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tp: Remove (copy/paste) example pins and params not used for anything #4257

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Merged
grandixximo merged 1 commit into from
Jul 20, 2026
+0 −53
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tp: Remove (copy/paste) example pins and params not used for anything #4257

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53 changes: 0 additions & 53 deletions src/emc/tp/tp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,16 +47,6 @@

#define TP_OPTIMIZATION_LAZY

#define MAKE_TP_HAL_PINS
#undef MAKE_TP_HAL_PINS

// api for tpCreate() inherits a component id provision to include hal pins:
// (not used by the this default tp implementation but may
// be used in alternate user-built implementations)
#ifdef MAKE_TP_HAL_PINS // {
#include <hal.h>
#endif // }

emcmot_status_t *emcmotStatus;
emcmot_config_t *emcmotConfig;
emcmot_command_t *emcmotCommand;
Expand Down Expand Up @@ -381,41 +371,6 @@ STATIC inline double tpGetSignedSpindlePosition(spindle_status_t *status) {
* Create the trajectory planner structure with an empty queue.
*/

#ifdef MAKE_TP_HAL_PINS // {
static struct tp_haldata {
// Example pin pointers
hal_u32_t *in;
hal_u32_t *out;
// Example parameters
hal_float_t param_rw;
hal_float_t param_ro;
} *tp_haldata;

static int makepins(int id) {
#define HAL_PREFIX "tp"
int res=0;
if (id < 0) goto error;
tp_haldata = hal_malloc(sizeof(struct tp_haldata));
if (!tp_haldata) goto error;

// hal pin examples:
res += hal_pin_u32_newf(HAL_IN ,&(tp_haldata->in) ,id,"%s.in" ,HAL_PREFIX);
res += hal_pin_u32_newf(HAL_OUT,&(tp_haldata->out),id,"%s.out",HAL_PREFIX);

// hal parameter examples:
res += hal_param_float_newf(HAL_RW, &tp_haldata->param_rw,id,"%s.param-rw",HAL_PREFIX);
res += hal_param_float_newf(HAL_RO, &tp_haldata->param_ro,id,"%s.param-ro",HAL_PREFIX);

if (res) goto error;
rtapi_print("@@@ %s:%s: ok\n",__FILE__,__FUNCTION__);
return 0; // caller issues hal_ready()
error:
rtapi_print("\n!!! %s:%s: failed res=%d\n\n",__FILE__,__FUNCTION__,res);
return -1;
#undef HAL_PREFIX
}
#endif // }

int tpCreate(TP_STRUCT * const tp, int _queueSize,int id)
{
(void)id;
Expand All @@ -435,12 +390,6 @@ int tpCreate(TP_STRUCT * const tp, int _queueSize,int id)
return TP_ERR_FAIL;
}

#ifdef MAKE_TP_HAL_PINS // {
if (-1 == makepins(id)) {
return TP_ERR_FAIL;
}
#endif // }

/* init the rest of our data */
return tpInit(tp);
}
Expand Down Expand Up @@ -4389,5 +4338,3 @@ EXPORT_SYMBOL(tpSetVlimit);
EXPORT_SYMBOL(tpSetVmax);

EXPORT_SYMBOL(tcqFull);

#undef MAKE_TP_HAL_PINS