Merge remote-tracking branch 'eris/jeroen' into michel

controller/controller/il2c/test/Makefile

@@ -9,6 +9,6 @@ blocks: noil.o test.o oneshot.o
 
 
 clean:
-	rm -rf *.o *.d
+	rm -rf *.o *.lo *.d *.h
 
 include ../../../build.mk

controller/controller/il2c/test/oneshot.h

-/* Automaticly generated block 'oneshot' */
-#ifndef _INCLUDE_oneshot_H_
-#define _INCLUDE_oneshot_H_
-
-struct controller_block * block_oneshot_create(char *name);
-
-#endif /* _INCLUDE_oneshot_H_ */

controller/controller/il2c/test/test.h

-/* Automaticly generated block 'test' */
-#ifndef _INCLUDE_test_H_
-#define _INCLUDE_test_H_
-
-struct controller_block * block_test_create(char *name);
-
-#endif /* _INCLUDE_test_H_ */

controller/ec/block_stoeber.c

@@ -65,9 +65,9 @@ static void calculate_tx(struct controller_block *tx)
 		enabled = true;
 	}
 	
-	*stbr->tx_A180 = enabled;
-	*stbr->tx_F210 = (*private->input_ba1 << 0) | (*private->input_ba2 << 1);
-	*stbr->tx_I210 = htole16(le16toh(*stbr->tx_I210) ^ 1);
+	stbr->tx.A180 = enabled;
+	stbr->tx.F210 = (*private->input_ba1 << 0) | (*private->input_ba2 << 1);
+	stbr->tx.I210 = htole16(le16toh(stbr->tx.I210) ^ 1);
 	
 	if (enabled)
 		sp = *private->input_speed * 16384.0 / RPM2RADS(3000.0);
@@ -79,12 +79,13 @@ static void calculate_tx(struct controller_block *tx)
 	if (sp < -32768)
 		sp = -32768;
 	
-	*stbr->tx_I215 = htole16((int16_t)sp);
+	stbr->tx.I215 = htole16((int16_t)sp);
 	
 	torque = *private->input_torque / stbr->standstill_torque * 16384;
 
-	*stbr->tx_C230 = htole16((int16_t)torque);
+	stbr->tx.C230 = htole16((int16_t)torque);
 	
+	memcpy(stbr->tx_buffer, &stbr->tx, sizeof(stbr->tx));
 	ret = ec_tx_pdo(controller_samplenr);
 	
 	if (ret && enabled) {
@@ -107,20 +108,22 @@ static void calculate_rx(struct controller_block *rx)
 	
 	ret = ec_rx_pdo(controller_samplenr);
 	if (ret == 0) {
-		position = (int32_t)le32toh(*stbr->rx_I80);
+		memcpy(&stbr->rx, stbr->rx_buffer, sizeof(stbr->rx));
+	
+		position = (int32_t)le32toh(stbr->rx.I80);
 		position *= 2.0 * M_PI / 16384;
 		
-		speed = (int32_t)le32toh(*stbr->rx_E91);
+		speed = (int32_t)le32toh(stbr->rx.E91);
 		speed *= 1.0/16384;
 		speed = RPM2RADS(speed);
 		
-		torque = (int16_t)le16toh(*stbr->rx_E90);
+		torque = (int16_t)le16toh(stbr->rx.E90);
 		torque *= 1.0 / 1200;
 		
-		ae1 = (int16_t)le16toh(*stbr->rx_E10);
+		ae1 = (int16_t)le16toh(stbr->rx.E10);
 		ae1 *= 20.0 / 32767.0;
 		
-		E19 = le16toh(*stbr->rx_E19);
+		E19 = le16toh(stbr->rx.E19);
 		be1 = E19 & 0x01;
 		be2 = E19 & 0x02;
 		be3 = E19 & 0x04;

controller/ec/ec_stoeber.c

@@ -376,19 +376,6 @@ int ec_stoeber_init(struct ec_stoeber *stbr)
 	if (esc_al_state_set(&stbr->addr, ESC_AL_STATE_SAFE_OPERATIONAL) < 0)
 		return -1;
 
-	stbr->rx_I80 = (uint32_t*)(stbr->rx_buffer + STOEBER_PDO_I80);
-	stbr->rx_E91 = (uint32_t*)(stbr->rx_buffer + STOEBER_PDO_E91);
-	stbr->rx_E90 = (uint16_t*)(stbr->rx_buffer + STOEBER_PDO_E90);
-	stbr->rx_E19 = (uint16_t*)(stbr->rx_buffer + STOEBER_PDO_E19);
-	stbr->rx_E10 = (uint16_t*)(stbr->rx_buffer + STOEBER_PDO_E10);
-	
-	stbr->tx_A180 = (uint8_t*)(stbr->tx_buffer + STOEBER_PDO_A180);
-	stbr->tx_F210 = (uint8_t*)(stbr->tx_buffer + STOEBER_PDO_F210);
-	stbr->tx_I210 = (uint16_t*)(stbr->tx_buffer + STOEBER_PDO_I210);
-	stbr->tx_I213 = (uint32_t*)(stbr->tx_buffer + STOEBER_PDO_I213);
-	stbr->tx_I215 = (uint16_t*)(stbr->tx_buffer + STOEBER_PDO_I215);
-	stbr->tx_C230 = (uint16_t*)(stbr->tx_buffer + STOEBER_PDO_C230);
-
 	printf("Done\n");
 	return 0;
 

controller/ec/ec_stoeber.h

@@ -28,19 +28,6 @@
 #define STOEBER_PDO_MAP(g,nr,s,l) \
     htole32((STOEBER_PARAM2INDEX(g,nr)<<16)|((s)<<8)|l)
 
-#define STOEBER_PDO_A180	0
-#define STOEBER_PDO_F210	1
-#define STOEBER_PDO_I210	2
-#define STOEBER_PDO_I213	4
-#define STOEBER_PDO_I215	8
-#define STOEBER_PDO_C230	10
-
-#define STOEBER_PDO_I80		0
-#define STOEBER_PDO_E91		4
-#define STOEBER_PDO_E90		8
-#define STOEBER_PDO_E19		10
-#define STOEBER_PDO_E10		12
-
 struct ec_stoeber {
 	char *dev;
 	struct ec_dgram_addr addr;
@@ -58,20 +45,24 @@ struct ec_stoeber {
 	
 	/* rx pdo */
 	unsigned char *rx_buffer; /* 14 */
-	uint32_t *rx_I80;
-	uint32_t *rx_E91;
-	uint16_t *rx_E90;
-	uint16_t *rx_E19;
-	uint16_t *rx_E10;
+	struct {
+		uint32_t I80;
+		uint32_t E91;
+		uint16_t E90;
+		uint16_t E19;
+		uint16_t E10;
+	} rx;
 	
 	/* tx pdo */
 	unsigned char *tx_buffer; /* 12 */;
-	uint8_t *tx_A180;
-	uint8_t *tx_F210;
-	uint16_t *tx_I210;
-	uint32_t *tx_I213;
-	uint16_t *tx_I215;
-	uint16_t *tx_C230;
+	struct {
+		uint8_t A180;
+		uint8_t F210;
+		uint16_t I210;
+		uint32_t I213;
+		uint16_t I215;
+		uint16_t C230;
+	} tx;
 };
 
 int ec_stoeber_init(struct ec_stoeber *stbr);