I am checking in on the status of LinuxCNC 2.6 and the BeagleBone. I believe UBC3 is still slated for merge into 2.6, correct?
Assuming UBC3 is still "in", I would very much like to get updated BeagleBone code merged prior to the official release of 2.6 as well. Please let me know if UBC3/BeagleBone support is still expected to make it into 2.6, and if there is anything I can do to smooth the transition to the new BeagleBone code (which I'm still very much in the process of writing) or assist with general UBC3/BeagleBone integration into master. BeagleBone code status: I am currently working on re-coding the BeagleBone drivers to use consistent pin numbering and an overall less confusing setup for everything from the device-tree overlay that sets up the physical pins to the HAL component names. This will obviously break pretty much any existing BeagleBone configuration, but some things deserve to die. :) As part of this process, I will be crafting some documentation, at least a man page or something similar to what exists for hostmo2 and the various other HAL modules. I have held off on documenting the current setup because I knew it was going to dramatically change. Other than a few makefile path changes, I believe all of the code changes I'm making apply to the BeagleBone only, and should merge cleanly into whatever the 2.6 mainline looks like (at least as long as the UBC3 code is there for user-mode HAL components). The BeagleBone support files are mostly the HAL driver, some hardware setup scripts, and various example configurations. Also, as part of the general cleanup, I plan on renaming the BeagleBone driver: hal_pru_generic will become bonemot hpg.* HAL prefixes will become bone.* Support is planned for running code on both PRUs and possibly even the on-chip hardware, so HAL names will also include a second prefix (what would be the "card" in the Mesa hm2 driver) that will be something like pru0, pru1, hw (hardware), resulting in HAL names like: bone.pru0.encoder.01.chan.00.count bone.hw.pwm.00.chan.00.value bone.pru1.stepgen.03.position-cmd Let me know if these names are not acceptable, as I haven't done the global renaming yet (I'm still working on encoder support). -- Charles Steinkuehler [email protected]
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