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Draft - HAL types update - Remove 32-bit and move to 64-bit #4247

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6 changes: 3 additions & 3 deletions configs/apps/gladevcp/complex/complex.py
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Original file line number Diff line number Diff line change
Expand Up @@ -123,12 +123,12 @@ def _hal_setup(self,halcomp, builder):
self.led1 = self.builder.get_object("hal_led1")

# standard hal pins not associated with any widget
self.halcomp.newpin("example-out", hal.HAL_BIT, hal.HAL_OUT)
self.halcomp.newpin("example-in", hal.HAL_S32, hal.HAL_IN)
self.halcomp.newpin("example-out", hal.Type.BOOL, hal.Dir.OUT)
self.halcomp.newpin("example-in", hal.Type.SINT, hal.Dir.IN)

# hal pins with change callback. Also unrelated to any HAL widget.
# When the pin's value changes the callback is executed.
self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.HAL_BIT, hal.HAL_IN))
self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.Type.BOOL, hal.Dir.IN))
self.example_trigger.connect('value-changed', self._on_example_trigger_change)

def __init__(self, halcomp,builder,useropts):
Expand Down
8 changes: 4 additions & 4 deletions configs/attic/unclaimed/plasma-thc/mp1000A.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ loadrt or2 count=9
loadrt scale
loadrt sum2 count=5
loadrt xor2 count=4
loadrt conv_s32_float
loadrt conv_sint_real
loadrt edge count=2

# Attach realtime hal components to a realtime thread
Expand All @@ -32,7 +32,7 @@ addf and2.8 servo-thread
addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
addf conv-s32-float.0 servo-thread
addf conv-sint-real.0 servo-thread
addf edge.0 servo-thread
addf edge.1 servo-thread
addf flipflop.0 servo-thread
Expand Down Expand Up @@ -178,8 +178,8 @@ net FeedHold xor2.0.out => motion.feed-hold
net CHLSwitched xor2.2.out => and2.1.in1
net ArcOKTimer oneshot.2.out => xor2.1.in0
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
net IgnitionCounterS32 updown.0.count => conv-sint-real.0.in
net IgnitionCounterFloat conv-sint-real.0.out => comp.2.in1
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
net TorchOff not.2.out => flipflop.1.reset
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
Expand Down
8 changes: 4 additions & 4 deletions configs/attic/unclaimed/plasma-thc/mp1000B.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ loadrt or2 count=9
loadrt scale
loadrt sum2 count=5
loadrt xor2 count=4
loadrt conv_s32_float
loadrt conv_sint_real
loadrt edge count=2

# Attach realtime hal components to a realtime thread
Expand All @@ -32,7 +32,7 @@ addf and2.8 servo-thread
addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
addf conv-s32-float.0 servo-thread
addf conv-sint-real.0 servo-thread
addf edge.0 servo-thread
addf edge.1 servo-thread
addf flipflop.0 servo-thread
Expand Down Expand Up @@ -178,8 +178,8 @@ net FeedHold xor2.0.out => motion.feed-hold
net CHLSwitched xor2.2.out => and2.1.in1
net ArcOKTimer oneshot.2.out => xor2.1.in0
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
net IgnitionCounterS32 updown.0.count => conv-sint-real.0.in
net IgnitionCounterFloat conv-sint-real.0.out => comp.2.in1
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
net TorchOff not.2.out => flipflop.1.reset
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
Expand Down
8 changes: 4 additions & 4 deletions configs/attic/unclaimed/plasma-thc/thc300.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ loadrt or2 count=9
loadrt scale
loadrt sum2 count=5
loadrt xor2 count=4
loadrt conv_s32_float
loadrt conv_sint_real
loadrt edge count=2

# Attach realtime hal components to a realtime thread
Expand All @@ -32,7 +32,7 @@ addf and2.8 servo-thread
addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
addf conv-s32-float.0 servo-thread
addf conv-sint-real.0 servo-thread
addf edge.0 servo-thread
addf edge.1 servo-thread
addf flipflop.0 servo-thread
Expand Down Expand Up @@ -178,8 +178,8 @@ net FeedHold xor2.0.out => motion.feed-hold
net CHLSwitched xor2.2.out => and2.1.in1
net ArcOKTimer oneshot.2.out => xor2.1.in0
net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
net IgnitionCounterS32 updown.0.count => conv-sint-real.0.in
net IgnitionCounterFloat conv-sint-real.0.out => comp.2.in1
net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
net TorchOff not.2.out => flipflop.1.reset
net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
Expand Down
36 changes: 18 additions & 18 deletions configs/by_interface/mesa/hm2-modbus/bldc_and_wavebox.mbccs
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Original file line number Diff line number Diff line change
Expand Up @@ -28,27 +28,27 @@
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
</initlist>
<commands> <!-- Command function sequences and HAL pin assignments -->
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="S32" scale="1">
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="SINT" scale="1">
<pin name="rtpwm"/>
<pin name="rtcurrent"/>
<pin name="comfreq" modbustype="S_AB"/>
<pin skip="1" />
<pin name="rtpos" modbustype="S_ABCD" scale="0"/>
</command>
<!-- Gives us the following pins:
- hm2_modbus.0.bldc.rtpwm (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, u64)
- hm2_modbus.0.bldc.rtpwm.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, float)
- hm2_modbus.0.bldc.rtcurrent (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, u64)
- hm2_modbus.0.bldc.rtcurrent.scale (in, float) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, float)
- hm2_modbus.0.bldc.comfreq (out, s32) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, s64)
- hm2_modbus.0.bldc.comfreq.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, float)
- hm2_modbus.0.bldc.rtpos (out, s32) (range [-2147483648..+2147483647])
- hm2_modbus.0.bldc.rtpwm (out, sint) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, uint)
- hm2_modbus.0.bldc.rtpwm.scale (in, real) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, real)
- hm2_modbus.0.bldc.rtcurrent (out, sint) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, uint)
- hm2_modbus.0.bldc.rtcurrent.scale (in, real) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, real)
- hm2_modbus.0.bldc.comfreq (out, sint) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, sint)
- hm2_modbus.0.bldc.comfreq.scale (in, real) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, real)
- hm2_modbus.0.bldc.rtpos (out, sint) (range [-2147483648..+2147483647])

The start will be suspended (see top). The .scale pins will be set in
the hal-file. Offset pins are automatically initialized to zero.
Expand All @@ -58,9 +58,9 @@
<command device="wavebox" function="R_INPUTS" address="0x0000" count="8" name="switch" />
<!-- Gives us the following pins:
- Eight switch inputs on the box are HAL output pins
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BIT)
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BOOL)
* ...
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BIT)
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BOOL)
-->

<!--
Expand All @@ -74,9 +74,9 @@
<command device="wavebox" function="W_COILS" address="0x0000" count="8" name="relay" />
<!-- Gives us the following pins:
- Eight relay outputs on the box are HAL input pins
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BIT)
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BOOL)
* ...
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BIT)
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BOOL)
-->
</commands>
</mesamodbus>
28 changes: 14 additions & 14 deletions configs/by_interface/mesa/hm2-modbus/brushless-dc-motor-driver.mbccs
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Original file line number Diff line number Diff line change
Expand Up @@ -36,27 +36,27 @@
<command device="dummy" function="W_COIL" address="0x0000" noanswer="1"><data value="0xff00" /></command>
</initlist>
<commands> <!-- Command function sequences and HAL pin assignments -->
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="S32" scale="1">
<command device="bldc" function="R_REGISTERS" address="0x0020" modbustype="U_AB" haltype="SINT" scale="1">
<pin name="rtpwm"/>
<pin name="rtcurrent"/>
<pin name="comfreq" modbustype="S_AB"/>
<pin skip="1" />
<pin name="rtpos" modbustype="S_ABCD" scale="0"/>
</command>
<!-- Gives us the following pins:
- hm2_modbus.0.bldc.rtpwm (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, u64)
- hm2_modbus.0.bldc.rtpwm.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, float)
- hm2_modbus.0.bldc.rtcurrent (out, s32) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, u64)
- hm2_modbus.0.bldc.rtcurrent.scale (in, float) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, float)
- hm2_modbus.0.bldc.comfreq (out, s32) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, s64)
- hm2_modbus.0.bldc.comfreq.scale (in, float) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, float)
- hm2_modbus.0.bldc.rtpos (out, s32) (range [-2147483648..+2147483647])
- hm2_modbus.0.bldc.rtpwm (out, sint) (range [0..65535])
- hm2_modbus.0.bldc.rtpwm.offset (in, uint)
- hm2_modbus.0.bldc.rtpwm.scale (in, real) (must be set to 0.1)
- hm2_modbus.0.bldc.rtpwm.scaled (out, real)
- hm2_modbus.0.bldc.rtcurrent (out, sint) (range [0..65535])
- hm2_modbus.0.bldc.rtcurrent.offset (in, uint)
- hm2_modbus.0.bldc.rtcurrent.scale (in, real) (must be set to 0.01)
- hm2_modbus.0.bldc.rtcurrent.scaled (out, real)
- hm2_modbus.0.bldc.comfreq (out, sint) (range [-32768..+32767])
- hm2_modbus.0.bldc.comfreq.offset (in, sint)
- hm2_modbus.0.bldc.comfreq.scale (in, real) (must be set to 0.1)
- hm2_modbus.0.bldc.comfreq.scaled (out, real)
- hm2_modbus.0.bldc.rtpos (out, sint) (range [-2147483648..+2147483647])

The start will be suspended (see top). The .scale pins will be set in
the hal-file. Offset pins are automatically initialized to zero.
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-modbus/hm2-stepper-eth-modbus.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ addf estop-latch.0 servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE

net emcmot.00.enable <= joint.0.amp-enable-out
Expand Down Expand Up @@ -97,7 +97,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE

net emcmot.01.enable <= joint.1.amp-enable-out
Expand Down Expand Up @@ -132,7 +132,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE

net emcmot.02.enable <= joint.2.amp-enable-out
Expand Down
8 changes: 4 additions & 4 deletions configs/by_interface/mesa/hm2-modbus/rs485io.mbccs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
<initlist>
</initlist>
<commands>
<command device="rs485io" address="0x1000" function="R_REGISTERS" modbustype="U_ABCD" haltype="HAL_U32" name="potu" count="2" />
<command device="rs485io" address="0x2000" function="R_REGISTERS" modbustype="S_ABCD" haltype="HAL_S32" name="pots" count="2" />
<command device="rs485io" address="0x3000" function="R_REGISTERS" modbustype="F_ABCD" haltype="HAL_FLOAT" name="potf" count="2" />
<command device="rs485io" address="0x4000" function="R_REGISTERS" modbustype="F_HGFEDCBA" haltype="HAL_FLOAT" name="potd" count="1" />
<command device="rs485io" address="0x1000" function="R_REGISTERS" modbustype="U_ABCD" haltype="UINT" name="potu" count="2" />
<command device="rs485io" address="0x2000" function="R_REGISTERS" modbustype="S_ABCD" haltype="SINT" name="pots" count="2" />
<command device="rs485io" address="0x3000" function="R_REGISTERS" modbustype="F_ABCD" haltype="REAL" name="potf" count="2" />
<command device="rs485io" address="0x4000" function="R_REGISTERS" modbustype="F_HGFEDCBA" haltype="REAL" name="potd" count="1" />
<command device="rs485io" address="0x0000" function="R_INPUTS" name="button" count="4" />
<command device="rs485io" address="0x0000" function="W_COILS" name="led" count="6" />
</commands>
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-servo/hm2-servo-eth.hal
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Expand Up @@ -71,7 +71,7 @@ addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
Expand Down Expand Up @@ -112,7 +112,7 @@ net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
Expand Down Expand Up @@ -153,7 +153,7 @@ net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-servo/hm2-servo.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
Expand Down Expand Up @@ -112,7 +112,7 @@ net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
Expand Down Expand Up @@ -153,7 +153,7 @@ net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-stepper/hm2-stepper-eth.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ addf estop-latch.0 servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE

net emcmot.00.enable <= joint.0.amp-enable-out
Expand Down Expand Up @@ -97,7 +97,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE

net emcmot.01.enable <= joint.1.amp-enable-out
Expand Down Expand Up @@ -132,7 +132,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE

net emcmot.02.enable <= joint.2.amp-enable-out
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-stepper/hm2-stepper-rpspi.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ addf estop-latch.0 servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE

net emcmot.00.enable <= joint.0.amp-enable-out
Expand Down Expand Up @@ -97,7 +97,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE

net emcmot.01.enable <= joint.1.amp-enable-out
Expand Down Expand Up @@ -132,7 +132,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE

net emcmot.02.enable <= joint.2.amp-enable-out
Expand Down
6 changes: 3 additions & 3 deletions configs/by_interface/mesa/hm2-stepper/hm2-stepper.hal
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ addf estop-latch.0 servo-thread
# ################

# axis enable chain
newsig emcmot.00.enable bit
newsig emcmot.00.enable bool
sets emcmot.00.enable FALSE

net emcmot.00.enable <= joint.0.amp-enable-out
Expand Down Expand Up @@ -97,7 +97,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################

# axis enable chain
newsig emcmot.01.enable bit
newsig emcmot.01.enable bool
sets emcmot.01.enable FALSE

net emcmot.01.enable <= joint.1.amp-enable-out
Expand Down Expand Up @@ -132,7 +132,7 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
# ################

# axis enable chain
newsig emcmot.02.enable bit
newsig emcmot.02.enable bool
sets emcmot.02.enable FALSE

net emcmot.02.enable <= joint.2.amp-enable-out
Expand Down
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