Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
202
configs/by_interface/mesa/hm2-stepper/hm2-stepper.hal
Normal file
202
configs/by_interface/mesa/hm2-stepper/hm2-stepper.hal
Normal file
@@ -0,0 +1,202 @@
|
||||
# #######################################
|
||||
#
|
||||
# HAL file for HostMot2 with 3 steppers
|
||||
#
|
||||
# Derived from Ted Hyde's original hm2-servo config
|
||||
#
|
||||
# Based up work and discussion with Seb & Peter & Jeff
|
||||
# GNU license references - insert here. www.linuxcnc.org
|
||||
#
|
||||
#
|
||||
# ########################################
|
||||
# Firmware files are in /lib/firmware/hm2/7i43/
|
||||
# Must symlink the hostmot2 firmware directory of sanbox to
|
||||
# /lib/firmware before running EMC2...
|
||||
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
|
||||
#
|
||||
# See also:
|
||||
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
|
||||
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
|
||||
#
|
||||
# #####################################################################
|
||||
|
||||
|
||||
# ###################################
|
||||
# Core EMC/HAL Loads
|
||||
# ###################################
|
||||
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
|
||||
# hostmot2 driver
|
||||
loadrt hostmot2
|
||||
|
||||
# load low-level driver
|
||||
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
|
||||
|
||||
# load estop latch component
|
||||
loadrt estop_latch
|
||||
|
||||
# ################################################
|
||||
# THREADS
|
||||
# ################################################
|
||||
|
||||
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
# revel in the free time here from not having to run PID
|
||||
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
|
||||
addf estop-latch.0 servo-thread
|
||||
|
||||
|
||||
# ######################################################
|
||||
# Axis-of-motion Specific Configs (not the GUI)
|
||||
# ######################################################
|
||||
|
||||
|
||||
# ################
|
||||
# X [0] Axis
|
||||
# ################
|
||||
|
||||
# axis enable chain
|
||||
newsig emcmot.00.enable bit
|
||||
sets emcmot.00.enable FALSE
|
||||
|
||||
net emcmot.00.enable <= joint.0.amp-enable-out
|
||||
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
|
||||
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
|
||||
|
||||
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
|
||||
net motor.00.pos-fb => joint.0.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
|
||||
|
||||
|
||||
# ################
|
||||
# Y [1] Axis
|
||||
# ################
|
||||
|
||||
# axis enable chain
|
||||
newsig emcmot.01.enable bit
|
||||
sets emcmot.01.enable FALSE
|
||||
|
||||
net emcmot.01.enable <= joint.1.amp-enable-out
|
||||
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
|
||||
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
|
||||
|
||||
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
|
||||
net motor.01.pos-fb => joint.1.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
|
||||
|
||||
|
||||
# ################
|
||||
# Z [2] Axis
|
||||
# ################
|
||||
|
||||
# axis enable chain
|
||||
newsig emcmot.02.enable bit
|
||||
sets emcmot.02.enable FALSE
|
||||
|
||||
net emcmot.02.enable <= joint.2.amp-enable-out
|
||||
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
|
||||
|
||||
|
||||
# position command and feedback
|
||||
net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
|
||||
net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
|
||||
|
||||
net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
|
||||
net motor.02.pos-fb => joint.2.motor-pos-fb
|
||||
|
||||
|
||||
# timing parameters
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC
|
||||
|
||||
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
|
||||
|
||||
|
||||
|
||||
|
||||
#
|
||||
# The Mesa AnyIO output pins can be in open-drain mode (drive low, float
|
||||
# high) or push/pull mode (drive low, drive high).
|
||||
#
|
||||
# When a logical output is 1 in open-drain mode, the FPGA lets the pin
|
||||
# float and it gets pulled high to +5V via a 10K resistor.
|
||||
#
|
||||
# When a logical output is 1 in push/pull mode, the FPGA pushes the pin
|
||||
# high but only to +3.3V. This is problematic on some kinds of inputs.
|
||||
#
|
||||
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1
|
||||
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1
|
||||
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1
|
||||
#setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1
|
||||
|
||||
|
||||
|
||||
|
||||
# ##################################################
|
||||
# Standard I/O Block - EStop, Etc
|
||||
# ##################################################
|
||||
|
||||
# A basic estop loop that only includes the hostmot watchdog.
|
||||
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
|
||||
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
|
||||
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
|
||||
|
||||
# create signals for tool loading loopback
|
||||
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
|
||||
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
|
||||
|
||||
Reference in New Issue
Block a user