API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Jun 2nd, 2012
80
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 6.44 KB | None | 0 0
raw download clone embed print report
  1. # #######################################
  2. #
  3. # HAL file for HostMot2 with 3 steppers
  4. #
  5. # Derived from Ted Hyde's original hm2-servo config
  6. #
  7. # Based up work and discussion with Seb & Peter & Jeff
  8. # GNU license references - insert here. www.linuxcnc.org
  9. #
  10. #
  11. # ########################################
  12. # Firmware files are in /lib/firmware/hm2/7i43/
  13. # Must symlink the hostmot2 firmware directory of sanbox to
  14. # /lib/firmware before running EMC2...
  15. # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
  16. #
  17. # See also:
  18. # <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
  19. # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
  20. #
  21. # #####################################################################
  22.  
  23.  
  24. # ###################################
  25. # Core EMC/HAL Loads
  26. # ###################################
  27.  
  28. # kinematics
  29. loadrt trivkins
  30.  
  31. # motion controller, get name and thread periods from ini file
  32. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  33.  
  34. # only the 7i43 needs this, but it doesnt hurt the others
  35. # loadrt probe_parport
  36.  
  37. # hostmot2 driver
  38. loadrt hostmot2
  39.  
  40. # load low-level driver
  41. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  42.  
  43. setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
  44.  
  45.  
  46. # ################################################
  47. # THREADS
  48. # ################################################
  49.  
  50. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  51. addf motion-command-handler servo-thread
  52. addf motion-controller servo-thread
  53. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
  54. addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
  55.  
  56.  
  57. # ######################################################
  58. # Axis-of-motion Specific Configs (not the GUI)
  59. # ######################################################
  60.  
  61.  
  62. # ################
  63. # X [0] Axis
  64. # ################
  65.  
  66. # axis enable chain
  67. newsig emcmot.00.enable bit
  68. sets emcmot.00.enable FALSE
  69.  
  70. net emcmot.00.enable <= axis.0.amp-enable-out
  71. net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
  72.  
  73.  
  74. # position command and feedback
  75. net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
  76. net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
  77.  
  78. net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
  79. net motor.00.pos-fb => axis.0.motor-pos-fb
  80.  
  81.  
  82. # timing parameters
  83. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  84. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  85.  
  86. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN
  87. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  88.  
  89. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE
  90.  
  91. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
  92. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
  93.  
  94. setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
  95.  
  96.  
  97. # ################
  98. # Y [1] Axis
  99. # ################
  100.  
  101. # axis enable chain
  102. newsig emcmot.01.enable bit
  103. sets emcmot.01.enable FALSE
  104.  
  105. net emcmot.01.enable <= axis.1.amp-enable-out
  106. net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
  107.  
  108.  
  109. # position command and feedback
  110. net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
  111. net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
  112.  
  113. net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
  114. net motor.01.pos-fb => axis.1.motor-pos-fb
  115.  
  116.  
  117. # timing parameters
  118. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  119. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  120.  
  121. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN
  122. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  123.  
  124. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]SCALE
  125.  
  126. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL
  127. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
  128.  
  129. setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
  130.  
  131.  
  132. # ################
  133. # Z [2] Axis
  134. # ################
  135.  
  136. # axis enable chain
  137. newsig emcmot.02.enable bit
  138. sets emcmot.02.enable FALSE
  139.  
  140. net emcmot.02.enable <= axis.2.amp-enable-out
  141. net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
  142.  
  143.  
  144. # position command and feedback
  145. net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
  146. net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
  147.  
  148. net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
  149. net motor.02.pos-fb => axis.2.motor-pos-fb
  150.  
  151.  
  152. # timing parameters
  153. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  154. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  155.  
  156. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN
  157. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  158.  
  159. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE
  160.  
  161. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
  162. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
  163.  
  164. setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
  165.  
  166.  
  167.  
  168.  
  169. #
  170. # The Mesa AnyIO output pins can be in open-drain mode (drive low, float
  171. # high) or push/pull mode (drive low, drive high).
  172. #
  173. # When a logical output is 1 in open-drain mode, the FPGA lets the pin
  174. # float and it gets pulled high to +5V via a 10K resistor.
  175. #
  176. # When a logical output is 1 in push/pull mode, the FPGA pushes the pin
  177. # high but only to +3.3V. This is problematic on some kinds of inputs.
  178. #
  179.  
  180. #setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
  181. #setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
  182.  
  183. #setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
  184. #setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
  185.  
  186. #setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
  187. #setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1
  188.  
  189.  
  190.  
  191.  
  192. # ##################################################
  193. # Standard I/O Block - EStop, Etc
  194. # ##################################################
  195.  
  196. # create a signal for the estop loopback
  197. net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
  198.  
  199. # create signals for tool loading loopback
  200. net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  201. net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!