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LinuxCNC mesa hal debug

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May 21st, 2016
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  1. # Generated by PNCconf at Fri May 6 17:15:09 2016
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt trivkins
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  7. loadrt hostmot2
  8. loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
  9. setp hm2_5i25.0.watchdog.timeout_ns 5000000
  10. loadrt hal_parport cfg="0 out"
  11. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  12.  
  13. addf parport.0.read servo-thread
  14. addf hm2_5i25.0.read servo-thread
  15. addf motion-command-handler servo-thread
  16. addf motion-controller servo-thread
  17. addf pid.x.do-pid-calcs servo-thread
  18. addf pid.y.do-pid-calcs servo-thread
  19. addf pid.z.do-pid-calcs servo-thread
  20. addf pid.s.do-pid-calcs servo-thread
  21. addf parport.0.write servo-thread
  22. addf hm2_5i25.0.write servo-thread
  23.  
  24. # ---Chargepump StepGen: 0.25 velocity = 10Khz square wave output---
  25.  
  26. setp hm2_5i25.0.stepgen.03.dirsetup 100
  27. setp hm2_5i25.0.stepgen.03.dirhold 100
  28. setp hm2_5i25.0.stepgen.03.steplen 100
  29. setp hm2_5i25.0.stepgen.03.stepspace 100
  30. setp hm2_5i25.0.stepgen.03.position-scale 10000
  31. setp hm2_5i25.0.stepgen.03.step_type 2
  32. setp hm2_5i25.0.stepgen.03.control-type 1
  33. setp hm2_5i25.0.stepgen.03.maxaccel 0
  34. setp hm2_5i25.0.stepgen.03.maxvel 0
  35. setp hm2_5i25.0.stepgen.03.velocity-cmd 0.25
  36.  
  37. net x-enable => hm2_5i25.0.stepgen.03.enable
  38.  
  39. # for remote joypad
  40. loadusr -W hal_input -KRAL X-Box
  41.  
  42.  
  43.  
  44. # external output signals
  45.  
  46.  
  47.  
  48. # external input signals
  49.  
  50.  
  51.  
  52. #*******************
  53. # AXIS X
  54. #*******************
  55.  
  56. setp pid.x.Pgain [AXIS_0]P
  57. setp pid.x.Igain [AXIS_0]I
  58. setp pid.x.Dgain [AXIS_0]D
  59. setp pid.x.bias [AXIS_0]BIAS
  60. setp pid.x.FF0 [AXIS_0]FF0
  61. setp pid.x.FF1 [AXIS_0]FF1
  62. setp pid.x.FF2 [AXIS_0]FF2
  63. setp pid.x.deadband [AXIS_0]DEADBAND
  64. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  65. setp pid.x.error-previous-target true
  66. setp pid.x.maxerror .0005
  67.  
  68. net x-index-enable <=> pid.x.index-enable
  69. net x-enable => pid.x.enable
  70. net x-pos-cmd => pid.x.command
  71. net x-vel-cmd => pid.x.command-deriv
  72. net x-pos-fb => pid.x.feedback
  73. net x-output => pid.x.output
  74.  
  75. # Step Gen signals/setup
  76.  
  77. setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  78. setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  79. setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
  80. setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  81. setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  82. setp hm2_5i25.0.stepgen.00.step_type 0
  83. setp hm2_5i25.0.stepgen.00.control-type 1
  84. setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  85. setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  86.  
  87. # ---closedloop stepper signals---
  88.  
  89. net x-pos-cmd <= axis.0.motor-pos-cmd
  90. net x-vel-cmd <= axis.0.joint-vel-cmd
  91. net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
  92. net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
  93. net x-pos-fb => axis.0.motor-pos-fb
  94. net x-enable <= axis.0.amp-enable-out
  95. net x-enable => hm2_5i25.0.stepgen.00.enable
  96.  
  97. # ---setup home / limit switch signals---
  98.  
  99. net x-home-sw => axis.0.home-sw-in
  100. net x-neg-limit => axis.0.neg-lim-sw-in
  101. net x-pos-limit => axis.0.pos-lim-sw-in
  102.  
  103. #*******************
  104. # AXIS Y
  105. #*******************
  106.  
  107. setp pid.y.Pgain [AXIS_1]P
  108. setp pid.y.Igain [AXIS_1]I
  109. setp pid.y.Dgain [AXIS_1]D
  110. setp pid.y.bias [AXIS_1]BIAS
  111. setp pid.y.FF0 [AXIS_1]FF0
  112. setp pid.y.FF1 [AXIS_1]FF1
  113. setp pid.y.FF2 [AXIS_1]FF2
  114. setp pid.y.deadband [AXIS_1]DEADBAND
  115. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  116. setp pid.y.error-previous-target true
  117. setp pid.y.maxerror .0005
  118.  
  119. net y-index-enable <=> pid.y.index-enable
  120. net y-enable => pid.y.enable
  121. net y-pos-cmd => pid.y.command
  122. net y-vel-cmd => pid.y.command-deriv
  123. net y-pos-fb => pid.y.feedback
  124. net y-output => pid.y.output
  125.  
  126. # Step Gen signals/setup
  127.  
  128. setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  129. setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  130. setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
  131. setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  132. setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  133. setp hm2_5i25.0.stepgen.01.step_type 0
  134. setp hm2_5i25.0.stepgen.01.control-type 1
  135. setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  136. setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  137.  
  138. # ---closedloop stepper signals---
  139.  
  140. net y-pos-cmd <= axis.1.motor-pos-cmd
  141. net y-vel-cmd <= axis.1.joint-vel-cmd
  142. net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
  143. net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
  144. net y-pos-fb => axis.1.motor-pos-fb
  145. net y-enable <= axis.1.amp-enable-out
  146. net y-enable => hm2_5i25.0.stepgen.01.enable
  147.  
  148. # ---setup home / limit switch signals---
  149.  
  150. net y-home-sw => axis.1.home-sw-in
  151. net y-neg-limit => axis.1.neg-lim-sw-in
  152. net y-pos-limit => axis.1.pos-lim-sw-in
  153.  
  154. #*******************
  155. # AXIS Z
  156. #*******************
  157.  
  158. setp pid.z.Pgain [AXIS_2]P
  159. setp pid.z.Igain [AXIS_2]I
  160. setp pid.z.Dgain [AXIS_2]D
  161. setp pid.z.bias [AXIS_2]BIAS
  162. setp pid.z.FF0 [AXIS_2]FF0
  163. setp pid.z.FF1 [AXIS_2]FF1
  164. setp pid.z.FF2 [AXIS_2]FF2
  165. setp pid.z.deadband [AXIS_2]DEADBAND
  166. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  167. setp pid.z.error-previous-target true
  168. setp pid.z.maxerror .0005
  169.  
  170. net z-index-enable <=> pid.z.index-enable
  171. net z-enable => pid.z.enable
  172. net z-pos-cmd => pid.z.command
  173. net z-vel-cmd => pid.z.command-deriv
  174. net z-pos-fb => pid.z.feedback
  175. net z-output => pid.z.output
  176.  
  177. # Step Gen signals/setup
  178.  
  179. setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  180. setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  181. setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
  182. setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  183. setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  184. setp hm2_5i25.0.stepgen.02.step_type 0
  185. setp hm2_5i25.0.stepgen.02.control-type 1
  186. setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  187. setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  188.  
  189. # ---closedloop stepper signals---
  190.  
  191. net z-pos-cmd <= axis.2.motor-pos-cmd
  192. net z-vel-cmd <= axis.2.joint-vel-cmd
  193. net z-output <= hm2_5i25.0.stepgen.02.velocity-cmd
  194. net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
  195. net z-pos-fb => axis.2.motor-pos-fb
  196. net z-enable <= axis.2.amp-enable-out
  197. net z-enable => hm2_5i25.0.stepgen.02.enable
  198.  
  199. # ---setup home / limit switch signals---
  200.  
  201. net z-home-sw => axis.2.home-sw-in
  202. net z-neg-limit => axis.2.neg-lim-sw-in
  203. net z-pos-limit => axis.2.pos-lim-sw-in
  204.  
  205. #*******************
  206. # SPINDLE S
  207. #*******************
  208.  
  209. setp pid.s.Pgain [SPINDLE_9]P
  210. setp pid.s.Igain [SPINDLE_9]I
  211. setp pid.s.Dgain [SPINDLE_9]D
  212. setp pid.s.bias [SPINDLE_9]BIAS
  213. setp pid.s.FF0 [SPINDLE_9]FF0
  214. setp pid.s.FF1 [SPINDLE_9]FF1
  215. setp pid.s.FF2 [SPINDLE_9]FF2
  216. setp pid.s.deadband [SPINDLE_9]DEADBAND
  217. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  218. setp pid.s.error-previous-target true
  219.  
  220. net spindle-index-enable <=> pid.s.index-enable
  221. net spindle-enable => pid.s.enable
  222. net spindle-vel-cmd-rpm => pid.s.command
  223. net spindle-vel-fb-rpm => pid.s.feedback
  224. net spindle-output <= pid.s.output
  225.  
  226. # ---setup spindle control signals---
  227.  
  228. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  229. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  230. #net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  231. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  232.  
  233. net spindle-brake <= motion.spindle-brake
  234. net spindle-revs => motion.spindle-revs
  235. net spindle-at-speed => motion.spindle-at-speed
  236. net spindle-vel-fb-rps => motion.spindle-speed-in
  237. net spindle-index-enable <=> motion.spindle-index-enable
  238.  
  239. # ---setup spindle for PWM
  240.  
  241. loadrt pwmgen output_type=0
  242. addf pwmgen.update servo-thread
  243. addf pwmgen.make-pulses servo-thread
  244. net spindle-speed-cmd motion.spindle-speed-out => pwmgen.0.value
  245. net spindle-on motion.spindle-on => pwmgen.0.enable
  246. net spindle-pwm pwmgen.0.pwm => hm2_5i25.0.pin-14-out
  247.  
  248. net spindle-enable motion.spindle-on => hm2_5i25.0.pin-17-out
  249.  
  250. net spindle-cw motion.spindle-forward
  251. net spindle-ccw motion.spindle-reverse => hm2_5i25.0.pin-1-out
  252.  
  253. # ---Setup spindle at speed signals---
  254.  
  255. sets spindle-at-speed true
  256.  
  257.  
  258. #******************************
  259. # connect miscellaneous signals
  260. #******************************
  261.  
  262. # ---HALUI signals---
  263.  
  264. net joint-select-a halui.joint.0.select
  265. net x-is-homed halui.joint.0.is-homed
  266. net jog-x-pos halui.jog.0.plus
  267. net jog-x-neg halui.jog.0.minus
  268. #net jog-x-analog halui.jog.0.analog
  269. net joint-select-b halui.joint.1.select
  270. net y-is-homed halui.joint.1.is-homed
  271. net jog-y-pos halui.jog.1.plus
  272. net jog-y-neg halui.jog.1.minus
  273. #net jog-y-analog halui.jog.1.analog
  274. net joint-select-c halui.joint.2.select
  275. net z-is-homed halui.joint.2.is-homed
  276. net jog-z-pos halui.jog.2.plus
  277. net jog-z-neg halui.jog.2.minus
  278. #net jog-z-analog halui.jog.2.analog
  279. net jog-selected-pos halui.jog.selected.plus
  280. net jog-selected-neg halui.jog.selected.minus
  281. net spindle-manual-cw halui.spindle.forward
  282. net spindle-manual-ccw halui.spindle.reverse
  283. net spindle-manual-stop halui.spindle.stop
  284. net machine-is-on halui.machine.is-on
  285. #net jog-speed halui.jog-speed
  286. net MDI-mode halui.mode.is-mdi
  287.  
  288. # ---coolant signals---
  289.  
  290. net coolant-mist <= iocontrol.0.coolant-mist
  291. net coolant-flood <= iocontrol.0.coolant-flood
  292.  
  293. # ---probe signal---
  294.  
  295. net probe-in => motion.probe-input
  296.  
  297. # ---motion control signals---
  298.  
  299. net in-position <= motion.in-position
  300. net machine-is-enabled <= motion.motion-enabled
  301.  
  302. # ---digital in / out signals---
  303.  
  304. # ---estop signals---
  305.  
  306. net estop-out <= iocontrol.0.user-enable-out
  307. net estop-out => iocontrol.0.emc-enable-in
  308.  
  309. # ---manual tool change signals---
  310.  
  311. loadusr -W hal_manualtoolchange
  312. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  313. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  314. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  315. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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