diff --git a/src/hal/components/boss_plc.c b/src/hal/components/boss_plc.c index 7098b9eb486..a77f4080f2d 100644 --- a/src/hal/components/boss_plc.c +++ b/src/hal/components/boss_plc.c @@ -14,74 +14,74 @@ * the component id number and is formatted as "%d". * * Pins (former parameters): - * u32 boss_plc..amp-ready-delay - * u32 boss_plc..brake-on-delay - * u32 boss_plc..brake-off-delay - * u32 boss_plc..spindle-lo-to-hi - * float boss_plc..jog-scale-0 - * float boss_plc..jog-scale-1 - * float boss_plc..jog-scale-2 + * uint boss_plc..amp-ready-delay + * uint boss_plc..brake-on-delay + * uint boss_plc..brake-off-delay + * uint boss_plc..spindle-lo-to-hi + * real boss_plc..jog-scale-0 + * real boss_plc..jog-scale-1 + * real boss_plc..jog-scale-2 * * Pins: - * bit boss_plc..cycle-start-in - * bit boss_plc..cycle-hold-in - * bit boss_plc..feed-hold-out - * float boss_plc..adaptive-feed-in - * float boss_plc..adaptive-feed-out - * bit boss_plc..tool-change-in - * bit boss_plc..tool-changed-out - * bit boss_plc..wait-user-out - * bit boss_plc..mist-on-in - * bit boss_plc..mist-on-out - * bit boss_plc..flood-on-in - * bit boss_plc..flood-on-out + * bool boss_plc..cycle-start-in + * bool boss_plc..cycle-hold-in + * bool boss_plc..feed-hold-out + * real boss_plc..adaptive-feed-in + * real boss_plc..adaptive-feed-out + * bool boss_plc..tool-change-in + * bool boss_plc..tool-changed-out + * bool boss_plc..wait-user-out + * bool boss_plc..mist-on-in + * bool boss_plc..mist-on-out + * bool boss_plc..flood-on-in + * bool boss_plc..flood-on-out * - * bit boss_plc..limit-override-in - * bit boss_plc..limit-active-out - * float boss_plc..x-position-in - * bit boss_plc..x-jog-en-in - * bit boss_plc..x-limit-in - * bit boss_plc..x-limit-pos-out - * bit boss_plc..x-limit-neg-out - * float boss_plc..y-position-in - * bit boss_plc..y-jog-en-in - * bit boss_plc..y-limit-in - * bit boss_plc..y-limit-pos-out - * bit boss_plc..y-limit-neg-out - * bit boss_plc..z-jog-en-in - * bit boss_plc..z-limit-pos-in - * bit boss_plc..z-limit-neg-in - * bit boss_plc..z-limit-pos-out - * bit boss_plc..z-limit-neg-out + * bool boss_plc..limit-override-in + * bool boss_plc..limit-active-out + * real boss_plc..x-position-in + * bool boss_plc..x-jog-en-in + * bool boss_plc..x-limit-in + * bool boss_plc..x-limit-pos-out + * bool boss_plc..x-limit-neg-out + * real boss_plc..y-position-in + * bool boss_plc..y-jog-en-in + * bool boss_plc..y-limit-in + * bool boss_plc..y-limit-pos-out + * bool boss_plc..y-limit-neg-out + * bool boss_plc..z-jog-en-in + * bool boss_plc..z-limit-pos-in + * bool boss_plc..z-limit-neg-in + * bool boss_plc..z-limit-pos-out + * bool boss_plc..z-limit-neg-out * - * bit boss_plc..x-amp-enable-in - * bit boss_plc..x-amp-ready-in - * bit boss_plc..x-amp-fault-out - * bit boss_plc..y-amp-enable-in - * bit boss_plc..y-amp-ready-in - * bit boss_plc..y-amp-fault-out - * bit boss_plc..z-amp-enable-in - * bit boss_plc..z-amp-ready-in - * bit boss_plc..z-amp-fault-out - * bit boss_plc..a-amp-enable-in - * bit boss_plc..a-amp-ready-in - * bit boss_plc..a-amp-fault-out + * bool boss_plc..x-amp-enable-in + * bool boss_plc..x-amp-ready-in + * bool boss_plc..x-amp-fault-out + * bool boss_plc..y-amp-enable-in + * bool boss_plc..y-amp-ready-in + * bool boss_plc..y-amp-fault-out + * bool boss_plc..z-amp-enable-in + * bool boss_plc..z-amp-ready-in + * bool boss_plc..z-amp-fault-out + * bool boss_plc..a-amp-enable-in + * bool boss_plc..a-amp-ready-in + * bool boss_plc..a-amp-fault-out * - * float boss_plc..spindle-speed-in - * bit boss_plc..spindle-is-on-in - * bit boss_plc..spindle-fwd-out - * bit boss_plc..spindle-rev-out - * bit boss_plc..spindle-inc-in - * bit boss_plc..spindle-dec-in - * bit boss_plc..spindle-inc-out - * bit boss_plc..spindle-dec-out - * bit boss_plc..brake-en-in - * bit boss_plc..brake-en-out + * real boss_plc..spindle-speed-in + * bool boss_plc..spindle-is-on-in + * bool boss_plc..spindle-fwd-out + * bool boss_plc..spindle-rev-out + * bool boss_plc..spindle-inc-in + * bool boss_plc..spindle-dec-in + * bool boss_plc..spindle-inc-out + * bool boss_plc..spindle-dec-out + * bool boss_plc..brake-en-in + * bool boss_plc..brake-en-out * - * bit boss_plc..jog-sel-in-0 - * bit boss_plc..jog-sel-in-1 - * bit boss_plc..jog-sel-in-2 - * bit boss_plc..jog-scale-out + * bool boss_plc..jog-sel-in-0 + * bool boss_plc..jog-sel-in-1 + * bool boss_plc..jog-sel-in-2 + * bool boss_plc..jog-scale-out * * Functions: * void boss_plc..refresh @@ -153,8 +153,8 @@ typedef struct { // Private data. BOOL enabled; rtapi_u32 nSec; - rtapi_u32 count; - rtapi_u32 timeout; + rtapi_uint count; + rtapi_uint timeout; TIMER_ROUTINE pTimeout; void *pArgs; TimerMode mode; @@ -165,7 +165,7 @@ static void Timer_Enable(Timer *this, TimerMode mode); static void Timer_Disable(Timer *this); static BOOL Timer_IsEnabled(Timer *this); static void Timer_Update(Timer *this, long period); -static void Timer_SetTimeout(Timer *this, rtapi_u32 timeout); +static void Timer_SetTimeout(Timer *this, rtapi_uint timeout); #if 0 static void Timer_SetCallback(Timer *this, TIMER_ROUTINE pCallback, void *pArgs); #endif @@ -229,7 +229,7 @@ typedef struct { static int Amp_Export(Amp *this, int compId, int id, char axis); static void Amp_Init(Amp *this); -static void Amp_Refresh(Amp *this, long period, rtapi_u32 readyDelay); +static void Amp_Refresh(Amp *this, long period, rtapi_uint readyDelay); /****************************************************************************** @@ -617,12 +617,12 @@ Plc_ExportLimits(Plc *this, int compId, int id) // Export optional parameters. if(debug > 0){ if(!error){ - error = hal_param_new_ui32(compId, HAL_RO, &this->xLimit.stateDebug, 0, + error = hal_param_new_uint(compId, HAL_RO, &this->xLimit.stateDebug, 0, "boss_plc.%d.%c-limit-state", id, axisNames[0]); } if(!error){ - error = hal_param_new_ui32(compId, HAL_RO, &this->yLimit.stateDebug, 0, + error = hal_param_new_uint(compId, HAL_RO, &this->yLimit.stateDebug, 0, "boss_plc.%d.%c-limit-state", id, axisNames[1]); } } @@ -637,7 +637,7 @@ Plc_ExportAmps(Plc *this, int compId, int id) int error, i; Amp *pAmp; - error = hal_pin_new_ui32(compId, HAL_IO, &this->ampReadyDelay, 50, + error = hal_pin_new_uint(compId, HAL_IO, &this->ampReadyDelay, 50, "boss_plc.%d.amp-ready-delay", id); pAmp = this->amps; @@ -655,11 +655,11 @@ Plc_ExportSpindle(Plc *this, int compId, int id) int error; // Export parameters. - error = hal_pin_new_ui32(compId, HAL_IO, &this->brakeOnDelay, 300, + error = hal_pin_new_uint(compId, HAL_IO, &this->brakeOnDelay, 300, "boss_plc.%d.brake-on-delay", id); if(!error){ - error = hal_pin_new_ui32(compId, HAL_IO, &this->brakeOffDelay, 500, + error = hal_pin_new_uint(compId, HAL_IO, &this->brakeOffDelay, 500, "boss_plc.%d.brake-off-delay", id); } @@ -671,7 +671,7 @@ Plc_ExportSpindle(Plc *this, int compId, int id) // Export optional parameters. if(debug > 0){ if(!error){ - error = hal_param_new_ui32(compId, HAL_RO, &this->spindleStateDebug, 0, + error = hal_param_new_uint(compId, HAL_RO, &this->spindleStateDebug, 0, "boss_plc.%d.spindle-state", id); } } @@ -782,9 +782,9 @@ Plc_Refresh(void *arg, long period) Plc_RefreshJog(this, period); if(debug > 0) { - hal_set_ui32(this->spindleStateDebug, this->spindleState); - hal_set_ui32(this->xLimit.stateDebug, this->xLimit.state); - hal_set_ui32(this->yLimit.stateDebug, this->yLimit.state); + hal_set_uint(this->spindleStateDebug, this->spindleState); + hal_set_uint(this->xLimit.stateDebug, this->xLimit.state); + hal_set_uint(this->yLimit.stateDebug, this->yLimit.state); } } @@ -855,7 +855,7 @@ Plc_RefreshAmps(Plc *this, long period) pAmp = this->amps; for(i = 0; i < NUM_AXIS; i++, pAmp++){ - Amp_Refresh(pAmp, period, hal_get_ui32(this->ampReadyDelay)); + Amp_Refresh(pAmp, period, hal_get_uint(this->ampReadyDelay)); } } @@ -870,7 +870,7 @@ Plc_RefreshSpindle(Plc *this, long period) if(!hal_get_bool(this->pBrakeEnIn)){ this->spindleState = SS_WAIT_BRAKE_OFF; hal_set_bool(this->pBrakeEnOut, 0); - Timer_SetTimeout(&this->spindleTimer, hal_get_ui32(this->brakeOffDelay)); + Timer_SetTimeout(&this->spindleTimer, hal_get_uint(this->brakeOffDelay)); Timer_Enable(&this->spindleTimer, TM_ONE_SHOT); } break; @@ -927,7 +927,7 @@ Plc_RefreshSpindle(Plc *this, long period) if(!hal_get_bool(this->pSpindleIsOnIn)){ this->spindleState = SS_WAIT_BRAKE_ON; - Timer_SetTimeout(&this->spindleTimer, hal_get_ui32(this->brakeOnDelay)); + Timer_SetTimeout(&this->spindleTimer, hal_get_uint(this->brakeOnDelay)); Timer_Enable(&this->spindleTimer, TM_ONE_SHOT); } break; @@ -1123,7 +1123,7 @@ Amp_Init(Amp *this) static void -Amp_Refresh(Amp *this, long period, rtapi_u32 readyDelay) +Amp_Refresh(Amp *this, long period, rtapi_uint readyDelay) { Timer_Update(&this->timer, period); @@ -1204,7 +1204,7 @@ Timer_Update(Timer *this, long period) static void -Timer_SetTimeout(Timer *this, rtapi_u32 timeout) +Timer_SetTimeout(Timer *this, rtapi_uint timeout) { this->count = 0; this->timeout = timeout;