On 12/27/2013 2:55 PM, Josiah Morgan wrote: > I am looking for any kind of guidance or examples for setting up a linuxcnc > system to run capeless with addition of spindle control, etc. > I have started by installing the machine kit on the system and have run the > stepper drivers using the bebopr+bridge configuration and using the pinouts > on the bebopr. > This was fairly straight forward, but I am needing to take this a step > forward and add functionality for allowing spindle speed control and > reading a slew of limit sensors. > First off, is this even possible?
Absolutely! > If so, how do I configure all these output/inputs in the machine kit? > also, once the pins are configured, how do I make linuxcnc know about all > of them and know how to communicate with them? If you're using one of my example configurations, you'll mostly want to play with the setup*.sh script and the hal_bb_gpio entry in the hal file. In the setup script, add the new pins you want for your "slew of limit sensors" to the list of GPIO pins with appropriate direction. This will get the GPIO pins "exported" by the Linux kernel which sets up the various pin multiplexing required, makes sure the clocks are turned on, etc. Then add the new pins to the "loadrt hal_bb_gpio ..." line of the *.hal file. The pins on the P8 header are numbered 1xx, while the pins on P9 are numbered 2xx, where xx is the physical pin on the P8/P9 connector you want to use. Once you have done this, you can simply hook whatever logic you like to the newly added bb_gpio.p* HAL pins. For spindle speed control, you'll have to be a bit more specific as to exactly what you want. The configurations provided already have several PWM outputs (intended to control extruder and bed heaters on a 3D printer), so if that's suitable for your spindle control, you're all set. If you're trying to implement encoder feedback for the spindle to do rigid tapping, that will require some code that hasn't been written yet (to either use the PRU to do software encoder tracking, or enabling the hardware encoder logic in the AM335x and linking it to HAL). -- Charles Steinkuehler [email protected]
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