On 1/5/2014 12:58 PM, Jared Turner wrote: > Thanks for the quick answers, I got tied up yesterday working on a > house... Anyway I'm more confused about how to add a new axis and > pins to the BBB setup, I haven't done any real programming with it > yet. Does the hal manual apply to the BBB?
Yes, but only to the HAL components. The PRU is running the higher speed stuff and similar to the hostmot2 FPGA code I'm trying to emulate, you can't adjust anything past the driver with HAL. That means you can't add HAL logic in between the step/dir generator and the external I/O pins, you have to control things with the available driver pins/parameters/load-time-switches. > How are the pins in the hal file defined? I tried to make the > extruder axis number 4 (more for appearences sake, I may still want > to use this as a 3d printer) it gives me a > hal_pru_generic.stepgen.04.enable does not exist error, yet I can't > find where this is actually defined. I think sending a stepgen should > work. HAL pin names and numbers are based on the hostmot2 driver, with the intent that it should be easy to switch back and forth between a PRU configuration and a hardware FPGA configuration. All indexes start with zero, so if you have four stepgens, they will be numbered 00 through 03, there won't be a 04 unless you have *FIVE* stepgens. The physical pin numbers you need to pass to the stepgen and PWM modules are listed in a spreadsheet I've got on github: https://github.com/cdsteinkuehler/beaglebone-black-pinmux/blob/hal_pru_generic/pinmux.ods?raw=true Scroll all the way to the right for the LinuxCNC stuff. -- Charles Steinkuehler char...@steinkuehler.net
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