Jeff Epler wrote: > No USB hardware is supported by emc at this time. The card implements the USB CDC class (it lookes like a serial card to the operating system with the usbserial modul). So i thought since serial connection can be used it would also be possible to use the USB counterpart.
> >> I know that question one implies writing a adaper for the hal. I have >> basic experience in xenomai programming. Would it be hard to implement >> the usb board into emc? > > You'd need a very thorough, low-level knowledge of USB in order to make > a USB driver fit the HAL model (hardware read and write takes place > according to function position in HAL threads, not based on interrupts > or DMA). I don't even know whether this is possible. I'm using the same setup (at least for the USB part) for controlling the speed of up to three dc motor on a mobile robot with xenomai. I wrote the USB firmware on the board by myself so USB knowledge shouldn't be problem. Writing the speed is just a matter of sending the correct codes via the USB CDC (dev/ttyUSB0) interface, also the position can be read in this way. So the setup will be like follows: xenomai + rtusb -> /dev/ttyUSB0 -> (internally converted to i2c) -> 12 stepper motors with quadratur encoders. I already looked at the emc2/src/hal/drivers directory out i only found functions which write directly to a set of i/o pins. Isn't there any function/example to directly write a speed or number of step ticks with a frequency? jan ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
