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hal: Update sim_encoder to 64-bit clean operation #4771

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hal: Update sim_encoder to 64-bit clean operation #4771

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16 changes: 8 additions & 8 deletions src/hal/components/sim_encoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -257,27 +257,27 @@ static void make_pulses(void *arg, long period)
/* get direction bit, 1 if negative, 0 if positive */
dir = sim_enc->addval >> 31;
if ( dir ) {
hal_set_si32(sim_enc->rawcounts, hal_get_si32(sim_enc->rawcounts) - 1);
hal_set_sint(sim_enc->rawcounts, hal_get_sint(sim_enc->rawcounts) - 1);
/* negative rotation, decrement state, detect underflow */
if (--(sim_enc->state) < 0) {
/* state underflow, roll over */
sim_enc->state = 3;
/* decrement cycle, detect underflow */
if (--(sim_enc->cycle) < 0) {
/* cycle underflow, roll over */
sim_enc->cycle += hal_get_ui32(sim_enc->ppr);
sim_enc->cycle += hal_get_uint(sim_enc->ppr);
}
}
} else {
hal_set_si32(sim_enc->rawcounts, hal_get_si32(sim_enc->rawcounts) + 1);
hal_set_sint(sim_enc->rawcounts, hal_get_sint(sim_enc->rawcounts) + 1);
/* positive rotation, increment state, detect overflow */
if (++(sim_enc->state) > 3) {
/* state overflow, roll over */
sim_enc->state = 0;
/* increment cycle, detect overflow */
if (++(sim_enc->cycle) >= hal_get_ui32(sim_enc->ppr)) {
if (++(sim_enc->cycle) >= (long)hal_get_uint(sim_enc->ppr)) {
/* cycle overflow, roll over */
sim_enc->cycle -= hal_get_ui32(sim_enc->ppr);
sim_enc->cycle -= hal_get_uint(sim_enc->ppr);
}
}
}
Expand Down Expand Up @@ -348,7 +348,7 @@ static void update_speed(void *arg, long period)
/* convert speed command (user units) to revs/sec */
rev_sec = hal_get_real(sim_enc->speed) * sim_enc->scale_mult;
/* convert speed command (revs per sec) to counts/sec */
freq = rev_sec * (hal_get_ui32(sim_enc->ppr)) * 4.0;
freq = rev_sec * (hal_get_uint(sim_enc->ppr)) * 4.0;
/* limit the commanded frequency */
if (freq > maxf) {
freq = maxf;
Expand Down Expand Up @@ -377,7 +377,7 @@ static int export_sim_enc(sim_enc_t * addr, char *prefix)
msg = rtapi_get_msg_level();
rtapi_set_msg_level(RTAPI_MSG_WARN);
/* export param variable for pulses per rev */
retval = hal_pin_new_ui32(comp_id, HAL_IO, &(addr->ppr), 100,
retval = hal_pin_new_uint(comp_id, HAL_IO, &(addr->ppr), 100,
"%s.ppr", prefix);
if (retval != 0) {
return retval;
Expand Down Expand Up @@ -411,7 +411,7 @@ static int export_sim_enc(sim_enc_t * addr, char *prefix)
return retval;
}
/* export pin for rawcounts */
retval = hal_pin_new_si32(comp_id, HAL_IN, &(addr->rawcounts), 0,
retval = hal_pin_new_sint(comp_id, HAL_IN, &(addr->rawcounts), 0,
"%s.rawcounts", prefix);
if (retval != 0) {
return retval;
Expand Down
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