hal: Update more kinematics to getter/setter. - #4297
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grandixximo
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Jul 31, 2026
| // hal parameter examples: | ||
| res += hal_param_float_newf(HAL_RW, &haldata->param_rw,comp_id,"%s.param-rw",HAL_PREFIX); | ||
| res += hal_param_float_newf(HAL_RO, &haldata->param_ro,comp_id,"%s.param-ro",HAL_PREFIX); | ||
| //res += hal_param_new_real(comp_id, HAL_RW, &haldata->param_rw, 0.0, "%s.param-rw", HAL_PREFIX); |
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Question: userkins.comp converts these same two example params with hal_param_new_real(), here they are commented out instead. This drops millturn.param-rw and millturn.param-ro from the HAL interface. Intentional, or should they be converted like in userkins?
grandixximo
reviewed
Jul 31, 2026
| // The fpin pin is not accessible in kinematics functions. | ||
| // Use the *_setup() function for pins and params used by kinematics. | ||
| pin out s32 fpin=0"pin to demonstrate use of a conventional (non-kinematics) function fdemo"; | ||
| pin out si32 dummy=0 "dummy pin to satisfy halcompile"; |
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Just to confirm intent: this drops the fdemo function and the demo in/out pins (same in xyzbca_trsrn.comp), while userkins.comp keeps its converted fdemo. I found no references to them in docs or configs, so no breakage that I can see. Fine with me if deliberate.
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These should be the last kinematics files to convert to getter/setter.
The set includes the examples userkins.comp and millturn.comp. These have useless pins/params that are part of the example and they are still there.
Apparently also examples, the xyzacb_trsrn.comp and xyzbca_trsrn.comp kinematics were cleaned up a bit. Redundant code was removed, like exporting a function and unused pins/params. The single required pin (for halcompile) is not called dummy. This should have no bearing on the functionality.
The matrixkins.comp is used in a test, so any problem would probably be rather obvious.