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hal: Update kernel-only components (RTAI) to getter/setter #4330

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Merged
grandixximo merged 1 commit into from
Aug 4, 2026
Merged

hal: Update kernel-only components (RTAI) to getter/setter #4330

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34 changes: 14 additions & 20 deletions src/hal/drivers/hal_ax5214h.c
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Original file line number Diff line number Diff line change
Expand Up @@ -120,10 +120,10 @@ RTAPI_MP_STRING(cfg, "config string");
*/

typedef struct {
hal_bit_t *data; /* basic pin for input or output */
hal_bool_t data; /* basic pin for input or output */
union {
hal_bit_t *not; /* pin for inverted data (input only) */
hal_bit_t invert; /* param for inversion (output only) */
hal_bool_t not; /* pin for inverted data (input only) */
hal_bool_t invert; /* param for inversion (output only) */
} io;
} io_pin_t;

Expand Down Expand Up @@ -295,12 +295,12 @@ static void split_input(unsigned char data, io_pin_t *dest, int num)
for (b = 0 ; b < num ; b++ ) {
if ( data & mask ) {
/* input high, which means FALSE (active low) */
*(dest->data) = 0;
*(dest->io.not) = 1;
hal_set_bool(dest->data, 0);
hal_set_bool(dest->io.not, 1);
} else {
/* input low, which means TRUE */
*(dest->data) = 1;
*(dest->io.not) = 0;
hal_set_bool(dest->data, 1);
hal_set_bool(dest->io.not, 0);
}
mask <<= 1;
dest++;
Expand Down Expand Up @@ -361,12 +361,12 @@ unsigned char build_output(io_pin_t *src, int num)
/* assemble output byte for data port from 'num' source variables */
for (b = 0; b < num; b++) {
/* get the data, add to output byte */
if ( *(src->data) ) {
if ( !(src->io.invert) ) {
if ( hal_get_bool(src->data) ) {
if ( !hal_get_bool(src->io.invert) ) {
data |= mask;
}
} else {
if ( (src->io.invert) ) {
if ( hal_get_bool(src->io.invert) ) {
data |= mask;
}
}
Expand Down Expand Up @@ -644,17 +644,14 @@ static int export_input_pin(int boardnum, int pinnum, io_pin_t *pin)
int retval;

/* export read only HAL pin for input data */
retval = hal_pin_bit_newf(HAL_OUT, &(pin->data), comp_id,
retval = hal_pin_new_bool(comp_id, HAL_OUT, &(pin->data), 0,
"ax5214h.%d.in-%02d", boardnum, pinnum);
if (retval != 0) {
return retval;
}
/* export additional pin for inverted input data */
retval = hal_pin_bit_newf(HAL_OUT, &(pin->io.not), comp_id,
retval = hal_pin_new_bool(comp_id, HAL_OUT, &(pin->io.not), 1,
"ax5214h.%d.in-%02d-not", boardnum, pinnum);
/* initialize HAL pins */
*(pin->data) = 0;
*(pin->io.not) = 1;
return retval;
}

Expand All @@ -663,16 +660,13 @@ static int export_output_pin(int boardnum, int pinnum, io_pin_t *pin)
int retval;

/* export read only HAL pin for output data */
retval = hal_pin_bit_newf(HAL_IN, &(pin->data), comp_id,
retval = hal_pin_new_bool(comp_id, HAL_IN, &(pin->data), 0,
"ax5214h.%d.out-%02d", boardnum, pinnum);
if (retval != 0) {
return retval;
}
/* export parameter for polarity */
retval = hal_param_bit_newf(HAL_RW, &(pin->io.invert), comp_id,
retval = hal_param_new_bool(comp_id, HAL_RW, &(pin->io.invert), 0,
"ax5214h.%d.out-%02d-invert", boardnum, pinnum);
/* initialize HAL pin and param */
*(pin->data) = 0;
pin->io.invert = 0;
return retval;
}
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