misc:

    It's starting to feel like it's ready for some kind of module
    abstraction...  To standardize the semantics and make it easier to
    think about.  Pull out the common code.


    add sample configs in configs/mesa-hostmot2


    add firmwares in /usr/share/emc/firmware/


    add support for the 5i22 next




bfload

    add "bfload reset"

    5i22 has wrong subdevice ids?  SWP says it works on his 1.5M board

    add support for all the other PCI cards

    epp via the pci card doesnt work, epp via the onboard port works

    use pciutils-dev instead of upci?  upci seems to be working fine




translation ram (tram):

    just do it

    then do dma

    need to deal with the "strobe" bit




encoders:

    use shielded encoder wires!


    performance:

        my motor shaft is spinning at 8K rpm, which is 133.33333 revs per second

        The encoder has 256 lines, so 1024 transitions per revolution, so 136533 transitions per second

        sampling at twice that would mean ~300 Ksamples/sec

        with the "quad filter" set to 3 clocks, the low-level input needs about 1 Msample/sec.

        with the "quad filter" set to 15 clocks, the low-level input needs about 5 Msample/sec.

        it's actually running at 50 MHz, so that shouldnt be a problem...

        The firmware is storing the quadrature count in a 16-bit register, which I'm reading about every ms (1 KHz)

        at 140K transitions/second, that should be max 140 counts per reading, which is *fine*


    How is encoder.XX.velocity computed?


    missing stuff:

        fancy velocity computation

        pins:

            velocity

            reset

            index-enable

        parameters:

            max-index-vel (optional)

            velocity-resolution (optional)

        functions:

            CDI just has a read()




pwmgen:

    how to set pwm rate in firmware?

    Add support for different pdm mode (selected by the pwm-freq parameter...)

    what should the hal pwmgen scale parameter do exactly?  same as the software hal component: output = (val / scale) + offset




ioport:

    move inverted output from driver to fpga 




stepgen:

    the software stepgen uses float seconds for the timing, but that cuts
    off at like 100 ns, shouldnt it be u32 seconds instead?  or wait,
    is it float nanoseconds?

    position commanding is very much hacked right now...

    setting .scale to 1600 (1600 steps/rev) and then commanding position
    to 1600 revs causes chaos, it runs in the wrong direction, some
    overflow bug not handled there...

    support maxvel

    support maxaccel

    support other stepping modes

    support velocity control




watchdog:




7i43:

    can't get it to work with the pci card parport...

    test with the 400K board again


5i20:

    turn hm2_5i20 driver into a generic PCI driver: hm2_anyio_pci




issues with the 2006-02-06 firmware:

    svst4_4:

        don't know what to do with this MD (LEDs?):

            m7i43_hm2: Module Descriptor 6 at 0x0488:
            m7i43_hm2:     General Function Tag: 128 ((unknown-gtag-128))
            m7i43_hm2:     Version: 0
            m7i43_hm2:     Clock Tag: 1
            m7i43_hm2:     Instances: 1
            m7i43_hm2:     Base Address: 0x0200
            m7i43_hm2:     -- Num Registers: 1
            m7i43_hm2:     Register Stride: 0x00000100
            m7i43_hm2:     -- Instance Stride: 0x00000004
            m7i43_hm2:     -- Multiple Registers: 0x00000000




planned milestones:

    1.0

        add support for all other PCI cards

            IOPort connector names for the still-unsupported cards:
                4I65: P1,P3,P4
                4I68: P1,P2,P4
                5I22: P2,P3,P4,P5
                5I23: P2,P3,P4

        add optional tram support

        add DMA support for PCI cards with TRAM

        llios should support multiple boards each

        complete support for encoder

        complete support for pwmgen

        complete support for stepgen

        complete support for gpios

        complete support for watchdog