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grandixximo merged 1 commit into from
Oct 30, 2026
Merged

hal: Update to 64-bit clean operation and accesses #4745

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160 changes: 80 additions & 80 deletions src/hal/components/boss_plc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,74 +14,74 @@
* the component id number and is formatted as "%d".
*
* Pins (former parameters):
* u32 boss_plc.<id>.amp-ready-delay
* u32 boss_plc.<id>.brake-on-delay
* u32 boss_plc.<id>.brake-off-delay
* u32 boss_plc.<id>.spindle-lo-to-hi
* float boss_plc.<id>.jog-scale-0
* float boss_plc.<id>.jog-scale-1
* float boss_plc.<id>.jog-scale-2
* uint boss_plc.<id>.amp-ready-delay
* uint boss_plc.<id>.brake-on-delay
* uint boss_plc.<id>.brake-off-delay
* uint boss_plc.<id>.spindle-lo-to-hi
* real boss_plc.<id>.jog-scale-0
* real boss_plc.<id>.jog-scale-1
* real boss_plc.<id>.jog-scale-2
*
* Pins:
* bit boss_plc.<id>.cycle-start-in
* bit boss_plc.<id>.cycle-hold-in
* bit boss_plc.<id>.feed-hold-out
* float boss_plc.<id>.adaptive-feed-in
* float boss_plc.<id>.adaptive-feed-out
* bit boss_plc.<id>.tool-change-in
* bit boss_plc.<id>.tool-changed-out
* bit boss_plc.<id>.wait-user-out
* bit boss_plc.<id>.mist-on-in
* bit boss_plc.<id>.mist-on-out
* bit boss_plc.<id>.flood-on-in
* bit boss_plc.<id>.flood-on-out
* bool boss_plc.<id>.cycle-start-in
* bool boss_plc.<id>.cycle-hold-in
* bool boss_plc.<id>.feed-hold-out
* real boss_plc.<id>.adaptive-feed-in
* real boss_plc.<id>.adaptive-feed-out
* bool boss_plc.<id>.tool-change-in
* bool boss_plc.<id>.tool-changed-out
* bool boss_plc.<id>.wait-user-out
* bool boss_plc.<id>.mist-on-in
* bool boss_plc.<id>.mist-on-out
* bool boss_plc.<id>.flood-on-in
* bool boss_plc.<id>.flood-on-out
*
* bit boss_plc.<id>.limit-override-in
* bit boss_plc.<id>.limit-active-out
* float boss_plc.<id>.x-position-in
* bit boss_plc.<id>.x-jog-en-in
* bit boss_plc.<id>.x-limit-in
* bit boss_plc.<id>.x-limit-pos-out
* bit boss_plc.<id>.x-limit-neg-out
* float boss_plc.<id>.y-position-in
* bit boss_plc.<id>.y-jog-en-in
* bit boss_plc.<id>.y-limit-in
* bit boss_plc.<id>.y-limit-pos-out
* bit boss_plc.<id>.y-limit-neg-out
* bit boss_plc.<id>.z-jog-en-in
* bit boss_plc.<id>.z-limit-pos-in
* bit boss_plc.<id>.z-limit-neg-in
* bit boss_plc.<id>.z-limit-pos-out
* bit boss_plc.<id>.z-limit-neg-out
* bool boss_plc.<id>.limit-override-in
* bool boss_plc.<id>.limit-active-out
* real boss_plc.<id>.x-position-in
* bool boss_plc.<id>.x-jog-en-in
* bool boss_plc.<id>.x-limit-in
* bool boss_plc.<id>.x-limit-pos-out
* bool boss_plc.<id>.x-limit-neg-out
* real boss_plc.<id>.y-position-in
* bool boss_plc.<id>.y-jog-en-in
* bool boss_plc.<id>.y-limit-in
* bool boss_plc.<id>.y-limit-pos-out
* bool boss_plc.<id>.y-limit-neg-out
* bool boss_plc.<id>.z-jog-en-in
* bool boss_plc.<id>.z-limit-pos-in
* bool boss_plc.<id>.z-limit-neg-in
* bool boss_plc.<id>.z-limit-pos-out
* bool boss_plc.<id>.z-limit-neg-out
*
* bit boss_plc.<id>.x-amp-enable-in
* bit boss_plc.<id>.x-amp-ready-in
* bit boss_plc.<id>.x-amp-fault-out
* bit boss_plc.<id>.y-amp-enable-in
* bit boss_plc.<id>.y-amp-ready-in
* bit boss_plc.<id>.y-amp-fault-out
* bit boss_plc.<id>.z-amp-enable-in
* bit boss_plc.<id>.z-amp-ready-in
* bit boss_plc.<id>.z-amp-fault-out
* bit boss_plc.<id>.a-amp-enable-in
* bit boss_plc.<id>.a-amp-ready-in
* bit boss_plc.<id>.a-amp-fault-out
* bool boss_plc.<id>.x-amp-enable-in
* bool boss_plc.<id>.x-amp-ready-in
* bool boss_plc.<id>.x-amp-fault-out
* bool boss_plc.<id>.y-amp-enable-in
* bool boss_plc.<id>.y-amp-ready-in
* bool boss_plc.<id>.y-amp-fault-out
* bool boss_plc.<id>.z-amp-enable-in
* bool boss_plc.<id>.z-amp-ready-in
* bool boss_plc.<id>.z-amp-fault-out
* bool boss_plc.<id>.a-amp-enable-in
* bool boss_plc.<id>.a-amp-ready-in
* bool boss_plc.<id>.a-amp-fault-out
*
* float boss_plc.<id>.spindle-speed-in
* bit boss_plc.<id>.spindle-is-on-in
* bit boss_plc.<id>.spindle-fwd-out
* bit boss_plc.<id>.spindle-rev-out
* bit boss_plc.<id>.spindle-inc-in
* bit boss_plc.<id>.spindle-dec-in
* bit boss_plc.<id>.spindle-inc-out
* bit boss_plc.<id>.spindle-dec-out
* bit boss_plc.<id>.brake-en-in
* bit boss_plc.<id>.brake-en-out
* real boss_plc.<id>.spindle-speed-in
* bool boss_plc.<id>.spindle-is-on-in
* bool boss_plc.<id>.spindle-fwd-out
* bool boss_plc.<id>.spindle-rev-out
* bool boss_plc.<id>.spindle-inc-in
* bool boss_plc.<id>.spindle-dec-in
* bool boss_plc.<id>.spindle-inc-out
* bool boss_plc.<id>.spindle-dec-out
* bool boss_plc.<id>.brake-en-in
* bool boss_plc.<id>.brake-en-out
*
* bit boss_plc.<id>.jog-sel-in-0
* bit boss_plc.<id>.jog-sel-in-1
* bit boss_plc.<id>.jog-sel-in-2
* bit boss_plc.<id>.jog-scale-out
* bool boss_plc.<id>.jog-sel-in-0
* bool boss_plc.<id>.jog-sel-in-1
* bool boss_plc.<id>.jog-sel-in-2
* bool boss_plc.<id>.jog-scale-out
*
* Functions:
* void boss_plc.<id>.refresh
Expand Down Expand Up @@ -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;
Expand All @@ -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
Expand Down Expand Up @@ -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);


/******************************************************************************
Expand Down Expand Up @@ -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]);
}
}
Expand All @@ -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;
Expand All @@ -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);
}

Expand All @@ -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);
}
}
Expand Down Expand Up @@ -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);
}
}

Expand Down Expand Up @@ -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));
}
}

Expand All @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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);

Expand Down Expand Up @@ -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;
Expand Down
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