On 7/21/2013 9:52 PM, Troy Jacobson wrote: > One of the things I've been experimenting with is a bit of python code to > help figure out the PID values for printer extruders. I have it working in > Axis. Since that requires edits to the main hal file, I was hoping to get > it to work all by itself. > > Everything seems to be working, except the bbb's PWM generator. Below is a > subset of the hal file I'm using. What is missing/wrong?
I don't see anything seriously major wrong, but there are a few minor glitches...comments in-line: > I execute the file with > halrun -I test.hal > > > loadusr -w /home/linuxcnc/linuxcnc/configs/BeagleBone/BeBoPr/setup.sh > loadrt trivkins > loadrt motmod servo_period_nsec=1000000 num_joints=1 > loadrt hal_pru_generic > prucode=/home/linuxcnc/linuxcnc/rtlib/pru_generic.bin num_pwmgens=1 > num_stepgens=1 > > > addf hal_pru_generic.capture-position servo-thread > addf hal_pru_generic.update servo-thread > addf motion-command-handler servo-thread > addf motion-controller servo-thread The hal_pru_generic.update thread should come after the motion threads, just like in the BeBoPr.hal file > setp hal_pru_generic.pwmgen.00.pwm_period 1000000 Note that I have one more zero in the PWM period in my HAL file than you have above. That shouldn't keep it from working, however. > setp hal_pru_generic.pwmgen.00.out.00.pin 0xAD > setp hal_pru_generic.pwmgen.00.out.00.enable 1 > setp hal_pru_generic.pwmgen.00.out.00.value 0.5 Where did you get the 0xAD pin value? That's not setup by the setup.sh script and corresponding device tree files I provided(*), unless you edited them too. Valid pin numbers would be 0xA1 for Extruder 0 and and 0xA0 for Extruder 1, or 0x70 for the bed heater. Make sure you have the latest code, I've been tweaking the configuration files quite a bit as I get things setup and working with my existing printer: cd $/linuxcnc git pull origin cd src make sudo make setuid (*) 0xAD might have been in an older hal file, before I got everything working. It is not currently a valid pin number for either the BeBoPr or the BeBoPr-Bridge configuration. -- Charles Steinkuehler [email protected]
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