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Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

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19 Aug 2018 06:41 #116291 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Hi Rod,
Still hangs on 'for'

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19 Aug 2018 08:15 #116292 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

Its best practice to define variables at the head of the function. The exception might be if you have a low memory environment.
I don't think the halcompile environment likes a definition of the loop variable in the for statement. Also you are mixing types by assigning an int (geartouse) to a long (eg. S32) so try this:
FUNCTION(_) {

    static double speeds[7][2] = {
        { 160.0, 80.0},
        { 270.0, 160.0},
        { 450.0, 270.0},
        { 750.0, 450.0},
        {1250.0, 750.0},
        {1500.0, 1250.0},
        {2500.0, 1500.0},
    };
    // Gears are number from 1 (lowest) to 7
    
    // Check which gear to use with this speed Sxxx
    long geartouse = -1;
    int i;
    for (i=0; i<7; i++) {
       if (speed <= speeds[i][0] && speed > speeds[i][1])
     geartouse = (long) i+1L;
    }

    // Which gear is engaged
    int gearengaged = 1*input_a + 2*input_b + 3*input_c + 4*input_d + 5*input_e + 5*higear;

    if (geartouse == gearengaged) { // Everything ok
      gearshift = 0;
      wantedgear = gearengaged;
      speedratio = speed/speeds[gearenaged-1][0];
    } else {                        // Should change gear
      gearshift = 1;
      wantedgear = geartouse;
      speedratio = speed/speeds[(int)geartouse-1][0];
    }
}

I'm not sure if halcompile will like 1L which signifies 1 is a long type. If it complains, try "(long) 1" instead

OOPS just edited as an explicit typedef is required on the line where speedratio is defined.


After your edit
Line 46 = mixed declarations
gearengaded is undeclared

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19 Aug 2018 09:08 - 19 Aug 2018 09:22 #116293 by Hakan
Replied by Hakan on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
I added the ratios here and started with a very rudimentary error check on the inputs. Also the enable_in/out signal added.
It compiles fine here on "master".
component gearbox3 "LinuxCNC HAL component for Tecno's gearbox";
author "Rod Webster Hakan Bastedt";

pin   in  bit   input_a    "input a";
pin   in  bit   input_b    "input b";
pin   in  bit   input_c    "input c";
pin   in  bit   input_d    "input d";
pin   in  bit   input_e    "input e";
pin   in  bit   higear     "true if in high gear";
pin   in  bit   enable_in  "Enable signal. Input";
pin   out bit   enable_out "Enable signal. Output";
pin   in  float speed      "Spindle speed in RPM as in Sxxx";
pin   out bit   gearshift  "Need to shift gear, true if high";
pin   out s32   wantedgear "Shift to this gear if told so";
pin   out float speedratio "max RPM for machine divided by maximum RPM for gear";
param rw  float maxrpm     "maximum RPM for machine";

function _;
license "GPL";
;;

#include <rtapi_math.h>


FUNCTION(_) {
  // Gears are number from 1 (lowest) to 7
  static double speeds[7][2] = {
    { 160.0, 80.0},
    { 270.0, 160.0},
    { 450.0, 270.0},
    { 750.0, 450.0},
    {1250.0, 750.0},
    {1500.0, 1250.0},
    {2500.0, 1500.0},
  };
  static double ratios[7] = {
    0.064, 0.108, 0.18, 0.3, 0.5, 0.6, 1.0};
    
  // Check which gear to use with this speed Sxxx
  int geartouse = -1;
  int i;
  for (i=0; i<7; i++) {
    if (speed <= speeds[i][0] && speed > speeds[i][1])
      geartouse = i+1;
  }

  // Is at least one of the inputs active?  Calculate gear from inputs.
  int inputs_sum = 1*input_a + 2*input_b + 3*input_c + 4*input_d + 5*input_e;
  int gearengaged;
  if (higear)
    gearengaged = inputs_sum + 2; // inputs_sum 4,5 => gear 6,7
  else
    gearengaged = inputs_sum;  // inputs_sum 1,2,3,4,5 => gear 1,2,3,4,5
  
  if (inputs_sum > 0 && geartouse == gearengaged) { // Everything ok
    gearshift = 0;
    wantedgear = gearengaged;
    speedratio = ratios[gearengaged-1];
    enable_out = enable_in;
  } else {                        // Should change gear
    gearshift = 1;
    wantedgear = geartouse;
    speedratio = ratios[geartouse-1];
    enable_out = 0;
  }
}
$ halcompile --compile gearbox3.comp
Compiling realtime gearbox3.c
Linking gearbox3.so
$
Last edit: 19 Aug 2018 09:22 by Hakan.

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19 Aug 2018 09:24 #116294 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Does not compile here on 2.7.14
component gearbox3 "LinuxCNC HAL component for Tecno's gearbox";
author "Rod Webster Håkan Båstedt";

pin   in  bit   input_a    "input a";
pin   in  bit   input_b    "input b";
pin   in  bit   input_c    "input c";
pin   in  bit   input_d    "input d";
pin   in  bit   input_e    "input e";
pin   in  bit   higear     "true if in high gear";
pin   in  bit   enable_in  "Enable signal. Input";
pin   out bit   enable_out "Enable signal. Output";
pin   in  float speed      "Spindle speed in RPM as in Sxxx";
pin   out bit   gearshift  "Need to shift gear, true if high";
pin   out s32   wantedgear "Shift to this gear if told so";
pin   out float speedratio "max RPM for machine divided by maximum RPM for gear";
param rw  float maxrpm     "maximum RPM for machine";

function _;
license "GPL";
;;

#include <rtapi_math.h>


FUNCTION(_) {
  // Gears are number from 1 (lowest) to 7
  static double speeds[7][2] = {
    { 160.0, 80.0},
    { 270.0, 160.0},
    { 450.0, 270.0},
    { 750.0, 450.0},
    {1250.0, 750.0},
    {1500.0, 1250.0},
    {2500.0, 1500.0},
  };
  static double ratios[7] = {
    0.064, 0.108, 0.18, 0.3, 0.5, 0.6, 1.0};
    
  // Check which gear to use with this speed Sxxx
  int geartouse = -1;
  int i;
  for (i=0; i<7; i++) {
    if (speed <= speeds[i][0] && speed > speeds[i][1])
      geartouse = i+1;
  }

  // Is at least one of the inputs active?  Calculate gear from inputs.
  int inputs_sum = 1*input_a + 2*input_b + 3*input_c + 4*input_d + 5*input_e;
  int gearengaged;
  if (higear)
    gearengaged = inputs_sum + 2; // inputs_sum 4,5 => gear 6,7
  else
    gearengaged = inputs_sum;  // inputs_sum 1,2,3,4,5 => gear 1,2,3,4,5
  
  if (inputs_sum > 0 && geartouse == gearengaged) { // Everything ok
    gearshift = 0;
    wantedgear = gearengaged;
    speedratio = ratios[gearengaged-1];
    enable_out = enable_in;
  } else {                        // Should change gear
    gearshift = 1;
    wantedgear = geartouse;
    speedratio = ratios[geartouse-1];
    enable_out = 0;
  }
}
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$ halcompile --compile gearbox3.comp 
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
  CC [M]  /tmp/tmpQ__mt1/gearbox3.o
gearbox3.comp: In function ‘_’:
gearbox3.comp:48:3: warning: ISO C90 forbids mixed declarations and code [-Wdeclaration-after-statement]
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /tmp/tmpQ__mt1/gearbox3.mod.o
  LD [M]  /tmp/tmpQ__mt1/gearbox3.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$

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19 Aug 2018 09:31 - 19 Aug 2018 09:32 #116295 by Hakan
Replied by Hakan on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Ok, I think i am a bit C++-centric.

Change
int geartouse = -1;
to
int geartouse;
geartouse = -1;

Also change the line with inputs_sum.
Last edit: 19 Aug 2018 09:32 by Hakan.

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19 Aug 2018 09:33 - 19 Aug 2018 09:34 #116296 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$ halcompile --compile gearbox3.compmake KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
CC [M] /tmp/tmpMfZqkR/gearbox3.o
gearbox3.comp: In function ‘_’:
gearbox3.comp:42:3: warning: ISO C90 forbids mixed declarations and code [-Wdeclaration-after-statement]
gearbox3.comp:49:3: warning: ISO C90 forbids mixed declarations and code [-Wdeclaration-after-statement]
Building modules, stage 2.
MODPOST 1 modules
CC /tmp/tmpMfZqkR/gearbox3.mod.o
LD [M] /tmp/tmpMfZqkR/gearbox3.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$
Last edit: 19 Aug 2018 09:34 by tecno.

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19 Aug 2018 09:37 - 19 Aug 2018 09:37 #116299 by Hakan
Replied by Hakan on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
And move declarations of
inputs_sum 
gearengaged
to before the for loop, together with the other declarations.
Last edit: 19 Aug 2018 09:37 by Hakan.

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19 Aug 2018 09:52 #116300 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Now it compiled, did move int i;
FUNCTION(_) {
int i;
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$ halcompile --compile gearbox3.compmake KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
  CC [M]  /tmp/tmpWxGYMf/gearbox3.o
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /tmp/tmpWxGYMf/gearbox3.mod.o
  LD [M]  /tmp/tmpWxGYMf/gearbox3.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
bengt@debian:~/linuxcnc/configs/sim.gmoccapy$

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19 Aug 2018 10:03 #116301 by rodw
Replied by rodw on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
You guys have still got a type mismatch on this line
wantedgear = geartouse;
assigning an int to an s32 which is a long. Refer my earlier post.
I've never had a problem with this style in components.
int geartouse = -1;
IF its not compiling or its generating compiler warnings that a syntax error in your code

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19 Aug 2018 10:08 #116302 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
But it compiled as per last edits.

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