Hi Group!!
I am trying to add new hal-pin to motion-controller. For that I did the
following
1. Add the pins to emcmot_hal_data_t in mot_priv.h
-> hal_float_t *control_shaft_pos
2. Initialisation of the pins in motion.c
->hal_pin_float_new(buf,HAL_OUT,&(emcmot_hal_data->control_shaft_pos),mot_comp_id)
3. Add a new structur to Status Structure emcmot_status_t in motion.h
-> controlshaft_status controlshaft;
which I defined above in motion.c
typedef struct{
double controlshaftPos ;
double controlshaftVel ;
} controlshaft_status;
4. Copy the value of the HAL-PIN to Status structure by the function
process_inputs(void) in control.c
-> emcmotStatus->controlshaft.controlshaftPos =
*emcmot_hal_data->control_shaft_pos;
!! Here I get the right value!!
5. Define a new class EMC_CONTROLSHAFT_STAT with the new value
6. Copy the value by the function emcMotionUpdate(EMC_MOTION_STAT *
stat) in in taskintf.cc
-> stat->controlshaft.controlshaftPos =
emcmotStatus.controlshaft.controlshaftPos;
!! Here I get konstanty zero by printing
printf("taskintf.cc line 1501 - Zyklus: %d, value: %f \n",
(int)localMotionHeartbeat, emcmotStatus.controlshaft.controlshaftVel);
Hopefully anybody can help me! I have no idea!
Thanks
Bernd
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