I finally stumbled across the HAL tutorial. I've been reading a lot of stuff, but sometimes it takes a while to find exactly what you need. Anyway, what I needed to do was replace the trivkins and motmod stuff with threads, and add a start at the end.
loadusr -w /home/linuxcnc/linuxcnc/configs/BeagleBone/BeBoPr/setup.sh loadrt threads name1=main-thread period1=1000000 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 setp hal_pru_generic.pwmgen.00.pwm_period 1000000 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 start On Sun, Jul 21, 2013 at 10:48 PM, Charles Steinkuehler < [email protected]> wrote: > 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] > > > > ------------------------------------------------------------------------------ > See everything from the browser to the database with AppDynamics > Get end-to-end visibility with application monitoring from AppDynamics > Isolate bottlenecks and diagnose root cause in seconds. > Start your free trial of AppDynamics Pro today! > http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------------ See everything from the browser to the database with AppDynamics Get end-to-end visibility with application monitoring from AppDynamics Isolate bottlenecks and diagnose root cause in seconds. Start your free trial of AppDynamics Pro today! http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
