return false;
}
else
Expand Down
4 changes: 4 additions & 0 deletions src/hal/user_comps/xhc-whb04b-6/hal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -549,6 +549,10 @@ class Hal
//! Writes the corresponding counter to to each axis' count.
//! \param counters values to propagate to each axis
void setJogCounts(const HandWheelCounters& counters);
//! waits until a given pin is set to a requested state
//! \param state requested state
//! \param pin requested pin to compare with
void checkState(bool state, hal_bit_t *pin);

//! Returns the axis position.
//! \param absolute true absolute, false relative
Expand Down