# ####################################### # # 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: # # and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2 # # ##################################################################### # ################################### # Core EMC/HAL Loads # ################################### # kinematics loadrt trivkins # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES # only the 7i43 and 7i90 need this, but it doesnt hurt the others loadrt probe_parport # hostmot2 driver loadrt hostmot2 # load low-level driver loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) # ################################################ # 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 hm2_[HOSTMOT2](BOARD).0.pet_watchdog 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 <= axis.0.amp-enable-out net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable # position command and feedback net emcmot.00.pos-cmd <= axis.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 => axis.0.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_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 <= axis.1.amp-enable-out net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable # position command and feedback net emcmot.01.pos-cmd <= axis.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 => axis.1.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [AXIS_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 <= axis.2.amp-enable-out net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable # position command and feedback net emcmot.02.pos-cmd <= axis.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 => axis.2.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_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 # ################################################## # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-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