API tools faq
paste
Advertisement
JetForMe

pru-stepper.hal

JetForMe
Apr 5th, 2018
47
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 6.42 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.machinekit.io
  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. # trajectory planner
  33. loadrt tp
  34. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES tp=tp kins=trivkins
  35.  
  36. # load low-level driver
  37. loadrt [PRUCONF](DRIVER) [PRUCONF](CONFIG)
  38.  
  39.  
  40. # ################################################
  41. # THREADS
  42. # ################################################
  43.  
  44. addf [PRUCONF](DRIVER).capture-position servo-thread
  45. addf motion-command-handler servo-thread
  46. addf motion-controller servo-thread
  47. # revel in the free time here from not having to run PID
  48. addf [PRUCONF](DRIVER).update servo-thread
  49.  
  50.  
  51. # ######################################################
  52. # Axis-of-motion Specific Configs (not the GUI)
  53. # ######################################################
  54.  
  55.  
  56. # ################
  57. # X [0] Axis
  58. # ################
  59.  
  60. # axis enable chain
  61. newsig emcmot.00.enable bit
  62. sets emcmot.00.enable FALSE
  63.  
  64. net emcmot.00.enable <= axis.0.amp-enable-out
  65. net emcmot.00.enable => [PRUCONF](DRIVER).stepgen.00.enable
  66.  
  67.  
  68. # position command and feedback
  69. net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
  70. net emcmot.00.pos-cmd => [PRUCONF](DRIVER).stepgen.00.position-cmd
  71.  
  72. net motor.00.pos-fb <= [PRUCONF](DRIVER).stepgen.00.position-fb
  73. net motor.00.pos-fb => axis.0.motor-pos-fb
  74.  
  75.  
  76. # timing parameters
  77. setp [PRUCONF](DRIVER).stepgen.00.dirsetup [AXIS_0]DIRSETUP
  78. setp [PRUCONF](DRIVER).stepgen.00.dirhold [AXIS_0]DIRHOLD
  79.  
  80. setp [PRUCONF](DRIVER).stepgen.00.steplen [AXIS_0]STEPLEN
  81. setp [PRUCONF](DRIVER).stepgen.00.stepspace [AXIS_0]STEPSPACE
  82.  
  83. setp [PRUCONF](DRIVER).stepgen.00.position-scale [AXIS_0]SCALE
  84.  
  85. setp [PRUCONF](DRIVER).stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
  86. setp [PRUCONF](DRIVER).stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
  87.  
  88. #setp [PRUCONF](DRIVER).stepgen.00.step_type 0
  89. setp [PRUCONF](DRIVER).stepgen.00.steppin 914
  90. setp [PRUCONF](DRIVER).stepgen.00.dirpin 916
  91. #setp enable 918
  92.  
  93. # ################
  94. # Y [1] Axis
  95. # ################
  96.  
  97. # axis enable chain
  98. newsig emcmot.01.enable bit
  99. sets emcmot.01.enable FALSE
  100.  
  101. net emcmot.01.enable <= axis.1.amp-enable-out
  102. net emcmot.01.enable => [PRUCONF](DRIVER).stepgen.01.enable
  103.  
  104.  
  105. # position command and feedback
  106. net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
  107. net emcmot.01.pos-cmd => [PRUCONF](DRIVER).stepgen.01.position-cmd
  108.  
  109. net motor.01.pos-fb <= [PRUCONF](DRIVER).stepgen.01.position-fb
  110. net motor.01.pos-fb => axis.1.motor-pos-fb
  111.  
  112.  
  113. # timing parameters
  114. setp [PRUCONF](DRIVER).stepgen.01.dirsetup [AXIS_1]DIRSETUP
  115. setp [PRUCONF](DRIVER).stepgen.01.dirhold [AXIS_1]DIRHOLD
  116.  
  117. setp [PRUCONF](DRIVER).stepgen.01.steplen [AXIS_1]STEPLEN
  118. setp [PRUCONF](DRIVER).stepgen.01.stepspace [AXIS_1]STEPSPACE
  119.  
  120. setp [PRUCONF](DRIVER).stepgen.01.position-scale [AXIS_1]SCALE
  121.  
  122. setp [PRUCONF](DRIVER).stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL
  123. setp [PRUCONF](DRIVER).stepgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
  124.  
  125. #setp [PRUCONF](DRIVER).stepgen.01.step_type 0
  126. setp [PRUCONF](DRIVER).stepgen.01.steppin 0xA4
  127. setp [PRUCONF](DRIVER).stepgen.01.dirpin 0xA5
  128.  
  129.  
  130. # ################
  131. # Z [2] Axis
  132. # ################
  133.  
  134. # axis enable chain
  135. newsig emcmot.02.enable bit
  136. sets emcmot.02.enable FALSE
  137.  
  138. net emcmot.02.enable <= axis.2.amp-enable-out
  139. net emcmot.02.enable => [PRUCONF](DRIVER).stepgen.02.enable
  140.  
  141.  
  142. # position command and feedback
  143. net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
  144. net emcmot.02.pos-cmd => [PRUCONF](DRIVER).stepgen.02.position-cmd
  145.  
  146. net motor.02.pos-fb <= [PRUCONF](DRIVER).stepgen.02.position-fb
  147. net motor.02.pos-fb => axis.2.motor-pos-fb
  148.  
  149.  
  150. # timing parameters
  151. setp [PRUCONF](DRIVER).stepgen.02.dirsetup [AXIS_2]DIRSETUP
  152. setp [PRUCONF](DRIVER).stepgen.02.dirhold [AXIS_2]DIRHOLD
  153.  
  154. setp [PRUCONF](DRIVER).stepgen.02.steplen [AXIS_2]STEPLEN
  155. setp [PRUCONF](DRIVER).stepgen.02.stepspace [AXIS_2]STEPSPACE
  156.  
  157. setp [PRUCONF](DRIVER).stepgen.02.position-scale [AXIS_2]SCALE
  158.  
  159. setp [PRUCONF](DRIVER).stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL
  160. setp [PRUCONF](DRIVER).stepgen.02.maxaccel [AXIS_2]STEPGEN_MAX_ACC
  161.  
  162. #setp [PRUCONF](DRIVER).stepgen.02.step_type 0
  163. setp [PRUCONF](DRIVER).stepgen.02.steppin 0xA6
  164. setp [PRUCONF](DRIVER).stepgen.02.dirpin 0xA7
  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 [PRUCONF](DRIVER).gpio.048.is_opendrain 1
  181. #setp [PRUCONF](DRIVER).gpio.049.is_opendrain 1
  182.  
  183. #setp [PRUCONF](DRIVER).gpio.054.is_opendrain 1
  184. #setp [PRUCONF](DRIVER).gpio.055.is_opendrain 1
  185.  
  186. #setp [PRUCONF](DRIVER).gpio.060.is_opendrain 1
  187. #setp [PRUCONF](DRIVER).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!