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refactor(hm2): drop _64 encoder pins, keep 64-bit internal #3944

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refactor(hm2): drop _64 encoder pins, keep 64-bit internal #3944

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12 changes: 3 additions & 9 deletions docs/src/man/man9/hostmot2.9.adoc
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Original file line number Diff line number Diff line change
Expand Up @@ -322,9 +322,7 @@ following pins and parameters:
*Pins:*

count (s32 out)::
Number of encoder counts since the previous reset.
count_64 (s64 out)::
Number of encoder counts since the previous reset (64 bit).
Number of encoder counts since the previous reset. 32-bit truncation of the 64-bit internal counter; position is computed from the full-width internal value so it does not wrap.
position (float out)::
Encoder position in position units (count / scale).
position-interpolated (float out)::
Expand Down Expand Up @@ -355,13 +353,9 @@ probe-invert (bit r/w)::
If set to True, the rising edge of the probe input pin triggers the latch event (if probe-enable is True).
If set to False, the falling edge triggers. (only present if supported by firmware)
rawcounts (s32 out)::
Total number of encoder counts since the start, not adjusted for index or reset.
rawcounts_64 (s64 out)::
Total number of encoder counts since the start, not adjusted for index or reset. (64 bit)
Total number of encoder counts since the start, not adjusted for index or reset. Truncated view of the internal 64-bit counter.
count_latch (s32 out)::
Encoder count at latch event. (index or probe)
count_latch_64 (s64 out)::
Encoder count at latch event. (index or probe) (64 bit)
Encoder count at latch event (index or probe). Truncated view of the internal 64-bit latched count.
input-a, input-b, input-index (bit out)::
Real time filtered values of A,B,Index encoder signals
quad-error-enable (bit in)::
Expand Down
64 changes: 18 additions & 46 deletions src/hal/drivers/mesa-hostmot2/encoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -510,54 +510,26 @@ int hm2_encoder_parse_md(hostmot2_t *hm2, int md_index) {
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.rawcounts_64", hm2->llio->name, i);
r = hal_pin_s64_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.rawcounts_64), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.rawlatch", hm2->llio->name, i);
r = hal_pin_s32_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.rawlatch), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.rawlatch_64", hm2->llio->name, i);
r = hal_pin_s64_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.rawlatch_64), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.count", hm2->llio->name, i);
r = hal_pin_s32_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.count), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.count_64", hm2->llio->name, i);
r = hal_pin_s64_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.count_64), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.count-latched", hm2->llio->name, i);
r = hal_pin_s32_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.count_latch), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.count-latched_64", hm2->llio->name, i);
r = hal_pin_s64_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.count_latch_64), hm2->llio->comp_id);
if (r < 0) {
HM2_ERR("error adding pin '%s', aborting\n", name);
goto fail1;
}

rtapi_snprintf(name, sizeof(name), "%s.encoder.%02d.position", hm2->llio->name, i);
r = hal_pin_float_new(name, HAL_OUT, &(hm2->encoder.instance[i].hal.pin.position), hm2->llio->comp_id);
Expand Down Expand Up @@ -779,13 +751,13 @@ void hm2_encoder_tram_init(hostmot2_t *hm2) {

*hm2->encoder.instance[i].hal.pin.rawcounts = count;
*hm2->encoder.instance[i].hal.pin.rawlatch = count;
*hm2->encoder.instance[i].hal.pin.rawcounts_64 = count;
*hm2->encoder.instance[i].hal.pin.rawlatch_64 = count;
hm2->encoder.instance[i].rawcounts_64 = count;
hm2->encoder.instance[i].rawlatch_64 = count;

*hm2->encoder.instance[i].hal.pin.count = 0;
*hm2->encoder.instance[i].hal.pin.count_latch = 0;
*hm2->encoder.instance[i].hal.pin.count_64 = 0;
*hm2->encoder.instance[i].hal.pin.count_latch_64 = 0;
hm2->encoder.instance[i].count_64 = 0;
hm2->encoder.instance[i].count_latch_64 = 0;
*hm2->encoder.instance[i].hal.pin.position = 0.0;
*hm2->encoder.instance[i].hal.pin.position_latch = 0.0;
*hm2->encoder.instance[i].hal.pin.velocity = 0.0;
Expand Down Expand Up @@ -839,7 +811,7 @@ static void hm2_encoder_instance_update_rawcounts_and_handle_index(hostmot2_t *h

e = &hm2->encoder.instance[instance];
prev_rawcounts = *e->hal.pin.rawcounts;
prev_rawcounts_64 = *e->hal.pin.rawcounts_64;
prev_rawcounts_64 = e->rawcounts_64;


//
Expand All @@ -853,7 +825,7 @@ static void hm2_encoder_instance_update_rawcounts_and_handle_index(hostmot2_t *h
if (reg_count_diff < -32768) reg_count_diff += 65536;

*e->hal.pin.rawcounts += reg_count_diff;
*e->hal.pin.rawcounts_64 += reg_count_diff;
e->rawcounts_64 += reg_count_diff;


//
Expand Down Expand Up @@ -881,7 +853,7 @@ static void hm2_encoder_instance_update_rawcounts_and_handle_index(hostmot2_t *h
e->zero_offset_64 = prev_rawcounts_64 + (rtapi_s64)reg_count_diff;
}
*(e->hal.pin.rawlatch) = prev_rawcounts + reg_count_diff;
*(e->hal.pin.rawlatch_64) = prev_rawcounts_64 + (rtapi_s64)reg_count_diff;
e->rawlatch_64 = prev_rawcounts_64 + (rtapi_s64)reg_count_diff;
*e->hal.pin.index_enable = 0;
// may need to update interpolated position after index event because
// this _may_ happen without a count but its pretty ugly...
Expand All @@ -905,7 +877,7 @@ static void hm2_encoder_instance_update_rawcounts_and_handle_index(hostmot2_t *h
if (reg_count_diff < -32768) reg_count_diff += 65536;

*(e->hal.pin.rawlatch) = prev_rawcounts + reg_count_diff;
*(e->hal.pin.rawlatch_64) = prev_rawcounts_64 + (rtapi_s64)reg_count_diff;
e->rawlatch_64 = prev_rawcounts_64 + (rtapi_s64)reg_count_diff;
*e->hal.pin.latch_enable = 0;
}
}
Expand Down Expand Up @@ -953,34 +925,35 @@ static void hm2_encoder_instance_update_position(hostmot2_t *hm2, int instance)

if (*e->hal.pin.reset) {
e->zero_offset = *e->hal.pin.rawcounts;
e->zero_offset_64 = *e->hal.pin.rawcounts_64;
e->zero_offset_64 = e->rawcounts_64;
*e->hal.pin.rawlatch = e->zero_offset;
*e->hal.pin.rawlatch_64 = e->zero_offset_64;
*e->hal.pin.position_interpolated = *e->hal.pin.position;
e->rawlatch_64 = e->zero_offset_64;
*e->hal.pin.position_interpolated = *e->hal.pin.position;

}


//
//
// Now we know the current rawcounts and zero_offset, which together
// tell us the current count.
//
// From that we easily compute count and scaled position.
//

*e->hal.pin.count = *e->hal.pin.rawcounts - e->zero_offset;
*e->hal.pin.count_64 = *e->hal.pin.rawcounts_64 - e->zero_offset_64;
e->count_64 = e->rawcounts_64 - e->zero_offset_64;
*e->hal.pin.count_latch = *e->hal.pin.rawlatch - e->zero_offset;
*e->hal.pin.count_latch_64 = *e->hal.pin.rawlatch_64 - e->zero_offset_64;
e->count_latch_64 = e->rawlatch_64 - e->zero_offset_64;


//
// Now we know the current current .count, from this we easily compute
// the scaled position.
// the scaled position. Float position uses the 64-bit internal count
// to avoid wrap on high-resolution encoders.
//

*e->hal.pin.position = *e->hal.pin.count_64 / e->hal.param.scale;
*e->hal.pin.position_latch = *e->hal.pin.count_latch_64 / e->hal.param.scale;
*e->hal.pin.position = e->count_64 / e->hal.param.scale;
*e->hal.pin.position_latch = e->count_latch_64 / e->hal.param.scale;
}


Expand Down Expand Up @@ -1023,7 +996,6 @@ static void hm2_encoder_instance_process_tram_read(hostmot2_t *hm2, int instance
hm2_encoder_instance_update_position(hm2, instance);

e->prev_event_rawcounts = *e->hal.pin.rawcounts;
e->prev_event_rawcounts_64 = *e->hal.pin.rawcounts_64;
e->prev_event_reg_timestamp = hm2_encoder_get_reg_timestamp(hm2, instance);
e->prev_dS_counts = 0;

Expand Down
21 changes: 11 additions & 10 deletions src/hal/drivers/mesa-hostmot2/hostmot2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -281,14 +281,10 @@ typedef struct {
struct {

struct {
hal_s32_t *rawcounts; // raw encoder counts
hal_s32_t *rawlatch; // raw encoder of latch
hal_s32_t *count; // (rawcounts - zero_offset)
hal_s32_t *count_latch; // (rawlatch - zero_offset)
hal_s64_t *rawcounts_64; // raw encoder counts
hal_s64_t *rawlatch_64; // raw encoder of latch
hal_s64_t *count_64; // (rawcounts - zero_offset)
hal_s64_t *count_latch_64; // (rawlatch - zero_offset)
hal_s32_t *rawcounts; // raw encoder counts (truncated view of 64-bit internal)
hal_s32_t *rawlatch; // raw encoder of latch (truncated view)
hal_s32_t *count; // (rawcounts - zero_offset), truncated view
hal_s32_t *count_latch; // (rawlatch - zero_offset), truncated view
hal_float_t *position;
hal_float_t *position_latch;
hal_float_t *position_interpolated;
Expand Down Expand Up @@ -321,7 +317,13 @@ typedef struct {
} hal;

rtapi_s32 zero_offset; // *hal.pin.counts == (*hal.pin.rawcounts - zero_offset)
rtapi_s64 zero_offset_64; // *hal.pin.counts_64 == (*hal.pin.rawcounts_64 - zero_offset_64)
// 64-bit internals prevent float position wrap on high-count encoders.
// Not exposed as HAL pins; s32 pins above are truncated views.
rtapi_s64 rawcounts_64;
rtapi_s64 rawlatch_64;
rtapi_s64 count_64;
rtapi_s64 count_latch_64;
rtapi_s64 zero_offset_64;

rtapi_u16 prev_reg_count; // from this and the current count in the register we compute a change-in-counts, which we add to rawcounts

Expand All @@ -335,7 +337,6 @@ typedef struct {

// these two are the datapoint last time we moved (only valid if state == HM2_ENCODER_MOVING)
rtapi_s32 prev_event_rawcounts;
rtapi_s64 prev_event_rawcounts_64;
rtapi_u16 prev_event_reg_timestamp;

rtapi_s32 tsc_num_rollovers;
Expand Down
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